Online shaft hole rotary assembly method based on closed loop velocity centrode position correction

Abstract

The application discloses an online shaft hole rotating assembly method based on closed loop velocity instantaneous center position correction, which comprises the following steps: constructing a force analysis and kinematics analysis diagram of a shaft after the shaft and a shaft hole are contacted, obtaining a nutation angle, constructing a relationship model about velocity instantaneous center coordinates based on the nutation angle according to a geometric relationship, obtaining a shaft diameter and a shaft hole diameter, obtaining the distance from the intersection of the shaft and the shaft hole axis to the center of the lower surface of the shaft and the distance from the intersection of the shaft and the shaft hole axis to the center of the upper surface of the shaft hole and substituting the distances into the relationship model, obtaining the velocity instantaneous center coordinates, obtaining a correction amount of the velocity instantaneous center coordinates at the current moment, and correcting the velocity instantaneous center position at the current moment based on the correction amount of the velocity instantaneous center position at the current moment. The online shaft hole rotating assembly method based on closed loop velocity instantaneous center position correction can improve the shaft hole assembly efficiency and the robustness of the control system.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of artificial intelligence technology application, and more particularly to an online shaft hole rotation assembly method based on closed-loop speed instantaneous center position correction. BACKGROUND

[0002] Intelligent assembly is one of the key links in intelligent manufacturing, and intelligent assembly efficiency has an important influence on the production capacity of intelligent manufacturing. When the shaft rod extends into the shaft hole, the assembly force of the shaft rod needs to be adjusted so that the shaft rod rotates to be parallel to the shaft hole in the vertical direction. At this time, due to the contact between the shaft rod and the shaft hole, there is a large contact force between the shaft rod and the shaft hole during assembly, which affects the control accuracy of the shaft rod.

[0003] In the prior art, the operator adjusts the assembly force of the robot, sets the assembly force according to experience to control the assembly force within a reasonable range, avoids excessive contact force between the shaft rod and the shaft hole, and realizes high-precision control of the shaft rod. However, the problem of this method is that the robustness of the shaft rod and the shaft hole is poor, and the shaft rod is difficult to rotate at a high speed due to the limitation of the assembly force, resulting in low assembly efficiency of the shaft hole. SUMMARY

[0004] In view of the above defects or improvement needs of the prior art, the application provides an online shaft hole rotation assembly method and device based on closed-loop speed instantaneous center position correction. The robustness of the shaft rod and the shaft hole is improved.

[0005] To achieve the above-mentioned purpose, the application provides an online shaft hole rotation assembly method based on closed-loop speed instantaneous center position correction, comprising:

[0006] S100, constructing a force analysis and kinematics analysis diagram of the shaft rod after the shaft rod and the shaft hole are in contact;

[0007] S200, obtaining a nutation angle, and constructing a relationship model about the speed instantaneous center coordinates based on the nutation angle according to the geometric relationship;

[0008] S300, obtaining the shaft rod diameter and the shaft hole diameter, and obtaining the distance from the intersection of the shaft rod and the shaft hole axis to the center of the lower surface of the shaft rod and the distance from the intersection of the shaft rod and the shaft hole axis to the center of the upper surface of the shaft hole by using the shaft rod diameter and the shaft hole diameter, and substituting the distances into the relationship model to obtain the speed instantaneous center coordinates;

[0009] S400, obtaining a current time speed instantaneous center position correction amount, and correcting the current time speed instantaneous center position based on the current time speed instantaneous center position correction amount.

[0010] In an embodiment, the step S400 of obtaining the current time speed instantaneous center position correction amount comprises:

[0011] S410, preset an expected contact force, and obtain a current time contact force deviation based on a current time contact force;

[0012] S420, obtain a moving speed of a current time speed centroid based on the current time contact force deviation;

[0013] S430, obtain a current time speed centroid position correction amount based on the moving speed of the current time speed centroid.

[0014] In an embodiment, in step S410, the current time contact force deviation is specifically obtained as follows:

[0015]

[0016] wherein, ΔF p (t) is the current time contact force deviation, F p (t) is the current time contact force, and F is the expected contact force.

[0017] In an embodiment, in step S420, the moving speed of the current time speed centroid is specifically obtained as follows:

[0018]

[0019] wherein, is the moving speed of the current time speed centroid, is a link proportional gain coefficient, is a link differential coefficient, ΔF P (t-1) is a contact force deviation at a previous time, and Δt is a control period.

[0020] In an embodiment, in step S430, the current time speed centroid position correction amount is specifically obtained as follows:

[0021]

[0022] wherein, ΔI(t) is the current time speed centroid position correction amount, is a change rate of a current time nutation angle.

[0023] In an embodiment, the relationship model in step S200 is specifically as follows:

[0024] X icr =-(L1cosθ-L2) / sinθ

[0025] Z icr =l-2L1

[0026] wherein: Z icr is a coordinate of the speed centroid in a direction of an axis of the shaft, and Xicr is the coordinate of the instantaneous center of velocity in the direction of the bottom surface of the shaft, L1 is the distance from the intersection of the shaft and the shaft hole axis to the center of the lower surface of the shaft, L2 is the distance from the intersection of the shaft and the shaft hole axis to the center of the upper surface of the shaft hole, l is the length of the shaft, and θ is the nutation angle.

[0027] In an embodiment, the distance from the intersection of the shaft and the shaft hole axis to the center of the lower surface of the shaft and the distance from the intersection of the shaft and the shaft hole axis to the center of the upper surface of the shaft hole are obtained according to the shaft diameter of the shaft and the hole diameter of the shaft hole.

[0028] To achieve the above object, the application further provides an online shaft hole rotary assembly device based on closed-loop velocity instantaneous center position correction, comprising:

[0029] A first main module is configured to construct a force analysis diagram and a kinematics analysis diagram of the shaft after the shaft and the shaft hole are in contact;

[0030] A second main module is configured to obtain a nutation angle, and construct a relationship model about the coordinate of the velocity instantaneous center based on the nutation angle according to a geometric relationship;

[0031] A third main module is configured to obtain the shaft diameter of the shaft and the hole diameter of the shaft hole, obtain the distance from the intersection of the shaft and the shaft hole axis to the center of the lower surface of the shaft and the distance from the intersection of the shaft and the shaft hole axis to the center of the upper surface of the shaft hole using the shaft diameter of the shaft and the hole diameter of the shaft hole, and substitute the distances into the relationship model to obtain the coordinate of the velocity instantaneous center;

[0032] A fourth main module is configured to obtain a correction amount of the coordinate of the velocity instantaneous center at the current moment, and correct the coordinate of the velocity instantaneous center at the current moment based on the correction amount of the coordinate of the velocity instantaneous center at the current moment.

[0033] To achieve the above object, the application further provides an electronic device, comprising at least one processor, at least one memory and a communication interface; wherein

[0034] The processor, the memory and the communication interface communicate with each other;

[0035] The memory stores program instructions executable by the processor, and the processor invokes the program instructions to execute the above online shaft hole rotary assembly method based on closed-loop velocity instantaneous center position correction.

[0036] To achieve the above object, the application further provides a non-transitory computer readable storage medium, which stores computer instructions, and the computer instructions make the computer execute the above online shaft hole rotary assembly method based on closed-loop velocity instantaneous center position correction.

[0037] Overall, compared with the prior art, the above technical solutions conceived by the application can achieve the following beneficial effects:

[0038] The online shaft hole rotary assembly method based on closed-loop velocity instantaneous center position correction provided by the embodiment of the present application can realize closed-loop control of contact force feedback by presetting expected force and comparing the deviation of the contact force at the current time from the expected force, and further realize correction of the velocity instantaneous center position, so as to improve the robustness of the control system and adapt to different use environments. Meanwhile, the current nutation angle and the contact force at the current time are used to determine the coordinates of the velocity instantaneous center after correction at the current time and control the shaft to rotate around the velocity instantaneous center position after correction at the current time, so as to improve the assembly speed and improve the assembly efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 A flow chart of the online shaft hole rotary assembly method based on closed-loop velocity instantaneous center position correction provided by the embodiment of the present application is provided.

[0040] Figure 2 A structural schematic diagram of the online shaft hole rotary assembly device based on closed-loop velocity instantaneous center position correction provided by the embodiment of the present application is provided.

[0041] Figure 3 A schematic diagram of the physical structure of an electronic device provided by the embodiment of the present application is provided.

[0042] Figure 4 A force analysis diagram of the shaft and the shaft hole after contact provided by the embodiment of the present application is provided. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0044] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings). If the specific posture changes, the directional indications also change accordingly.

[0045] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope required by the present application.

[0046] Figure 1 The online shaft hole rotation assembly method flow chart based on closed loop velocity instantaneous center position correction is constructed according to the preferred embodiment of the present application, as shown in the figure, the following steps specifically explain the derivation process of the method of the present application:

[0047] S100: construct the force analysis diagram and kinematics analysis diagram of the shaft and the shaft hole after the shaft and the shaft hole are in contact.

[0048] Specifically, referring to Figure 4 , the shaft rod coordinate system and the shaft hole coordinate system are established. Since the upper surface of the shaft rod is connected with the control device, the control device controls the movement of the shaft rod, so that the center of the upper surface of the shaft rod is taken as the center O P , the shaft rod coordinate system is established, two straight lines perpendicular to O P of the upper surface of the shaft rod are taken as X p and Y p , the shaft rod axis is taken as Z p , the center of the upper surface of the shaft hole is taken as the center O H , and the shaft hole axis is taken as Z H . In this embodiment, the shaft rod rotates around Y p direction to realize entering the shaft hole, further, the velocity V U at the point U of the shaft rod is always vertically downward, the point N1 is the contact point of the shaft rod and the shaft hole, the velocity at the point N1 is always upward along the generatrix direction of the shaft rod, the intersection of the perpendicular of V U and the perpendicular of is the velocity instantaneous center position P ICR . Due to the rotational movement of the shaft rod, the velocity instantaneous center position P ICR changes in position, theoretically, at any time, the shaft rod rotates around the current time velocity instantaneous center position P ICR , the contact point supporting force and the contact point friction force are the smallest, that is, controlling the shaft rod to rotate around the current time velocity instantaneous center position P ICR can reduce the contact force, improve the control accuracy and rotation speed in the rotation process.

[0049] S200: Obtain the nutation angle. The nutation angle refers to the included angle formed by the intersection of the shaft rod axis and the shaft hole axis, and a relationship model about the coordinates of the velocity instantaneous center is constructed based on the nutation angle according to the geometric relationship. The relationship model is specifically:

[0050] X icr =-(L1cosθ-L2) / sinθ

[0051] Z icr =l-2L1

[0052] In the formula: Z icr is the coordinate of the velocity instantaneous center in the direction of the shaft rod axis, X icr is the coordinate of the velocity instantaneous center in the direction of the shaft rod bottom surface, L1 is the distance from the intersection of the shaft rod and the shaft hole axis to the center of the shaft rod lower surface, L2 is the distance from the intersection of the shaft rod and the shaft hole axis to the center of the shaft hole upper surface, l is the length of the shaft rod, and θ is the nutation angle.

[0053] Specifically, in the embodiment, the shaft rod upper surface is parallel to the bottom surface, the coordinate of the velocity instantaneous center in the direction of the shaft rod bottom surface, i.e. the coordinate of the velocity instantaneous center X p direction, since the shaft rod axis is taken as the Z p direction, the coordinate of the velocity instantaneous center in the direction of the shaft rod axis, i.e. the coordinate of the velocity instantaneous center Z p direction, further, the intersection of the shaft rod axis and the shaft hole axis is C O , the distance from C O to the center O p' of the shaft rod lower surface is |C o O p' |, the distance from C O to the center O H of the shaft hole upper surface is |C o O H |, the projection of the velocity instantaneous center in the direction of the shaft rod bottom surface X p is |E2O p' |, the projection of the velocity instantaneous center in the direction of the shaft rod axis Z p is |E1O p |, since the velocity V U at the U point is always vertically downward, the velocity V at the N1 point is always upward along the generatrix direction of the shaft rod, thus, the projection of the velocity instantaneous center on the shaft rod axis can always be represented by |E2O p' | and |E1O p |, i.e. the coordinates of the velocity instantaneous center X p and Z p direction are calculated by using the projection of the velocity instantaneous center.

[0054] S300, obtain the shaft rod diameter and the shaft hole diameter, and calculate the distance |C from the intersection of the shaft rod and the shaft hole axis to the center of the lower surface of the shaft rod o O p' | and the distance cC from the intersection of the shaft rod and the shaft hole axis to the center of the upper surface of the shaft hole o O H ∈, specifically:

[0055] L1=(r-Rcosθ) / sinθ

[0056] L2=(R-rcosθ) / sinθ

[0057] In the formula, R is the shaft hole diameter, and r is the shaft rod diameter.

[0058] It is not difficult to understand that, since the shaft hole diameter and the shaft rod diameter are constants, after substituting the distance from the intersection of the shaft hole axis to the center of the lower surface of the shaft rod and the distance from the intersection of the shaft rod and the shaft hole axis to the center of the upper surface of the shaft hole into the relationship model, only the current nutation angle needs to be obtained to obtain the velocity instant center coordinates.

[0059] Further, according to the coordinates of the velocity instant center in different directions, the position of the velocity instant center in the current time in the biaxial coordinate system can be represented as I p (t), specifically I p (t)=[X icr ,0,Z icr ]. Since the support force and the friction force at the contact point are the smallest, therefore, by using the control device to control the rotation of the shaft rod around the velocity instant center coordinates, the control accuracy and the rotation speed during the rotation process can be improved.

[0060] S400, obtain the current time velocity instant center coordinate correction amount, and correct the current time velocity instant center position based on the current time velocity instant center position correction amount.

[0061] It is not difficult to understand that, by obtaining the current time velocity instant center coordinate correction amount, the correction of the velocity instant center position can avoid the influence of the geometric parameter error and the measurement error on the velocity instant center coordinates.

[0062] Further, obtaining the current time velocity instant center correction amount includes:

[0063] S410, preset an expected contact force, and obtain a current time contact force deviation based on the current time contact force. Specifically:

[0064]

[0065] In the formula, ΔF p (t) is the current time contact force deviation, and Fp (t) is the current moment contact force, is the desired contact force.

[0066] S420, based on the current moment contact force deviation, the moving speed of the current moment speed centroid is obtained. Specifically,

[0067]

[0068] In the formula, is the moving speed of the current moment speed centroid, link proportional gain coefficient, is the link differential coefficient, ΔF P (t-1) is the contact force deviation at the previous moment, and Δt is the control period.

[0069] S430, based on the moving speed of the current moment speed centroid, the current moment speed centroid position correction amount is obtained. Specifically,

[0070]

[0071] In the formula, ΔI(t) is the current moment speed centroid position correction amount, is the change rate of the current moment nutation angle.

[0072] Further, the current moment speed centroid position correction is specifically:

[0073]

[0074] In the formula, is the current moment speed centroid position after correction.

[0075] It is not difficult to understand that by presetting the desired force and comparing the deviation of the current moment contact force and the desired force, the closed-loop control of the contact force feedback can be realized, and then the speed centroid position is corrected to improve the robustness of the control system. At the same time, by using the current moment nutation angle and the current moment contact force, the current moment corrected speed centroid position is determined, and the shaft is controlled to rotate around the current moment corrected speed centroid coordinate. In this way, the assembly speed is improved, and the assembly efficiency is improved. The implementation basis of each embodiment of the present application is realized by programmed processing of a device with processor function. Therefore, in engineering practice, the technical solutions and functions of each embodiment of the present application can be packaged into various modules. Based on this actual situation, on the basis of the above embodiments, the embodiment of the present application provides an online shaft hole rotary assembly device based on closed-loop speed centroid position correction, which is used to execute the online shaft hole rotary assembly method based on closed-loop speed centroid position correction in the above method embodiment, seeFigure 2 The online shaft hole rotary assembly device based on closed loop velocity center position correction comprises:

[0076] A first main module is configured to construct a force analysis diagram and a kinematics analysis diagram of the shaft after the shaft and the shaft hole are in contact;

[0077] A second main module is configured to obtain a nutation angle, and construct a relationship model about velocity center coordinates based on the nutation angle according to a geometric relationship;

[0078] A third main module is configured to obtain a shaft diameter and a hole diameter, and obtain distances from a shaft and shaft hole axis intersection point to a shaft lower surface center and from the shaft and shaft hole axis intersection point to a shaft hole upper surface center by using the shaft diameter and the hole diameter, and substitute the distances into the relationship model to obtain the velocity center coordinates;

[0079] A fourth main module is configured to obtain a current time velocity center coordinate correction amount, and correct a current time velocity center position based on the current time velocity center position correction amount.

[0080] The online shaft hole rotary assembly device based on closed loop velocity center position correction provided by the embodiment of the present application adopts Figure 2 a plurality of modules, and can realize closed loop control of contact force feedback by presetting an expected force and comparing a deviation between a current time contact force and the expected force, and then corrects the velocity center position, so as to improve the robustness of the control system, and at the same time, the current time nutation angle and the current time contact force are used to determine the current time corrected velocity center coordinates, and control the shaft to rotate around the current time corrected velocity center position, so as to improve the assembly speed and improve the assembly efficiency.

[0081] It should be noted that the device in the device embodiment provided by the present application can be used to realize the method in the method embodiment provided by the present application, and can also be used to realize the method in other method embodiments provided by the present application, the difference is only that corresponding functional modules are set, the principle is basically the same as that of the above-mentioned device embodiment provided by the present application, as long as the person skilled in the art can obtain corresponding technical means by combining technical features on the basis of the above-mentioned device embodiment, and the technical solution formed by these technical means, on the premise of ensuring the practicability of the technical solution, the device in the above-mentioned device embodiment can be improved, so as to obtain corresponding device class embodiments, which are used to realize the method in other method class embodiments.

[0082] The method of the embodiment of the present application is realized by relying on an electronic device, so it is necessary to introduce the related electronic device. For this purpose, the embodiment of the present application provides an electronic device, such as Figure 3As shown, the electronic device includes at least one processor, a communications interface, at least one memory, and a communications bus, wherein the at least one processor, the communications interface, and the at least one memory complete mutual communication through the communications bus. The at least one processor can invoke a logical instruction in the at least one memory to execute all or part of the steps of the online shaft hole rotary assembly method based on the closed-loop speed centroid position correction provided in each of the foregoing embodiments.

[0083] In addition, the logical instruction in the at least one memory described above can be implemented in the form of a software functional unit and sold or used as an independent product, and can be stored in a computer-readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each of the method embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0084] The device embodiments described above are merely illustrative, wherein the units illustrated as separate components can or can not be physically separated, and the components illustrated as units can or can not be physical units, i.e., can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0085] From the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software and a necessary general hardware platform, and of course can also be implemented by hardware. Based on such understanding, the technical solutions described above or the part that contributes to the prior art can be embodied in the form of a software product. The computer software product can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the online shaft hole rotary assembly method based on the closed-loop speed centroid position correction described in each of the embodiments or some parts of the embodiments.

[0086] The computer program product of the present application can be a computer program implemented on one or more computers. The program can be in the form of a stand-alone program or as part of a larger program or utility suite. Accordingly, the embodiments of the present application also include a computer program comprising program code to be executed on one or more computers to carry out any embodiment of the present application. The program code can be in the form of a standalone program or as part of a larger program or utility suite. The embodiments of the present application also include a computer program which when loaded onto one or more computers causes the one or more computers to carry out any of the embodiments of the present application. The program code can be in the form of a standalone program or as part of a larger program or utility suite. The embodiments of the present application also include a computer program which when loaded onto one or more computers causes the one or more computers to carry out any of the embodiments of the present application. The program code can be in the form of a standalone program or as part of a larger program or utility suite.

[0087] In this patent, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0088] Finally, it should be noted that the above-mentioned embodiments are merely intended for describing and illustrating, not limiting the technical solutions of the present application; even if the technical solutions of the present application have been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An online shaft hole rotational assembly method based on closed loop velocity centrode position correction, characterized in that, Comprising: S100, constructing a shaft rod force analysis and kinematics analysis diagram after the shaft rod and the shaft hole contact; S200, obtaining a nutation angle, and constructing a relationship model about a velocity instantaneous center coordinate based on the nutation angle according to a geometric relationship; S300, obtaining a shaft rod diameter and a shaft hole diameter, and obtaining a distance from a shaft rod and a shaft hole axis intersection point to a shaft rod lower surface circle center and a distance from the shaft rod and the shaft hole axis intersection point to a shaft hole upper surface circle center by using the shaft rod diameter and the shaft hole diameter, and substituting the distances into the relationship model to obtain the velocity instantaneous center coordinate; S400, obtaining a current time velocity instantaneous center coordinate correction amount, and correcting a current time velocity instantaneous center position based on the current time velocity instantaneous center position correction amount; The step S400 of obtaining the current time velocity instantaneous center position correction amount comprises: S410, presetting an expected contact force, and obtaining a current time contact force deviation based on a current time contact force; S420, obtaining a current time velocity instantaneous center movement speed based on the current time contact force deviation; S430, obtaining the current time velocity instantaneous center position correction amount based on the current time velocity instantaneous center movement speed.

2. The online shaft hole rotational assembly method based on the closed loop velocity centrode position correction of claim 1, wherein, In the step S410, the current time contact force deviation is obtained specifically as: , In the formula, is the contact force deviation at the current time, is the contact force at the current time, is the desired contact force.

3. The online shaft hole rotational assembly method based on the closed loop velocity centrode position correction of claim 1, wherein, In the step S420, the current time velocity instantaneous center movement speed is obtained specifically as: , wherein is the moving speed of the speed instantaneous center at the current time, is the moving speed of the speed instantaneous center at the current time, is the moving speed of the speed instantaneous center at the current time, is the moving speed of the speed instantaneous center at the current time, is the moving speed of the speed instantaneous center at the current time, 4. The online shaft hole rotational assembly method based on the closed loop velocity centrode position correction of claim 1, wherein, In the step S430, the current time velocity instantaneous center position correction amount is obtained specifically as: ， In the formula, is a current time speed instant position correction amount, is a current time nutation angle change rate.

5. The online shaft hole rotational assembly method based on the closed loop velocity centrode position correction of claim 1, wherein, The relationship model in the step S200 is specifically as: ， ， In the formula: is the coordinate of the velocity centroid in the direction of the axis of the shaft, is the coordinate of the velocity centroid in the direction of the bottom surface of the shaft, is the distance from the intersection of the shaft and the axis of the shaft hole to the center of the lower surface of the shaft, is the distance from the intersection of the shaft and the axis of the shaft hole to the center of the upper surface of the shaft hole, is the length of the shaft, is the nutation angle.

6. The online shaft hole rotational assembly method based on the closed loop velocity centrode position correction of claim 5, wherein, The distance from the shaft rod and the shaft hole axis intersection point to the shaft rod lower surface circle center and the distance from the shaft rod and the shaft hole axis intersection point to the shaft hole upper surface circle center are obtained according to the shaft diameter of the shaft rod and the hole diameter of the shaft hole.

7. An on-line shaft hole rotary assembly device based on closed loop velocity centrode position correction, characterized in that, Comprising: A first main module for constructing a shaft rod force analysis diagram and a kinematics analysis diagram after the shaft rod and the shaft hole contact; A second main module for obtaining a nutation angle, and constructing a relationship model about a velocity instantaneous center coordinate based on the nutation angle according to a geometric relationship; A third main module for obtaining a shaft rod diameter and a shaft hole diameter, and obtaining a distance from a shaft rod and a shaft hole axis intersection point to a shaft rod lower surface circle center and a distance from the shaft rod and the shaft hole axis intersection point to a shaft hole upper surface circle center by using the shaft rod diameter and the shaft hole diameter, and substituting the distances into the relationship model to obtain the velocity instantaneous center coordinate; A fourth main module for obtaining a current time velocity instantaneous center coordinate correction amount, and correcting a current time velocity instantaneous center position based on the current time velocity instantaneous center position correction amount; The step of obtaining the current time velocity instantaneous center position correction amount in the fourth main module comprises: S410, presetting an expected contact force, and obtaining a current time contact force deviation based on a current time contact force; S420, obtaining a current time velocity instantaneous center movement speed based on the current time contact force deviation; S430, obtaining the current time velocity instantaneous center position correction amount based on the current time velocity instantaneous center movement speed.

8. An electronic device, comprising: Comprising: At least one processor, at least one memory and a communication interface; Wherein The processor, the memory and the communication interface communicate with each other; The memory stores program instructions executable by the processor, and the processor invokes the program instructions to execute the online shaft hole rotary assembly method based on closed loop velocity centroid position correction according to any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium, comprising: The non-transitory computer readable storage medium stores computer instructions, and the computer instructions cause the computer to execute the online shaft hole rotary assembly method based on closed loop velocity centroid position correction according to any one of claims 1 to 6.

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