Assembly positioning method, system and storage medium of a fully automatic nailing machine

Abstract

The present invention discloses an assembly positioning method, system and storage medium for a fully automatic nailing machine. The method calibrates the nailing position by acquiring initial nailing position information and analyzing it based on a gradient boosting tree algorithm. If there is still a position deviation after calibration, the vibration signal data during the nailing process is acquired, the vibration signal characteristics and vibration characteristics are extracted, and the influence of the vibration items and vibration intensity on the nailing position accuracy is determined. According to the influence information and vibration characteristics, the vibration resistance compensation coefficient is calculated, and a vibration resistance scheme is constructed. The method improves the assembly accuracy and stability of the nailing machine and reduces the position deviation caused by vibration.

Description

Technical Field

[0001] The invention relates to the technical field of assembly positioning, and in particular to an assembly positioning method and system for a full-automatic nailing machine. Background Art

[0002] As a modern manufacturing equipment, the fully automatic nailing machine is widely used in assembly production lines, especially in the fields of furniture manufacturing and electronic product assembly. The fully automatic nailing machine greatly improves production efficiency and reduces manual operation errors by accurately assembling nails to the specified position. However, in actual applications, due to the influence of various factors, the nailing position accuracy of the fully automatic nailing machine may deviate, thereby affecting the assembly quality. Therefore, improving the nailing accuracy of the fully automatic nailing machine is an important research topic in this field.

[0003] Traditional fully automatic nailing machines mainly rely on mechanical control systems for positioning and nailing operations. However, due to differences in the shape of the assembled parts, material properties, and the nails themselves, the nailing position often deviates to a certain extent. In addition, during the nailing process, the vibration of the fully automatic nailing machine will also affect the stability of the nailing position, resulting in the actual nailing position being inconsistent with the expected position, thus affecting the assembly accuracy.

[0004] At present, most methods for calibrating the nailing position deviation use static calibration, that is, correction through offline testing or preset parameters. However, this method is difficult to cope with dynamic changes in the production process in real time. In addition, with the development of artificial intelligence technology, especially the application of machine learning algorithms in the industrial field, intelligent analysis methods based on big data have gradually become a new way to solve the problem of production equipment accuracy. For example, algorithms such as Gradient Boosting Decision Tree (GBDT) can predict the performance of equipment in different situations by learning from a large amount of historical data. Therefore, how to combine dynamic calibration technology to adjust the nailing position in real time and effectively offset the impact of vibration on nailing accuracy is the key to improving the assembly positioning accuracy of fully automatic nailing machines.

[0005] In summary, developing a fully automatic nailing machine assembly positioning method that can calibrate the nailing position in real time and effectively offset the influence of vibration is of great significance for improving assembly accuracy and production efficiency. Summary of the invention

[0006] In order to solve at least one of the above technical problems, the present invention proposes an assembly positioning method and system for a fully automatic nailing machine.

[0007] A first aspect of the present invention provides an assembly and positioning method for a fully automatic nailing machine, comprising:

[0008] Acquire initial nailing position information of each assembly component of the fully automatic nailing machine, and determine initial nailing position deviation information of the fully automatic nailing machine according to the initial nailing position information;

[0009] The initial nailing position deviation information is analyzed based on the gradient boosting tree algorithm, and a position calibration operation is performed on the nailing position of the fully automatic nailing machine;

[0010] Obtaining the nailing position deviation information of each assembly component by the fully automatic nailing machine after the position calibration operation; if there is still a nailing position deviation, obtaining the vibration signal data of each assembly component during the nailing process of the fully automatic nailing machine; and extracting the vibration signal features and the vibration features of the fully automatic nailing machine according to the vibration signal data;

[0011] Determine the vibration item according to the vibration signal characteristics, obtain the nailing position deviation information of each vibration item under different vibration intensities, and determine the influence information of the vibration intensity of each vibration item on the nailing position accuracy;

[0012] The vibration resistance compensation coefficient of the fully automatic nailing machine for each assembly component is determined according to the impact information and the vibration characteristics of the fully automatic nailing machine, and a vibration resistance scheme of the fully automatic nailing machine is constructed.

[0013] In this solution, the initial nailing position information of each assembly component of the fully automatic nailing machine is obtained, and the initial nailing position deviation information of the fully automatic nailing machine is determined according to the initial nailing position information, specifically:

[0014] Acquire laser scanning data of the complete assembly parts and nails after nailing assembly, and construct a three-dimensional model of the complete assembly parts and nails according to the laser scanning data;

[0015] The position information of the nails in the complete assembly part is obtained based on the metal detector, and the three-dimensional model of the nails is mapped to the three-dimensional model of the complete assembly part according to the position information of the nails to obtain the three-dimensional model of the standard assembly part;

[0016] Acquire the plane coordinate information of the nailing point of each assembly component, and determine the nailing path of each assembly component by the fully automatic nailing machine according to the plane coordinate information of the nailing point;

[0017] Performing a nailing assembly test operation on each assembly component according to the nailing path, obtaining the nail position information in the assembly component after the assembly is completed, and obtaining the initial nailing position information of each assembly component by the fully automatic nailing machine;

[0018] Based on the initial nailing position information, the three-dimensional model of the nail in the nailing assembly test is mapped to the three-dimensional model of the standard assembly component for fitting, so as to obtain a three-dimensional model for nailing position deviation analysis;

[0019] Based on the nailing position deviation analysis three-dimensional model, the position deviation between the nail position of the nailing assembly test and the nail position of the standard assembly component is determined to obtain the initial nailing position deviation information of the full-automatic nailing machine. The initial nailing position deviation information includes the X-direction deviation, Y-direction deviation, nailing depth deviation, and nailing angle deviation of each nailing position in each assembly component.

[0020] In this solution, the nailing path of each assembly component of the fully automatic nailing machine is determined according to the plane coordinate information of the nailing point, specifically:

[0021] The ant colony algorithm is introduced. For each assembly part, the shortest total nailing path of the fully automatic nailing machine for the assembly part is taken as the optimization goal based on the ant colony algorithm. The distance between each nailing point is calculated based on the plane coordinate information of the nailing points in the assembly part, and the nailing point distance matrix is ​​constructed.

[0022] A pinning point location graph model is constructed based on the pinning point distance matrix, where the graph node represents each pinning point, the edge represents the path between two pinning points, and the weight of each edge is the distance between the pinning points;

[0023] Initialize the number of ants of the ant colony algorithm according to the number of nailing points of the assembly parts, initialize the model parameters of the ant colony algorithm according to the nailing point position graph model, the model parameters include pheromone importance factor, heuristic factor importance factor, pheromone evaporation rate, pheromone initial value, maximum number of iterations, calculate the distance of each edge in the graph model, use the inverse of the distance as the initialization heuristic function, and initialize the global optimal path length to infinity;

[0024] The ant colony algorithm after parameter initialization randomly places all ants in each node in the graph model, and determines the next node selected by each ant based on the roulette algorithm and the initial value of the pheromone of each edge and the heuristic function value. When each ant completes the path search, the total length of each ant's walking path is calculated, and the ant's walking path is scored according to the total length to obtain the path quality information;

[0025] The global optimal path is updated according to the path with the best path quality, and the pheromone value of each edge is updated according to the path quality information and the pheromone evaporation rate, and the path search and path update are performed according to the updated algorithm parameters until the maximum number of iterations is reached, and the global optimal path information is output;

[0026] The global optimal path information of each assembly component is integrated to obtain the nailing path of each assembly component by the fully automatic nailing machine.

[0027] In this solution, the initial nailing position deviation information is analyzed based on the gradient boosting tree algorithm, and the position calibration operation is performed on the nailing position of the fully automatic nailing machine, specifically:

[0028] Marking the expected nailing point coordinates on the initial nailing position deviation information to obtain expected position marking deviation data;

[0029] A nailing position deviation prediction model is constructed based on a gradient boosting tree algorithm, the expected position annotation deviation data is used as a training sample of the nailing position deviation prediction model, and parameter values ​​of the model are preset;

[0030] The training samples are imported into a nailing position deviation prediction model for training, and the position deviation of the nailing operation performed by the fully automatic nailing machine on different positions of each assembly component is predicted to obtain prediction deviation data;

[0031] The deviation calibration coefficient is determined for different nailing positions of the full-automatic nailing machine according to the predicted deviation data, and the position calibration operation is performed on the nailing position of the full-automatic nailing machine according to the deviation calibration coefficient.

[0032] In this solution, the nailing position deviation information of each assembly component of the fully automatic nailing machine after the position calibration operation is obtained. If there is still a nailing position deviation, the vibration signal data of the fully automatic nailing machine during the nailing process of each assembly component is obtained, and the vibration signal characteristics and the vibration characteristics of the fully automatic nailing machine are extracted according to the vibration signal data, specifically:

[0033] After the position calibration operation, the fully automatic nailing machine performs secondary nailing assembly according to the nailing path of each assembly component to obtain the nailing position deviation information of each assembly component;

[0034] According to the nailing position deviation information, if there is still a nailing position deviation, the vibration signal data of the fully automatic nailing machine during the nailing process of each assembly component is obtained based on the vibration sensor;

[0035] Sorting the vibration signal data according to the time series to obtain the time domain data of the vibration signal, extracting the time domain features of the vibration signal to obtain the vibration signal features, wherein the vibration signal features include the mean, variance, kurtosis, standard deviation, and skewness of the vibration signal;

[0036] The vibration characteristics of the fully automatic nailing machine during the nailing and assembly process of each assembly component are determined according to the vibration signal characteristics, and the vibration characteristics include vibration mutation time characteristics and vibration intensity change characteristics.

[0037] In this solution, the vibration items are determined according to the vibration signal characteristics, the nailing position deviation information of each vibration item under different vibration intensities is obtained, and the influence information of the vibration intensity of each vibration item on the nailing position accuracy is determined, specifically:

[0038] Acquire historical vibration signal characteristics of the fully automatic nailing machine under different vibration items, wherein the vibration items include wear vibration of mechanical components of the nailing machine and rebound vibration of the fully automatic nailing gun at the moment when the nail contacts the assembly component;

[0039] Comparing the vibration signal characteristics with historical vibration signal characteristics to determine vibration items that cause nailing position deviations during assembly of components by the fully automatic nailing machine;

[0040] Perform a single vibration test on the fully automatic nailing machine after the position calibration operation to obtain the nailing position deviation information of the fully automatic nailing machine under different vibration intensities of each vibration item;

[0041] According to the nailing position deviation information under different vibration intensities of each vibration item, a correlation analysis is performed on the vibration intensity of each vibration item and the corresponding nailing position deviation information, so as to determine the influence information of the vibration intensity of each vibration item on the nailing position accuracy of the fully automatic nailing machine after the position calibration operation, and the influence information is the influence degree of the vibration item on the nailing position accuracy of the fully automatic nailing machine under different vibration intensities.

[0042] In this solution, the vibration resistance compensation coefficient of the fully automatic nailing machine for each assembly component is determined according to the impact information and the vibration characteristics of the fully automatic nailing machine, and a vibration resistance solution of the fully automatic nailing machine is constructed, specifically:

[0043] Determine the nailing position accuracy of the full-automatic nailing machine at the current vibration intensity according to the impact information and the vibration characteristics of the full-automatic nailing machine;

[0044] If the nailing position accuracy is less than the preset value, according to the vibration item, if the vibration item is the wear vibration of the mechanical component of the nailing machine, the mechanical component of the nailing machine is inspected and repaired to obtain a first vibration resistance scheme;

[0045] If the nailing position accuracy is less than a preset value and the vibration item is the rebound vibration of the fully automatic nailing gun, the hardness information of the nailing position of each assembly component and the sharpness information of the nail are obtained, and the minimum nailing force threshold of the fully automatic nailing machine for each assembly component is determined according to the hardness information and the sharpness information;

[0046] adjusting the nailing torque output of the fully automatic nailing gun on each assembly component according to the minimum nailing force threshold;

[0047] Obtaining mass information of the fully automatic nailing machine and nailing angle information for each assembly component, determining resistance of the fully automatic nailing machine to rebound vibration according to the mass information and nailing angle information, comparing the resistance with the nailing torque output, and determining a vibration resistance compensation coefficient of the fully automatic nailing machine for each assembly component;

[0048] A vibration resistance force is applied to the rebound vibration of the full-automatic nailing gun at the moment when the nail contacts the assembly component according to the vibration resistance compensation coefficient, thereby obtaining a second vibration resistance scheme.

[0049] The second aspect of the present invention further provides an assembly positioning system for a fully automatic nailing machine, the system comprising: a memory, a processor, the memory comprising an assembly positioning method program for the fully automatic nailing machine, and when the assembly positioning method program for the fully automatic nailing machine is executed by the processor, the following steps are implemented:

[0050] Acquire initial nailing position information of each assembly component of the fully automatic nailing machine, and determine initial nailing position deviation information of the fully automatic nailing machine according to the initial nailing position information;

[0051] The initial nailing position deviation information is analyzed based on the gradient boosting tree algorithm, and a position calibration operation is performed on the nailing position of the fully automatic nailing machine;

[0052] Obtaining the nailing position deviation information of each assembly component by the fully automatic nailing machine after the position calibration operation; if there is still a nailing position deviation, obtaining the vibration signal data of each assembly component during the nailing process of the fully automatic nailing machine; and extracting the vibration signal features and the vibration features of the fully automatic nailing machine according to the vibration signal data;

[0053] Determine the vibration item according to the vibration signal characteristics, obtain the nailing position deviation information of each vibration item under different vibration intensities, and determine the influence information of the vibration intensity of each vibration item on the nailing position accuracy;

[0054] The vibration resistance compensation coefficient of the fully automatic nailing machine for each assembly component is determined according to the impact information and the vibration characteristics of the fully automatic nailing machine, and a vibration resistance scheme of the fully automatic nailing machine is constructed.

[0055] The third aspect of the present invention also provides a computer-readable storage medium, which includes an assembly positioning program for a fully automatic nailing machine. When the assembly positioning program for the fully automatic nailing machine is executed by a processor, the steps of the assembly positioning method for the fully automatic nailing machine as described in any one of the above items are implemented.

[0056] The present invention discloses an assembly positioning method, system and storage medium for a fully automatic nailing machine. The method calibrates the nailing position by acquiring initial nailing position information and analyzing it based on a gradient boosting tree algorithm. If there is still a position deviation after calibration, the vibration signal data during the nailing process is acquired, the vibration signal characteristics and vibration characteristics are extracted, and the influence of the vibration items and vibration intensity on the nailing position accuracy is determined. According to the influence information and vibration characteristics, the vibration resistance compensation coefficient is calculated, and a vibration resistance scheme is constructed. The method improves the assembly accuracy and stability of the nailing machine and reduces the position deviation caused by vibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 A flow chart showing an assembly positioning method of a fully automatic nailing machine of the present invention is shown;

[0058] Figure 2 A flow chart of extracting vibration signal characteristics and vibration characteristics of a fully automatic nailing machine according to the present invention is shown;

[0059] Figure 3 A flow chart showing the information of the influence of the vibration intensity of each vibration item on the nailing position accuracy according to the present invention is shown;

[0060] Figure 4 A block diagram of an assembly positioning system for a full-automatic nailing machine according to the present invention is shown. DETAILED DESCRIPTION

[0061] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0062] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0063] Figure 1 The flowchart of the assembly positioning method of a full-automatic nailing machine of the present invention is shown.

[0064] like Figure 1 As shown, the first aspect of the present invention provides an assembly positioning method for a fully automatic nailing machine, comprising:

[0065] S102, obtaining initial nailing position information of each assembly component of the fully automatic nailing machine, and determining initial nailing position deviation information of the fully automatic nailing machine according to the initial nailing position information;

[0066] S104, analyzing the initial nailing position deviation information based on a gradient boosting tree algorithm, and performing a position calibration operation on the nailing position of the fully automatic nailing machine;

[0067] S106, obtaining nailing position deviation information of each assembly component by the fully automatic nailing machine after the position calibration operation, if there is still nailing position deviation, obtaining vibration signal data of each assembly component during the nailing process of the fully automatic nailing machine, and extracting vibration signal features and vibration features of the fully automatic nailing machine according to the vibration signal data;

[0068] S108, determining the vibration item according to the vibration signal characteristics, obtaining nailing position deviation information of each vibration item under different vibration intensities, and determining the influence information of the vibration intensity of each vibration item on the nailing position accuracy;

[0069] S110, determining a vibration resistance compensation coefficient of the fully automatic nailing machine for each assembly component according to the impact information and the vibration characteristics of the fully automatic nailing machine, and constructing a vibration resistance solution for the fully automatic nailing machine.

[0070] It should be noted that by obtaining the initial nailing position deviation information of the fully automatic nailing machine, the gradient boosting tree algorithm can accurately predict the deviation of the nailing position by analyzing the initial nailing position deviation information; the traditional static calibration method is difficult to cope with the dynamic changes in the nailing process, while the gradient boosting tree algorithm can predict and calibrate the nailing position according to real-time data. Using the GBDT algorithm, the system can make dynamic adjustments during the assembly process, perform real-time nailing position calibration operations according to the actual conditions of different assembly parts, and effectively adapt to the changes in various working conditions during the production process, thereby ensuring the stability of nailing accuracy; if the fully automatic nailing machine still has a nailing position deviation after position calibration, it can be determined that the fully automatic nailing machine is affected by vibration and causes nailing position deviation. By analyzing the vibration signal data during the nailing process, the specific impact of vibration on the nailing position accuracy can be identified and quantified. Vibration is an important factor affecting nailing accuracy, especially under high frequency or strong vibration, the nailing position is prone to large deviations. By acquiring and analyzing vibration signal characteristics (such as vibration intensity, vibration mutation time, etc.), the system can take corresponding resistance measures for different vibration types (such as mechanical component wear vibration, nail gun rebound vibration, etc.), effectively reducing the interference of vibration on the nailing process, thereby improving assembly accuracy.

[0071] According to an embodiment of the present invention, the initial nailing position information of each assembly component of the fully automatic nailing machine is obtained, and the initial nailing position deviation information of the fully automatic nailing machine is determined according to the initial nailing position information, specifically:

[0072] Acquire laser scanning data of the complete assembly parts and nails after nailing assembly, and construct a three-dimensional model of the complete assembly parts and nails according to the laser scanning data;

[0073] The position information of the nails in the complete assembly part is obtained based on the metal detector, and the three-dimensional model of the nails is mapped to the three-dimensional model of the complete assembly part according to the position information of the nails to obtain the three-dimensional model of the standard assembly part;

[0074] Acquire the plane coordinate information of the nailing point of each assembly component, and determine the nailing path of each assembly component by the fully automatic nailing machine according to the plane coordinate information of the nailing point;

[0075] Performing a nailing assembly test operation on each assembly component according to the nailing path, obtaining the nail position information in the assembly component after the assembly is completed, and obtaining the initial nailing position information of each assembly component by the fully automatic nailing machine;

[0076] Based on the initial nailing position information, the three-dimensional model of the nail in the nailing assembly test is mapped to the three-dimensional model of the standard assembly component for fitting, so as to obtain a three-dimensional model for nailing position deviation analysis;

[0077] Based on the nailing position deviation analysis three-dimensional model, the position deviation between the nail position of the nailing assembly test and the nail position of the standard assembly component is determined to obtain the initial nailing position deviation information of the full-automatic nailing machine. The initial nailing position deviation information includes the X-direction deviation, Y-direction deviation, nailing depth deviation, and nailing angle deviation of each nailing position in each assembly component.

[0078] It should be noted that the position data of the complete assembly parts and nails after the nailing assembly is completed are accurately obtained through laser scanning and metal detection technology, and the three-dimensional models of the assembly parts and nails are constructed to achieve accurate restoration of the actual nailing position. By mapping the three-dimensional model of the nail in the nailing assembly test to the three-dimensional model of the standard assembly part, the parameters such as the X-direction deviation, Y-direction deviation, nailing depth deviation, and nailing angle deviation of the nailing position can be accurately measured. By fitting the three-dimensional model of the nail in the nailing assembly test with the three-dimensional model of the standard assembly part, the nailing deviation information is automatically obtained, reducing the dependence on manual measurement and adjustment. The system can automatically detect and analyze assembly deviations, automatically adjust the nailing path and operating parameters, greatly improve production efficiency, and reduce the impact of human factors on assembly quality; the complete assembly part is a standard complete assembly part after the nailing assembly is completed and the nailing is qualified; the plane coordinate information of the nailing point is the point where the nail head of each assembly part contacts the surface of the assembly part during the nailing process; the initial nailing position is the nailing position of the fully automatic nailing machine without nailing position calibration.

[0079] According to an embodiment of the present invention, the determining of the nailing path of each assembly component by the fully automatic nailing machine according to the plane coordinate information of the nailing point is specifically as follows:

[0080] The ant colony algorithm is introduced. For each assembly part, the shortest total nailing path of the fully automatic nailing machine for the assembly part is taken as the optimization goal based on the ant colony algorithm. The distance between each nailing point is calculated based on the plane coordinate information of the nailing points in the assembly part, and the nailing point distance matrix is ​​constructed.

[0081] A pinning point location graph model is constructed based on the pinning point distance matrix, where the graph node represents each pinning point, the edge represents the path between two pinning points, and the weight of each edge is the distance between the pinning points;

[0082] Initialize the number of ants of the ant colony algorithm according to the number of nailing points of the assembly parts, initialize the model parameters of the ant colony algorithm according to the nailing point position graph model, the model parameters include pheromone importance factor, heuristic factor importance factor, pheromone evaporation rate, pheromone initial value, maximum number of iterations, calculate the distance of each edge in the graph model, use the inverse of the distance as the initialization heuristic function, and initialize the global optimal path length to infinity;

[0083] The ant colony algorithm after parameter initialization randomly places all ants in each node in the graph model, and determines the next node selected by each ant based on the roulette algorithm and the initial value of the pheromone of each edge and the heuristic function value. When each ant completes the path search, the total length of each ant's walking path is calculated, and the ant's walking path is scored according to the total length to obtain the path quality information;

[0084] The global optimal path is updated according to the path with the best path quality, and the pheromone value of each edge is updated according to the path quality information and the pheromone evaporation rate, and the path search and path update are performed according to the updated algorithm parameters until the maximum number of iterations is reached, and the global optimal path information is output;

[0085] The global optimal path information of each assembly component is integrated to obtain the nailing path of each assembly component by the fully automatic nailing machine.

[0086] It should be noted that the ant colony algorithm can effectively find the shortest path in the nailing path of each assembly part of the fully automatic nailing machine. The algorithm gradually optimizes from multiple path selection schemes through the collaborative work of multiple ants, and finally finds the global optimal path, thereby minimizing the total nailing path of the nailing machine and improving the nailing efficiency; in the assembly process, the nailing points of different assembly parts are distributed in a complex and irregular manner. The ant colony algorithm can dynamically adapt to this complex path planning problem by simulating the process of ants looking for food in the path. Even if there are complexities or multiple constraints in the path planning process, the ant colony algorithm can still adaptively adjust the path selection through the pheromone feedback mechanism to achieve the optimal path planning for different nailing points; the heuristic path search mechanism in the ant colony algorithm can construct a nailing point distance matrix based on the plane coordinate information of the nailing point by introducing a heuristic factor, and select the next nailing point in combination with the pheromone concentration in the path. This heuristic search mechanism improves the rationality and efficiency of path selection, avoids blindness in path selection, and makes the planning of nailing paths more intelligent and optimized; the ant colony algorithm gradually strengthens excellent paths and weakens poor paths through the accumulation and update of pheromones. After each path search is completed, the algorithm updates the pheromones according to the quality information of the path, and gradually adjusts the attractiveness of each path in combination with the pheromone evaporation rate, so that the entire group gradually converges to the global optimal path. This continuous optimization process ensures that the final result of nailing path planning is close to the global optimum after multiple iterations, improving the overall efficiency and accuracy of the nailing operation; the number of ants is a preset multiple of the number of nailing points, the pheromone importance factor, the heuristic factor importance factor, and the pheromone evaporation rate are set to a unified preset value for each edge in the graph model, and the pheromone initial value is the total edge length of the graph model divided by the single edge length, and the maximum number of iterations is the user preset value.

[0087] According to an embodiment of the present invention, the initial nailing position deviation information is analyzed based on the gradient boosting tree algorithm, and a position calibration operation is performed on the nailing position of the fully automatic nailing machine, specifically:

[0088] Marking the expected nailing point coordinates on the initial nailing position deviation information to obtain expected position marking deviation data;

[0089] A nailing position deviation prediction model is constructed based on a gradient boosting tree algorithm, the expected position annotation deviation data is used as a training sample of the nailing position deviation prediction model, and parameter values ​​of the model are preset;

[0090] The training samples are imported into a nailing position deviation prediction model for training, and the position deviation of the nailing operation performed by the fully automatic nailing machine on different positions of each assembly component is predicted to obtain prediction deviation data;

[0091] The deviation calibration coefficient is determined for different nailing positions of the full-automatic nailing machine according to the predicted deviation data, and the position calibration operation is performed on the nailing position of the full-automatic nailing machine according to the deviation calibration coefficient.

[0092] It should be noted that the gradient boosting tree algorithm is an integrated learning method that can improve prediction accuracy through the combination of multiple decision trees. By analyzing the initial nailing position deviation information, the model can accurately capture the complex nonlinear relationship in the nailing process, thereby effectively predicting the deviation of the nailing position. Through this accurate prediction, the fully automatic nailing machine can better perform position calibration, greatly improve nailing accuracy, and reduce nailing errors; through multiple iterative optimizations of the gradient boosting tree algorithm, the prediction model can gradually reduce the prediction error of the nailing position deviation, avoiding the error accumulation problem that may occur in the traditional calibration method. Each calibration operation is based on the updated prediction deviation data to ensure that the nailing position deviation is gradually reduced, thereby effectively preventing the impact of deviation accumulation on assembly accuracy; the fully automatic nailing machine may adjust the nailing position of the assembly parts according to production requirements. The gradient boosting tree algorithm will identify and determine the deviation model between the known nailing position deviation information and the expected nailing position information, and finally predict the nailing position deviation of different positions of the assembly parts, and then perform deviation calibration.

[0093] Figure 2 The flowchart of the present invention for extracting vibration signal characteristics and vibration characteristics of a fully automatic nailing machine is shown.

[0094] According to an embodiment of the present invention, the nailing position deviation information of each assembly component of the fully automatic nailing machine after the position calibration operation is obtained. If there is still a nailing position deviation, the vibration signal data of the fully automatic nailing machine during the nailing process of each assembly component is obtained, and the vibration signal characteristics and the vibration characteristics of the fully automatic nailing machine are extracted according to the vibration signal data, specifically:

[0095] S202, performing secondary nailing assembly on the fully automatic nailing machine after the position calibration operation according to the nailing path of each assembly component, and obtaining nailing position deviation information of each assembly component;

[0096] S204, based on the nailing position deviation information, if there is still a nailing position deviation, obtaining vibration signal data of the fully automatic nailing machine during the nailing process of each assembly component based on a vibration sensor;

[0097] S206, sorting the vibration signal data according to the time series to obtain vibration signal time domain data, extracting the time domain features of the vibration signal to obtain vibration signal features, wherein the vibration signal features include the vibration signal mean, variance, kurtosis, standard deviation, and skewness;

[0098] S208, determining the vibration characteristics of the fully automatic nailing machine during the nailing assembly process of each assembly component according to the vibration signal characteristics, wherein the vibration characteristics include vibration mutation time characteristics and vibration intensity change characteristics.

[0099] It should be noted that after preliminary calibration, position deviation may still occur during the nailing process. There are many factors that cause this deviation, among which vibration is an important influencing factor. In high-speed and high-repeatability nailing operations, the mechanical vibration of the nailing machine may cause a slight deviation in the position of the nail, thereby affecting the assembly accuracy. Therefore, by monitoring and analyzing the vibration signal during the nailing process, extracting the vibration signal characteristics and vibration characteristics, it is possible to further identify abnormal vibrations occurring during the nailing process, such as mutation time characteristics and vibration intensity change characteristics. Nailing deviations are often closely related to these abnormal vibrations. For example, sudden strong vibrations may cause the nail to deviate from the predetermined position, and continuous high vibration intensity may cause inconsistent nailing depths. By establishing a correlation between vibration signal characteristics and nailing deviations, strong data support can be provided for further calibration of the nailing position.

[0100] Figure 3 A flow chart of determining information on the influence of the vibration intensity of each vibration item on the nailing position accuracy according to the present invention is shown.

[0101] According to an embodiment of the present invention, the vibration item is determined according to the vibration signal characteristics, the nailing position deviation information of each vibration item under different vibration intensities is obtained, and the influence information of the vibration intensity of each vibration item on the nailing position accuracy is determined, specifically:

[0102] S302, obtaining historical vibration signal characteristics of the fully automatic nailing machine under different vibration items, wherein the vibration items include wear vibration of mechanical components of the nailing machine and rebound vibration of the fully automatic nailing gun at the moment when the nail contacts the assembly component;

[0103] S304, comparing the vibration signal characteristics with historical vibration signal characteristics to determine vibration items that cause nailing position deviations during the assembly process of the fully automatic nailing machine;

[0104] S306, performing a single vibration item test on the fully automatic nailing machine after the position calibration operation, and obtaining nailing position deviation information of the fully automatic nailing machine under different vibration intensities of each vibration item;

[0105] S308, performing correlation analysis on the vibration intensity of each vibration item and the corresponding nailing position deviation information according to the nailing position deviation information under different vibration intensities of each vibration item, and determining the influence information of the vibration intensity of each vibration item on the nailing position accuracy of the fully automatic nailing machine after the position calibration operation, wherein the influence information is the influence degree of the vibration item on the nailing position accuracy of the fully automatic nailing machine under different vibration intensities.

[0106] It should be noted that by analyzing the influence of different vibration items (such as mechanical component wear vibration and nail gun rebound vibration) on the nailing position, the key vibration factors that cause nailing deviation can be more accurately identified and controlled. In this way, the operating parameters of the nailing machine can be adjusted in a targeted manner to reduce the influence of vibration on the nailing position accuracy, thereby improving the overall assembly quality; the single vibration item test is to conduct a vibration test on the fully automatic nailing machine after position calibration, and one vibration item affects the nailing position accuracy of the fully automatic nailing machine in each test; the wear vibration of the mechanical components of the nailing machine is that the mechanical components of the nailing machine produce a certain amount of clearance after wear, causing the vibration of the fully automatic nailing machine; the rebound vibration of the fully automatic nailing gun at the moment when the nail contacts the assembly part is when the nail of the nail gun contacts the assembly part and starts nailing, the mechanical components inside the nail gun (such as pistons and springs) will exert force on the nail to make the nail enter the assembly part, and at this time the fully automatic nailing machine will be subjected to a strong reaction force. If the automatic nailing machine does not have enough power to resist this reaction force, it will cause the nail gun to rebound instantly, causing rebound vibration.

[0107] According to an embodiment of the present invention, the vibration resistance compensation coefficient of the fully automatic nailing machine for each assembly component is determined according to the impact information and the vibration characteristics of the fully automatic nailing machine, and a vibration resistance scheme of the fully automatic nailing machine is constructed, specifically:

[0108] Determine the nailing position accuracy of the full-automatic nailing machine at the current vibration intensity according to the impact information and the vibration characteristics of the full-automatic nailing machine;

[0109] If the nailing position accuracy is less than the preset value, according to the vibration item, if the vibration item is the wear vibration of the mechanical component of the nailing machine, the mechanical component of the nailing machine is inspected and repaired to obtain a first vibration resistance scheme;

[0110] If the nailing position accuracy is less than a preset value and the vibration item is the rebound vibration of the fully automatic nailing gun, the hardness information of the nailing position of each assembly component and the sharpness information of the nail are obtained, and the minimum nailing force threshold of the fully automatic nailing machine for each assembly component is determined according to the hardness information and the sharpness information;

[0111] adjusting the nailing torque output of the fully automatic nailing gun on each assembly component according to the minimum nailing force threshold;

[0112] Obtaining mass information of the fully automatic nailing machine and nailing angle information for each assembly component, determining resistance of the fully automatic nailing machine to rebound vibration according to the mass information and nailing angle information, comparing the resistance with the nailing torque output, and determining a vibration resistance compensation coefficient of the fully automatic nailing machine for each assembly component;

[0113] A vibration resistance force is applied to the rebound vibration of the full-automatic nailing gun at the moment when the nail contacts the assembly component according to the vibration resistance compensation coefficient, thereby obtaining a second vibration resistance scheme.

[0114] It should be noted that the wear of mechanical components usually causes additional vibration or deviation during the nailing process. Through inspection and maintenance, the vibration caused by component wear can be reduced, thereby reducing the negative impact of these vibrations on the accuracy of nailing position. Rebound vibration will cause the nail gun to generate additional reverse force at the moment of nailing, thereby affecting the accuracy of nailing. By calculating and applying the vibration resistance compensation coefficient, these rebound effects can be effectively offset or reduced, reducing their negative impact on the accuracy of nailing position; adjusting the nailing force according to the hardness information and sharpness information can ensure that the optimal nailing effect can be achieved under various working conditions. Determining the vibration resistance compensation coefficient can help adjust the nailing torque output of the nailing gun to reduce the rebound vibration and ensure that the nailing force and angle are kept in the best state; the hardness and sharpness information is used to determine the minimum nailing force threshold to ensure that the force during the nailing process adapts to the actual situation of the assembly parts, thereby reducing the nailing position deviation caused by rebound vibration; the resistance of the fully automatic nailing machine to rebound vibration refers to the overall mass of the nailing machine, including the weight and structural design of the machine itself, and the inertia of the nailing machine itself determined according to the nailing angle. Devices with greater mass generally have higher inertia, which helps to resist changes in motion caused by vibration.

[0115] According to an embodiment of the present invention, it also includes:

[0116] Based on the metal detector, the nail penetration depth change data of the fully automatic nailing machine in a preset time period during which the fully automatic nailing machine performs a nailing operation on the assembly parts according to the nailing torque output;

[0117] According to the nail penetration depth change data, the nailing torque output change of the fully automatic nailing machine within a preset time period is evaluated, and the nailing torque output change is sorted according to a time series to obtain torque output change time series data;

[0118] Building a torque output prediction model based on the LSTM model, dividing the torque output change time series data into a training set and a prediction set according to a preset ratio, importing the training set into the model to train the model, and importing the prediction set into the torque output prediction model after training to predict the torque output change of the full-automatic nailing machine in the future preset time period to obtain a prediction result;

[0119] Determine a torque output loss value within a preset time in the future according to the prediction result, and determine a degree of torque output loss according to the torque output loss value;

[0120] A torque output loss degree threshold is preset, and if the torque output loss degree is less than the torque loss degree threshold, a compensation value for the torque output loss value is determined according to the torque output loss degree, and a nailing torque output parameter within a future preset time period is dynamically adjusted according to the compensation value;

[0121] If the torque output loss degree is greater than the torque loss degree threshold, the fully automatic nailing machine is calibrated as a performance degradation fault state, and a performance degradation fault inspection and maintenance operation is performed on the fully automatic nailing machine.

[0122] It should be noted that the performance of the fully automatic nailing machine will degrade after long-term cumulative use, resulting in the nailing output torque failing to meet the nailing output torque requirement. Therefore, the torque output change is determined according to the change in the penetration depth of the nail, and a torque output prediction model is constructed based on the LSTM (long short-term memory network) to predict the torque output change in a future preset time period, determine the torque loss value of the fully automatic nailing machine for nailing the assembly parts in the future preset time period, and determine the degree of loss; if the torque output loss degree is less than the torque loss degree threshold, it can be identified as a fully automatic nailing machine. The performance degradation of the nailing machine is within the acceptable range. At this time, the torque output compensation value of the fully automatic nailing machine in the future preset time period is determined according to the degree of loss, and finally the nailing torque output parameters in the future preset time period are adjusted; if the torque output loss degree is greater than the torque loss degree threshold, the performance degradation degree is large at this time, and the fully automatic nailing machine is overhauled; by dynamically monitoring the nailing torque output and evaluating the torque output loss value, when the prediction result shows that the torque output loss degree is small, the system can adjust the nailing torque parameters in time to reduce the loss caused by equipment state fluctuations, thereby reducing the probability of equipment failure. In addition, when the prediction result shows that the torque output loss degree reaches or exceeds the threshold, the system will mark the fully automatic nailing machine as a performance degradation fault state and perform maintenance operations in time, thereby avoiding more serious damage to the equipment due to continued operation due to the fault and extending the service life of the equipment.

[0123] According to an embodiment of the present invention, it also includes:

[0124] Acquire assembly sequence information of each assembly component, and sequentially number each assembly component according to the assembly sequence information to obtain numbered assembly components;

[0125] Perform nailing assembly operation on each assembly component according to the assembly sequence information and nailing path, and obtain historical nailing position deviation data of each nailing point in N assembly rounds;

[0126] An error accumulation model is constructed based on a Bayesian network, and the historical nailing position deviation data of each nailing point is imported into the error accumulation model. The historical nailing position deviation information of each assembly round is sorted according to the assembly sequence information and the assembly path to construct N error transfer graphs;

[0127] Based on the error accumulation model, an error accumulation trend analysis is performed on each error transfer diagram to determine the error accumulation start node, mark it as a key point, and determine the error influence intensity of the key point on the subsequent nailing position according to the error accumulation trend;

[0128] Construct an error propagation diagram based on the key points and error impact strength;

[0129] real-time monitoring of nailing position deviation data of the key points, analyzing the nailing position deviation data according to the error propagation schematic diagram, predicting nailing position deviation data of subsequent nailing points, and performing assembly quality assessment of the assembly parts according to the nailing position deviation data of the subsequent nailing points to obtain a quality assessment result;

[0130] According to the quality assessment result, if the assembly quality is lower than the preset value and a nailing position deviation occurs at a key point, the subsequent assembly operation of the fully automatic nailing machine is stopped and the semi-finished assembly parts are scrapped.

[0131] It should be noted that the fully automatic nailing machine needs to assemble multiple assembly parts. Due to the complexity and multi-step nature of the assembly process, cumulative errors are likely to occur during the assembly process. That is, during the gradual assembly of each assembly part, the errors generated in the previous steps may gradually accumulate, which will eventually lead to the product failing to meet the design requirements and even affect the safety and reliability of the product. Therefore, the Bayesian network model is used to model the error accumulation, and real-time dynamic prediction can be performed based on historical data and current data. The Bayesian network can handle uncertainty and accurately predict the error development trend of each nailing point using conditional probability reasoning. By constructing an error transfer diagram, it clearly shows how the error is transmitted from one node to the subsequent node during the assembly process. The sorted error transfer diagram can intuitively reflect the direction and amplitude of the error transmission. Through the error accumulation trend analysis, the key points of error accumulation can be identified, that is, the positions where the errors begin to accumulate and have a significant impact on the subsequent assembly. The determination of the key points can lock the links in the assembly process where errors are most likely to occur. By constructing the key points and their error influence strength into an error propagation diagram, the error propagation in the entire assembly process can be systematically displayed. The diagram can comprehensively reflect the key points, error transmission paths and their influence range. Through the analysis of the error propagation diagram, the system can accurately predict the error data of subsequent nailing points, identify potential subsequent assembly deviations in advance, and continuously monitor product quality during the assembly process based on assembly quality assessment based on real-time data. If the assembly quality is lower than the preset standard, the system will automatically adjust the assembly process or suspend the operation to prevent further deterioration of quality problems, avoid the failure of the entire batch of products due to error accumulation, reduce rework and resource waste, and improve the intelligence and automation level of the production line.

[0132] Figure 4 A block diagram of an assembly positioning system for a full-automatic nailing machine according to the present invention is shown.

[0133] The second aspect of the present invention further provides an assembly positioning system 4 for a fully automatic nailing machine, the system comprising: a memory 41, a processor 42, the memory comprising an assembly positioning method program for the fully automatic nailing machine, and when the assembly positioning method program for the fully automatic nailing machine is executed by the processor, the following steps are implemented:

[0134] Acquire initial nailing position information of each assembly component of the fully automatic nailing machine, and determine initial nailing position deviation information of the fully automatic nailing machine according to the initial nailing position information;

[0135] The initial nailing position deviation information is analyzed based on the gradient boosting tree algorithm, and a position calibration operation is performed on the nailing position of the fully automatic nailing machine;

[0136] Obtaining the nailing position deviation information of each assembly component by the fully automatic nailing machine after the position calibration operation; if there is still a nailing position deviation, obtaining the vibration signal data of each assembly component during the nailing process of the fully automatic nailing machine; and extracting the vibration signal features and the vibration features of the fully automatic nailing machine according to the vibration signal data;

[0137] Determine the vibration item according to the vibration signal characteristics, obtain the nailing position deviation information of each vibration item under different vibration intensities, and determine the influence information of the vibration intensity of each vibration item on the nailing position accuracy;

[0138] The vibration resistance compensation coefficient of the fully automatic nailing machine for each assembly component is determined according to the impact information and the vibration characteristics of the fully automatic nailing machine, and a vibration resistance scheme of the fully automatic nailing machine is constructed.

[0139] The third aspect of the present invention also provides a computer-readable storage medium, which includes an assembly positioning program for a fully automatic nailing machine. When the assembly positioning program for the fully automatic nailing machine is executed by a processor, the steps of the assembly positioning method for the fully automatic nailing machine as described in any one of the above items are implemented.

[0140] The present invention discloses an assembly positioning method, system and storage medium for a fully automatic nailing machine. The method calibrates the nailing position by acquiring initial nailing position information and analyzing it based on a gradient boosting tree algorithm. If there is still a position deviation after calibration, the vibration signal data during the nailing process is acquired, the vibration signal characteristics and vibration characteristics are extracted, and the influence of the vibration items and vibration intensity on the nailing position accuracy is determined. According to the influence information and vibration characteristics, the vibration resistance compensation coefficient is calculated, and a vibration resistance scheme is constructed. The method improves the assembly accuracy and stability of the nailing machine and reduces the position deviation caused by vibration.

[0141] 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. The device embodiments described above are only schematic. For example, the division of the 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 can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0142] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0143] In addition, all functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0144] A person of ordinary skill in the art can understand that: all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: a mobile storage device, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0145] Alternatively, if the above-mentioned integrated unit of the present invention is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention can be essentially or partly reflected in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROM, RAM, magnetic disks or optical disks.

[0146] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An assembly positioning method for a fully automatic nailing machine, characterized in that: The following steps are involved: Acquire initial nailing position information of each assembly component of the fully automatic nailing machine, and determine initial nailing position deviation information of the fully automatic nailing machine according to the initial nailing position information; The initial nailing position deviation information is analyzed based on the gradient boosting tree algorithm, and a position calibration operation is performed on the nailing position of the fully automatic nailing machine; Obtaining the nailing position deviation information of each assembly component by the fully automatic nailing machine after the position calibration operation; if there is still a nailing position deviation, obtaining the vibration signal data of each assembly component during the nailing process of the fully automatic nailing machine; and extracting the vibration signal features and the vibration features of the fully automatic nailing machine according to the vibration signal data; Determine the vibration item according to the vibration signal characteristics, obtain the nailing position deviation information of each vibration item under different vibration intensities, and determine the influence information of the vibration intensity of each vibration item on the nailing position accuracy; The vibration resistance compensation coefficient of the fully automatic nailing machine for each assembly component is determined according to the impact information and the vibration characteristics of the fully automatic nailing machine, and a vibration resistance scheme of the fully automatic nailing machine is constructed.

2. The assembly and positioning method of a fully automatic nailing machine according to claim 1, characterized in that: The obtaining of the initial nailing position information of each assembly component by the fully automatic nailing machine and the determination of the initial nailing position deviation information of the fully automatic nailing machine according to the initial nailing position information are specifically as follows: Acquire laser scanning data of the complete assembly parts and nails after nailing assembly, and construct a three-dimensional model of the complete assembly parts and nails according to the laser scanning data; The position information of the nails in the complete assembly part is obtained based on the metal detector, and the three-dimensional model of the nails is mapped to the three-dimensional model of the complete assembly part according to the position information of the nails to obtain the three-dimensional model of the standard assembly part; Acquire the plane coordinate information of the nailing point of each assembly component, and determine the nailing path of each assembly component by the fully automatic nailing machine according to the plane coordinate information of the nailing point; Performing a nailing assembly test operation on each assembly component according to the nailing path, obtaining the nail position information in the assembly component after the assembly is completed, and obtaining the initial nailing position information of each assembly component by the fully automatic nailing machine; Based on the initial nailing position information, the three-dimensional model of the nail in the nailing assembly test is mapped to the three-dimensional model of the standard assembly component for fitting, so as to obtain a three-dimensional model for nailing position deviation analysis; Based on the nailing position deviation analysis three-dimensional model, the position deviation between the nail position of the nailing assembly test and the nail position of the standard assembly component is determined to obtain the initial nailing position deviation information of the full-automatic nailing machine. The initial nailing position deviation information includes the X-direction deviation, Y-direction deviation, nailing depth deviation, and nailing angle deviation of each nailing position in each assembly component.

3. The assembly and positioning method of a fully automatic nailing machine according to claim 2, characterized in that: The step of determining the nailing path of each assembly component by the fully automatic nailing machine according to the plane coordinate information of the nailing point is specifically as follows: The ant colony algorithm is introduced. For each assembly part, the shortest total nailing path of the fully automatic nailing machine for the assembly part is taken as the optimization goal based on the ant colony algorithm. The distance between each nailing point is calculated based on the plane coordinate information of the nailing points in the assembly part, and the nailing point distance matrix is ​​constructed. A pinning point location graph model is constructed based on the pinning point distance matrix, where the graph node represents each pinning point, the edge represents the path between two pinning points, and the weight of each edge is the distance between the pinning points; Initialize the number of ants of the ant colony algorithm according to the number of nailing points of the assembly parts, initialize the model parameters of the ant colony algorithm according to the nailing point position graph model, the model parameters include pheromone importance factor, heuristic factor importance factor, pheromone evaporation rate, pheromone initial value, maximum number of iterations, calculate the distance of each edge in the graph model, use the inverse of the distance as the initialization heuristic function, and initialize the global optimal path length to infinity; The ant colony algorithm after parameter initialization randomly places all ants in each node in the graph model, and determines the next node selected by each ant based on the roulette algorithm and the initial value of the pheromone of each edge and the heuristic function value. When each ant completes the path search, the total length of each ant's walking path is calculated, and the ant's walking path is scored according to the total length to obtain the path quality information; The global optimal path is updated according to the path with the best path quality, and the pheromone value of each edge is updated according to the path quality information and the pheromone evaporation rate, and the path search and path update are performed according to the updated algorithm parameters until the maximum number of iterations is reached, and the global optimal path information is output; The global optimal path information of each assembly component is integrated to obtain the nailing path of each assembly component by the fully automatic nailing machine.

4. The assembly and positioning method of a fully automatic nailing machine according to claim 1, characterized in that: The gradient boosting tree algorithm is used to analyze the initial nailing position deviation information and perform a position calibration operation on the nailing position of the fully automatic nailing machine, specifically: Marking the expected nailing point coordinates on the initial nailing position deviation information to obtain expected position marking deviation data; A nailing position deviation prediction model is constructed based on a gradient boosting tree algorithm, the expected position annotation deviation data is used as a training sample of the nailing position deviation prediction model, and parameter values ​​of the model are preset; The training samples are imported into a nailing position deviation prediction model for training, and the position deviation of the nailing operation performed by the fully automatic nailing machine on different positions of each assembly component is predicted to obtain prediction deviation data; The deviation calibration coefficient is determined for different nailing positions of the full-automatic nailing machine according to the predicted deviation data, and the position calibration operation is performed on the nailing position of the full-automatic nailing machine according to the deviation calibration coefficient.

5. The assembly and positioning method of a fully automatic nailing machine according to claim 1, characterized in that: The nailing position deviation information of each assembly component of the fully automatic nailing machine after the position calibration operation is obtained. If there is still a nailing position deviation, the vibration signal data of the fully automatic nailing machine during the nailing process of each assembly component is obtained, and the vibration signal characteristics and the vibration characteristics of the fully automatic nailing machine are extracted according to the vibration signal data, specifically: After the position calibration operation, the fully automatic nailing machine performs secondary nailing assembly according to the nailing path of each assembly component to obtain the nailing position deviation information of each assembly component; According to the nailing position deviation information, if there is still a nailing position deviation, the vibration signal data of the fully automatic nailing machine during the nailing process of each assembly component is obtained based on the vibration sensor; Sorting the vibration signal data according to the time series to obtain the time domain data of the vibration signal, extracting the time domain features of the vibration signal to obtain the vibration signal features, wherein the vibration signal features include the mean, variance, kurtosis, standard deviation, and skewness of the vibration signal; The vibration characteristics of the fully automatic nailing machine during the nailing and assembly process of each assembly component are determined according to the vibration signal characteristics, and the vibration characteristics include vibration mutation time characteristics and vibration intensity change characteristics.

6. The assembly and positioning method of a fully automatic nailing machine according to claim 1, characterized in that: The step of determining the vibration item according to the vibration signal characteristics, obtaining the nailing position deviation information of each vibration item under different vibration intensities, and determining the influence information of the vibration intensity of each vibration item on the nailing position accuracy is specifically as follows: Acquire historical vibration signal characteristics of the fully automatic nailing machine under different vibration items, wherein the vibration items include wear vibration of mechanical components of the nailing machine and rebound vibration of the fully automatic nailing gun at the moment when the nail contacts the assembly component; Comparing the vibration signal characteristics with historical vibration signal characteristics to determine vibration items that cause nailing position deviations during assembly of components by the fully automatic nailing machine; Perform a single vibration test on the fully automatic nailing machine after the position calibration operation to obtain the nailing position deviation information of the fully automatic nailing machine under different vibration intensities of each vibration item; According to the nailing position deviation information under different vibration intensities of each vibration item, a correlation analysis is performed on the vibration intensity of each vibration item and the corresponding nailing position deviation information, so as to determine the influence information of the vibration intensity of each vibration item on the nailing position accuracy of the fully automatic nailing machine after the position calibration operation, and the influence information is the influence degree of the vibration item on the nailing position accuracy of the fully automatic nailing machine under different vibration intensities.

7. The assembly and positioning method of a fully automatic nailing machine according to claim 1, characterized in that: The vibration resistance compensation coefficient of the fully automatic nailing machine for each assembly component is determined according to the impact information and the vibration characteristics of the fully automatic nailing machine, and a vibration resistance scheme of the fully automatic nailing machine is constructed, specifically: Determine the nailing position accuracy of the full-automatic nailing machine at the current vibration intensity according to the impact information and the vibration characteristics of the full-automatic nailing machine; If the nailing position accuracy is less than the preset value, according to the vibration item, if the vibration item is the wear vibration of the mechanical component of the nailing machine, the mechanical component of the nailing machine is inspected and repaired to obtain a first vibration resistance scheme; If the nailing position accuracy is less than a preset value and the vibration item is the rebound vibration of the fully automatic nailing gun, the hardness information of the nailing position of each assembly component and the sharpness information of the nail are obtained, and the minimum nailing force threshold of the fully automatic nailing machine for each assembly component is determined according to the hardness information and the sharpness information; adjusting the nailing torque output of the fully automatic nailing gun on each assembly component according to the minimum nailing force threshold; Obtaining mass information of the fully automatic nailing machine and nailing angle information for each assembly component, determining resistance of the fully automatic nailing machine to rebound vibration according to the mass information and nailing angle information, comparing the resistance with the nailing torque output, and determining a vibration resistance compensation coefficient of the fully automatic nailing machine for each assembly component; A vibration resistance force is applied to the rebound vibration of the full-automatic nailing gun at the moment when the nail contacts the assembly component according to the vibration resistance compensation coefficient, thereby obtaining a second vibration resistance scheme.

8. An assembly positioning system for a fully automatic nailing machine, characterized in that: The assembly positioning system of the fully automatic nailing machine includes a storage device and a processor. The storage content of the storage device includes an assembly positioning program of the fully automatic nailing machine. When the assembly positioning program of the fully automatic nailing machine is executed by the processor, the following steps are implemented: Acquire initial nailing position information of each assembly component of the fully automatic nailing machine, and determine initial nailing position deviation information of the fully automatic nailing machine according to the initial nailing position information; The initial nailing position deviation information is analyzed based on the gradient boosting tree algorithm, and a position calibration operation is performed on the nailing position of the fully automatic nailing machine; Obtaining the nailing position deviation information of each assembly component by the fully automatic nailing machine after the position calibration operation; if there is still a nailing position deviation, obtaining the vibration signal data of each assembly component during the nailing process of the fully automatic nailing machine; and extracting the vibration signal features and the vibration features of the fully automatic nailing machine according to the vibration signal data; Determine the vibration item according to the vibration signal characteristics, obtain the nailing position deviation information of each vibration item under different vibration intensities, and determine the influence information of the vibration intensity of each vibration item on the nailing position accuracy; The vibration resistance compensation coefficient of the fully automatic nailing machine for each assembly component is determined according to the impact information and the vibration characteristics of the fully automatic nailing machine, and a vibration resistance scheme of the fully automatic nailing machine is constructed.

9. A computer-readable storage medium, characterized in that: The storage content of the computer-readable storage medium includes an assembly positioning program of the fully automatic nailing machine. When the assembly positioning program of the fully automatic nailing machine is executed by the processor, the steps of the assembly positioning method of the fully automatic nailing machine as described in any one of claims 1 to 7 are implemented.

Images