Workpiece assembly simulation method and related equipment

Abstract

The present application provides a workpiece assembly simulation method and related equipment, and relates to the field of computer simulation technology. The workpiece assembly simulation method includes: obtaining a first simulation result of assembling a first workpiece to a second workpiece, the first simulation result includes first assembly path data, the first assembly path data corresponds to the first assembly path and the first coordinate system; generating boundary condition data based on the first assembly path data, the boundary condition data is used to indicate the position change boundary and posture change boundary of assembling the first workpiece to the second workpiece according to the first assembly path; based on the boundary condition data and the first coordinate system, obtaining a second simulation result of assembling the first workpiece to the second workpiece according to the first assembly path, the second simulation result is used to indicate the assembly risk of assembling the first workpiece to the second workpiece according to the first assembly path. Using the above method, it is possible to evaluate the risk of manually assembling workpieces.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of computer simulation technology, and in particular to a workpiece assembly simulation method and related equipment. Background Art

[0002] With the development of intelligent manufacturing technology, most workpieces in electronic products can be assembled automatically. However, there are still some workpieces that rely on manual assembly. Manual assembly has the uncertainty of the workpiece assembly path, resulting in poor controllability of the workpiece assembly risk and inability to assess the risk of manually assembled workpieces. Summary of the invention

[0003] In view of the above, it is necessary to provide a workpiece assembly simulation method and related equipment, which can evaluate the risk of manually assembling workpieces, thereby improving the controllability of assembly risks.

[0004] In a first aspect, the present application provides a workpiece assembly simulation method, comprising: obtaining a first simulation result of assembling a first workpiece to a second workpiece, the first simulation result comprising first assembly path data, the first assembly path data corresponding to the first assembly path and a first coordinate system; generating boundary condition data based on the first assembly path data, the boundary condition data being used to indicate a position change boundary and a posture change boundary when assembling the first workpiece to the second workpiece along the first assembly path; based on the boundary condition data and the first coordinate system, obtaining a second simulation result of assembling the first workpiece to the second workpiece along the first assembly path, the second simulation result being used to indicate an assembly risk of assembling the first workpiece to the second workpiece along the first assembly path.

[0005] By adopting the above technical scheme, through simulating the assembly path of the workpiece, multiple assembly paths that may be used for manually assembling the workpiece can be obtained. Each assembly path data can be transformed to obtain the boundary conditions (boundary condition data and the first coordinate system) used for simulating the workpiece assembly risk. Then, based on the boundary strip simulation, the assembly risk of assembling the workpiece according to the assembly path can be obtained, thereby realizing the risk assessment of manually assembling the workpiece.

[0006] In one possible implementation, the first assembly path data includes path data in multiple different first coordinate systems, and the boundary condition data is generated based on the first assembly path data, including: performing equivalent processing on the first assembly path data to obtain second assembly path data, the second assembly path data includes path data in a second coordinate system; and generating boundary condition data based on the second assembly path data.

[0007] By adopting the above technical solution, the assembly path data in the first simulation result has data breakpoints and cannot be directly used to generate boundary condition data. By performing equivalent processing on the assembly path data, the assembly path data is made into path data in the same coordinate system. The assembly path data after equivalent processing has no data breakpoints, which facilitates subsequent transformation processing to obtain boundary condition data.

[0008] In one possible implementation, based on boundary condition data and a first coordinate system, a second simulation result of assembling a first workpiece to a second workpiece according to a first assembly path is obtained, including: based on boundary condition data and a second coordinate system, a third simulation result of assembling the first workpiece to the second workpiece according to the first assembly path is obtained, the third simulation result being used to indicate the assembly risk of assembling the first workpiece to the second workpiece according to the first assembly path.

[0009] By adopting the above technical solution, since the coordinate system of the assembly path data after equivalent processing changes, the generated boundary condition data is the position change boundary and the posture change boundary in the changed coordinate system. The workpiece assembly risk simulation is performed based on the boundary condition data and the second coordinate system (the changed coordinate system), which can realize the accurate assessment of the risk of manually assembling workpieces.

[0010] In a possible implementation, the first simulation result includes multiple assembly path data, and the workpiece assembly simulation method further includes: selecting the first assembly path data from the multiple assembly path data based on a preset path selection rule, and the preset path selection rule is formulated based on the assembly failure mode of the first workpiece.

[0011] By adopting the above technical scheme, the assembly path with higher workpiece assembly risk is selected through preset path selection rules for assembly risk simulation, and the assembly path with higher workpiece assembly risk can accurately reflect whether there is a risk in manually assembling the workpiece, and can save the simulation time of workpiece assembly risk simulation. The remaining unselected assembly paths can be considered as assembly paths with lower assembly risk, and there is no need to perform workpiece assembly risk simulation.

[0012] In one possible implementation, the first simulation result includes multiple assembly path data, and the workpiece assembly simulation method also includes: generating boundary condition data corresponding to each assembly path data in the multiple assembly path data; selecting target boundary condition data from the multiple boundary condition data based on a preset path selection rule, the target boundary condition data corresponding to the target assembly path data, the target assembly path data corresponding to the target assembly path, the preset path selection rule being formulated based on the assembly failure mode of the first workpiece; based on the coordinate system corresponding to the target boundary condition data and the target assembly path data, obtaining a second simulation result of assembling the first workpiece to the second workpiece according to the target assembly path.

[0013] By adopting the above technical solution, boundary condition data with higher workpiece assembly risk is selected through preset path selection rules for assembly risk simulation, which can save the simulation time of workpiece assembly risk simulation, and the boundary condition data that can correctly describe the motion boundary of the workpiece can be screened, so that the boundary condition data corresponding to the assembly path with higher workpiece assembly risk can be accurately screened, ensuring that the workpiece assembly risk simulation is simulated for the assembly path with higher workpiece assembly risk.

[0014] In a possible implementation, generating boundary condition data based on the first assembly path data includes: extracting position data and posture data from the first assembly path data, and generating boundary condition data based on the position data and posture data.

[0015] By adopting the above technical solution, the assembly path data includes other data in addition to the position data and the posture data. By extracting the position data and the posture data used to generate the boundary condition data, the data processing amount can be reduced and the data conversion efficiency can be improved.

[0016] In a possible implementation, generating boundary condition data based on position data and posture data includes: transforming the position data to obtain a position change boundary; transforming the posture data to obtain a posture change boundary.

[0017] By adopting the above technical scheme, the position data of the workpiece in the assembly path is transformed into the position change boundary of the workpiece in the assembly path, and the posture data of the workpiece in the assembly path is transformed into the posture change boundary of the workpiece in the assembly path, so as to accurately obtain the boundary condition data describing the workpiece in the assembly path, which is convenient for the assembly risk simulation of the workpiece.

[0018] In a possible implementation, the first assembly path includes multiple assembly points, the multiple assembly points include an assembly starting point, an assembly end point, and multiple intermediate points between the assembly starting point and the assembly end point, and the position data is transformed to obtain a position change boundary, including: based on the position data of the assembly starting point and the position data of the multiple intermediate points, calculating a first displacement distance from the assembly starting point to each of the multiple intermediate points; based on the position data of the assembly starting point and the position data of the assembly end point, calculating a second displacement distance from the assembly starting point to the assembly end point, the first displacement distance and the second displacement distance both include displacement distances in the X-axis, Y-axis and Z-axis directions; based on the calculated second displacement distance and the multiple first displacement distances, forming a position change boundary.

[0019] By adopting the above technical solution, the position change boundary of the workpiece under the assembly path is equivalent to the displacement distance of the workpiece from the assembly starting point to each intermediate point and the assembly end point, so as to accurately describe the position change boundary of the workpiece under the assembly path, which is convenient for the subsequent assembly risk simulation of the workpiece.

[0020] In a possible implementation, the posture data is transformed to obtain a posture change boundary, including: calculating a three-dimensional rotation vector of the posture change between two adjacent assembly points based on the posture data of multiple assembly points; and forming a posture change boundary based on the calculated multiple three-dimensional rotation vectors.

[0021] By adopting the above technical solution, by converting the posture data rotating around the three-dimensional rotation axis into a three-dimensional rotation vector around the specified rotation axis (the direction of the three-dimensional rotation vector is consistent with the specified rotation axis, and the length is equal to the rotation angle), the problem of different posture representations of the same posture data if rotated along different rotation axes can be avoided. In addition, the three-dimensional rotation vector can be used to accurately describe the posture change boundary of the workpiece under the assembly path, which is convenient for subsequent assembly risk simulation of the workpiece.

[0022] In one possible implementation, a posture change boundary is formed based on multiple calculated three-dimensional rotation vectors, including: based on the multiple three-dimensional rotation vectors, determining a first three-dimensional rotation vector that changes from the posture of the assembly starting point to the posture of each of the multiple intermediate points, and a second three-dimensional rotation vector that changes from the posture of the assembly starting point to the posture of the assembly end point; based on the determined second three-dimensional rotation vector and the multiple first three-dimensional rotation vectors, forming a posture change boundary.

[0023] By adopting the above technical scheme, the posture change boundary of the workpiece in the assembly path is equivalent to the three-dimensional rotation vector of the workpiece from the posture change of the assembly starting point to each intermediate point and the posture of the assembly end point, so as to accurately describe the posture change boundary of the workpiece in the assembly path, which is convenient for the subsequent assembly risk simulation of the workpiece.

[0024] In one possible implementation, the first simulation result is obtained by simulating a first preset simulation software for performing workpiece assembly path simulation, and the workpiece assembly simulation method also includes: importing a model of the first workpiece, a model of the second workpiece, and a model for indicating that the first workpiece and the second workpiece are in an assembled state into the first preset simulation software.

[0025] By adopting the above technical solution, by importing the model of the first workpiece, the model of the second workpiece and instructing the first preset simulation software to simulate the models of the first workpiece and the second workpiece in the assembled state, the first preset simulation software can simulate the workpiece assembly path.

[0026] In one possible implementation, the second simulation result is obtained by simulating with a second preset simulation software for performing workpiece assembly risk simulation, and the workpiece assembly simulation method also includes: importing a model of the first workpiece, a model of the second workpiece, and a model for indicating that the first workpiece and the second workpiece are in an assembled state into the second preset simulation software.

[0027] By adopting the above technical solution, by importing the model of the first workpiece, the model of the second workpiece and instructing the models of the first workpiece and the second workpiece in the assembled state to be simulated by the second preset simulation software, the second preset simulation software simulation can simulate the workpiece assembly risk, and the input of the second preset simulation software simulation also depends on the output of the first preset simulation software simulation, thereby combining the first preset simulation software and the second preset simulation software to evaluate the risk of manually assembling workpieces.

[0028] In a second aspect, the present application provides a computer device, which includes a memory and a processor; the memory and the processor are coupled; the memory is used to store program instructions; the processor is used to read the program instructions stored in the memory to implement the workpiece assembly simulation method in the above-mentioned first aspect and possible implementation methods.

[0029] In a third aspect, the present application provides a computer-readable storage medium, in which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor, the workpiece assembly simulation method in the above-mentioned first aspect and possible implementation methods is implemented.

[0030] In a fourth aspect, the present application provides a computer program product, which includes computer-readable instructions. When the computer-readable instructions are executed by a processor, the workpiece assembly simulation method in the above-mentioned first aspect and possible implementation methods is implemented.

[0031] In addition, the technical effects brought about by the second to fourth aspects can be found in the descriptions related to the methods of each design in the above method part, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of a possible application environment provided for an embodiment of the present application;

[0033] Figure 2 A simulation flow chart of workpiece assembly provided in one embodiment of the present application;

[0034] Figure 3 A schematic diagram of possible failure risks of a first workpiece during assembly provided by an embodiment of the present application;

[0035] Figure 4 A schematic diagram of a possible assembly path of a first workpiece provided in an embodiment of the present application;

[0036] Figure 5 A schematic diagram of a possible assembly trajectory of a first workpiece provided in an embodiment of the present application;

[0037] Figure 6 for Figure 5 A schematic diagram of a trajectory of assembly path data corresponding to the assembly trajectory shown;

[0038] Figure 7 For Figure 6 A schematic diagram of the trajectory of the assembly path data after equivalent processing is shown;

[0039] Figure 8 A schematic diagram of the principle of equivalent processing of assembly path data provided by an embodiment of the present application;

[0040] Fig. 9 A schematic diagram of an application environment of a simulation data interface provided in an embodiment of the present application;

[0041] Fig.10 A schematic diagram of the architecture of a simulation data interface provided in one embodiment of the present application;

[0042] Fig.11 A schematic diagram of a workpiece provided in an embodiment of the present application in which the same posture data corresponds to different postures;

[0043] Fig.12 A schematic diagram of position change of a workpiece in an assembly path provided by an embodiment of the present application;

[0044] Fig.13 A schematic diagram of posture changes of a workpiece in an assembly path provided by an embodiment of the present application;

[0045] Fig.14 A schematic diagram of constructing a link bridge with posture changes between any two positions provided by an embodiment of the present application;

[0046] Fig.15 A schematic diagram of performing simulation path screening based on assembly failure modes of workpieces provided in an embodiment of the present application;

[0047] Fig.16 is a flow chart of a workpiece assembly simulation method provided by an embodiment of the present application;

[0048] Fig.17 This is a hardware architecture diagram of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0049] The following will describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0050] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, words such as "exemplary", "or", "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "or", "for example" is intended to present related concepts in a concrete way.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by technicians in the technical field of the present application. The terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. It should be understood that, unless otherwise specified in the present application, " / " means or. For example, A / B can represent A or B. "And / or" in the present application is only a kind of association relationship describing associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. "At least one" means one or more. "Multiple" means two or more than two. For example, at least one of a, b or c can represent: a, b, c, a and b, a and c, b and c, a, b and c seven situations. It should be understood that the order of the steps shown in the flowchart of this article can be changed, and some can also be omitted.

[0052] To facilitate understanding of the embodiments of the present application, first, the technical terms involved in the present application are introduced:

[0053] Computer aided engineering (CAE) is a product development activity that uses computers to assist in solving complex engineering and product structural strength, stiffness, buckling stability, dynamic response, heat conduction, three-dimensional multi-body contact, elastic-plastic and other mechanical properties, as well as the optimization design of structural performance and other problems.

[0054] In the related art, most workpieces in electronic products can be assembled automatically, but some workpieces still rely on manual assembly. Manual assembly has uncertainty in the assembly path of workpieces, resulting in poor controllability of workpiece assembly risks. The related art lacks a simulation method to accurately assess the risk of manually assembling workpieces.

[0055] In view of this, an embodiment of the present application provides a workpiece assembly simulation method, which first simulates the assembly path of the workpiece, and then converts the assembly path data obtained by simulation into the position change boundary and posture change boundary of the workpiece under this assembly path. Then, based on the position change boundary and posture change boundary of the workpiece under this assembly path, the assembly risk of the workpiece under this assembly path can be simulated and evaluated, so as to accurately evaluate the risk of manually assembling workpieces.

[0056] See also Figure 1 , is a schematic diagram of a possible application environment provided in an embodiment of the present application.

[0057] The embodiment includes a first workpiece 10 and a second workpiece 20, and the first workpiece 10 is used to be assembled to the second workpiece 20. The first workpiece 10 and the second workpiece 20 may refer to a component or assembly (composed of multiple components) in an electronic device, which is not limited in the embodiment of the present application.

[0058] Electronic devices include, but are not limited to, mobile phones, tablet computers, desktop computers, laptop computers, handheld computers, notebook computers, ultra-mobile personal computers (UMPCs), netbooks, as well as cellular phones, personal digital assistants (PDAs), augmented reality (AR) and virtual reality (VR) devices, and the embodiments of the present application do not limit the types of the electronic devices.

[0059] like Figure 1 As shown, taking the first workpiece 10 as a button component of an electronic device and the second workpiece 20 as a middle frame component of the electronic device as an example, the first workpiece 10 may include buttons, flexible circuit boards, etc., and the second workpiece 20 may include a middle frame and one or more parts or components installed on the middle frame.

[0060] When the first workpiece 10 needs to be assembled to the second workpiece 20, the operator can hold the first end 11 of the first workpiece 10 and insert the second end 12 of the first workpiece 10 into the opening 21 of the second workpiece 20. After the second end 12 passes through the opening 21, the operator can pull the second end 12 until both the second end 12 and the third end 13 of the first workpiece 10 leak out of the opening 21, and then install the first workpiece 10 to the designated position of the second workpiece 20. Due to the small space in the opening 21, the flexible circuit board in the first workpiece 10 is easily pulled and failed, and the operator When the technicians adopt different assembly paths (for example, first inserting the third end 13 of the first workpiece 10 into the opening 21 of the second workpiece 20, or first inserting the second end 12 of the first workpiece 10 into the opening 21 of the second workpiece 20), the probability of failure of the flexible circuit board is also different. Therefore, there is a simulation demand for determining the assembly risk of assembling the first workpiece 10 to the second workpiece 20, so that the developer can optimize the design of the first workpiece 10 and / or the second workpiece 20 based on the simulation results, or determine the operation instructions for assembling the first workpiece 10 to the second workpiece 20 based on the simulation results.

[0061] See also Figure 2 , which is a simulation flow chart of workpiece assembly provided in one embodiment of the present application. Figure 2 The simulation process shown can be executed by a computer device, which can be a computer, a server, a server cluster, etc. The computer device can be pre-installed with a first preset simulation software and a second preset simulation software.

[0062] S21, importing the model of the workpiece into first preset simulation software, where the first preset simulation software is used to simulate the assembly path of the workpiece.

[0063] In some embodiments, the model of the workpiece may refer to a digital model of the workpiece, for example, a three-dimensional digital model. The three-dimensional digital model of the workpiece may be a model produced based on preset model production software. The embodiments of the present application do not limit the model production software.

[0064] Taking the assembly of the first workpiece to the second workpiece as an example, the model of the workpiece may include a model of the first workpiece, a model of the second workpiece, and a model of the first workpiece and the second workpiece in a completed assembly state, that is, the model in the completed assembly state is used to present the state after the first workpiece is assembled to the second workpiece.

[0065] In some embodiments, the first preset simulation software may refer to CAE software in the related art that can realize workpiece assembly path simulation. The embodiment of the present application does not limit the first preset simulation software.

[0066] In some embodiments, the computer device may import the model of the workpiece into the first preset simulation software in response to a user operation. In other embodiments, the computer device may also automatically import the model of the workpiece into the first preset simulation software, for example, by configuring the computer device to trigger the import of the model into the first preset simulation software when detecting that a model file is stored in a designated storage area.

[0067] S22, obtaining a first simulation result of a first preset simulation software for the imported model, wherein the first simulation result includes a plurality of assembly path data.

[0068] In some embodiments, taking the assembly of a first workpiece to a second workpiece as an example, the first preset simulation software can simulate possible assembly paths for assembling the first workpiece to the second workpiece based on the imported model to obtain multiple pieces of assembly path data.

[0069] In some embodiments, each assembly path may correspond to an assembly starting point of a workpiece (i.e., the assembly starting point of the first workpiece) and an assembly end point of the workpiece (i.e., the assembly end point of the first workpiece). For multiple assembly paths, there may be different assembly starting points for the workpieces, or there may be the same assembly starting points for the workpieces. For multiple assembly paths, since they all realize the installation of the first workpiece to the specified position of the second workpiece, the assembly end points of the workpieces may be the same.

[0070] In some embodiments, the first preset simulation software may store a variety of data, for example, the various data may include software operation data and historical simulation results, and the computer device may extract and filter the data stored in the first preset simulation software to obtain a simulation result corresponding to the model of the workpiece currently being simulated, that is, to filter and obtain a first simulation result of assembling the first workpiece to the second workpiece. The first simulation result may include multiple assembly path data, each of which corresponds to an assembly path for assembling the first workpiece to the second workpiece.

[0071] In some embodiments, each set of assembly path data is used to characterize that the first workpiece performs multiple translations and rotations from the assembly starting point to the assembly end point, and there are multiple intermediate points between the assembly starting point and the assembly end point, and the number of intermediate points is determined by the first preset simulation software. For example, the first workpiece performs one translation and rotation from the assembly starting point to reach an intermediate point, and then performs one translation and rotation from the intermediate point to reach another intermediate point until it reaches the assembly end point. Each set of assembly path data may include a workpiece name identifier, position data of the first workpiece at each point, posture data, and a local coordinate system corresponding to each point. The position data of the first workpiece at each point may refer to the three-dimensional (X-axis, Y-axis and Z-axis) coordinates of the first workpiece at each point, and the posture data of the first workpiece at each point may refer to the three-dimensional rotation angle of the first workpiece at each point.

[0072] S23, selecting target assembly path data from the first simulation result based on a preset path selection rule, wherein the preset path selection rule is formulated based on an assembly failure mode of the first workpiece.

[0073] In some embodiments, the assembly failure mode of the first workpiece may be set based on the shape of the first workpiece, the components included in the first workpiece, etc. The assembly failure mode of the first workpiece may be used to characterize that when the first workpiece is assembled to the second workpiece, some operations performed on the first workpiece may cause yield risk to the first workpiece.

[0074] For example, Figure 3 As shown, the assembly failure mode of the first workpiece may include torsion failure, bending failure, tensile failure, composite failure, etc. Figure 3 As shown in (a) in FIG. 1 , torsion failure may refer to the first workpiece being twisted during assembly, and the twisting angle is too large, for example, the twisting angle is greater than a first preset angle, which may cause a yield risk to the first workpiece. Figure 3 As shown in (b) in FIG. 1 , bending failure may refer to the first workpiece being bent during the assembly process, and the bending distance is too large, for example, the bending distance is greater than the first preset distance, which may cause the first workpiece to have a yield risk. Figure 3 As shown in (c) in FIG. 1 , stretch failure may refer to the first workpiece being stretched during the assembly process, and the stretching distance is too large, for example, the stretching distance is greater than the second preset distance, which may cause the first workpiece to have a yield risk. Figure 3 As shown in (d) in the figure, a composite failure may refer to a situation in which, during the assembly process of the first workpiece, if there is a large interference (mutual contact or obstruction) between the first workpiece and the second workpiece, for example, the amount of interference is greater than a preset value, which may cause a yield risk for the first workpiece.

[0075] In some embodiments, the preset path selection rule may refer to selecting an assembly path that may cause a yield risk of the first workpiece based on the assembly failure mode of the first workpiece, the selected assembly path is the target assembly path, and the assembly path data corresponding to the target assembly path is the target assembly path data. There may be one or more target assembly paths, and each target assembly path corresponds to a target assembly path data.

[0076] In some embodiments, the target assembly path data may be used for subsequent workpiece assembly risk simulation to determine whether there will be an assembly risk when the first workpiece is assembled to the second workpiece according to the target assembly path.

[0077] In some embodiments, for the assembly path data of other non-target assembly paths in the first simulation result, since the possibility of these non-target assembly paths causing yield risk for the first workpiece is very low, it can be considered that there is no assembly risk when the first workpiece is assembled to the second workpiece along the non-target assembly path. That is, in order to save simulation time for workpiece assembly risk simulation, there is no need to perform workpiece assembly risk simulation on the assembly path data of the non-target assembly paths.

[0078] S24, extracting position data and posture data from the target assembly path data.

[0079] In some embodiments, when using the second preset simulation software to perform workpiece assembly risk simulation on a specified assembly path, it is necessary to configure the boundary conditions corresponding to the assembly path. The boundary conditions are set based on the data and posture data of the assembly path. For example, the boundary conditions may include boundary data of the position change of the first workpiece and boundary data of the posture change of the first workpiece. Therefore, the data other than the position data and the posture data in the target assembly path data can be eliminated, that is, the position data and the posture data can be extracted from the target assembly path data, so as to facilitate the subsequent determination of the boundary conditions corresponding to the target assembly path.

[0080] S25, transforming the extracted position data and posture data to obtain boundary conditions corresponding to the target assembly path.

[0081] In some embodiments, the extracted position data and posture data indicate the position and posture of the first workpiece in the specified coordinate system under the target assembly path, and are not the position change boundary and posture change boundary of the first workpiece. The computer device can obtain the position change boundary of the first workpiece by transforming the extracted position data, and obtain the posture change boundary of the first workpiece by transforming the extracted posture data, and then obtain the boundary condition based on the position change boundary and the posture change boundary.

[0082] In some embodiments, for the first preset simulation software, the position data and posture data in the assembly path data are not data obtained in the same local coordinate system. That is, the specified coordinate system includes multiple local coordinate systems (the multiple local coordinate systems are determined by the first preset simulation software during simulation), and the position data and posture data in the assembly path data represent the assembly trajectory of the first workpiece in multiple local coordinate systems. That is, in an assembly trajectory, the local coordinate system will change, resulting in the position data and posture data in the assembly path data cannot be directly used as data for generating boundary conditions. The extracted position data and posture data can be equivalently processed to unify them to the position data and posture data in the specified local coordinate system, and then the position data and posture data after the equivalent processing are transformed. The following will describe in detail the process of equivalently processing the extracted position data and posture data, and transforming the position data and posture data after the equivalent processing.

[0083] It can be understood that if the position data and the posture data in the assembly path data output by the first preset simulation software are data in the same local coordinate system, the step of performing equivalent processing on the extracted position data and posture data can be omitted.

[0084] S26, importing the model of the workpiece into a second preset simulation software, where the second preset simulation software is used to simulate the assembly risk of the workpiece.

[0085] In some embodiments, the second preset simulation software may refer to CAE software in the related art that can realize workpiece assembly risk simulation. The embodiment of the present application does not limit the second preset simulation software.

[0086] In some embodiments, the computer device can import the model of the workpiece into the second preset simulation software in response to user operation. In other embodiments, the computer device can also automatically import the model of the workpiece into the second preset simulation software, for example, the computer device can be configured to trigger the import of the model into the second preset simulation software when the model file is stored in the designated storage area.

[0087] In some embodiments, process S21 and process S26 may be executed in parallel, or process S21 may be executed before or after process S26 .

[0088] In some embodiments, after the model of the workpiece is imported into the second preset simulation software, the second preset simulation software may preprocess the model of the workpiece to facilitate subsequent simulation of the workpiece assembly risk. For example, preprocessing may include removing reference features that are not related to the simulation, performing data format conversion, and the like. Removing reference features that are not related to the simulation may mean that the imported model may contain a large number of reference features that are not related to the simulation analysis, and these reference features may be removed to simplify the model and reduce the simulation calculation burden. For example, the three-dimensional model of the second workpiece may be subjected to reference feature removal. Data format conversion may mean that if the file format of the model is not suitable for the requirements of the second preset simulation software, the second preset simulation software needs to perform format conversion on the file format of the model.

[0089] S27, importing the boundary conditions corresponding to the target assembly path into the second preset simulation software.

[0090] In some embodiments, after the boundary conditions corresponding to the target assembly path are imported into the second preset simulation software, the second preset simulation software can simulate the workpiece assembly risk of the target assembly path based on the boundary conditions to determine whether there is an assembly risk when the first workpiece is assembled to the second workpiece according to the target assembly path. For example, the second preset simulation software can calculate the stress and strain of the first workpiece assembled to the second workpiece according to the target assembly path based on the boundary conditions corresponding to the target assembly path, and compare the calculated stress and strain with a preset threshold value to determine whether there is an assembly risk when the first workpiece is assembled according to the target assembly path.

[0091] S28, obtaining a second simulation result of a second preset simulation software, where the second simulation result includes identification information for indicating whether there is an assembly risk in the target assembly path.

[0092] For example, the identification information can be 0 or 1, or YES or NO, or other forms to characterize whether the target assembly path has an assembly risk. For example, the identification information "1" is used to indicate that the target assembly path does not have an assembly risk, and the identification information "0" is used to indicate that the target assembly path has an assembly risk. For another example, the identification information "NO" is used to indicate that the target assembly path does not have an assembly risk, and the identification information "YES" is used to indicate that the target assembly path has an assembly risk.

[0093] Assume that the second simulation result includes identification information "1", which indicates that there is no assembly risk in the target assembly path.

[0094] It can be understood that if the target assembly path includes multiple ones, for each target assembly path, the boundary conditions corresponding to each target assembly path can be determined first, and then each boundary condition can be imported into the second preset simulation software in turn to perform workpiece assembly risk simulation to obtain the simulation results corresponding to each target assembly path. The simulation results of each target assembly path can also be summarized and displayed.

[0095] like Figure 4 As shown, the assembly of the first workpiece can be equivalent to the first workpiece moving from the assembly starting point to the assembly end point through displacement and rotation. During the movement, the first workpiece may need to avoid multiple structural obstacles, which may refer to components on the second workpiece. The movement of the first workpiece from the assembly starting point to the assembly end point includes multiple assembly paths. At the workpiece movement level, the assembly path is represented by the first workpiece reaching the assembly end point after multiple translations and rotations from the assembly starting point. Each translation and rotation may correspond to an intermediate point until the assembly end point is reached.

[0096] At the data level used to characterize the movement of the workpiece, the assembly trajectory is the trajectory of the movement data changes of the first workpiece in the local coordinate system. The movement data may include three-dimensional position data and three-dimensional rotation data. The three-dimensional position data is used to characterize the position coordinates under the X-axis, Y-axis and Z-axis, and the three-dimensional rotation data is used to characterize the rotation angle under the X-axis, Y-axis and Z-axis. In an assembly trajectory, the local coordinate system will change many times, which may lead to data breakpoints. Each segment of the movement data change trajectory corresponds to a local coordinate system, and there is a data breakpoint between the two local coordinate systems. At the data breakpoint, the first workpiece does not displace or rotate, but the movement data will change due to the change in the local coordinate system. That is, the assembly path data output by the first preset simulation software is movement data with breakpoints, and the movement data with breakpoints cannot be used as the boundary conditions required for building the second preset simulation software for workpiece assembly risk simulation.

[0097] Assume that the assembly trajectory of the first workpiece is as follows Figure 5 The assembly path data corresponding to the assembly trajectory output by the first preset simulation software is as shown in Figure 6 As shown. Figure 6 It can be seen that due to multiple changes in the local coordinate system, there are multiple data breakpoints in the assembly path data.

[0098] For the assembly path data output by the first preset simulation software, each segment of the motion data change trajectory corresponds to a local coordinate system. For example, a segment of the motion data change trajectory is to construct the first local coordinate system with a certain point on the first workpiece, and this segment of the motion data change trajectory represents the displacement and rotation of the first workpiece with this point as the rotation reference point; the next segment of the motion data change trajectory is to construct the second local coordinate system with another point on the first workpiece, and this segment of the motion data change trajectory represents the displacement and rotation of the first workpiece with this other point as the rotation reference point. For the first workpiece, even if it is rotated at the same angle and direction, if the rotation reference point is different, the rotation result is not the same, that is, the change of the local coordinate system will cause the generation of data breakpoints.

[0099] In order to solve the problem of data breakpoints in the assembly path data output by the first preset simulation software, the embodiment of the present application constructs a virtual attachment robot on the first workpiece, and the position and posture of the attachment robot are the same as those of the first workpiece. The attachment robot can be equivalent to a feature point, and the motion trajectory of the attachment robot can be equivalent to the motion trajectory in the local coordinate system constructed with the feature point.

[0100] In some instances, the feature point may be any point on the first workpiece, which is not limited in the embodiments of the present application. For the sake of convenience, the following example is taken as an example in which the feature point is the geometric center of the first workpiece. The assembly path data output by the first preset simulation software is equivalently processed by the attached robot, so that the assembly path data is motion data in the same coordinate system (the local coordinate system constructed with the feature point), thereby avoiding the problem of data breakpoints in the assembly path data due to changes in the local coordinate system. For example, by Figure 6 The assembly path data shown in the figure is processed equivalently to obtain Figure 7 The assembly path data shown. Figure 7 It can be seen from the figure that since the coordinate system of the first workpiece does not change during its movement, there is no data breakpoint in the assembly path data. Figure 6 As shown in the data breakpoint, since the attached robot is still at the geometric center, no displacement and rotation angle change will occur. The attached robot crosses the breakpoint, and the equivalent assembly path data can record the position and posture of the attached robot at each moment.

[0101] like Figure 8As shown, assuming that the first workpiece constructs a first local coordinate system with a certain point on the first workpiece, the motion data of the first workpiece moving from position 1 to position 2 includes three-dimensional position data (0, 0, 0) and three-dimensional rotation data (0, 0, γ), that is, in the first local coordinate system, the first workpiece moves from position 1 to position 2, and no displacement occurs on the X-axis, Y-axis, and Z-axis, and no rotation occurs on the X-axis and Y-axis, and only rotates on the Z-axis by an angle of γ. Assuming that the attached robot is equivalent to the geometric center of the first workpiece, the third local coordinate system is constructed with the geometric center of the first workpiece. Assuming that Figure 8 As shown, the origin of the third local coordinate system is displaced by |x-x1| only on the x-axis compared to the origin of the first local coordinate system. In order to realize the movement of the first workpiece from position 1 to position 2, the motion data of the attached robot includes three-dimensional position data (0, -|x-x1|·sinγ, 0) and three-dimensional rotation data (0, 0, γ). That is, the motion data is equivalent to (0, -|x-x1|·sinγ, 0, 0, 0, γ) from (0, 0, 0, 0, γ). In this way, the motion data of the attached robot replaces the motion data obtained by the first preset simulation software.

[0102] like Fig. 9 As shown, it illustrates building a simulation data interface between the first preset simulation software and the second preset simulation software, reading data from the first preset simulation software through the simulation data interface, and filtering, extracting, transforming, etc. the read data to obtain boundary conditions that can be input into the second preset simulation software.

[0103] In some embodiments, Fig.10 As shown, the simulation data interface may include a data manager for reading, filtering and equivalent processing of data, a data extractor for data extraction, and a data converter for data transformation. For example, the data manager may read the original data stored in the first preset simulation software, and filter the original data to obtain a first simulation result corresponding to the workpiece currently simulated. The first simulation result includes multiple assembly path data for implementing the assembly of the first workpiece to the second workpiece.

[0104] In some embodiments, since the assembly path data obtained by the first preset simulation software has data breakpoints, the data manager is also used to perform equivalent processing on the assembly path data so that the assembly path data representation is motion data in the same coordinate system. The assembly path data after equivalent processing can also be called first-order data.

[0105] Since the first-order data includes other data (such as name identification, coordinate system data, etc.) in addition to position data and posture data, and these other data do not need to be subsequently transformed. In order to save data processing, after obtaining the first-order data, the data extractor can extract the second-order data from the first-order data. The second-order data can refer to the position data and posture data in the assembly path data.

[0106] Assume that the data manager reads and filters the original data stored in the first preset simulation software to obtain an assembly path data as shown in Table 1 below.

[0107]

[0108] The data manager performs equivalent processing on the assembly path data shown in Table 1 to obtain the first-order data shown in Table 2. The position data 11 in Table 2 is the position data obtained by converting the position data 1 from the local coordinate system 1 to the specified local coordinate system A (the local coordinate system constructed with feature points), and the posture data 11 is the posture data obtained by converting the posture data 1 from the local coordinate system 1 to the local coordinate system A.

[0109]

[0110] The data extractor can extract the second-order data shown in Table 3 from the first-order data shown in Table 2.

[0111]

[0112] In some embodiments, since the position data and posture data in Table 3 are absolute position data (position coordinates in the local coordinate system A) and absolute posture data (rotation angle in the local coordinate system A) in the local coordinate system A, they do not characterize the position change boundary and posture change boundary in the motion process, and for the same posture data, the postures obtained by rotating the workpiece in sequence along different rotation axes are not the same. For example, for the same posture data, the postures obtained by rotating the workpiece in sequence along the X, Y, and Z axes are not the same as the postures obtained by rotating the workpiece in sequence along the X, Z, and Y axes.

[0113] For the same posture data, the order of rotation around the X, Z, and Y axes in the first preset simulation software and the second preset simulation software may be different, resulting in different final postures. Fig.11 As shown, for a set of position data and posture data shown in Table 3, different postures may correspond in the first preset simulation software and the second preset simulation software.

[0114] In order to overcome the above problems, the position data and posture data shown in Table 3 need to be transformed by a data converter, so that the position data and posture data can correctly describe the motion trajectory of the workpiece in the second preset simulation software after transformation. The transformed position data and posture data can also be called third-order data. The information of the third-order data and the local coordinate system A can be used to construct the boundary conditions for the workpiece assembly risk simulation of the assembly path.

[0115] like Fig.12 As shown, assuming that the assembly path data after equivalent processing includes N positions, N positions correspond to n moments, the position P of the first workpiece at a certain moment in the movement process can be expressed in the local coordinate system A as follows: A P = (x, y, z).

[0116] The positions corresponding to n moments can be expressed as:

[0117] A P 1 = (x1, y1, z1); A P 2 = (x2, y2, z2); A P 3 = (x3, y3, z3); ​​…; A P n = (xn, yn, zn).

[0118] The initial position of the first workpiece is defined as the position at time 1. The distance that the first workpiece needs to move to position 1 is (0, 0, 0). The distance that the first workpiece needs to move from position 1 to position 2 is (x2-x1, y2-y1, z2-z1). The distance that the first workpiece needs to move from position 1 to position 3 is (x3-x1, y3-y1, z3-z1). The distance that the first workpiece needs to move from position 1 to position N is (xn-x1, yn-y1, zn-z1). The boundary data of the position change of the first workpiece can be obtained: along the X-axis direction (0, x2-x1, x3-x1, ..., xn-x1), along the Y-axis direction (0, y2-y1, y3-y1, ..., yn-y1), and along the Z-axis direction (0, z2-z1, z3-z1, ..., zn-z1). It can be understood that the boundary data of the position change of the first workpiece under this assembly path can be shown in Table 4 below:

[0119]

[0120] like Fig.13As shown, assuming that the assembly path data after equivalent processing includes N positions, N positions correspond to n moments, and n moments correspond to n postures. The posture M of the first workpiece at a certain moment during the movement process can be expressed in the local coordinate system A as: A M = (rx, ry, rz), where rx is the rotation angle about the X axis, ry is the rotation angle about the Y axis, and rz is the rotation angle about the Z axis.

[0121] The n postures corresponding to n moments can be expressed as:

[0122] A M 1 = (rx1, ry1, rz1); A M 2 = (rx2, ry2, rz2); A M 3 = (rx3, ry3, rz3); …; A M n = (rxn, ryn, rzn).

[0123] In order to overcome the problem that for the same posture data, the postures obtained by rotating the workpiece along different rotation axes in sequence are not the same. The present application transforms the posture data to transform the workpiece from one posture to the next posture by rotating around the X, Y, and Z axes to the workpiece from one posture to the next posture by rotating around a fixed rotation axis. That is, the workpiece rotates around the X, Y, and Z axes to the next posture, and then transforms it to rotate around a fixed rotation axis to the next posture.

[0124] like Fig.14 As shown, a link bridge of posture data of any two positions is constructed (for example, position i-1 and position i, i∈1~N). The link bridge represents the rotation matrix of the workpiece from the previous posture to the next posture by rotating around the X, Y, and Z axes. The link bridge represents the local posture change of the workpiece around the X, Y, and Z axes. By converting the local posture change of the workpiece around the X, Y, and Z axes into a synthetic vector change around the fixed rotation axis, the rotation vector from the posture of position 1 to the posture of position 2 around the fixed rotation axis is obtained. The rotation vector can be decomposed in the X, Y, and Z axis directions to form the boundary data of the posture change of the workpiece.

[0125] Specifically, the rotation matrix of the posture of position 1 around the X, Y, and Z axes is:

[0126] ,

[0127] ,

[0128] .

[0129] Similarly, the rotation matrix of the position 2 around the X, Y, and Z axes can be calculated as: Rx 2 , Ry 2 , Rz 2 .

[0130] The rotation matrix of the movement from position 1 to position 2 around the X, Y, and Z axes is:

[0131] .

[0132] The rotation angle θ1 from the posture at position 1 to the posture at position 2 around the fixed rotation axis is:

[0133] . Wherein, trace() is a function used to calculate the trace of the matrix.

[0134] Fixed rotation axis n from the posture at position 1 to the posture at position 2 1 for:

[0135] .

[0136] Among them, R 1 is a 3·3 matrix, R 1 (3, 2) refers to the matrix R 1 The element in the 3rd row and 2nd column of R 1 (2, 3) refers to the matrix R 1 The element in the 2nd row and 3rd column of R 1 (1, 3) refers to the matrix R 1 The element in the first row and third column of R 1 (3, 1) refers to the matrix R 1 The element in the 3rd row and 1st column of R 1 (2, 1) refers to the matrix R 1 The element in the second row and first column of R 1 (1, 2) refers to the matrix R 1 The element at row 1 and column 2 in .

[0137] The rotation vector l from the posture at position 1 to the posture at position 2 around the fixed rotation axis 1 for:

[0138] Among them, lx 1 ,ly 1 ,lz 1 They are the rotation vector l 1 Components on the X, Y, and Z axes.

[0139] Similarly, the rotation vector l around the fixed rotation axis from the posture at position 2 to the posture at position 3 can be calculated 2 for:

[0140] Among them, lx 2 ,ly 2 ,lz 2 They are the rotation vector l 2 Components on the X, Y, and Z axes. 2 is the fixed rotation axis from the posture at position 2 to the posture at position 3, θ 2 is the rotation from position 2 to position 3 around the fixed rotation axis n 2 The rotation angle of .

[0141] Assume that the initial posture of the first workpiece is defined as the posture at time 1, the angle that the first workpiece needs to rotate to move to the posture of position 1 is (0, 0, 0), and the angle that the first workpiece needs to rotate from the posture of position 1 to the posture of position 2 is: (lx 1 ,ly 1 , lz 1 ), the angle that the first workpiece needs to rotate from position 1 to position 3 is: (lx 1 +lx 2 ,ly 1 +ly 2 , lz 1 + lz 2 ), the angle that the first workpiece needs to rotate from position 1 to position N is: (lx 1 + lx 2 + lx 3 +…+ lx n-1 ,ly 1 +ly 2 + ly 3 +…+ ly n-1 , lz 1 + lz 2 + lz 3 +…+ lz n-1 ).

[0142] Thus, the boundary data of the posture change of the first workpiece can be obtained: rotation around the X axis (0, lx 1 , lx 1 + lx 2 , lx 1 +lx 2 + lx 3 ,…,lx 1 + lx 2 + lx 3 +…+ lxn-1 ), rotate around the Y axis (0, ly 1 ,ly 1 + ly 2 ,ly 1 + ly 2 + ly 3 ,…,ly 1 + ly 2 + ly 3 +…+ ly n-1 ), rotate around the Z axis (0, lz 1 , lz 1 + lz 2 , lz 1 + lz 2 + lz 3 ,…,lz 1 + lz 2 + lz 3 +…+lz n-1 ).

[0143] It can be understood that the boundary data of the posture change of the first workpiece under the assembly path can be shown in the following Table 5:

[0144]

[0145] In some embodiments, after obtaining the boundary data of the position change and the boundary data of the posture change of the first workpiece under the assembly path, the simulation data interface can generate boundary conditions that can be imported into the second preset simulation software through the following steps. The generated boundary conditions are shown in Table 6 and Table 7 below, that is, the generated boundary conditions include the boundary condition data shown in Table 6 below (the boundary data of the position change and the boundary data of the posture change) and the information of the local coordinate system A of the attached robot shown in Table 7 below:

[0146] a. Generate simulation time, the simulation time includes multiple simulation moments, for example, n simulation moments;

[0147] b. Integrating the boundary data of the position change and the posture change of the first workpiece under the assembly path to obtain boundary condition data;

[0148] c. Generate information about the local coordinate system A of the attached robot ( A X, A Y, A Z). Among them, ( A X, A Y, AZ) is used to characterize the three-dimensional position data of the origin of the local coordinate system A in the global coordinate system. The global coordinate system may refer to a global coordinate system defined by the simulation software, for example, a global coordinate system defined by the first preset simulation software.

[0149]

[0150] In some embodiments, each assembly path output by the first preset simulation software can obtain corresponding boundary data through the simulation data interface. In order to save the simulation time of workpiece assembly risk simulation, the present application can only simulate the workpiece assembly risk for the screened target assembly path, and there is no need to perform workpiece assembly risk simulation on the assembly path data of the non-target assembly path. Therefore, there are two ways to generate boundary conditions corresponding to the target assembly path.

[0151] Method 1: Based on a preset path selection rule, a target assembly path is selected from a first simulation result output by a first preset simulation software; assembly path data of the target assembly path is processed by equivalence, extraction, transformation, etc. to obtain boundary condition data corresponding to the target assembly path; boundary conditions corresponding to the target assembly path are formed based on the boundary condition data corresponding to the target assembly path and information of a local coordinate system of the attached robot.

[0152] Method 2: Performing equivalent, extraction, transformation and other processing on the assembly path data corresponding to each assembly path in the first simulation result to obtain boundary condition data corresponding to each assembly path; screening the boundary condition data based on a preset path selection rule to determine the boundary condition data corresponding to the target assembly path; forming the boundary condition corresponding to the target assembly path based on the boundary condition data corresponding to the target assembly path and the information of the local coordinate system of the attached robot.

[0153] Method 1 has less data processing volume than method 2, but compared with method 1, method 2 has higher screening accuracy of the target assembly path because method 2 screens the boundary condition data that can correctly describe the motion boundary of the workpiece in the second preset simulation software.

[0154] like Fig.15 As shown, it is assumed that there are four assembly failure modes for the first workpiece: torsion failure, bending failure, tensile failure, and composite failure. Torsion failure may refer to the fact that during the assembly process of the first workpiece, if the torsion angle is too large, it may cause a yield risk for the first workpiece. Bending failure may refer to the fact that during the assembly process of the first workpiece, if the bending distance is too large, it may cause a yield risk for the first workpiece. Tensile failure may refer to the fact that during the assembly process of the first workpiece, if the stretching distance is too large, it may cause a yield risk for the first workpiece. Composite failure may refer to the fact that during the assembly process of the first workpiece, there is excessive interference between the first workpiece and the second workpiece, which may cause a yield risk for the first workpiece.

[0155] For example, four target assembly paths can be set, corresponding to four assembly failure modes respectively, and the preset path selection rule is the rule for screening the four target assembly paths. For example, the first target assembly path is the assembly path with the largest torsion angle among multiple assembly paths, the second target assembly path is the assembly path with the largest bending distance among multiple assembly paths, the third target assembly path is the assembly path with the largest stretching distance among multiple assembly paths, and the fourth target assembly path is the assembly path with the largest interference amount among multiple assembly paths.

[0156] In some embodiments, the computer device can use relevant technologies to measure and screen each assembly path data output by the first preset simulation software or each boundary condition data obtained by transformation to obtain the number of assembly paths or boundary condition data corresponding to the four target assembly paths. Fig.15 The measurement and screening of boundary condition data is taken as an example for illustration.

[0157] After constructing the boundary conditions corresponding to each target assembly path, the second preset simulation software can be used to simulate the workpiece assembly risk of each target assembly path. For example, the boundary conditions corresponding to a target assembly path can be imported into the second preset simulation software, and the second preset simulation software can construct an INP file for describing the parameter configuration of the previously imported model based on the imported boundary conditions, and then solve the stress and strain of the first workpiece assembled to the second workpiece according to the target assembly path based on the INP file. The calculated stress and strain can be compared with a preset threshold to determine whether there is an assembly risk when assembling the first workpiece according to this target assembly path.

[0158] See also Fig.16 As shown, a workpiece assembly simulation method provided by an embodiment of the present application, the sequence of steps in the method can be adjusted according to actual needs, and the embodiment of the present application does not limit this, the method can be applied to a computer device, and the method may include the following steps:

[0159] S901, obtaining a first simulation result of assembling a first workpiece to a second workpiece, wherein the first simulation result includes first assembly path data, and the first assembly path data corresponds to a first assembly path and a first coordinate system.

[0160] In some embodiments, the first simulation result may include multiple sets of assembly path data, each set of assembly path data corresponds to a simulated assembly path, and the first assembly path data is one set of assembly path data among the multiple sets of assembly path data.

[0161] For example, the computer device pre-stores a preset path selection rule, which is formulated based on the assembly failure mode of the first workpiece, and the computer device can select the first assembly path data from multiple assembly path data based on the preset path selection rule. That is, the first assembly path data is the path data with a higher assembly risk.

[0162] S902 , generating boundary condition data based on the first assembly path data, wherein the boundary condition data is used to indicate a position change boundary and a posture change boundary for assembling the first workpiece to the second workpiece according to the first assembly path.

[0163] In some embodiments, the first assembly path data may include other data in addition to the position data and the posture data, and these other data are not used to generate the boundary condition data. The computer device can extract the position data and the posture data from the first assembly path data, and generate the boundary condition data corresponding to the first assembly path based on the extracted position data and the posture data.

[0164] In some embodiments, generating boundary condition data based on the extracted position data and posture data may include: transforming the extracted position data to obtain a position change boundary; transforming the extracted posture data to obtain a posture change boundary.

[0165] S903, based on the boundary condition data and the first coordinate system, obtaining a second simulation result of assembling the first workpiece to the second workpiece according to the first assembly path, the second simulation result being used to indicate an assembly risk of assembling the first workpiece to the second workpiece according to the first assembly path.

[0166] In some embodiments, the first simulation result is obtained by simulating a first preset simulation software for performing workpiece assembly path simulation, and the second simulation result is obtained by simulating a second preset simulation software for performing workpiece assembly risk simulation. Before simulating using the first preset simulation software, the model of the first workpiece, the model of the second workpiece, and the model for indicating that the first workpiece and the second workpiece are in a state of complete assembly can be imported into the first preset simulation software. Before simulating using the second preset simulation software, the model of the first workpiece, the model of the second workpiece, and the model for indicating that the first workpiece and the second workpiece are in a state of complete assembly can be imported into the second preset simulation software.

[0167] In some embodiments, if there is no data breakpoint in the first assembly path data, the computer device can generate boundary condition data based on the first assembly path data, and based on the boundary condition data and the first coordinate system, obtain a second simulation result of assembling the first workpiece to the second workpiece according to the first assembly path.

[0168] If there are data breakpoints in the first assembly path data, that is, the first assembly path data includes path data in multiple different coordinate systems, in this case, the first assembly path data needs to be equivalently processed as path data in the same coordinate system. Generating boundary condition data based on the first assembly path data may include: performing equivalent processing on the first assembly path data to obtain second assembly path data, the second assembly path data including path data in a coordinate system; generating boundary condition data based on the second assembly path data. After completing the equivalent processing, the computer device may obtain a third simulation result of assembling the first workpiece to the second workpiece according to the first assembly path based on the boundary condition data and the second coordinate system, and the third simulation result is used to indicate the assembly risk of assembling the first workpiece to the second workpiece according to the first assembly path.

[0169] In some embodiments, in order to save simulation time, the embodiments of the present application may only perform assembly risk simulation on assembly path data with higher assembly risk obtained by screening based on preset path selection rules. For example, the computer device may select one or more first assembly path data from multiple assembly path data based on the preset path selection rules, and then perform equivalent, transformation and other processing on the one or more first assembly path data to obtain boundary condition data corresponding to the one or more first assembly path data, so as to perform assembly risk simulation based on the one or more boundary condition data. For another example, the computer device may first perform equivalent, transformation and other processing on each assembly path data to generate boundary condition data corresponding to each assembly path data, and then select one or more target boundary condition data from multiple boundary condition data based on the preset path selection rules, so as to perform assembly risk simulation based on the one or more boundary condition data.

[0170] In some embodiments, the first assembly path includes a plurality of assembly points, and the plurality of assembly points include an assembly starting point, an assembly end point, and a plurality of intermediate points between the assembly starting point and the assembly end point. Transforming the extracted position data to obtain a position change boundary may include: calculating a first displacement distance from the assembly starting point to each of the plurality of intermediate points based on the position data of the assembly starting point and the position data of the plurality of intermediate points; calculating a second displacement distance from the assembly starting point to the assembly end point based on the position data of the assembly starting point and the position data of the assembly end point, wherein the first displacement distance and the second displacement distance both include displacement distances in the directions of the X-axis, the Y-axis, and the Z-axis; and forming a position change boundary based on the calculated second displacement distance and the plurality of first displacement distances.

[0171] In some embodiments, transforming the extracted posture data to obtain the posture change boundary may include: calculating the three-dimensional rotation vector of the posture change between two adjacent assembly points based on the posture data of multiple assembly points; and forming the posture change boundary based on the multiple three-dimensional rotation vectors obtained by calculation. For example, based on the multiple three-dimensional rotation vectors obtained by calculation, a first three-dimensional rotation vector that changes from the posture of the assembly starting point to the posture of each of the multiple intermediate points, and a second three-dimensional rotation vector that changes from the posture of the assembly starting point to the posture of the assembly end point may be determined; and the posture change boundary is formed based on the determined second three-dimensional rotation vector and the multiple first three-dimensional rotation vectors.

[0172] See also Fig.17 As shown, the computer device 100 involved in the embodiment of the present application is introduced below. The computer device 100 includes but is not limited to workers' computers, industrial computers, servers, server clusters and other devices. Fig.17 As shown, the computer device 100 may include a processor 1001, a memory 1002, a communication bus 1003, and a communication interface 1004. The processor 1001, the memory 1002, and the communication interface 1004 may communicate with each other through the communication bus 1003. The memory 1002 is used to store one or more computer programs 1004. The one or more computer programs 1004 are configured to be executed by the processor 1001. The one or more computer programs 1004 include instructions, and the processor 1001 executes the above instructions to implement the above workpiece assembly simulation method in the computer device 100. The computer device 100 may be a computer, a server, a server cluster, or other devices.

[0173] It is understandable that the structure shown in this embodiment does not constitute a specific limitation on the computer device 100. In other embodiments, the computer device 100 may include more or fewer components than shown, or combine or separate some components, or arrange the components differently.

[0174] The processor 1001 may include one or more processing units, for example, the processor 1001 may include an application processor (AP), a modem, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0175] The processor 1001 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 1001 is a cache memory. The memory may store instructions or data that the processor 1001 has just used or cyclically used. If the processor 1001 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 1001, and thus improves the efficiency of the system.

[0176] In some embodiments, the processor 1001 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a SIM interface, and / or a USB interface, etc.

[0177] In some embodiments, memory 1002 may include high-speed random access memory and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices.

[0178] In some embodiments, the communication bus 1003 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.17 The communication bus 1003 may include a path for transmitting information between various components of the computer device 100 (eg, the processor 1001, the memory 1002, and the communication interface 1004).

[0179] In some embodiments, the communication interface 1004 uses a transceiver module such as, but not limited to, a network interface card or a transceiver to implement communication between the computer device 100 and other devices or a communication network.

[0180] This embodiment further provides a computer-readable storage medium, in which computer instructions are stored. When the computer instructions are executed on the computer device 100, the computer device 100 executes the above-mentioned related method steps to implement the workpiece assembly simulation method in the above-mentioned embodiment.

[0181] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement the workpiece assembly simulation method in the above-mentioned embodiment.

[0182] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0183] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0184] The unit described as a separate component may or may not be physically separated, and the component shown as a unit may be one physical unit or multiple physical units, that is, it may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment.

[0185] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0186] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program code.

[0187] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A workpiece assembly simulation method, characterized in that: The method comprises: Acquire a first simulation result of assembling the first workpiece to the second workpiece, the first simulation result comprising first assembly path data, the first assembly path data corresponding to the first assembly path and a plurality of first coordinate systems; Performing equivalent processing on the first assembly path data to obtain second assembly path data, wherein the second assembly path data includes path data in a second coordinate system; generating boundary condition data based on the second assembly path data, the boundary condition data being used to indicate a position change boundary and a posture change boundary for assembling the first workpiece to the second workpiece according to the first assembly path; Based on the boundary condition data and the second coordinate system, a second simulation result of assembling the first workpiece to the second workpiece according to the first assembly path is obtained, and the second simulation result is used to indicate an assembly risk of assembling the first workpiece to the second workpiece according to the first assembly path.

2. The workpiece assembly simulation method according to claim 1, characterized in that: The first simulation result includes a plurality of assembly path data, and the method further includes: The first assembly path data is selected from the plurality of assembly path data based on a preset path selection rule, wherein the preset path selection rule is formulated based on an assembly failure mode of the first workpiece.

3. The workpiece assembly simulation method according to claim 1, characterized in that: The first simulation result includes a plurality of assembly path data, and the method further includes: Generate boundary condition data corresponding to each piece of assembly path data among the plurality of pieces of assembly path data; Selecting target boundary condition data from a plurality of boundary condition data based on a preset path selection rule, wherein the target boundary condition data corresponds to target assembly path data, and the target assembly path data corresponds to a target assembly path, wherein the preset path selection rule is formulated based on an assembly failure mode of the first workpiece; Based on the target boundary condition data and a coordinate system corresponding to the target assembly path data, a second simulation result of assembling the first workpiece to the second workpiece according to the target assembly path is obtained.

4. The workpiece assembly simulation method according to claim 1, characterized in that: The generating boundary condition data based on the second assembly path data comprises: Position data and posture data are extracted from the second assembly path data, and the boundary condition data is generated based on the position data and the posture data.

5. The workpiece assembly simulation method according to claim 4, characterized in that: Generating the boundary condition data based on the position data and the posture data includes: Performing transformation processing on the position data to obtain the position change boundary; The posture data is transformed to obtain the posture change boundary.

6. The workpiece assembly simulation method according to claim 5, characterized in that: The first assembly path includes a plurality of assembly points, the plurality of assembly points include an assembly starting point, an assembly end point, and a plurality of intermediate points between the assembly starting point and the assembly end point, and the transforming process of the position data to obtain the position change boundary includes: Based on the position data of the assembly starting point and the position data of the plurality of intermediate points, calculating a first displacement distance from the assembly starting point to each of the plurality of intermediate points; Based on the position data of the assembly starting point and the position data of the assembly end point, a second displacement distance from the assembly starting point to the assembly end point is calculated, wherein the first displacement distance and the second displacement distance both include displacement distances in the directions of the X-axis, the Y-axis and the Z-axis; The position change boundary is formed based on the calculated second displacement distance and the plurality of first displacement distances.

7. The workpiece assembly simulation method according to claim 6, characterized in that: The step of transforming the posture data to obtain the posture change boundary includes: Based on the posture data of the plurality of assembly points, calculating a three-dimensional rotation vector of a posture change between two adjacent assembly points; The posture change boundary is formed based on the calculated multiple three-dimensional rotation vectors.

8. The workpiece assembly simulation method according to claim 7, characterized in that: The forming of the posture change boundary based on the calculated multiple three-dimensional rotation vectors includes: Based on the multiple three-dimensional rotation vectors, determine a first three-dimensional rotation vector that changes from the posture of the assembly starting point to the posture of each of the multiple intermediate points, and a second three-dimensional rotation vector that changes from the posture of the assembly starting point to the posture of the assembly end point; The posture change boundary is formed based on the determined second three-dimensional rotation vector and the plurality of first three-dimensional rotation vectors.

9. The workpiece assembly simulation method according to any one of claims 1 to 8, characterized in that: The first simulation result is obtained by simulation using first preset simulation software for performing workpiece assembly path simulation, and the method further includes: Importing the model of the first workpiece, the model of the second workpiece, and a model for indicating the first workpiece and the second workpiece in a completed assembly state into the first preset simulation software.

10. The workpiece assembly simulation method according to any one of claims 1 to 8, characterized in that: The second simulation result is obtained by simulation using second preset simulation software for performing workpiece assembly risk simulation, and the method further includes: Importing the model of the first workpiece, the model of the second workpiece, and a model for indicating the first workpiece and the second workpiece in a completed assembly state into the second preset simulation software.

11. A computer device, characterized in that: The computer device includes a memory and a processor; The memory is coupled to the processor; The memory is used to store program instructions; The processor is used to read the program instructions stored in the memory to implement the workpiece assembly simulation method as described in any one of claims 1 to 10.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by a processor, the workpiece assembly simulation method according to any one of claims 1 to 10 is implemented.

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