Apparatus and method for workpiece assembly

Abstract

Embodiments of the present application provide a device and method for workpiece assembly, belonging to the field of engineering machinery. The device comprises: a laser sensor; a processor configured to: acquire the position of a tooling reference point detected by the laser sensor; determine the position of a to-be-welded point based on the relative distance between the pre-stored tooling reference point and the shaft sleeve center, the relative distance between the shaft sleeve center and the to-be-welded point, and the position of the tooling reference point; control the laser sensor to move to the position of the to-be-welded point; acquire the first relative distance and the first included angle between the first to-be-assembled workpiece and the second to-be-assembled workpiece detected by the laser sensor; compare the first relative distance with the preset relative distance and the first included angle with the preset included angle to obtain the distance difference and the angle difference; and adjust the relative distance and the included angle between the first to-be-assembled workpiece and the second to-be-assembled workpiece according to the distance difference and the angle difference to complete fine assembly so as to perform spot welding work on the to-be-welded point. The present application can improve the workpiece assembly efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of engineering machinery, in particular to a device and method for workpiece assembly. BACKGROUND

[0002] In the prior art, when workpieces are assembled, such as boom assembly, two side webs (left web and right web) and a lower cover plate form a three-surface beam type box, and a manual ruler is usually used to measure and draw lines to mark the web position on the lower cover plate. The left and right webs are gradually aligned with the cover plate according to the drawn lines, and the perpendicularity of each spot welding alignment position is measured by a square ruler to ensure that the web is perpendicular to the cover plate during assembly. However, the above method uses manual measurement and line drawing to determine the relative position, which increases the line drawing process and relies on manual experience, so the prior art has the problem of low assembly efficiency. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a device and method for workpiece assembly to solve the problem of low assembly efficiency in the prior art.

[0004] To achieve the above purpose, the first aspect of the embodiments of the present application provides a device for workpiece assembly, the workpiece comprising a first workpiece to be assembled and a second workpiece to be assembled, the first workpiece to be assembled and the second workpiece to be assembled being initially assembled and placed on a tooling table, the first workpiece to be assembled being provided with a shaft sleeve, the tooling table being provided with at least two positioning plates in the vertical direction, the positioning plates being provided with shaft holes, and the shaft sleeve being inserted into the shaft holes to fix the first workpiece to be assembled and the tooling table, the device comprising:

[0005] a laser sensor mounted on a moving mechanism; and

[0006] a processor configured to:

[0007] obtain the position of a tooling reference point detected by the laser sensor when moving along the tooling table from an initial position, wherein the tooling reference point is the intersection point of the positioning plate and the tooling table;

[0008] based on the pre-stored relative distance between the tooling reference point and the center of the shaft sleeve, the relative distance between the center of the shaft sleeve and the welding point, and the position of the tooling reference point, determine the position of the welding point;

[0009] control the laser sensor to move to the position of the welding point;

[0010] obtain the first relative distance and the first included angle between the first workpiece to be assembled and the second workpiece to be assembled detected by the laser sensor;

[0011] The first relative distance and the preset relative distance, and the first included angle and the preset included angle are compared to obtain a distance difference value and an angle difference value;

[0012] The relative distance and the included angle between the first workpiece to be assembled and the second workpiece to be assembled are adjusted according to the distance difference value and the angle difference value to complete the fine assembly of the first workpiece to be assembled and the second workpiece to be assembled at the welding point, so that the spot welding operation is performed on the welding point.

[0013] In the embodiment of the present application, the processor is configured to determine the position of the welding point according to the position of the tool reference point based on the pre-stored relative distance between the tool reference point and the shaft sleeve center and the relative distance between the shaft sleeve center and the welding point, including: the processor is configured to determine the position of the shaft sleeve center according to the position of the tool reference point based on the pre-stored relative distance between the tool reference point and the shaft sleeve center; and determine the position of the welding point according to the position of the shaft sleeve center based on the pre-stored relative distance between the shaft sleeve center and the welding point.

[0014] In the embodiment of the present application, the device further comprises a display screen for displaying the distance difference value and / or the angle difference value and / or the relative distance and / or the included angle.

[0015] In the embodiment of the present application, the first workpiece to be assembled comprises a web plate, the second workpiece to be assembled comprises a cover plate, the relative distance comprises the distance from the edge of the cover plate to the web plate, and the preset included angle comprises 90 degrees.

[0016] In the embodiment of the present application, the processor is further configured to: after completing the fine assembly of the first workpiece to be assembled and the second workpiece to be assembled at the welding point, obtain a second relative distance and a second included angle between the first workpiece to be assembled and the second workpiece to be assembled at the welding point detected by the laser sensor, wherein the deviation of the second relative distance from the preset relative distance is less than or equal to the first preset distance deviation, and the deviation of the second included angle from the preset included angle is less than or equal to the first preset angle deviation; after completing the spot welding operation of the welding point, obtain a third relative distance and a third included angle between the first workpiece to be assembled and the second workpiece to be assembled at the welding point detected by the laser sensor; determine a distance deviation between the second relative distance and the third relative distance, and an angle deviation between the second included angle and the third included angle; average the distance deviations and the angle deviations corresponding to a continuous preset number of welding points respectively to obtain an average distance deviation and an average angle deviation; and determine an adjustment strategy of the preset relative distance and the preset included angle between the first workpiece to be assembled and the second workpiece to be assembled corresponding to the welding point according to the average distance deviation and the average angle deviation.

[0017] In the embodiment of the present application, the processor is further configured to determine an adjustment strategy of the preset relative distance and the preset included angle between the first to-be-assembled workpiece and the second to-be-assembled workpiece corresponding to the to-be-welded point according to the average distance deviation and the average angle deviation, including: the processor is configured to: in the case that the average distance deviation is less than or equal to the second preset distance deviation and the average angle deviation is less than or equal to the second preset angle deviation, determine that the preset relative distance and the preset included angle remain unchanged.

[0018] In the embodiment of the present application, the processor is further configured to determine an adjustment strategy of the preset relative distance and the preset included angle between the first to-be-assembled workpiece and the second to-be-assembled workpiece corresponding to the to-be-welded point according to the average distance deviation and the average angle deviation, including: the processor is configured to: in the case that the average distance deviation is greater than the second preset distance deviation and / or the average angle deviation is greater than the second preset angle deviation, add the average distance deviation to the preset relative distance and / or add the average angle deviation to the preset included angle.

[0019] In the embodiment of the present application, the number of to-be-welded points is multiple, and the spot welding operation sequence of the multiple to-be-welded points is pre-set and stored.

[0020] In the embodiment of the present application, the number of moving mechanisms is multiple.

[0021] In the embodiment of the present application, the moving mechanism includes a mechanical arm.

[0022] The second aspect of the embodiment of the present application provides a method for workpiece assembly, the workpiece including a first to-be-assembled workpiece and a second to-be-assembled workpiece, the first to-be-assembled workpiece and the second to-be-assembled workpiece are initially assembled and placed on a tooling table, the first to-be-assembled workpiece is provided with a shaft sleeve, the tooling table is provided with at least two positioning plates in the vertical direction, the positioning plates are provided with shaft holes, and the shaft sleeve penetrates into the shaft holes to realize the fixation of the first to-be-assembled workpiece and the tooling table, the method including:

[0023] Obtaining the position of the tooling reference point detected by the laser sensor when moving from the initial position along the tooling table, wherein the tooling reference point is the intersection point of the positioning plate and the tooling table;

[0024] Determining the position of the to-be-welded point according to the position of the tooling reference point based on the pre-stored relative distance between the tooling reference point and the center of the shaft sleeve and the relative distance between the center of the shaft sleeve and the to-be-welded point;

[0025] Controlling the laser sensor to move to the position of the to-be-welded point;

[0026] Obtaining the first relative distance and the first included angle between the first to-be-assembled workpiece and the second to-be-assembled workpiece detected by the laser sensor;

[0027] The first relative distance and the first included angle are compared with a preset relative distance and a preset included angle to obtain a distance difference and an angle difference;

[0028] The relative distance and the included angle between the first workpiece to be assembled and the second workpiece to be assembled are adjusted according to the distance difference and the angle difference, so as to complete fine assembly of the first workpiece to be assembled and the second workpiece to be assembled at the welding point, and spot welding work is performed on the welding point.

[0029] In the embodiment of the present application, the position of the welding point is determined according to the position of the tooling reference point based on the pre-stored relative distance between the tooling reference point and the shaft sleeve center and the relative distance between the shaft sleeve center and the welding point, which comprises: determining the position of the shaft sleeve center according to the position of the tooling reference point based on the pre-stored relative distance between the tooling reference point and the shaft sleeve center; and determining the position of the welding point according to the position of the shaft sleeve center based on the pre-stored relative distance between the shaft sleeve center and the welding point.

[0030] In the embodiment of the present application, the first workpiece to be assembled comprises a web plate, the second workpiece to be assembled comprises a cover plate, the relative distance comprises a distance from an edge of the cover plate to the web plate, and the preset included angle comprises 90 degrees.

[0031] In the embodiment of the present application, the method for workpiece assembly further comprises: after completing the fine assembly of the first workpiece to be assembled and the second workpiece to be assembled at the welding point, obtaining a second relative distance and a second included angle between the first workpiece to be assembled and the second workpiece to be assembled at the welding point detected by the laser sensor, wherein a deviation of the second relative distance from the preset relative distance is less than or equal to a first preset distance deviation, and a deviation of the second included angle from the preset included angle is less than or equal to a first preset angle deviation; after completing the spot welding work on the welding point, obtaining a third relative distance and a third included angle between the first workpiece to be assembled and the second workpiece to be assembled at the welding point detected by the laser sensor; determining a distance deviation between the second relative distance and the third relative distance and an angle deviation between the second included angle and the third included angle; averaging the distance deviations and the angle deviations corresponding to a continuous preset number of welding points to obtain an average distance deviation and an average angle deviation; and determining an adjustment strategy of the preset relative distance and the preset included angle between the first workpiece to be assembled and the second workpiece to be assembled corresponding to the welding points according to the average distance deviation and the average angle deviation.

[0032] In the embodiment of the present application, the adjustment strategy of the preset relative distance and the preset included angle between the first workpiece to be assembled and the second workpiece to be assembled corresponding to the welding points is determined according to the average distance deviation and the average angle deviation, which comprises: in the case that the average distance deviation is less than or equal to a second preset distance deviation and the average angle deviation is less than or equal to a second preset angle deviation, it is determined that the preset relative distance and the preset included angle remain unchanged.

[0033] In the embodiment of the present application, the adjustment strategy of the preset relative distance and preset included angle between the first to-be-assembled workpiece and the second to-be-assembled workpiece corresponding to the to-be-welded point is determined according to the average distance deviation and the average angle deviation, and the adjustment strategy comprises: in the case that the average distance deviation is greater than the second preset distance deviation and / or the average angle deviation is greater than the second preset angle deviation, the average distance deviation is added to the preset relative distance and / or the average angle deviation is added to the preset included angle.

[0034] In the embodiment of the present application, the number of to-be-welded points is multiple, and the spot welding operation sequence of the multiple to-be-welded points is pre-set and stored.

[0035] The above technical solution detects the position of the tool reference point through the movable laser sensor, and the processor determines the position of the to-be-welded point according to the position of the tool reference point based on the pre-stored relative distance between the tool reference point and the shaft sleeve center and the relative distance between the shaft sleeve center and the to-be-welded point. After the laser sensor obtains the position of the to-be-welded point, the processor can control the laser sensor to move to the position of the to-be-welded point and obtain the assembly state of the first to-be-assembled workpiece and the second to-be-assembled workpiece, i.e., the first relative distance and the first included angle between the first to-be-assembled workpiece and the second to-be-assembled workpiece, so as to be compared with the preset relative distance and the preset included angle, respectively, to adjust the relative distance and the included angle between the first to-be-assembled workpiece and the second to-be-assembled workpiece, so as to realize the fine assembly of the to-be-welded point, and then perform spot welding operation on the to-be-welded point. The above technical solution does not need manual measurement and scribing, does not need to rely on manual experience, reduces the influence of human factors, liberates manpower, can also guarantee the assembly precision of the workpiece, improves the assembly efficiency of the workpiece, and guarantees the consistency of the workpiece quality.

[0036] Other features and advantages of the embodiments of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0037] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used together with the following specific embodiments to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the drawings:

[0038] Figure 1 The structure schematic diagram of the device for workpiece assembly in the embodiment of the present application is schematically shown;

[0039] Figure 2 The structure schematic diagram of the workpiece in the embodiment of the present application is schematically shown;

[0040] Figure 3 The schematic diagram of the workpiece placed on the tooling table in the embodiment of the present application is schematically shown;

[0041] Figure 4Fig. 1 is a schematic view of a workpiece assembly state in an embodiment of the present application;

[0042] Figure 5 Fig. 2 is a flowchart of a method for workpiece assembly in an embodiment of the present application.

[0043] Legend of reference signs

[0044] 102 laser sensor 104 processor

[0045] 201 right web plate 202 left web plate

[0046] 203 lower cover plate 301 web plate

[0047] 304 shaft sleeve / axle hole 401 web plate

[0048] 403 cover plate 405 laser sensor and interactive display transfer device DETAILED DESCRIPTION

[0049] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the embodiments of the present application, and are not intended to limit the embodiments of the present application.

[0050] 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 positional relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directional indications also change accordingly.

[0051] In addition, if the embodiments of the present application involve descriptions of "first", "second", etc., the descriptions of "first", "second", etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of a person skilled in the art, and when the combination of technical solutions contradicts each other or cannot be realized, 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.

[0052] Figure 1 Fig. 1 is a schematic view of a workpiece assembly state in an embodiment of the present application; Figure 1As shown, in the embodiment of the present application, a device for workpiece assembly is provided, the workpiece includes a first workpiece to be assembled and a second workpiece to be assembled, the first workpiece to be assembled and the second workpiece to be assembled are initially assembled and placed on a tooling table, the first workpiece to be assembled is provided with a shaft sleeve, the tooling table is provided with at least two positioning plates in the vertical direction, the positioning plates are provided with shaft holes, the shaft sleeve penetrates into the shaft hole to realize the fixation of the first workpiece to be assembled and the tooling table, and the device for workpiece assembly can include:

[0053] The laser sensor 102 is carried on the moving mechanism.

[0054] It can be understood that the laser sensor 102 carried on the moving mechanism can realize the movement of the position of the laser sensor 102, and the laser sensor 102 can be used to detect the assembly state or the group state of the first workpiece to be assembled and the second workpiece to be assembled, and specifically can include the relative distance and / or the included angle of the first workpiece to be assembled and the second workpiece to be assembled.

[0055] The processor 104 is configured to: acquire the position of the tooling reference point detected by the laser sensor 102 when moving along the tooling table from the initial position, wherein the tooling reference point is the junction point at which the positioning plate starts to contact the tooling table; determine the position of the welding point according to the position of the tooling reference point based on the relative distance between the tooling reference point and the center of the shaft sleeve and the relative distance between the center of the shaft sleeve and the welding point; control the laser sensor to move to the position of the welding point; acquire the first relative distance and the first included angle between the first workpiece to be assembled and the second workpiece to be assembled detected by the laser sensor 102; compare the first relative distance with the preset relative distance and the first included angle with the preset included angle to obtain the distance difference value and the angle difference value; adjust the relative distance and the included angle between the first workpiece to be assembled and the second workpiece to be assembled according to the distance difference value and the angle difference value to complete the fine assembly of the first workpiece to be assembled and the second workpiece to be assembled at the welding point, so as to perform the spot welding work on the welding point.

[0056] It can be understood that the first to-be-assembled workpiece and the second to-be-assembled workpiece are different structural parts of a workpiece that needs to be assembled, that is, the first to-be-assembled workpiece and the second to-be-assembled workpiece can be assembled into a corresponding workpiece. The first to-be-assembled workpiece and the second to-be-assembled workpiece are initially assembled and placed on a tooling table, that is, the first to-be-assembled workpiece and the second to-be-assembled workpiece are initially lapped and placed on the tooling table. The tooling table is a position for assembling the workpiece. The shaft sleeve on the first to-be-assembled workpiece is inserted into the shaft hole on the positioning plate on the tooling table, thereby achieving fixation of the first to-be-assembled workpiece and the tooling table. Further, after the first to-be-assembled workpiece is fixed on the tooling table, the second to-be-assembled workpiece can also be supported on the tooling table by other support components to achieve initial lapping of the second to-be-assembled workpiece and the first to-be-assembled workpiece. The tooling reference point is the intersection point of the positioning plate and the tooling table. Since the shaft sleeve and the shaft hole are fixedly connected by clamping, the center of the shaft sleeve coincides with the center of the shaft hole. The relative distance between the tooling reference point and the center of the shaft sleeve, that is, the relative distance between the tooling reference point and the center of the shaft hole, can be pre-set and stored, and can be specifically set according to actual needs. The welding point is a point that needs to be subjected to a spot welding action, and the specific number can be multiple or single. The relative distance between the center of the shaft sleeve and the welding point can be pre-set and stored, and can be specifically set by a user according to actual needs. The first relative distance is the relative distance of the first to-be-assembled workpiece and the second to-be-assembled workpiece detected by the laser sensor when the first to-be-assembled workpiece and the second to-be-assembled workpiece are initially assembled and placed on the tooling table, for example, the distance between the edge of the first to-be-assembled workpiece and the edge of the second to-be-assembled workpiece. The first included angle is the included angle of the first to-be-assembled workpiece and the second to-be-assembled workpiece detected by the laser sensor when the first to-be-assembled workpiece and the second to-be-assembled workpiece are initially assembled and placed on the tooling table, for example, 80 degrees. The fine assembly is the accurate assembly or accurate pairing of the first to-be-assembled workpiece and the second to-be-assembled workpiece at the welding point. After the first to-be-assembled workpiece and the second to-be-assembled workpiece complete the fine assembly of the welding point, the welding point can be subjected to a spot welding operation. The preset relative distance is the pre-set relative distance between the first to-be-assembled workpiece and the second to-be-assembled workpiece, for example, 0.2 centimeters. The preset included angle is the pre-set included angle between the first to-be-assembled workpiece and the second to-be-assembled workpiece, for example, 90 degrees.

[0057] Specifically, when the first and second workpieces to be assembled are initially placed on the jig table, the laser sensor 102 can move along the jig table from the initial position, and when the laser sensor 102 detects the intersection of the positioning plate and the jig table, the processor 104 can obtain the position information of the intersection, i.e., the position information of the jig reference point, and based on the pre-stored relative distances between the jig reference point and the shaft sleeve center and between the shaft sleeve center and the welding point, determine the position information of the welding point according to the position information of the jig reference point, and then control the laser sensor to move to the position of the welding point, and obtain the first relative distance and the first included angle between the first and second workpieces to be assembled detected by the laser sensor 102, so as to compare the first relative distance with the preset relative distance and the first included angle with the preset included angle to obtain a distance difference value and an angle difference value, respectively, and then adjust the relative distance and the included angle between the first and second workpieces to be assembled according to the distance difference value and the angle difference value, so as to complete the fine assembly of the first and second workpieces to be assembled at the welding point, and then perform spot welding on the welding point.

[0058] The device for workpiece assembly described above detects the position of the jig reference point by the movable laser sensor 102, and the processor 104 determines the position of the welding point according to the position of the jig reference point based on the pre-stored relative distances between the jig reference point and the shaft sleeve center and between the shaft sleeve center and the welding point, and after the laser sensor 102 obtains the position of the welding point, the processor can control the laser sensor 102 to move to the position of the welding point and obtain the assembly state of the first and second workpieces to be assembled, i.e., the first relative distance and the first included angle between the first and second workpieces to be assembled, so as to compare them with the preset relative distance and the preset included angle, respectively, to adjust the relative distance and the included angle between the first and second workpieces to be assembled, so as to achieve the fine assembly of the welding point, and then perform spot welding on the welding point. The device described above does not need manual measurement and scribing, does not need to rely on manual experience, reduces the influence of human factors, liberates manpower, and can also ensure the assembly accuracy of the workpiece, improve the assembly efficiency of the workpiece, and ensure the consistency of the workpiece quality.

[0059] In one embodiment, the processor 104 is configured to determine the position of the welding point according to the position of the jig reference point based on the pre-stored relative distances between the jig reference point and the shaft sleeve center and between the shaft sleeve center and the welding point, including that the processor 104 is configured to: determine the position of the shaft sleeve center according to the position of the jig reference point based on the pre-stored relative distance between the jig reference point and the shaft sleeve center; and determine the position of the welding point according to the position of the shaft sleeve center based on the pre-stored relative distance between the shaft sleeve center and the welding point.

[0060] Specifically, the processor 104 can determine the position of the sleeve center according to the position of the tool reference point and the relative distance between the tool reference point and the sleeve center based on the pre-stored relative distance between the tool reference point and the sleeve center, and then determine the position of the welding point according to the position of the sleeve center and the relative distance between the sleeve center and the welding point based on the pre-stored relative distance between the sleeve center and the welding point.

[0061] In one embodiment, the device for assembling workpieces further comprises a display screen for displaying the distance difference and the angle difference and / or the relative distance and / or the included angle.

[0062] It can be understood that the display screen can be used to display the distance difference and / or the angle difference and / or the relative distance and / or the included angle of the first workpiece to be assembled and the second workpiece to be assembled. Further, the display screen can also display the adjustment instructions of the position and / or the included angle issued by the processor in real time so that the workers can accurately adjust and assemble the first workpiece to be assembled and the second workpiece to be assembled according to the corresponding adjustment instructions.

[0063] In one embodiment, the first workpiece to be assembled comprises a web plate, the second workpiece to be assembled comprises a cover plate, the relative distance comprises the distance from the edge of the cover plate to the web plate, and the preset included angle comprises 90 degrees.

[0064] It can be understood that the first workpiece to be assembled can comprise a web plate, and the number of the web plates can be multiple. The second workpiece to be assembled can comprise a cover plate, and the number of the cover plates can also be multiple. Further, the left and right web plates and the upper and lower cover plates can constitute a box of an arm support. The relative distance between the first workpiece to be assembled and the second workpiece to be assembled comprises the distance from the edge of the cover plate to the web plate, and the preset included angle between the first workpiece to be assembled and the second workpiece to be assembled comprises 90 degrees, i.e., the web plate and the cover plate are perpendicular to each other.

[0065] In an embodiment, the processor 104 is further configured to: after completing the fine assembly of the first workpiece to be assembled and the second workpiece to be assembled at the welding point, acquire a second relative distance and a second included angle between the first workpiece to be assembled and the second workpiece to be assembled at the welding point detected by the laser sensor, wherein a deviation of the second relative distance from the preset relative distance is less than or equal to the first preset distance deviation, and a deviation of the second included angle from the preset included angle is less than or equal to the first preset angle deviation; after completing the spot welding work of the welding point, acquire a third relative distance and a third included angle between the first workpiece to be assembled and the second workpiece to be assembled at the welding point detected by the laser sensor; determine a distance deviation between the second relative distance and the third relative distance, and an angle deviation between the second included angle and the third included angle; average the distance deviations and the angle deviations corresponding to a continuous preset number of welding points respectively to obtain an average distance deviation and an average angle deviation; and determine an adjustment strategy of the preset relative distance and the preset included angle between the first workpiece to be assembled and the second workpiece to be assembled corresponding to the welding point according to the average distance deviation and the average angle deviation.

[0066] It can be understood that the second relative distance is the relative distance between the first workpiece to be assembled and the second workpiece to be assembled after the fine assembly, and the second included angle is the included angle between the first workpiece to be assembled and the second workpiece to be assembled after the fine assembly. The third relative distance is the relative distance between the first workpiece to be assembled and the second workpiece to be assembled after the spot welding work of the welding point is completed, and the third included angle is the included angle between the first workpiece to be assembled and the second workpiece to be assembled after the spot welding work of the welding point is completed. After completing the fine assembly, the second relative distance and the second included angle between the first workpiece to be assembled and the second workpiece to be assembled are not necessarily completely equal to the preset relative distance and the preset included angle, that is, a certain distance error and angle error are allowed during the fine assembly, that is, the first preset distance deviation and the first preset angle deviation. The average distance deviation is the average value of the preset number of distance deviations, and the average angle deviation is the average value of the preset number of angle deviations. The preset number is a preset assembly number, for example, 4 times or 6 times.

[0067] In an embodiment, the processor 104 is further configured to determine an adjustment strategy of the preset relative distance and the preset included angle between the first workpiece to be assembled and the second workpiece to be assembled corresponding to the welding point according to the average distance deviation and the average angle deviation, including: the processor 104 is configured to: in a case where the average distance deviation is less than or equal to a second preset distance deviation and the average angle deviation is less than or equal to a second preset angle deviation, determine that the preset relative distance and the preset included angle remain unchanged.

[0068] It can be understood that the preset relative distances and preset angles corresponding to different welding points can be the same or different, and are specifically set according to actual conditions. The second preset distance deviation is a preset deviation value of the relative distance between the first and second assembly workpieces, and the second preset angle deviation is a preset deviation value of the angle between the first and second assembly workpieces. Further, the first preset distance deviation and the second preset distance deviation can be the same or different. Correspondingly, the first preset angle deviation and the second preset angle deviation can be the same or different.

[0069] Specifically, if the average distance deviation of a certain welding point is less than or equal to the second preset distance deviation and the average angle deviation is less than or equal to the second preset angle deviation, it is determined that the preset relative distance and the preset angle corresponding to the welding point remain unchanged.

[0070] In one embodiment, the processor 104 is further configured to determine an adjustment strategy of the preset relative distance and the preset angle between the first and second assembly workpieces corresponding to a welding point according to the average distance deviation and the average angle deviation, including that the processor 104 is configured to: in the case that the average distance deviation is greater than the second preset distance deviation and / or the average angle deviation is greater than the second preset angle deviation, add the average distance deviation to the preset relative distance and / or add the average angle deviation to the preset angle.

[0071] Specifically, if the average distance deviation of a certain welding point is greater than the second preset distance deviation and / or the average angle deviation is greater than the second preset angle deviation, the average distance deviation is added to the preset relative distance corresponding to the welding point and / or the average angle deviation is added to the preset angle.

[0072] In the embodiment of the present application, it is considered that the relative distance and / or angle between the first and second assembly workpieces will change after the spot welding operation on the welding points, i.e. the shrinkage displacement and / or angle change occurs, so it is necessary to re-determine the preset relative distance and preset angle corresponding to the corresponding welding points, and call them in subsequent assembly of the same type of workpiece group or assembly, set the new value optimized by the automatic optimization algorithm, ensure the accuracy of the assembly guide to be continuously optimized and improved, improve the product quality, and achieve the effect of assembly process optimization.

[0073] In one embodiment, the number of welding points is multiple, and the spot welding operation sequence of the multiple welding points is pre-set and stored.

[0074] It can be understood that when the number of points to be welded is multiple, the spot welding operation sequence of the multiple points to be welded can be set and stored in advance, that is, the spot welding operation sequence can be determined by the operator, for example, the spot welding operation is first performed on the points to be welded 1, 3, 5, 7 and 9, and then the spot welding operation is performed on the points to be welded 2, 4, 6, 8 and 10.

[0075] In one embodiment, the display screen is integrated on the moving mechanism.

[0076] It can be understood that the display screen and the laser sensor can be jointly integrated or mounted on the moving mechanism, so that the user can view in real time.

[0077] In one embodiment, the number of moving mechanisms is multiple.

[0078] It can be understood that the number of moving mechanisms can be multiple, for example, during the assembly of the workpiece, one moving mechanism can be arranged on each of the left and right sides of the tooling table, so that the assembly or pairing on both sides can be realized at the same time, thereby saving the assembly time and improving the assembly efficiency.

[0079] In one embodiment, the moving mechanism comprises a mechanical arm.

[0080] It can be understood that the moving mechanism, that is, the moving device, can be a mechanical arm or other moving device capable of moving in multiple directions.

[0081] Figure 2 The structure of the workpiece in one embodiment of the present application is schematically shown. Figure 3 The workpiece placed on the tooling table in one embodiment of the present application is schematically shown. Figure 4 The assembly state of the workpiece in one embodiment of the present application is schematically shown. Figures 2 to 4As shown, taking the pump truck arm support box as an example, in the prior art, the pump truck arm support box is manufactured in the following manner: 1) the arm support group needs to form a three-slab box with the two side webs (left web and right web) and the lower cover plate; 2) the position of the web group is marked on the lower cover plate by manual ruler measurement and line marking; 3) when the group is assembled, the web is first hoisted onto the cover plate, the relative position in the length direction is determined through the web shaft hole tool, then starting from one end in the length direction, the left and right webs are gradually aligned with the cover plate by manual reference to the line marking position, and at the same time, the perpendicularity of each spot welding alignment position is measured by a square ruler to ensure that the web is perpendicular to the cover plate during the assembly process, and the assembly of the box is sequentially completed. The above prior art has the following problems: 1) the relative position is determined by manual measurement and line marking, which increases the line marking process, is low in efficiency, is high in labor intensity, has low position accuracy of ±2mm or more by using a ruler to measure the position, and is dependent on the skills of personnel, resulting in unstable product quality; 2) the perpendicularity deviation of the web and the cover plate cannot be obtained in real time during the positioning and assembly process, manual measurement is required before spot welding, and the assembly angle cannot be guaranteed to be accurate during the process; 3) the deformation after the positioning and assembly cannot be accurately obtained, the positioning process cannot be systematically optimized to improve the positioning accuracy, and the product quality is seriously dependent on the experience of workers. Therefore, how to measure and assist the manual positioning and assembly in real time and measure and record the state after the positioning and assembly has become a difficult problem to be solved in order to improve the positioning and assembly efficiency and accuracy.

[0082] In view of the defects of the prior art, an embodiment of the present application provides a method for workpiece assembly, which is taken as an example by applying to the assembly of an arm support box, and the following technical solution can be adopted to realize the method: the distance between the web and the edge of the cover plate and the angle between the web and the cover plate of the box group are measured in real time by using a laser sensor, the measurement results are compared and analyzed with the corresponding position relationship specified in the process guide file, real-time quantitative adjustment instructions are formed, and the instructions are displayed in real time to the personnel performing the assembly, the personnel performing the assembly accurately adjust the assembly operation according to the corresponding guidance prompts, and the method adopts an automatic optimization algorithm to analyze and optimize the state data before and after multiple assemblies, and forms optimized guidance prompts to be fed back to the assembly process guide personnel and assembly personnel to guide the assembly. The algorithm and the operation process can be as follows:

[0083] 1) initial program setting: the welding point positions of each type of arm support are pre-planned based on the drawing information, including the relative position coordinates (d) of the welding point to the shaft sleeve center and the distance (j) from the edge of the cover plate to the web, and the positions are stored in the PLC program in the assembly order, and the corresponding number can be input on the interactive interface to select and call. Assuming that n points need to be spot welded, the welding point to the shaft sleeve center is determined in sequence as the x-direction distance d, the y-direction height h, the current position of the cover plate edge to the outside of the web j, and the angle α between the web and the lower cover plate (α initial value is 90°), that is, [d i ,h i,j i ,α i The number of i is n.

[0084] 2. Assembly Operation: Before performing the boom box assembly operation, according to the production plan, the operator selects the model information of the workpiece to be assembled, retrieves the assembly guidance program, and executes the auxiliary assembly operation.

[0085] 1) The PLC program drives the laser sensor to scan along the starting point position, locate the reference point on the bushing positioning fixture (production equipment), and obtain the position of the workpiece bushing fixture. Since the distance between the bushing fixture reference point and the bushing positioning device on the bushing positioning fixture is a fixed value, the bushing center position information of the assembled workpiece can be directly obtained, that is, the spatial reference position information of the entire workpiece to be assembled and the determination of each spot welding position are completed. Example: (1) The position of the current fixture reference point is identified as z0(x0,y0). The relative position distance between the fixture reference point and the center of the shaft hole on the horizontal axis and the vertical axis is a fixed value (a,b). According to the process requirements, the center of the shaft hole coincides with the center of the bushing. Therefore, the spatial position of the bushing center of the current workpiece to be assembled is (a+x0,b+y0). (2) The PLC program corrects the position information of each spot welding point of the workpiece to be assembled to [d] through the bushing center position. i ',h i ',j i ,α i ], where d i '=d i +a+x0,h i '=b+y0-h i j i =j i α i =α i (The value of i ranges from 1 to n).

[0086] 2) The laser sensor sequentially corrects the position information according to the program to guide and measure spot welding. The system automatically identifies the theoretical position information of the spot welding position and compares the current measurement information with the theoretical position information, providing guidance and prompts to complete the alignment of the current position. Example: Starting from the first spot welding position, measure the angle α between the web plate and the lower cover plate at the current position. i 'and the distance j between the edge of the web and the lower cover plate i The value is displayed in real time on the human-computer interaction screen. The PLC, combined with a preset edge distance j... i Distance j i 'Calculations were performed to obtain the difference guidance group's adjustment direction and adjustment amount Δj for the web plate.' i Similarly, the angle deviation Δα is obtained. i, the operator adjusts the position and angle according to the indication, and observes the interactive screen in real time. When the position and angle are adjusted to the right position, the operator performs the spot welding work. The laser sensor measures the actual assembly position j i ” and angle α i ” after spot welding, and the operator confirms the current position on the interactive screen to complete the assembly of the current position. Wherein: Δα i = α i ’- α i (α i = 90°), Δj i = j i ’- j i , when Δj i > 0, the web needs to move outward by Δj i , when Δj i < 0, the web needs to move inward by Δj i , and when Δj i = 0, it is the preset distance for spot welding.

[0087] 3. Optimization algorithm: calculate the deviation value of the position and angle before and after spot welding, position deviation Δj i ’ and angle deviation Δα i ’, which is recorded as the reference shrinkage value after welding and is called in subsequent assembly of the same type of workpiece to set the optimized value to achieve the effect of assembly process optimization. Wherein, Δj i ’ = j i ”- j i ’, Δα i ’ = α i ”- α i ’. The automatic optimization of the system for the same type of workpiece assembly state takes the average deviation of the last four assemblies as the optimization benchmark. After each optimization adjustment, the average deviation value is recalculated to ensure the stability of the economic batch quality. Assuming that the average deviation Δj i ’ of Δj ip ’ measured four times is Δj i ’, and the average deviation Δα ip ’ of Δα ip ’ is Δα ip ’, when Δj ip ’ ≤ 0.5mm and Δα ip ’ ≤ 1°, the preset program does not adjust; when Δj ip ’ > 0.5mm and Δα ip ’ > 1°, the preset program is set to automatically add a correction value. The preset values of the assembly position and angle after correction can be as follows [d i ,h i ,j ix ,α ix ] (i takes a value in the range of 1-n), wherein j ix= j i + Δj ip ', α ix = α i + Δα ip '.

[0088] The advantages of the embodiment of the application are as follows:

[0089] 1. The web set of the above guided assembly system does not need manual marking.

[0090] 2. The guided assembly can realize real-time measurement of the set position and display the measurement results on the interactive screen, intuitively guiding the workers to adjust, and the measurement process is fully automatic without manual intervention, eliminating the influence of human factors in different personnel set measurement and improving the assembly efficiency.

[0091] 3. The guided assembly is realized by presetting the reasonable process set sequence program determined by the process personnel, the workers do not need to look at the drawing, and the problem of randomly changing the process sequence by the workers on site is eliminated, ensuring the consistency of product quality.

[0092] 4. The guided set method has an automatic optimization algorithm built-in program, which ensures that the accuracy of the set guide can be continuously optimized and improved, improving product quality.

[0093] 5. The full-automatic laser measurement method has low requirements for the repeated positioning accuracy of manual assembly, and can adapt to the flexible requirements of human-computer interaction operation.

[0094] In summary, the embodiment of the application adopts a laser sensor, an interactive display and a programming control system to realize fast, simple and intuitive set guide, real-time measurement of the interactive screen, real-time display of the correction value and other functions, which can greatly improve the set efficiency; The program preset based on the drawing and process information can collect the set state before assembly, during assembly and after assembly, and guide the application of the state, including assembly adjustment, post-welding deformation, optimization and reverse deformation, etc. to ensure the quality stability and improvement of the assembly; The optimization algorithm with a preset number of times, for example, 4 times of set before and after data as measurement reference, ensures the stability of the set quality of single batch products and the improvement of the set quality of long-period products.

[0095] Figure 5 The flowchart of the method for workpiece assembly in the embodiment of the application is schematically shown. Figure 5As shown, in the embodiment of the present application, a method for workpiece assembly is provided, the workpiece comprising a first workpiece to be assembled and a second workpiece to be assembled, the first workpiece to be assembled and the second workpiece to be assembled are initially assembled and placed on a tooling table, the first workpiece to be assembled is provided with a shaft sleeve, the tooling table is provided with at least two positioning plates in the vertical direction, the positioning plates are provided with shaft holes, the shaft sleeve penetrates into the shaft hole to realize the fixation of the first workpiece to be assembled and the tooling table, and the method is taken as an example for processing the processor, which can include:

[0096] In step S502, the position of the tooling reference point detected by the laser sensor when moving from the initial position along the tooling table is obtained, wherein the tooling reference point is the intersection of the positioning plate and the tooling table.

[0097] In step S504, based on the relative distance between the pre-stored tooling reference point and the shaft sleeve center, the relative distance between the shaft sleeve center and the welding point, the position of the welding point is determined according to the position of the tooling reference point.

[0098] In step S506, the laser sensor is controlled to move to the position of the welding point.

[0099] In step S508, the first relative distance and the first included angle between the first workpiece to be assembled and the second workpiece to be assembled detected by the laser sensor are obtained.

[0100] In step S510, the first relative distance and the first included angle are compared with the preset relative distance and the preset included angle to obtain the distance difference and the angle difference.

[0101] In step S512, the relative distance and the included angle between the first workpiece to be assembled and the second workpiece to be assembled are adjusted according to the distance difference and the angle difference to complete the fine assembly of the first workpiece to be assembled and the second workpiece to be assembled at the welding point, so as to perform the spot welding operation on the welding point.

[0102] The technical scheme above detects the position of the tool reference point through the movable laser sensor, determines the position of the welding point based on the pre-stored relative distance between the tool reference point and the shaft sleeve center and the relative distance between the shaft sleeve center and the welding point, controls the laser sensor to move to the position of the welding point and obtain the assembly state of the first and second workpieces to be assembled, i.e., the first relative distance and the first included angle between the first and second workpieces to be assembled, after the position of the welding point is obtained, and compares the first relative distance and the first included angle with the preset relative distance and the preset included angle respectively, so as to adjust the relative distance and the included angle between the first and second workpieces to be assembled, realize the fine assembly of the welding point, and facilitate the spot welding operation of the welding point subsequently. The technical scheme above does not need manual measurement and scribing, does not need to rely on manual experience, reduces the influence of human factors, liberates manpower, guarantees the assembly precision of the workpieces, improves the assembly efficiency of the workpieces, and guarantees the consistency of the workpiece quality.

[0103] In one embodiment, the determination of the position of the welding point based on the pre-stored relative distance between the tool reference point and the shaft sleeve center and the relative distance between the shaft sleeve center and the welding point comprises: determining the position of the shaft sleeve center based on the pre-stored relative distance between the tool reference point and the shaft sleeve center according to the position of the tool reference point; and determining the position of the welding point based on the pre-stored relative distance between the shaft sleeve center and the welding point according to the position of the shaft sleeve center.

[0104] In one embodiment, the first workpiece to be assembled comprises a web, the second workpiece to be assembled comprises a cover plate, the relative distance comprises the distance from the edge of the cover plate to the web, and the preset included angle comprises 90 degrees.

[0105] In one embodiment, the method for workpiece assembly further comprises: after the fine assembly of the first and second workpieces to be assembled at the welding point is completed, obtaining the second relative distance and the second included angle between the first and second workpieces to be assembled at the welding point detected by the laser sensor, wherein the deviation of the second relative distance from the preset relative distance is less than or equal to the first preset distance deviation, and the deviation of the second included angle from the preset included angle is less than or equal to the first preset angle deviation; after the spot welding operation of the welding point is completed, obtaining the third relative distance and the third included angle between the first and second workpieces to be assembled at the welding point detected by the laser sensor; determining the distance deviation between the second and third relative distances and the angle deviation between the second and third included angles; averaging the distance deviations and the angle deviations corresponding to a continuous preset number of welding points to obtain an average distance deviation and an average angle deviation; and determining the adjustment strategy of the preset relative distance and the preset included angle between the first and second workpieces to be assembled corresponding to the welding point according to the average distance deviation and the average angle deviation.

[0106] In an embodiment, the adjustment strategy of the preset relative distance and the preset included angle between the first workpiece to be assembled and the second workpiece to be assembled corresponding to the welding point is determined according to the average distance deviation and the average angle deviation, and the adjustment strategy includes: in a case where the average distance deviation is less than or equal to the second preset distance deviation and the average angle deviation is less than or equal to the second preset angle deviation, it is determined that the preset relative distance and the preset included angle remain unchanged.

[0107] In an embodiment, the adjustment strategy of the preset relative distance and the preset included angle between the first workpiece to be assembled and the second workpiece to be assembled corresponding to the welding point is determined according to the average distance deviation and the average angle deviation, and the adjustment strategy includes: in a case where the average distance deviation is greater than the second preset distance deviation and / or the average angle deviation is greater than the second preset angle deviation, the average distance deviation is added to the preset relative distance and / or the average angle deviation is added to the preset included angle.

[0108] In an embodiment, the number of welding points is a plurality, and the welding operation sequence of the plurality of welding points is pre-set and stored.

[0109] Those skilled in the art will understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0110] The present application is described with reference to flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in a flow or multiple flows and / or blocks Figure 1 The functions specified in a flow or multiple flows and / or blocks

[0111] These computer program instructions can also be stored in a computer-readable memory that can direct the computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including instruction devices that implement the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in a flow or multiple flows and / or blocks Figure 1the function(s) specified in the block or blocks.

[0112] These computer program instructions can also be loaded into computer or other programmable data processing devices to cause a series of operational steps to be performed on the computer or other programmable devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable devices provide steps for implementing the flowchart block(s) or flowchart flow(s) and / or portions thereof. Figure 1 the flowchart block(s) or flowchart flow(s) and / or portions thereof. Figure 1 the function(s) specified in the block or blocks.

[0113] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0114] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) about which the computer stores information such as computer program instructions. Memory is an example of computer readable media.

[0115] Computer readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital versatile discs (DVD) or other optical storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to computing devices. According to the definition herein, computer readable media does not include transitory media, such as modulated data signals and carrier waves.

[0116] It should also be noted that the terms "comprising", "including", or any other variation 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 recited, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without further limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article or apparatus that includes the element.

[0117] The above merely provides an example of the present application, and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall fall into the scope of claims of the present application.

Claims

1. An apparatus for workpiece assembly, characterized by, The workpiece includes a first workpiece to be assembled and a second workpiece to be assembled, the first workpiece to be assembled and the second workpiece to be assembled are initially assembled and placed on a tooling table, one end of the first workpiece to be assembled is in contact with the second workpiece to be assembled to stand on the second workpiece to be assembled, a shaft sleeve is arranged on the first workpiece to be assembled, at least two positioning plates are arranged on the tooling table in the vertical direction, shaft holes are arranged on the positioning plates, the shaft sleeve penetrates into the shaft hole to realize the fixation of the first workpiece to be assembled and the tooling table, and the device includes: a laser sensor carried on a moving mechanism; and a processor configured to: obtain the position of a tooling reference point detected by the laser sensor when moving along the tooling table from an initial position, wherein the tooling reference point is the intersection point of the positioning plate and the tooling table; determine the position of the welding point according to the position of the tooling reference point based on the pre-stored relative distance between the tooling reference point and the center of the shaft sleeve and the relative distance between the center of the shaft sleeve and the welding point; control the laser sensor to move to the position of the welding point; obtain the first relative distance and the first included angle between the first workpiece to be assembled and the second workpiece to be assembled detected by the laser sensor, wherein the first relative distance is the distance from the end of the second workpiece to be assembled closer to the first workpiece to be assembled to the contact point of the first workpiece to be assembled and the second workpiece to be assembled; compare the first relative distance with a preset relative distance and the first included angle with a preset included angle to obtain a distance difference value and an angle difference value; adjust the relative distance and the included angle between the first workpiece to be assembled and the second workpiece to be assembled according to the distance difference value and the angle difference value to complete the fine assembly of the first workpiece to be assembled and the second workpiece to be assembled at the welding point, so as to perform spot welding work on the welding point.

2. The apparatus of claim 1, wherein, The processor is configured to: determine the position of the center of the shaft sleeve according to the position of the tooling reference point based on the pre-stored relative distance between the tooling reference point and the center of the shaft sleeve; determine the position of the welding point according to the position of the center of the shaft sleeve based on the pre-stored relative distance between the center of the shaft sleeve and the welding point.

3. The apparatus of claim 1, wherein, The device further includes: a display screen for displaying the distance difference value and / or the angle difference value and / or the relative distance between the first workpiece to be assembled and the second workpiece to be assembled and / or the included angle between the first workpiece to be assembled and the second workpiece to be assembled.

4. The apparatus of claim 1, wherein, The first workpiece to be assembled includes a web, the second workpiece to be assembled includes a cover plate, and the preset included angle includes 90 degrees.

5. The apparatus of claim 1, wherein, The processor is further configured to: After completing the fine assembly of the first workpiece to be assembled and the second workpiece to be assembled at the welding point, a second relative distance and a second included angle between the first workpiece to be assembled and the second workpiece to be assembled at the welding point detected by the laser sensor are obtained, wherein a deviation of the second relative distance from the preset relative distance is less than or equal to a first preset distance deviation, and a deviation of the second included angle from the preset included angle is less than or equal to a first preset angle deviation. After completing the spot welding work of the welding point, a third relative distance and a third included angle between the first workpiece to be assembled and the second workpiece to be assembled at the welding point detected by the laser sensor are obtained. A distance deviation between the second relative distance and the third relative distance and an angle deviation between the second included angle and the third included angle are determined. The distance deviations and the angle deviations corresponding to a continuous preset number of the welding points are respectively averaged to obtain an average distance deviation and an average angle deviation. An adjustment strategy of the preset relative distance and the preset included angle between the first workpiece to be assembled and the second workpiece to be assembled corresponding to the welding point is determined according to the average distance deviation and the average angle deviation.

6. The apparatus of claim 5, wherein, The processor is further configured to determine an adjustment strategy of the preset relative distance and the preset included angle between the first workpiece to be assembled and the second workpiece to be assembled corresponding to the welding point according to the average distance deviation and the average angle deviation, including that the processor is configured to: In the case that the average distance deviation is less than or equal to a second preset distance deviation and the average angle deviation is less than or equal to a second preset angle deviation, it is determined that the preset relative distance and the preset included angle remain unchanged.

7. The apparatus of claim 5, wherein, The processor is further configured to determine an adjustment strategy of the preset relative distance and the preset included angle between the first workpiece to be assembled and the second workpiece to be assembled corresponding to the welding point according to the average distance deviation and the average angle deviation, including that the processor is configured to: In the case that the average distance deviation is greater than the second preset distance deviation and / or the average angle deviation is greater than the second preset angle deviation, the average distance deviation is added to the preset relative distance and / or the average angle deviation is added to the preset included angle.

8. The apparatus of claim 1, wherein, The number of the welding points is multiple, and the sequence of the spot welding work of the multiple welding points is preset and stored.

9. The apparatus of claim 1, wherein, The number of the moving mechanisms is multiple.

10. The apparatus of claim 1, wherein, The moving mechanism includes a mechanical arm.

11. A method for assembly of a workpiece, characterized by, The workpiece includes a first workpiece to be assembled and a second workpiece to be assembled, the first workpiece to be assembled and the second workpiece to be assembled are initially assembled and placed on a tooling table, one end of the first workpiece to be assembled is in contact with the second workpiece to be assembled to stand on the second workpiece to be assembled, a shaft sleeve is arranged on the first workpiece to be assembled, at least two positioning plates are arranged on the tooling table in the vertical direction, a shaft hole is arranged on the positioning plate, and the shaft sleeve penetrates into the shaft hole to realize the fixation of the first workpiece to be assembled and the tooling table, and the method includes: acquiring a position of a tool reference point detected by a laser sensor when the laser sensor moves from an initial position along the tool table, wherein the tool reference point is an intersection point of the positioning plate and the tool table; determining a position of the welding point according to the position of the tool reference point based on a pre-stored relative distance between the tool reference point and the sleeve center and a pre-stored relative distance between the sleeve center and the welding point; controlling the laser sensor to move to the position of the welding point; acquiring a first relative distance and a first included angle between the first workpiece and the second workpiece detected by the laser sensor, wherein the first relative distance is a distance from an end of the second workpiece closer to the first workpiece to a contact point between the first workpiece and the second workpiece; comparing the first relative distance with a preset relative distance and the first included angle with a preset included angle to obtain a distance difference and an angle difference; adjusting the relative distance and the included angle between the first workpiece and the second workpiece according to the distance difference and the angle difference to complete the fine assembly of the first workpiece and the second workpiece at the welding point, so as to perform spot welding work on the welding point.

12. The method of claim 11, wherein, The method further comprises: determining the position of the sleeve center according to the position of the tool reference point based on the pre-stored relative distance between the tool reference point and the sleeve center; determining the position of the welding point according to the position of the sleeve center based on the pre-stored relative distance between the sleeve center and the welding point.

13. The method of claim 11, wherein, The first workpiece comprises a web plate, the second workpiece comprises a cover plate, and the preset included angle comprises 90 degrees.

14. The method of claim 11, wherein, The method further comprises: after completing the fine assembly of the first workpiece and the second workpiece at the welding point, acquiring a second relative distance and a second included angle between the first workpiece and the second workpiece detected by the laser sensor at the welding point, wherein a deviation of the second relative distance from the preset relative distance is less than or equal to a first preset distance deviation, and a deviation of the second included angle from the preset included angle is less than or equal to a first preset angle deviation; after completing the spot welding work on the welding point, acquiring a third relative distance and a third included angle between the first workpiece and the second workpiece detected by the laser sensor at the welding point; determining a distance deviation between the second relative distance and the third relative distance and an angle deviation between the second included angle and the third included angle; averaging the distance deviations and the angle deviations corresponding to a continuous preset number of welding points to obtain an average distance deviation and an average angle deviation; and performing spot welding work on the welding point. Determine an adjustment strategy of a preset relative distance and a preset included angle between the first workpiece to be assembled and the second workpiece to be assembled corresponding to the welding point according to the average distance deviation and the average angle deviation.

15. The method of claim 14, wherein, The adjustment strategy of the preset relative distance and the preset included angle between the first workpiece to be assembled and the second workpiece to be assembled corresponding to the welding point according to the average distance deviation and the average angle deviation comprises: In the case that the average distance deviation is less than or equal to a second preset distance deviation and the average angle deviation is less than or equal to a second preset angle deviation, it is determined that the preset relative distance and the preset included angle remain unchanged.

16. The method of claim 14, wherein, The adjustment strategy of the preset relative distance and the preset included angle between the first workpiece to be assembled and the second workpiece to be assembled corresponding to the welding point according to the average distance deviation and the average angle deviation comprises: In the case that the average distance deviation is greater than a second preset distance deviation and / or the average angle deviation is greater than a second preset angle deviation, the average distance deviation is added to the preset relative distance and / or the average angle deviation is added to the preset included angle.

17. The method of claim 11, wherein, The number of the welding points is multiple, and a spot welding operation sequence of the multiple welding points is pre-set and stored.

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