Machining protection method for parts with holes

Abstract

The invention discloses a machining protection method for a part with a hole, and relates to the related field of part protection. The method comprises the steps that a to-be-protected hole is positioned according to a machining task of the part with the hole; calling hole opening characteristic parameters and hole opening geometric positioning information; performing matching decision deduction according to the processing task of the part with the hole and the hole opening characteristic parameters to obtain plug model information; according to the plug model information, the trepanning geometric positioning information and the trepanning characteristic parameters, dynamic control deduction is carried out, and installation control parameters are obtained; processing protection path optimization is carried out according to the geometric positioning information of the K holes and the K installation control parameters; after the plug accessories are called and obtained, the plug accessories are serialized according to the plug installation optimization path; and the protection mechanical arm is driven to install the plug accessory to the to-be-protected hole. The technical problems that existing machining protection is low in efficiency, high in error rate and poor in machining protection accuracy are solved, and the technical effects of improving the production efficiency, reducing the error rate and improving the machining protection accuracy are achieved.

Description

Technical Field

[0001] The present application relates to the field of parts protection, and in particular to a processing protection method for parts with holes. Background Art

[0002] In the manufacturing process of semiconductor precision parts, the complexity of the part structure places extremely high demands on the processing process. These parts often require local surface treatment and mechanical processing, and during this process, foreign matter or potions must be prevented from entering the interior of the parts to avoid affecting their performance and quality. The traditional plugging processing method mainly relies on manual control. Workers need to identify the openings on the parts one by one, select the appropriate plug model, and install it manually. This method is not only inefficient, but also prone to errors. Due to the uncontrollability of manual operation, it is difficult to ensure that each opening can be accurately and timely blocked, which increases the risk of damage to the parts during subsequent processing.

[0003] In the current related technologies, the processing protection for parts with holes has the disadvantages of low efficiency, high error rate, and poor accuracy, which leads to technical problems that affect the processing quality of parts. Summary of the invention

[0004] The present application provides a processing protection method for parts with holes. According to the processing task of the parts with holes, K openings to be protected are located on the surface of the parts to be processed, the characteristic parameters and geometric positioning information of each opening are retrieved, and matching decision deduction is performed according to the processing task and the characteristic parameters of the openings to determine the plug model of each opening. According to the plug model, the geometric positioning information of the openings and the characteristic parameters of the openings, dynamic control deduction is performed to determine the installation control parameters of each plug. According to the geometric positioning information of the openings and the installation control parameters, the processing protection path is optimized to obtain the plug installation optimization path. After the plug accessories are obtained by calling, the plug accessories are serialized according to the plug installation optimization path to obtain the accessory scheduling sequence. The plug installation optimization path is used as the installation control constraint, and the accessory scheduling sequence is used as the installation scheduling constraint. The protective robot arm is driven to install the plug accessories to the openings to be protected of the parts to be processed. The technical effect of improving production efficiency, reducing error rate, improving processing protection accuracy, and thus improving part processing quality is achieved.

[0005] The present application provides a processing protection method for parts with holes, comprising: locating K holes to be protected on the surface of the part to be processed according to the processing task of the part with holes; retrieving K hole characteristic parameters and K hole geometric positioning information of the K holes to be protected; performing matching decision deduction according to the processing task of the part with holes and the K hole characteristic parameters to obtain K plug model information; performing dynamic control deduction according to the K plug model information, the K hole geometric positioning information and the K hole characteristic parameters to obtain K installation control parameters; performing dynamic control deduction according to the K hole geometric positioning ... and the K hole geometric positioning information and the K hole geometric positioning information and the K hole geometric positioning information and the K hole geometric positioning information and the K hole geometric positioning information and the K hole geometric positioning information and the K hole geometric positioning information and the K hole geometric positioning information and the K hole geometric positioning information and the K hole geometric positioning information and the K hole geometric positioning information and the K hole geometric positioning information and the K hole geometric positioning information and the K hole geometric positioning information and the K hole geometric positioning information and the K hole geometric positioning information and the K hole geometric positioning information and the K hole geometric positioning information and the K hole geometric positioning information and the K hole geometric positioning information and the K hole geometric positioning information and the K hole geometric positioning information and the K hole geometric positioning information and the K hole geometric positioning information and the K hole geometric positioning information and The processing protection path is optimized based on the positioning information and K installation control parameters to obtain the plug installation optimization path; after obtaining K plug accessories according to the K plug model information, the K plug accessories are serialized according to the plug installation optimization path to obtain an accessory scheduling sequence; with the plug installation optimization path as the installation control constraint and the accessory scheduling sequence as the installation scheduling constraint, the protection robot arm is driven to install the K plug accessories to the K openings to be protected of the part to be processed, and preprocessing of the processing protection is performed on the part to be processed.

[0006] In a possible implementation, K openings to be protected are located on the surface of the part to be processed according to the task of processing parts with holes, and the following processing is performed: local data is called according to the part code of the part to be processed to obtain processing posture parameters and part design information; after spatial modeling according to the part design information, the modeling result is spatially adjusted according to the processing posture parameters to generate a model to be processed; the processing area is located on the surface of the model to be processed according to the task of processing parts with holes to obtain the target processing area; the openings are screened with the target processing area as a constraint to obtain the K openings to be protected.

[0007] In a possible implementation, matching decision deduction is performed according to the hole-carrying part processing task and K opening characteristic parameters to obtain K plug model information, and the following processing is performed: by fitting the hole-carrying part processing task to the target processing area, the target processing area is divided into multiple processing task areas; the K openings to be protected are identified according to the multiple processing task areas to obtain K pieces of processing task information; multiple sample plug design information is interactively obtained, and the plug optimization space is initialized according to the multiple sample plug design information; in the plug optimization space, multi-objective matching decision deduction is performed according to the K pieces of processing task information and the K opening characteristic parameters to obtain the K plug model information.

[0008] In a possible implementation, in the plug optimization space, a multi-objective matching decision deduction is performed according to the K to-be-processed task information and the K opening characteristic parameters to obtain the K plug model information, and the following processing is performed: the design information of the multiple sample plugs is parsed to obtain multiple sample plug sizes, multiple sample plug functional characteristics and multiple sample plug costs; after constructing the plug optimization space based on the standard plug size index, multiple sample plug particle points are located in the plug optimization space according to the multiple sample plug sizes; the multiple sample plug functional characteristics and multiple sample plug costs are used to fill the multiple sample plug particle points to complete the initialization of the plug optimization space; from the first opening characteristic Parameters are used to extract a first opening size and a first surface attribute; a first virtual particle point of the first opening size is located in the plug optimization space; the interference fit amount is interactively obtained, and a plug screening space is constructed at the first virtual particle point according to the interference fit amount; a functional characteristic information library is traversed using the first task information to be processed and the first surface attribute to obtain a first required functional characteristic; in the plug screening space, a multi-objective matching decision deduction is performed according to the first required functional characteristic to obtain the first plug model information; and by analogy, in the plug optimization space, a multi-objective matching decision deduction is performed according to the K task information to be processed and the K opening characteristic parameters to obtain the K plug model information.

[0009] In a possible implementation, in the plug screening space, a multi-objective matching decision deduction is performed according to the first demand functional characteristics to obtain the first plug model information, and the following processing is performed: H sample plug particle points falling into the plug screening space are screened in the plug optimization space; the H sample plug functional characteristics of the H sample plug particle points are traversed using the first demand functional characteristics to screen M sample plug particle points from the H sample plug particle points, wherein M is a positive integer less than H; after serializing the M sample plug particle points according to their M sample plug costs, the plug model of the plug particle point corresponding to the minimum value is called according to the sorting result to obtain the first plug model information.

[0010] In a possible implementation, dynamic control deduction is performed based on the K plug model information, K opening geometric positioning information and K opening characteristic parameters to obtain K installation control parameters. Before that, the following processing is performed: multiple sample plug models, multiple sample opening characteristics and multiple sample installation operation parameters are interactively obtained, wherein the sample installation operation parameters include sample installation depth, sample installation force and sample installation speed; the multiple sample plug models, multiple sample opening characteristics and multiple sample installation operation parameters are used as training data to construct an installation operation deduction unit; multiple sample opening direction vectors and multiple sample installation direction parameters are interactively obtained; the multiple sample opening direction vectors and multiple sample installation direction parameters are used as training data to construct an installation direction deduction unit; and the construction of the dynamic control deduction model is completed by connecting the installation operation deduction unit and the installation direction deduction unit in parallel.

[0011] In a possible implementation, dynamic control deduction is performed based on the K plug model information, K opening geometric positioning information and K opening characteristic parameters to obtain K installation control parameters, and the following processing is performed: K opening protection position vectors and K opening protection direction vectors are extracted from the K opening geometric positioning information; after synchronizing the K plug model information and the K opening characteristic parameters to the installation operation deduction unit of the dynamic control deduction model and synchronizing the K opening protection direction vectors to the installation direction deduction unit of the dynamic control deduction model, the installation operation deduction unit and the installation direction deduction unit are synchronously run to perform dynamic control deduction to obtain K installation control parameters.

[0012] In a possible implementation, the processing protection path is optimized according to the K opening geometric positioning information and the K installation control parameters to obtain the plug installation optimization path, and the following processing is performed: the K installation control parameters are localized using the K opening protection position vectors to obtain K processing protection control parameters; the initial protection opening is positioned on the surface of the part to be processed; the first processing protection control parameter of the initial protection opening is called from the K processing protection control parameters; the K-1 openings to be protected are serialized according to the Euclidean distance between the first processing protection control parameter and the K-1 processing protection control parameters of the K-1 openings to be protected to obtain a processing protection sequence; and the plug installation optimization path is output according to the fitting of the processing protection sequence.

[0013] The processing protection method for parts with holes proposed in this application first locates K holes to be protected on the surface of the part to be processed according to the processing task of the parts with holes, then retrieves K hole characteristic parameters and K hole geometric positioning information of the K holes to be protected, and then performs matching decision deduction according to the processing task of the parts with holes and the K hole characteristic parameters to obtain K plug model information, and then performs dynamic control deduction according to the K plug model information, the K hole geometric positioning information and the K hole characteristic parameters to obtain K installation control parameters, and then performs dynamic control deduction according to the K hole geometric positioning information and the K installation control parameters. The processing protection path is optimized to obtain the optimized path for plug installation. Then, after obtaining K plug accessories according to the K plug model information, the K plug accessories are serialized according to the optimized path for plug installation to obtain the accessory scheduling sequence. Finally, the optimized path for plug installation is used as the installation control constraint, and the accessory scheduling sequence is used as the installation scheduling constraint to drive the protection robot arm to install the K plug accessories to the K openings to be protected of the parts to be processed, and perform preprocessing of processing protection on the parts to be processed, thereby achieving the technical effect of improving production efficiency, reducing error rate, improving processing protection accuracy, and thereby improving part processing quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the accompanying drawings of the embodiment of the present invention will be briefly introduced below. A flow chart is used in the present application to illustrate the operations performed by the method according to the embodiment of the present application. It should be understood that the preceding or following operations are not necessarily performed accurately in order. On the contrary, various steps can be processed in reverse order or simultaneously as needed. At the same time, other operations can also be added to these processes, or one or more operations can be removed from these processes.

[0015] Figure 1 A schematic flow chart of a processing protection method for parts with holes provided in an embodiment of the present application.

[0016] Figure 2 A schematic diagram of a process for obtaining K plug model information in a processing protection method for parts with holes provided in an embodiment of the present application. DETAILED DESCRIPTION

[0017] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below.

[0018] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0019] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict, and the terms "first\second" involved are merely to distinguish similar objects and do not represent a specific ordering of objects. The terms "including" and "having" and any variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or modules that are not clearly listed or inherent to these processes, methods, products, or devices. 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 this application. The terms used herein are for the purpose of describing the embodiments of the present application only.

[0020] The present application embodiment provides a processing protection method for parts with holes, such as Figure 1 As shown, the method includes: Step S100, locating K holes to be protected on the surface of the part to be processed according to the task of processing the part with holes.

[0021] Specifically, the processing task of parts with holes is analyzed, including the CAD model of the parts, processing technology requirements and other information. Using image processing or CAD model analysis technology, all the openings on the surface of the parts to be processed are identified, and according to the requirements of the processing task, K openings that need to be protected are selected.

[0022] In a possible implementation, K openings to be protected are located on the surface of the part to be processed according to the task of processing parts with holes, and step S100 further includes step S110, in which local data is called according to the part code of the part to be processed to obtain processing posture parameters and part design information. Specifically, each part to be processed has a unique part code, which is the identity of the part and contains the basic information of the part and an index of the design data. Through the part code, the data associated with the part code is searched and called in the local database, including the CAD design file of the part, processing parameters, material information, etc. Among the called data, the processing posture parameter is one of the key information, which describes the three-dimensional position and direction information of the part when it is clamped and processed by a robotic arm. In addition to the processing posture parameters, the called data also contains detailed design information of the part, such as size, shape, opening position, etc.

[0023] Step S120, after spatial modeling according to the part design information, the modeling result is adjusted in space according to the processing posture parameters to generate a model to be processed. Specifically, the part design information is used to construct a three-dimensional model of the part through three-dimensional modeling software or algorithm. This model is virtual, but can accurately reflect the shape, size, and hole position of the part. After the modeling is completed, the position and direction of the model are adjusted according to the processing posture parameters to ensure that the model matches the posture during actual processing, including adjusting the position, direction or scaling of the model.

[0024] Step S130, positioning the processing area on the surface of the model to be processed according to the hole-carrying part processing task to obtain the target processing area. Specifically, the hole-carrying part processing task describes the information of the processing operation required for the part, such as the hole opening position, hole diameter, processing depth, etc. By comparing the information in the processing task with the information on the model, the area to be processed is determined on the model to be processed.

[0025] Step S140, the openings are screened with the target processing area as a constraint to obtain the K openings to be protected. Specifically, after the target processing area is determined, all the openings on the model to be processed are traversed according to the requirements of the processing task, and the openings that need to be protected are screened from all the openings on the model to be processed by checking whether the position of each opening is located in or near the target processing area (based on the preset safety distance). These openings are located near the target processing area and may be damaged or disturbed during the processing process. The openings that meet the conditions are marked as openings to be protected. This implementation method calls local data through part coding, and can quickly obtain the design information and processing posture parameters of the part. Through spatial modeling and processing posture parameter adjustment, a virtual model consistent with the actual processing scene can be generated, thereby ensuring the accuracy of the positioning of the processing area. Through opening screening, the openings that need to be protected can be accurately identified. In this way, the processing efficiency and accuracy of parts with holes can be improved, and the scrap rate caused by damaged openings can be reduced. At the same time, the need for manual intervention is also reduced, and the level of automation is improved.

[0026] Step S200, retrieve K opening characteristic parameters and K opening geometric positioning information of the K openings to be protected.

[0027] Specifically, according to the located openings to be protected, the characteristic parameters (such as hole diameter, hole depth, hole wall material, etc.) and geometric positioning information (such as coordinate position, direction, etc.) of each opening are queried from the parts database or CAD model. The queried characteristic parameters and geometric positioning information are integrated to form a complete information set for each opening.

[0028] Step S300, performing matching decision deduction according to the hole-carrying part processing task and K hole-carrying characteristic parameters to obtain K plug model information.

[0029] Specifically, a matching algorithm is designed to select the most suitable plug model from the plug database according to the characteristic parameters of the opening (such as hole size, hole wall material) and the requirements of the processing task (such as protection level, sealing performance, etc.). The matching algorithm is applied to each opening to deduce the plug model corresponding to each opening. Among them, the plug model is an identifier that describes the physical and functional characteristics of the plug.

[0030] like Figure 2As shown, in a possible implementation, matching decision deduction is performed based on the hole-bearing part processing task and K hole-opening characteristic parameters to obtain K plug model information, and step S300 further includes step S310, by fitting the hole-bearing part processing task to the target processing area, the target processing area is divided into multiple processing task areas. Specifically, computer-aided design and manufacturing (CAD / CAM) software is used to parse the hole-bearing part processing task file and extract all relevant processing information and parameters. The parsed processing information (such as the position, size, shape, etc. of the hole) is matched with the target processing area of ​​the model to be processed to ensure that each processing point can be accurately located on the model. According to the complexity and spatial distribution of the processing task, the target processing area is further divided into multiple smaller processing task areas, each of which contains a group of related processing points.

[0031] Step S320, identify the K openings to be protected according to the multiple processing task areas, and obtain K information of processing tasks to be processed. Specifically, traverse all the openings to be protected, and assign them to corresponding processing task areas according to their position information in the three-dimensional model. For each opening, extract the corresponding information of processing tasks according to the processing task area where it is located, including processing type, precision requirements, etc. Among them, the processing type includes but is not limited to surface treatment (such as coating, electroplating), precision processing (such as drilling, milling, laser marking), chemical treatment (such as pickling, etching), heat treatment (such as high temperature heating or annealing), etc.

[0032] Step S330, interactively obtain multiple sample plug design information, and initialize the plug optimization space according to the multiple sample plug design information. Specifically, through the human-computer interaction interface, collect the design information of multiple sample plugs provided by engineers (detailed parameters and information describing the plug design examples), including size, material, sealing performance, etc. The collected sample plug design information is stored in the optimization space, which is a database or data structure containing all possible plug designs for subsequent matching decision deduction.

[0033] Step S340, in the plug optimization space, a multi-objective matching decision is deduced according to the K to-be-processed task information and the K opening characteristic parameters to obtain the K plug model information. Specifically, according to the to-be-processed task information and the opening characteristic parameters, the objective function and constraint conditions of the matching decision are set. The objective function may include multiple aspects such as sealing performance, processing efficiency, and cost. In the plug optimization space, a multi-objective optimization algorithm is used to search and match to find the best plug model that meets the objective function and constraint conditions. The matched plug model information is output as input for subsequent steps. This implementation method comprehensively considers multiple factors (such as processing accuracy, sealing performance, cost, etc.) through a series of steps such as fitting the processing task to the target processing area, dividing the processing task area, extracting the to-be-processed task information, collecting sample plug design information, initializing the plug optimization space, and performing multi-objective matching decision deduction, ensuring that each opening to be protected can obtain the most suitable plug model to meet the requirements of the processing task.

[0034] In a possible implementation, in the plug optimization space, a multi-objective matching decision deduction is performed based on the K to-be-processed task information and the K opening characteristic parameters to obtain the K plug model information, and step S340 further includes step S341, parsing the design information of the multiple sample plugs to obtain the multiple sample plug sizes, multiple sample plug functional characteristics and multiple sample plug costs. Specifically, the design information of multiple sample plugs is read from a database or file, and the design information of each sample plug is parsed using a data processing algorithm to extract the size of the sample plug (physical size of the plug, such as diameter, length, etc.), functional characteristics (functional attributes of the plug, such as sealing performance, corrosion resistance, high temperature resistance, etc.) and cost information (cost information of producing or purchasing the plug).

[0035] Step S342, after constructing the plug optimization space based on the standard plug size index, locate multiple sample plug particle points in the plug optimization space according to the multiple sample plug sizes. Specifically, a multi-dimensional plug optimization space is constructed based on the standard plug size index (such as diameter range, length range, etc.) using multi-dimensional space construction technology to store and compare the design parameters and information of different plugs. The parsed multiple sample plug size information is mapped to the space to form multiple sample plug particle points, each particle point representing a sample plug design instance.

[0036] Step S343, using the multiple sample plugging functional characteristics and multiple sample plugging costs to fill the multiple sample plugging particle points, complete the initialization of the plugging optimization space. Specifically, the parsed sample plugging functional characteristics and cost information are matched with the corresponding sample plugging particle points. Using information filling (adding information to the corresponding data structure to improve the content of the data structure) technology, the matched functional characteristics and cost information are filled into the corresponding sample plugging particle points to complete the initialization of the plugging optimization space.

[0037] Step S344, extracting the first opening size and the first surface property from the first opening characteristic parameter. Specifically, the first opening characteristic parameter corresponds to any one of the K openings to be protected, and the first opening characteristic parameter is parsed to identify the opening size and surface property information therein. Based on the parsing result, the specific size (aperture size, taper, depth, etc.) and surface property (material of the hole, such as silicon, germanium, stainless steel, copper alloy, aluminum alloy, etc., and surface properties, such as roughness, hardness, corrosion resistance, etc.) of the first opening are extracted.

[0038] Step S345, locate the first virtual particle point of the first opening size in the plug optimization space. Specifically, in the plug optimization space, a search operation is performed according to the specific size of the first opening (aperture size, taper, etc.). In the search results, find the virtual particle point that best matches or is closest to the first opening size as a reference point for subsequent steps.

[0039] Step S346, interactively obtain the interference fit amount, and construct a plug screening space at the first virtual particle point according to the interference fit amount. Specifically, the interference fit amount between the plug and the opening is determined interactively. The interference fit amount is a parameter that describes the fit clearance or interference amount between the plug and the opening, which is used to ensure that the plug can be tightly inserted into the opening and provide the necessary fixing force. For example, the diameter, length and taper of the plug can be larger than the corresponding indicators of the opening. A multi-dimensional plug screening space is constructed around the first virtual particle point according to the interference fit amount, which is used to store and compare plug design parameters and information that meet specific constraints.

[0040] Step S347, using the first task information to be processed and the first surface attribute to traverse the functional characteristic information library, and obtain the first required functional characteristic. Specifically, traverse the functional characteristic information library to find the functional characteristic record that matches the first task information to be processed and the first surface attribute. Extract the first required functional characteristic from the matched record to guide the selection and matching decision of the plug. Among them, the functional characteristic information library is a database that stores various plug functional characteristics, and is used to provide functional characteristic information that matches the plug with specific processing tasks and environmental requirements.

[0041] Step S348, in the plug screening space, perform multi-objective matching decision deduction according to the first demand functional characteristics to obtain the first plug model information. Specifically, set the objective function of the matching decision according to the first demand functional characteristics to evaluate the degree of matching between different plug models and the demand functional characteristics. In the plug screening space, use a multi-objective optimization algorithm to perform search and matching operations to find the best plug model that meets the objective function and constraints. Output the matched best plug model information as the first plug model information.

[0042] Step S349, and so on, in the plug optimization space, a multi-objective matching decision is performed according to the K processing task information and the K opening characteristic parameters to obtain the K plug model information. Specifically, for each opening to be protected (from the second to the Kth), the process of steps S344 to S348 is repeatedly executed using a loop iteration technique. The plug model information of each opening to be protected is aggregated to form a final plug model information list or array. This implementation method ensures that each opening to be protected can obtain the most suitable plug model by comprehensively considering multiple factors (such as size matching, functional characteristics, etc.), thereby improving processing efficiency and accuracy.

[0043] In a possible implementation, in the plug screening space, a multi-objective matching decision deduction is performed according to the first required functional characteristics to obtain the first plug model information, and step S348 further includes step S3481, screening H sample plug particle points that fall into the plug screening space in the plug optimization space. Specifically, according to the plug screening space constructed in step S346 (this space is defined according to conditions such as the opening size and the amount of interference fit), all sample plug particle points are traversed in the plug optimization space to find those particle points whose size characteristics (such as diameter, length, taper, etc.) fall into this screening space. These particle points represent possible plug candidates, and the number is recorded as H.

[0044] Step S3482, using the first required functional characteristics to traverse the H sample plugging functional characteristics of the H sample plugging particle points, to select M sample plugging particle points from the H sample plugging particle points, where M is a positive integer less than H. Specifically, according to the first required functional characteristics obtained in step S347 (such as the material, corrosion resistance, high temperature resistance, etc. of the plug), the functional characteristics of the H sample plugging particle points are traversed to find those particle points that meet the first required functional characteristics. The number of these particle points is recorded as M, and M is less than H.

[0045] Step S3483, after serializing the M sample plugging particle points according to the M sample plugging costs of the M sample plugging particle points, the plugging model of the plugging particle point corresponding to the minimum value is called according to the sorting result to obtain the first plugging model information. Specifically, according to the costs of the M sample plugging particle points (these costs are filled according to the sample plugging design information when initializing the plugging optimization space), the M particle points are serialized (i.e., sorted). The particle point with the lowest cost in the sorting result is selected, and its corresponding plugging model information is called as the first plugging model information. This implementation method ensures that the selected plug not only meets the functional requirements but also has the lowest cost through functional characteristic matching and cost optimization, thereby optimizing the preprocessing process of processing protection and ensuring the accuracy and economy of plug model selection.

[0046] Step S400, performing dynamic control deduction based on the K plug model information, the K opening geometric positioning information and the K opening characteristic parameters to obtain K installation control parameters.

[0047] Specifically, a dynamic control model is established, which can deduce the control parameters (such as installation force, installation speed, installation angle, etc.) required for installing the plug according to the plug model, the geometric positioning information of the opening and the characteristic parameters of the opening. The dynamic control model is applied to each opening to perform deductive calculations to obtain the installation control parameters corresponding to each opening.

[0048] In a possible implementation, dynamic control deduction is performed based on the K plug model information, K opening geometric positioning information and K opening characteristic parameters to obtain K installation control parameters. Before that, the method further includes step S800, interactively obtaining multiple sample plug models, multiple sample opening characteristics and multiple sample installation operation parameters, wherein the sample installation operation parameters include sample installation depth, sample installation force and sample installation speed. Specifically, data is collected through a user interface (UI) or an application program interface (API). These data come from historical processing records, experimental data, etc. Collect records of sample plug models, sample opening characteristics and sample installation operation parameters, sample plug models include different sizes, materials, etc.; sample opening characteristics include physical properties such as diameter, depth, shape, etc.; sample installation operation parameters include installation depth, installation force and installation speed, etc.

[0049] Step S900, using the multiple sample plug models, multiple sample opening characteristics and multiple sample installation operation parameters as training data to construct an installation operation deduction unit. Specifically, the collected sample data is pre-processed such as cleaning and standardization to ensure data quality. A machine learning or deep learning model, such as a neural network, is selected to construct the installation operation deduction unit. The pre-processed sample data is input into the model for training so that the model can learn the mapping relationship between the plug model, the opening characteristics and the installation operation parameters.

[0050] Step S1000, interactively obtain multiple sample hole opening direction vectors and multiple sample installation direction parameters. Specifically, data about the hole opening direction vector and the installation direction parameters are also collected through the UI or API. These data can come from the actual processing process or simulation experiment. Among them, the sample hole opening direction vector is a vector describing the direction of the hole axis. The sample installation direction parameters refer to the direction parameters used when installing the plug, such as the tilt angle, etc.

[0051] Step S1100, using the multiple sample hole direction vectors and multiple sample installation direction parameters as training data to construct an installation direction deduction unit. Specifically, similar to step S900, a model is selected and trained. This time the goal is to learn the mapping relationship between the hole direction vector and the installation direction parameter. The model is verified by cross-validation, holdout method, etc. to ensure the accuracy and generalization ability of the model.

[0052] Step S1200, complete the construction of the dynamic control deduction model by connecting the installation operation deduction unit and the installation direction deduction unit in parallel. Specifically, the outputs of the installation operation deduction unit and the installation direction deduction unit are merged to form a complete dynamic control deduction model. The parallel model is tested to ensure that it can accurately predict the optimal installation operation parameters and installation direction parameters under a given plug model, hole characteristics and hole direction vector. This implementation method can learn the complex relationship between the plug model, hole characteristics, hole direction and installation control parameters by collecting a large amount of sample data and training the machine learning model, thereby improving the accuracy of the prediction.

[0053] In a possible implementation, dynamic control deduction is performed based on the K plug model information, K opening geometric positioning information and K opening characteristic parameters to obtain K installation control parameters, and step S400 further includes step S410, extracting K opening protection position vectors and K opening protection direction vectors from the K opening geometric positioning information. Specifically, the K opening geometric positioning information is read, including the center point coordinates (X, Y, Z) and direction vectors (θ, ϕ) of each opening, wherein θ represents the inclination angle of the opening axis in the XY plane, and ϕ represents the inclination angle of the opening axis relative to the Z-axis direction. For each opening, its position vector is directly extracted from the center point coordinates (X, Y, Z), and this vector represents the specific position of the opening in space. The direction vector (θ, ϕ) represents the inclination angle or direction of the opening axis. When extracting, it is necessary to convert the polar coordinates (θ, ϕ) into the direction vector in the Cartesian coordinate system. The extracted position vector and direction vector are stored in the system's memory and are ready to be passed to the subsequent dynamic control deduction model. Among them, the hole protection position vector represents the specific position of the hole in space, which is used to guide the movement of the robot arm; the hole protection direction vector represents the axis direction or inclination angle of the hole, which is used to determine the installation direction of the plug.

[0054] Step S420, after synchronizing the K plug model information and K opening characteristic parameters to the installation operation deduction unit of the dynamic control deduction model, and synchronizing the K opening protection direction vectors to the installation direction deduction unit of the dynamic control deduction model, synchronously run the installation operation deduction unit and the installation direction deduction unit to perform dynamic control deduction and obtain K installation control parameters. Specifically, after extracting the position vector and the direction vector in step S410, these data as well as the K plug model information and the K opening characteristic parameters are synchronized to the dynamic control deduction model. Specifically, the plug model information and the opening characteristic parameters are passed to the installation operation deduction unit, and the direction vector is passed to the installation direction deduction unit. After the data synchronization is completed, the installation operation deduction unit and the installation direction deduction unit are started at the same time, and the two units perform independent deduction calculations according to the input data. The installation operation deduction unit calculates the optimal installation operation parameters, such as insertion depth, insertion force, insertion speed, etc., based on the plug model information and the opening characteristic parameters. The installation direction deduction unit calculates the optimal installation direction parameters, such as rotation angle, tilt angle, etc., based on the direction vector. The output results of the two units (installation operation parameters and installation direction parameters) are integrated to form a complete K installation control parameters. This implementation method extracts the position vector and direction vector from the opening geometric positioning information, and synchronously runs the installation operation deduction unit and the installation direction deduction unit for dynamic control deduction, thereby realizing the accurate calculation and output of the installation control parameters. This method not only improves the accuracy and efficiency of the processing protection process, but also increases the flexibility and reproducibility of the system.

[0055] Step S500, optimizing the processing protection path according to the K opening geometric positioning information and the K installation control parameters, and obtaining the plug installation optimization path.

[0056] Specifically, a path planning algorithm is designed, which can plan the optimal installation path (such as the shortest path, collision-free path, etc.) according to the geometric positioning information of the opening and the installation control parameters. The path planning algorithm is applied to each opening, and the optimization calculation is performed to obtain the optimal installation path of the plug corresponding to each opening.

[0057] In a possible implementation, the processing protection path is optimized according to the K opening geometric positioning information and K installation control parameters to obtain the plug installation optimization path, and step S500 further includes step S510, using the K opening protection position vectors to localize the K installation control parameters to obtain K processing protection control parameters. Specifically, read the K opening protection position vectors (i.e., the center point coordinates of each opening) and the corresponding K installation control parameters (including insertion depth, insertion force, insertion speed, insertion angle, etc.). For each opening, associate its protection position vector with the corresponding installation control parameter to form a set of "position-control" pairs. The processed data (i.e., K processing protection control parameters) are stored in the system's memory to guide subsequent processing protection processes.

[0058] Step S520, locate the initial protection opening on the surface of the part to be processed. Specifically, according to a certain strategy (such as nearest neighbor, priority, etc.), one of the K openings is selected as the initial protection opening, that is, the opening that is processed first during the processing protection process. This selection can be based on factors such as processing efficiency and optimization of the robot arm motion path. Once the initial protection opening is selected, its specific position on the surface of the part to be processed is determined by reading its position vector.

[0059] Step S530: calling the first processing protection control parameter of the initial protection opening from the K processing protection control parameters. Specifically, according to the position vector of the initial protection opening, the corresponding control parameter is retrieved from the K processing protection control parameters.

[0060] Step S540, according to the Euclidean distance between the first processing protection control parameter and the K-1 processing protection control parameters of the K-1 openings to be protected, the K-1 openings to be protected are sequenced to obtain a processing protection sequence. Specifically, the Euclidean distance between the first processing protection control parameter and the remaining K-1 processing protection control parameters is calculated, and this distance reflects the spatial relationship between them. According to the calculated distance, the K-1 openings to be protected are sorted to form a processing protection sequence, which determines the processing order of subsequent openings.

[0061] Step S550, outputting the plug installation optimization path according to the processing protection sequence fitting. Specifically, according to the processing protection sequence, each opening to be protected is connected in order to generate an optimal path from the initial protection opening to the remaining openings. The planned path is output as the plug installation optimization path to guide the actual movement of the protection robot arm. This implementation method optimizes the movement path of the robot arm, reduces unnecessary movement and waiting time, and improves processing efficiency through the steps of localizing installation control parameters, selecting initial protection openings, sequencing openings to be protected, and path planning.

[0062] Step S600, after obtaining K plug accessories according to the K plug model information, the K plug accessories are serialized according to the plug installation optimization path to obtain an accessory scheduling sequence.

[0063] Specifically, according to the obtained plug model information, the corresponding plug accessories are called from the accessories library. According to the calling order of accessories in the plug installation optimization path, the plug accessories are serialized and sorted to form an accessories scheduling sequence.

[0064] Step S700, using the plug installation optimization path as the installation control constraint and the accessory scheduling sequence as the installation scheduling constraint, driving the protective robot arm to install the K plug accessories to the K openings to be protected of the part to be processed, and performing preprocessing of processing protection on the part to be processed.

[0065] Specifically, a control program for the robot arm is generated based on the plug installation optimization path and the accessory scheduling sequence. The program can control the robot arm to install the plug accessories into the openings of the part to be processed according to the specified path and sequence. The robot arm control system is started to perform the installation operation. The robot arm gradually installs each plug accessory into the corresponding opening according to the instructions in the control program. The embodiment of the present application adopts a method of locating K openings to be protected on the surface of the part to be processed according to the processing task of the part with holes, retrieving the characteristic parameters and geometric positioning information of each opening, performing matching decision deduction according to the processing task and the characteristic parameters of the opening, determining the plug model of each opening, performing dynamic control deduction according to the plug model, the geometric positioning information of the opening and the characteristic parameters of the opening, determining the installation control parameters of each plug, optimizing the processing protection path according to the geometric positioning information of the opening and the installation control parameters, and obtaining the plug installation optimization path. After calling and obtaining the plug accessories, the plug accessories are serialized according to the plug installation optimization path to obtain the accessory scheduling sequence, using the plug installation optimization path as the installation control constraint and the accessory scheduling sequence as the installation scheduling constraint, and driving the protection robot arm to install the plug accessories to the opening to be protected of the part to be processed. Such technical means achieve the technical effect of improving production efficiency, reducing error rate, improving processing protection accuracy, and thereby improving part processing quality.

[0066] The above specific implementation manner does not constitute a limitation to the protection scope of the present application. It should be understood by those skilled in the art that various modifications, combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application. In some cases, the actions or steps recorded in the present application can be performed in an order different from that in the embodiment and can still achieve the desired results. In addition, the process depicted in the accompanying drawings does not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Claims

1. A processing protection method for parts with holes, characterized in that: The method comprises: According to the machining task of the part with holes, K holes to be protected are located on the surface of the part to be machined; Retrieving K opening characteristic parameters and K opening geometric positioning information of the K openings to be protected; According to the hole-bearing part processing task and K hole-opening characteristic parameters, matching decision deduction is performed to obtain K plug model information; Perform dynamic control deduction according to the K plug model information, the K opening geometric positioning information and the K opening characteristic parameters to obtain K installation control parameters; Optimizing the processing protection path according to the K opening geometric positioning information and the K installation control parameters to obtain an optimized plug installation path; After obtaining K plug accessories according to the K plug model information, the K plug accessories are serialized according to the plug installation optimization path to obtain an accessories scheduling sequence; Taking the plug installation optimization path as the installation control constraint and the accessory scheduling sequence as the installation scheduling constraint, the protective robot arm is driven to install the K plug accessories to the K openings to be protected of the part to be processed, and preprocessing of processing protection is performed on the part to be processed.

2. The processing protection method for parts with holes according to claim 1, characterized in that: According to the task of machining parts with holes, K holes to be protected are located on the surface of the parts to be machined, and the method comprises: Performing local data call according to the part code of the part to be processed to obtain processing posture parameters and part design information; After spatial modeling according to the part design information, spatial position adjustment is performed on the modeling result according to the processing posture parameters to generate a model to be processed; Positioning the processing area on the surface of the model to be processed according to the hole-carrying part processing task to obtain a target processing area; The openings are screened with the target processing area as a constraint to obtain the K openings to be protected.

3. The processing protection method for parts with holes according to claim 2, characterized in that: According to the hole-bearing part processing task and K hole-opening characteristic parameters, matching decision deduction is performed to obtain K plug model information, and the method includes: By fitting the hole-part processing task to the target processing area, the target processing area is divided into a plurality of processing task areas; Identify the K openings to be protected according to the multiple processing task areas, and obtain information of K tasks to be processed; Interactively obtain multiple sample plug design information, and initialize the plug optimization space according to the multiple sample plug design information; In the plug optimization space, a multi-objective matching decision deduction is performed according to the K pieces of information on tasks to be processed and the K hole-opening characteristic parameters to obtain the K pieces of plug model information.

4. The processing protection method for parts with holes as claimed in claim 3, characterized in that: In the plug optimization space, a multi-objective matching decision deduction is performed according to the K to-be-processed task information and the K opening characteristic parameters to obtain the K plug model information. The method includes: Analyze the design information of the plurality of sample plugs to obtain the sizes of the plurality of sample plugs, the functional characteristics of the plurality of sample plugs, and the costs of the plurality of sample plugs; After constructing the plug optimization space based on the standard plug size index, positioning a plurality of sample plug particle points in the plug optimization space according to the plurality of sample plug sizes; Filling the plurality of sample plugging particle points with the plurality of sample plugging functional characteristics and the plurality of sample plugging costs to complete the initialization of the plugging optimization space; Extracting a first opening size and a first surface property from the first opening characteristic parameter; Positioning a first virtual particle point of the first opening size in the plug optimization space; Interactively obtain the interference fit amount, and construct a plug screening space at the first virtual particle point according to the interference fit amount; Using the first task information to be processed and the first surface attribute to traverse the functional characteristic information library to obtain the first required functional characteristic; In the plug screening space, a multi-objective matching decision deduction is performed according to the first demand functional characteristics to obtain the first plug model information; By analogy, in the plug optimization space, a multi-objective matching decision deduction is performed according to the K to-be-processed task information and the K opening characteristic parameters to obtain the K plug model information.

5. The processing protection method for parts with holes according to claim 4, characterized in that: In the plug screening space, a multi-objective matching decision deduction is performed according to the first demand functional characteristics to obtain first plug model information, and the method includes: In the plugging optimization space, H sample plugging particle points falling into the plugging screening space are screened; Using the first required functional characteristic to traverse the H sample plugging functional characteristics of the H sample plugging particle points, so as to select M sample plugging particle points from the H sample plugging particle points, wherein M is a positive integer less than H; After the M sample plugging particle points are serialized according to the M sample plugging costs of the M sample plugging particle points, the plugging model of the plugging particle point corresponding to the minimum value is called according to the sorting result to obtain the first plugging model information.

6. The processing protection method for parts with holes according to claim 1, characterized in that: According to the K plug model information, the K opening geometric positioning information and the K opening characteristic parameters, dynamic control deduction is performed to obtain K installation control parameters. Before that, the method includes: Interactively obtaining a plurality of sample plug models, a plurality of sample opening characteristics, and a plurality of sample installation operation parameters, wherein the sample installation operation parameters include a sample installation depth, a sample installation force, and a sample installation speed; Using the multiple sample plug models, multiple sample opening characteristics and multiple sample installation operation parameters as training data to construct an installation operation deduction unit; Interactively obtain multiple sample opening direction vectors and multiple sample installation direction parameters; Using the plurality of sample opening direction vectors and the plurality of sample installation direction parameters as training data to construct an installation direction deduction unit; By connecting the installation operation deduction unit and the installation direction deduction unit in parallel, the construction of the dynamic control deduction model is completed.

7. The processing protection method for parts with holes according to claim 6, characterized in that: According to the K plug model information, the K opening geometric positioning information and the K opening characteristic parameters, dynamic control deduction is performed to obtain K installation control parameters, and the method includes: Extracting K opening protection position vectors and K opening protection direction vectors from the K opening geometric positioning information; After synchronizing the K plug model information and the K opening characteristic parameters to the installation operation deduction unit of the dynamic control deduction model, and synchronizing the K opening protection direction vectors to the installation direction deduction unit of the dynamic control deduction model, the installation operation deduction unit and the installation direction deduction unit are synchronously run to perform dynamic control deduction to obtain K installation control parameters.

8. The processing protection method for parts with holes according to claim 7, characterized in that: According to the K opening geometric positioning information and the K installation control parameters, the processing protection path is optimized to obtain the plug installation optimization path, and the method includes: The K opening protection position vectors are used to localize the K installation control parameters to obtain K processing protection control parameters; Positioning an initial protective opening on the surface of the part to be processed; Calling the first processing protection control parameter of the initial protection opening from the K processing protection control parameters; Sequencing the K-1 openings to be protected according to the Euclidean distance between the first processing protection control parameter and the K-1 processing protection control parameters of the K-1 openings to be protected to obtain a processing protection sequence; The plug installation optimization path is output according to the processing protection sequence fitting.

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