A Rotating Assembly Tooling and Control Method for an Energy Absorbing Box

Abstract

The present application relates to a rotary assembly tooling for an energy absorption box, which includes a placement platform connected to a slewing mechanism that is controlled to rotate, a clamping mechanism for fixing the energy absorption box, an assembly mechanism with a fitting installed at the assembly end, a displacement mechanism connected to the assembly mechanism, a monitoring component arranged on the assembly mechanism, and a controller electrically connected thereto. An assembly hole is provided on the side of the energy absorption box. The spatial position relationship between the monitoring component and the axis of the assembly end is a known quantity, and it can measure the edge position parameters of the assembly hole in real time. Based on the edge position parameters and the hole size, the controller drives the displacement mechanism to move the assembly end to align the assembly axis with the axis of the assembly hole. This rotary assembly tooling effectively solves the problem of hole misalignment caused by installation errors or deformation of the energy absorption box, and improves the assembly accuracy, as well as the fault tolerance and stability of the automatic assembly system.

Description

Technical Field

[0001] The present invention relates to an assembly tooling, and particularly to a rotary assembly tooling for an energy absorption box and a control method therefor. Background Art

[0002] Under the trend of the development of new energy vehicles, electric logistics vehicles and vehicle lightweighting, energy absorption structural parts are increasingly widely used in parts such as battery packs, battery compartments, and vehicle side beams. As one of the main buffer structures, the energy absorption box is widely used in automotive collision safety structures due to its good compressive capacity and controllable deformation performance. The energy absorption box is usually fixedly connected to other structural components by mechanical connection methods. To ensure the overall strength and batch manufacturing efficiency, rotary assembly operations have become an important direction for the development of automated tooling.

[0003] In the prior art, the rotary assembly tooling mainly includes a positioning platform for fixing the energy absorption box, a rotary mechanism for driving rotation, and an assembly mechanism arranged around the tooling. During the assembly process, the energy absorption box and the standard connecting piece are positioned and fixed by a clamping device, and the assembly mechanism is inserted along the assembly direction to complete the assembly operation. To complete multi-point connection, the assembly platform rotates point by point under the drive of the control system, rotating a preset angle each time, so as to realize the assembly operations at different positions of the energy absorption box. This tooling structure can improve the assembly efficiency and make the connection positions more uniform, which helps to improve the overall connection strength and consistency.

[0004] However, in actual assembly, it is easy to generate assembly deviations between the energy absorption box and the assembly platform due to positioning accuracy errors, component deformations or structural tolerance accumulations, resulting in offsets or difficulties in inserting when the assembly mechanism aligns the holes according to the preset path. And the existing tooling mostly relies on a preset program to control the operation of the assembly mechanism, and it is difficult to achieve high-precision alignment of the assembly holes with complex side space distributions of the energy absorption box, thus affecting the riveting efficiency and quality. Therefore, there is an urgent need for a rotary assembly tooling to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a rotary assembly tooling for an energy absorption box to solve the problem that during the automated assembly operation of the energy absorption box by the assembly mechanism in the prior art, there is an offset between the axis of the assembly end and the axis of the assembly hole due to the positioning error or structural deformation of the energy absorption box, thereby improving the assembly accuracy, the hole alignment success rate and the fault tolerance ability during the assembly process.

[0006] The technical solution adopted by the present invention to solve the above problems is: a rotary assembly tooling for an energy absorption box, wherein assembly holes are provided on the side surface of the energy absorption box, and the dimensional parameters of the assembly holes are known quantities, including:

[0007] A rotary mechanism, including a first driving end, and the first driving end is controlled to rotate a preset angle around its own axis;

[0008] A placement platform, connected to the first driving end to move synchronously with the first driving end. The placement platform includes a placement plane for placing an energy absorption box, and the side surface of the energy absorption box is perpendicular to the placement plane;

[0009] A clamping mechanism, arranged on the placement plane. The clamping mechanism is configured to limit the energy absorption box placed on the placement plane at a preset area when the rotary assembly tooling is in a working state;

[0010] An assembly mechanism, including an assembly end, and a fitting is installed at the assembly end;

[0011] A displacement mechanism, including a second driving end that moves under control. The second driving end is connected to the assembly mechanism to drive the assembly mechanism to move synchronously;

[0012] A monitoring component, arranged at a preset position on the assembly mechanism, so that the spatial position relationship between the monitoring component and the axis of the assembly end of the assembly mechanism is defined as a known quantity. The monitoring component is configured to measure the edge position parameters of the assembly hole on the side surface of the energy absorption box when the rotary assembly tooling is in a working state;

[0013] A controller, electrically connected to the assembly mechanism, the displacement mechanism and the monitoring component. The controller is configured to control the movement of the driving end of the displacement mechanism according to the measured edge position parameters of the assembly hole on the side surface of the energy absorption box and the size parameters of the assembly hole, so that the axis of the assembly end of the assembly mechanism connected to the second driving end is collinear with the axis of the assembly hole on the side surface of the energy absorption box.

[0014] Preferably, the displacement mechanism includes:

[0015] A first moving component, including a first moving end that moves under control. The moving direction of the first moving end is parallel to the placement plane;

[0016] A second moving component, connected to the first moving end to move with the first moving end. The second moving component includes a second moving end that moves under control. The moving direction of the second moving end is parallel to the placement plane and parallel to the moving direction of the first moving end;

[0017] A third moving component, connected to the second moving end to move with the second moving end. The third moving component includes a third moving end that moves under control. The moving direction of the third moving end is perpendicular to the placement plane;

[0018] A rotary assembly, connected to the third mobile end, moves along with the third mobile end. The rotary assembly includes a rotatable end that is controlled to rotate. The rotation direction of the rotatable end is parallel to the placement plane, and the rotatable end is defined as the second driving end.

[0019] Preferably, the monitoring assembly includes an infrared distance sensor. The infrared distance sensor includes a transmitting end for emitting an infrared beam. The beam emitted by the infrared distance sensor is parallel to the axis of the assembling end of the assembling mechanism, and the emitting direction of the infrared beam of the transmitting end is the same as the orientation of the assembling end.

[0020] Preferably, the number of the infrared distance sensors is two. The two infrared distance sensors are arranged in parallel, and the center points of the two infrared distance sensors are both in a first plane, and the first plane is perpendicular to the axis of the transmitting end.

[0021] Preferably, the number of the infrared distance sensors is at least three. Each infrared distance sensor is arranged at each end point of a regular polygon in a one-to-one correspondence, and the number of end points of the regular polygon is equal to the number of the infrared distance sensors. Each infrared distance sensor is arranged in parallel, and the center points of each infrared distance sensor are both in a second plane, and the second plane is perpendicular to the axis of the transmitting end.

[0022] Preferably, the clamping mechanism includes:

[0023] A first positioning component, arranged on the placement plane. The first positioning component includes a controlled first limiting end;

[0024] A second positioning component, arranged on the placement plane. The second positioning component includes a controlled second limiting end;

[0025] A third positioning component, arranged on the placement plane. The third positioning component includes a controlled third limiting end;

[0026] Wherein, when the clamping mechanism is in a working state, the first limiting end abuts against the side of the energy absorption box placed on the placement plane away from the placement platform to limit the energy absorption box from moving along a first direction, the second limiting end abuts against the side of the energy absorption box perpendicular to the placement plane to limit the energy absorption box from moving along a second direction, the second direction is perpendicular to the first direction, and the third limiting end abuts against the side of the energy absorption box perpendicular to the placement plane and perpendicular to the second direction to limit the energy absorption box from moving along a third direction, and the third direction is perpendicular to the first direction and the second direction.

[0027] Specifically, the midpoint of the preset area on the placement plane is defined as the coordinate origin. A control method for the rotary assembly tooling for the energy absorption box includes:

[0028] Obtain the preset position parameters corresponding to the assembly holes on the side of the energy absorption box;

[0029] Determine the movement trajectory of the second drive end of the displacement mechanism according to the coordinate origin, the preset position parameters corresponding to the assembly holes, and the preset angle of rotation of the first drive end, so that the axis of the assembly end of the assembly mechanism moves in a direction coaxial with the axis of the riveting hole on the side of the energy absorption box;

[0030] After moving the axis of the assembly end to a preset nearby area of the axis of the assembly hole, emit an infrared beam through the infrared distance sensor provided on the assembly mechanism, and obtain the ranging data generated by the infrared beam irradiating on the surface of the energy absorption box;

[0031] When the infrared beam passes through the assembly hole and enters its inner cavity, the measured distance value of the infrared distance sensor changes suddenly. Determine the edge position parameters of the assembly hole according to the spatial position of the mutation point;

[0032] The controller determines the offset between the current axis of the assembly end of the assembly mechanism and the axis of the assembly hole according to the edge position parameters and the dimensional parameters of the assembly hole, in combination with the known spatial coordinate relationship between the monitoring component and the assembly end;

[0033] According to the offset, control the second drive end to drive the assembly mechanism to perform fine adjustment compensation in the direction perpendicular to the side of the energy absorption box along the axis of the assembly end and / or around the direction parallel to the axis of the assembly end, so that the axis of the assembly end coincides with the axis of the assembly hole.

[0034] Preferably, the step of determining the movement trajectory of the second drive end of the displacement mechanism according to the coordinate origin, the preset position parameters corresponding to the assembly holes, and the preset angle of rotation of the first drive end, so that the axis of the assembly end of the assembly mechanism moves in a direction coaxial with the axis of the riveting hole on the side of the energy absorption box includes:

[0035] Obtain the target spatial position of the assembly holes on the side of the energy absorption box in the coordinate system of the rotary assembly tooling;

[0036] According to the preset angle of rotation of the first drive end at present, transform the preset assembly hole coordinates to obtain the real-time target position;

[0037] Control the second drive end to move so as to move the axis of the assembly end to a preset nearby area of the axis of the target assembly hole.

[0038] Preferably, after moving the axis of the assembly end to a preset vicinity area of the axis of the assembly hole, the step of obtaining the ranging data generated by the infrared light beam irradiated on the surface of the energy absorption box by emitting the infrared light beam through the infrared ranging sensor provided on the assembly mechanism includes:

[0039] After moving the axis of the assembly end to a preset vicinity area of the axis of the assembly hole, at least two infrared ranging sensors provided on the assembly mechanism respectively obtain the distance values in the direction of the surface of the energy absorption box facing the assembly end;

[0040] If the difference between the distance values measured by all the infrared ranging sensors is within the equipment error range, it is determined that the axis of the assembly end is perpendicular to the side surface of the energy absorption box where the assembly hole is provided.

[0041] Preferably, the step of determining the edge position parameter of the assembly hole according to the spatial position of the mutation point when the distance value measured by the infrared ranging sensor changes suddenly when the infrared light beam passes through the assembly hole and enters its inner cavity includes:

[0042] Judge whether there is a mutation value in the data of the infrared ranging sensor, and the mutation value is that the distance value obtained by the infrared ranging sensor changes instantaneously beyond the allowable range;

[0043] If the mutation value is detected, the position of the mutation point is marked as the edge of the assembly hole.

[0044] Beneficial effects of the embodiments in the present invention:

[0045] 1. Due to the structural design that combines the assembly mechanism and the monitoring component, where the monitoring component is provided on the assembly mechanism and the spatial position relationship with the axis of the assembly end is a known quantity, the edge position parameters of the assembly hole on the side surface of the energy absorption box can be measured in real time during the working process of the rotary assembly tooling. Based on the measured edge position parameters and the dimensional parameters of the assembly hole, the controller controls the displacement mechanism to drive the assembly end to achieve precise alignment, so that the axis of the assembly end and the axis of the assembly hole maintain a collinear relationship; therefore, it effectively solves the problem in the prior art that the assembly mechanism cannot be accurately aligned with the assembly hole due to assembly deviation or structural deformation of the energy absorption box, and avoids problems such as assembly insertion failure, hole position damage, and poor product consistency; furthermore, it realizes the technical effects of improving assembly accuracy, enhancing assembly fault tolerance and automatic adaptation ability in a complex assembly environment, and ensures the stability and product quality during the automatic assembly process of a large number of energy absorption boxes.

[0046] 2. By adopting the technical means of coordinate transformation based on the preset position parameters and rotation angle of the assembly holes to obtain the target assembly position, and combining multiple infrared distance sensors on the assembly mechanism to obtain the distance data on the surface of the energy absorption box, so as to judge whether the axis of the assembly end is perpendicular to the assembly surface. At the same time, when the infrared beam penetrates the inner cavity of the assembly hole, the edge position of the assembly hole is identified through the ranging mutation point, and the offset calculation and compensation adjustment are carried out in combination with the hole size parameters. Therefore, the problems in the prior art that it is difficult to accurately align the axis of the assembly end with the axis of the assembly hole due to factors such as positioning error, inaccurate posture or structural offset of the energy absorption box, resulting in insertion failure or damage to the hole edge are effectively solved. Furthermore, the intelligent assembly control effect of automatic recognition, dynamic correction and high-precision hole alignment is realized, and the assembly success rate and automation stability of the energy absorption box rotary assembly tooling under complex working conditions are significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 FIG. is a schematic structural diagram of a rotary assembly tooling in an embodiment of the present invention.

[0048] Figure 2 FIG. is a schematic structural diagram when the assembly mechanism and the displacement mechanism are in a connected state in an embodiment of the present invention.

[0049] Figure 3 FIG. is a flowchart of a control method for a rotary assembly tooling proposed in an embodiment of the present invention.

[0050] Figure 4 FIG. is a flowchart of step S200 of a control method for a rotary assembly tooling proposed in an embodiment of the present invention.

[0051] Figure 5 FIG. is a flowchart of step S300 of a control method for a rotary assembly tooling proposed in an embodiment of the present invention.

[0052] Figure 6 FIG. is a flowchart of step S400 of a control method for a rotary assembly tooling proposed in an embodiment of the present invention.

[0053] Wherein: 10, slewing mechanism; 110, first driving end; 20, placing platform; 210, placing plane; 30, clamping mechanism; 310, first positioning component; 311, first limiting end; 320, third positioning component; 321, third limiting end; 40, assembly mechanism; 50, displacement mechanism; 510, first moving component; 511, first moving end; 520, second moving component; 521, second moving end; 530, third moving component; 531, third moving end; 540, slewing component; 541, second driving end; 60, monitoring component; 610, infrared distance sensor. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0054] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0055] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the protection scope of the present application. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the creation of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0056] In the description of the present application, it should be noted that unless otherwise clearly specified and limited, the terms "mounted", "connected", and "connected" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood through specific situations.

[0057] Please refer to Figures 1 to 2 , in a preferred embodiment of the present application, a rotary assembly tooling is provided. This rotary assembly tooling is applicable to components with assembly holes opened on the side, such as energy-absorbing boxes. Moreover, the size parameters of the assembly holes need to be determined before using this rotary assembly tooling.

[0058] The above-mentioned rotary assembly tooling includes a rotary structure, a placement platform 20, a clamping mechanism 30, an assembly mechanism 40, a displacement mechanism 50, a monitoring mechanism, and a controller. Among them, the rotary mechanism 10 includes a first driving end 110, and the first driving end 110 is controlled to rotate a preset angle around its own axis; the placement platform 20 is connected to the first driving end 110 to move synchronously with the first driving end 110. The placement platform 20 includes a placement plane 210 for placing an energy-absorbing box, and the side surface of the energy-absorbing box is perpendicular to the placement plane 210; the clamping mechanism 30 is arranged on the placement plane 210, and the clamping mechanism 30 is configured to limit the energy-absorbing box placed on the placement plane 210 at a preset area when the rotary riveting tooling is in a working state; the assembly mechanism 40 includes an assembly end, and a fitting is installed at the assembly end; the displacement mechanism 50 includes a second driving end 541 that moves controllably, and the second driving end 541 is connected to the assembly mechanism 40 to drive the assembly mechanism 40 to move synchronously; the monitoring component 60 is arranged at a preset position on the assembly mechanism, so that the spatial position relationship between the monitoring component 60 and the axis of the assembly end of the assembly mechanism 40 is defined as a known quantity. The monitoring component 60 is configured to measure the edge position parameters of the assembly hole on the side surface of the energy-absorbing box when the rotary assembly tooling is in a working state; the controller is electrically connected to the assembly mechanism 40, the displacement mechanism 50, and the monitoring component 60. The controller is configured to control the movement of the driving end of the displacement mechanism 50 according to the measured edge position parameters of the assembly hole on the side surface of the energy-absorbing box and the size parameters of the assembly hole, so that the axis of the assembly end of the assembly mechanism 40 connected to the second driving end 541 is collinear with the axis of the assembly hole on the side surface of the energy-absorbing box.

[0059] In this embodiment, the rotary assembly tooling is used for automatically processing the assembly between the energy-absorbing box and other components, and is particularly suitable for connection processes such as riveting, plugging, and press-fitting that require high-precision alignment between the assembly end and the assembly hole. This assembly tooling mainly includes: a rotary mechanism 10, a placement platform 20, a clamping mechanism 30, an assembly mechanism 40, a displacement mechanism 50, a monitoring component 60, and a controller, which cooperate to complete the accurate positioning and efficient assembly operation of the assembly holes at different positions of the energy-absorbing box.

[0060] The rotary mechanism 10 includes a first driving end 110. The first driving end 110 is the output shaft end of an electric rotary servo mechanism, and its output shaft is perpendicular to the placement plane 210, and is used to drive the placement platform 20 to rotate a preset angle around its own axis controllably. Usually, this angle steps in units of 10° to 120° to match the angular distribution of the hole positions on the side surface of different energy-absorbing boxes.

[0061] The placement platform 20 is arranged at the end face of the first driving end 110, and is in the shape of a rectangular plate, a circle or a sector. The placement platform 20 includes a horizontally arranged placement plane 210 for placing the energy absorption box, and the assembly surface (the side surface where the assembly holes are opened) of the energy absorption box is perpendicular to the placement plane 210, so as to ensure that after the rotational movement, each assembly hole can be accurately positioned within the rotational plane. The platform is made of rigid aluminum alloy or high-strength carbon steel, and an anti-slip cushion layer can be provided on the surface.

[0062] The clamping mechanism 30 is arranged on the placement plane 210, and specifically may include a plurality of pneumatic jaws, limit blocks and flexible positioning pins, which are distributed at the edges or corners of the placement platform 20. When the energy absorption box is placed in a preset area on the placement plane 210 (energy absorption boxes of the same specification are restricted to the same position area on the placement plane 210), the first limiting end 311 in the clamping mechanism 30 is used to limit its sliding along the X direction, the second limiting end limits its movement along the Y direction, and the third limiting end 321 is configured as a push plate that moves vertically (in the Z direction), so as to abut the energy absorption box against the placement plane 210 in the Z direction. The three-way limiting jointly ensures the fixed state of the energy absorption box during rotation and assembly. Specifically, in one embodiment, the clamping mechanism 30 includes a first positioning component 310, a second positioning component and a third positioning component 320. Among them, the first positioning component 310 is arranged on the placement plane 210, and the first positioning component 310 includes a controlled first limiting end 311; the second positioning component is arranged on the placement plane 210, and the second positioning component includes a controlled second limiting end; the third positioning component 320 is arranged on the placement plane 210, and the third positioning component 320 includes a controlled third limiting end 321; and when the clamping mechanism 30 is in the working state, the first limiting end 311 abuts against the side of the energy absorption box placed on the placement plane 210 away from the placement platform 20 to limit the energy absorption box from moving along the first direction, the second limiting end abuts against the side of the energy absorption box perpendicular to the placement plane 210 to limit the energy absorption box from moving along the second direction, the second direction is perpendicular to the first direction, and the third limiting end 321 abuts against the side of the energy absorption box perpendicular to the placement plane 210 and perpendicular to the second direction to limit the energy absorption box from moving along the third direction, and the third direction is perpendicular to the first direction and the second direction.

[0063] The assembly mechanism 40 is installed on the second driving end 541. The assembly mechanism 40 can be embodied as a riveting gun, a plugging gun, a glue injection gun, etc. in a specific manner, and the assembly end corresponds to the muzzle of the riveting gun, the muzzle of the plugging gun or the muzzle of the glue injection gun.

[0064] The displacement mechanism 50 includes a second driving end 541 connected to the assembly mechanism 40. The driving end can be a slide structure with X-Y-Z three-axis linkage or an industrial robotic arm, and is used to drive the assembly mechanism 40 to accurately move in three-dimensional space. In actual control, the second driving end 541 receives the controller instruction and moves the assembly end according to a predetermined trajectory or a corrected trajectory, so that its axis is aligned with the assembly hole of the energy absorption box to be assembled currently. In one embodiment, the displacement mechanism 50 includes a first displacement component, a second displacement component, a third displacement component, and a rotary component 540. Among them, the first moving component 510 includes a first moving end 511 that moves under control, and the moving direction of the first moving end 511 is parallel to the placement plane 210; the second moving component 520 is connected to the first moving end 511 and moves with the first moving end 511. The second moving component 520 includes a second moving end 521 that moves under control, and the moving direction of the second moving end 521 is parallel to the placement plane 210 and parallel to the moving direction of the first moving end 511; the third moving component 530 is connected to the second moving end 521 and moves with the second moving end 521. The third moving component 530 includes a third moving end 531 that moves under control, and the moving direction of the third moving end 531 is perpendicular to the placement plane 210; the rotary component 540 is connected to the third moving end 531 and moves with the third moving end 531. The rotary component 540 includes a rotary end that rotates under control, and the rotating direction of the rotary end is parallel to the placement plane 210, and the rotary end is defined as the second driving end 541. The first displacement component, the second displacement component, and the third displacement component can be embodied as an X-Y-Z three-axis linkage slide in a specific manner. The movement trajectory of the first moving end 511 of the first displacement component is parallel to the X axis, that is, parallel to the length direction of the energy absorption box restricted on the placement plane 210. The movement trajectory of the second moving end 521 of the second displacement component is parallel to the Y axis, that is, parallel to the width direction of the energy absorption box restricted on the placement plane 210. The plane formed by the X axis and the Y axis is parallel to the placement plane 210. The movement trajectory of the third moving end 531 of the third displacement component is parallel to the Z axis, that is, parallel to the height direction of the energy absorption box restricted on the placement plane 210. The rotary component 540 is arranged at the third moving end 531. The rotary component 540 is a rotary table. The second driving end 541 is also the output shaft end of an electric rotary servo mechanism. The output shaft is arranged perpendicular to the placement plane 210. The assembly mechanism 40 is installed on the second driving end 541. And, in one embodiment, the axis of the assembly end of the assembly mechanism 40 is arranged perpendicular to the axis of the second driving end 541, that is, the axis of the assembly end is parallel to the placement plane 210, so that the axis of the assembly end can move and transform positions at any position on the plane.

[0065] The monitoring component 60 is fixedly installed at a preset position on the assembly mechanism 40, and the spatial position relationship between its center and the central axis of the assembly end is a fixed known quantity, so as to provide a correction quantity for aligning the axis of the assembly end with the axis of the assembly hole.

[0066] During use, after the energy absorption box is fixed on the placement platform 20, the controller rotates the placement platform 20 to a specified angle through a preset program, so that the current target assembly hole faces the direction of the assembly end. Then, the controller controls the displacement mechanism 50 to drive the assembly mechanism 40 to move near the estimated position of the target assembly hole, and the monitoring component 60 is activated to measure the edge position of the assembly hole. The controller calculates the center position of the assembly hole based on the edge position of the assembly hole and in combination with the standard size of the assembly hole.

[0067] Based on the measured edge position parameters, the preset assembly hole size, and the relative coordinates between the detection component and the assembly end, the controller calculates the spatial offset between the axis of the assembly end and the axis of the assembly hole in real time, and further controls the second drive end 541 to adjust the position and posture of the assembly mechanism 40 to achieve the collinear alignment of the axis of the assembly end and the axis of the assembly hole. After the alignment is completed, the assembly mechanism 40 performs an assembly operation to complete the connection of one assembly point. Then, the slewing mechanism 10 drives the placement platform 20 to rotate to the next assembly hole position, and the above process is repeated until all hole positions are assembled.

[0068] This technical solution is applicable to fields such as body structure assembly, fixing of power battery box connectors, and distributed installation of energy absorption components. It adapts to the industrial automation environment, has strong compatibility, and can cope with actual errors such as multi-batch micro-differences and slight warping of the energy absorption box.

[0069] For the rotary assembly tooling disclosed in this embodiment, due to the adoption of the combination of the monitoring component 60, assembly posture checking, and dynamic trajectory compensation, the assembly alignment accuracy and automatic alignment ability are improved, effectively solving the problem of hole offset caused by structural tolerances and error accumulation. It is applicable to assembly scenarios with high requirements for connection accuracy and multi-hole non-uniform distribution, and has significant advantages such as high precision, high speed, large error tolerance, and high automation level.

[0070] Further, the monitoring component 60 includes an infrared ranging sensor 610. The infrared ranging sensor 610 includes a transmitting end for emitting an infrared beam. The beam emitted by the infrared ranging sensor 610 is parallel to the axis of the assembling end of the assembling mechanism 40, and the emitting direction of the infrared beam at the transmitting end is the same as the orientation of the assembling end. Moreover, in order to make the axis of the assembling end perpendicular to the side surface of the energy absorption box where the assembling hole is provided before assembly, in one embodiment, the number of the infrared ranging sensors 610 is two. The two infrared ranging sensors 610 are arranged in parallel, and the center points of the two infrared ranging sensors 610 are both in a first plane, and the first plane is perpendicular to the axis of the transmitting end.

[0071] In this embodiment, the monitoring component 60 is used to perform spatial recognition and attitude verification on the assembling hole of the energy absorption box before the assembling operation. Its core structure is the infrared ranging sensor 610 component arranged on the assembling mechanism 40.

[0072] The monitoring component 60 includes at least two infrared ranging sensors 610 (which can be selected as TOF sensors, laser triangulation rangefinders or infrared echo rangefinders). The infrared ranging sensors 610 can be installed by bolts or fixed to the outer bracket of the assembling end through quick-release card slots, and are preferably arranged symmetrically left and right. The transmitting ends of the two infrared ranging sensors 610 are arranged parallel to each other and are located on both sides of the assembling end respectively. Their center points are coplanar and are all in a geometric plane called the "first plane". The first plane is perpendicular to the central axis of the assembling end, so as to ensure that the distances measured by the two infrared sensors to the same vertical plane are equal.

[0073] Among them, each infrared ranging sensor 610 includes an infrared light emitting end (with the same orientation as the assembling end), an optical receiver and an integrated electronic control signal processing unit. A strict parallel relationship is maintained between the infrared beam and the axis of the assembling end to ensure the comparability and direction consistency of the obtained distance information. The infrared ranging sensor 610 can be connected to the controller through a shielded cable, and the signal is transmitted through the CAN bus or serial communication method. Moreover, the distance between the two infrared ranging sensors 610 can be selected from 20 mm to 50 mm, and the specific value needs to be set according to the structural dimensions of the assembling end and the diameter of the assembling hole.

[0074] Before assembly, the controller drives the assembly mechanism 40 to move near the position of the hole to be assembled according to the preset coordinates of the target assembly hole. The infrared ranging sensor 610 is immediately activated and continuously emits infrared light beams to obtain the ranging data of the corresponding energy absorption box surface. Then, the controller compares the ranging values simultaneously obtained by the two sensors. If the difference Δd is less than the set error threshold (e.g., ±1 mm), it is determined that the axis of the assembly end is perpendicular to the normal direction of the side surface of the energy absorption box. If Δd exceeds the limit, it is considered that the current posture is skewed, and the controller issues an adjustment instruction to finely adjust the posture of the assembly end through the rotary assembly 540 until the perpendicularity judgment is satisfied.

[0075] After the axes are vertically aligned, the infrared ranging sensor 610 continues to work to obtain the edge position of the assembly hole. When the infrared light beam enters the interior of the assembly hole, its distance data will show a sudden change of "from near to far". The system captures the position of this sudden change point to determine the edge of the assembly hole, and then combines the known aperture parameters to inversely calculate the hole center coordinates.

[0076] Finally, the controller completes the correction of the position and posture of the assembly end, making its central axis collinear with the axis of the hole to be assembled.

[0077] The key links in the specific implementation process include:

[0078] Posture judgment, using whether the distance values of multiple sensors are consistent as the basis for judging whether the assembly end is perpendicular.

[0079] Mutation recognition, monitoring the mutation points of the distance curve for detecting the hole edge.

[0080] Center positioning, calculating the center position according to the known calibration relationship in space between the two sensors and the assembly end and the aperture information.

[0081] Fine adjustment control, if there is a deviation, the controller realizes precise alignment through the combined compensation of the rotary assembly 540 and the displacement assembly.

[0082] This process is a closed-loop control logic. Each posture and position check is dynamically adjusted based on real-time measurement data, without relying on an open control that only depends on preset coordinates, greatly improving the adaptability of this assembly tooling.

[0083] In this embodiment, due to the structural arrangement based on two parallel infrared ranging sensors 610, and keeping the infrared beam parallel to the axis of the assembly end, by comparing the changes in distance data to determine whether the assembly end is perpendicular to the assembly surface of the energy absorption box, and further realizing the edge recognition and center positioning of the assembly hole; therefore, it effectively solves the problem that the axis of the assembly end deviates from the axis of the assembly hole due to spatial deviation or deformation of the target part in the existing automatic assembly system, especially avoiding the disadvantages of being affected by light and reflection interference in the traditional vision system. Furthermore, a high-precision hole alignment system with non-contact, fast, real-time, and closed-loop control is realized, significantly improving the fault tolerance, stability, and production efficiency of the assembly automation system, and is applicable to the automatic assembly scenarios of various types of energy absorption structures.

[0084] It should be noted that during the actual operation process, although there may be deviations between the assembly holes of the energy absorption box and the preset target positions due to factors such as positioning errors and manufacturing tolerances, since this deviation is usually small, during the process of the displacement mechanism 50 driving the assembly mechanism 40 to gradually approach the target position, the infrared beam is still very likely to pass through the edge area of the assembly hole and enter the hole, thus triggering the recognition of the mutation point. In actual engineering, the preset assembly hole position comes from the CAD model or manual calibration, usually with an error within ±2mm. Moreover, the controller does not position the axis of the assembly end to only align with an absolute point, but moves to the area near this point (buffer zone). For example, within a spatial cylindrical area with a diameter of 2mm to 3mm, the diameter of the infrared beam or the ranging field of view usually has a certain divergence angle (such as ±1°). Therefore, as long as the preset path is not too far off, the infrared beam is very likely to sweep across the edge of the assembly hole and complete the mutation judgment. And when the controller drives the assembly end to approach the assembly hole, it does not reach the position in one step, but samples multiple times during the approaching process. Every time it moves a certain distance (such as 0.5mm to 1mm), it will trigger an infrared ranging once and record the data. During the approaching process, even if it does not align with the center of the assembly hole, but the path of the infrared beam sweeps across the edge of the assembly hole, a mutation signal will still be detected. Moreover, the edge area is the place where the ranging mutation is most likely to occur. When the infrared beam hits a solid surface, a short distance is returned. Once the beam enters a cavity, a long distance or no echo is returned. This mutation point is most likely to appear at the moment when the beam cuts into the cavity from the solid edge. Therefore, "sweeping across the edge" is equivalent to "triggering the judgment". Therefore, under the condition that the preset path accuracy control is reasonable and the error range is controlled, during the process of the displacement mechanism 50 approaching the assembly hole, the infrared ranging beam will almost certainly pass through or be close to the edge area of the assembly hole, thus entering the hole and realizing the capture and judgment of the ranging mutation.

[0085] Further, in some other embodiments, the number of the infrared ranging sensors 610 is at least three, and each of the infrared ranging sensors is arranged at each end point of a regular polygon in a one-to-one correspondence manner, and the number of the end points of the regular polygon is equal to the number of the infrared ranging sensors 610. Each of the infrared ranging sensors 610 is arranged in parallel, and the center points of each of the infrared ranging sensors 610 are all in a second plane, and the second plane is perpendicular to the axis of the transmitting end.

[0086] In a further optimized solution of this embodiment, the number of the infrared ranging sensors 610 arranged in the monitoring assembly 60 is three or more, and each of the infrared ranging sensors 610 is arranged at each vertex of a regular polygon in a one-to-one correspondence manner. For example, when the number of sensors is 3, they are arranged at the three end points of an equilateral triangle; if it is 4, they are arranged at the four corners of a square, and so on.

[0087] The center points of the above-mentioned infrared ranging sensors 610 are all located in a plane called the "second plane", and this plane is perpendicular to the central axis of the assembly end, that is, perpendicular to the emission direction of the infrared ranging sensors 610. The beam emission directions of all the sensors are parallel to the axis of the assembly end and face the same direction as the assembly action direction, ensuring that an equidistant distributed ranging plane array is formed in three-dimensional space.

[0088] Each sensor is independently installed on the corresponding mounting support on the assembly mechanism 40, and the support can be fixedly connected to the end support skeleton of the assembly mechanism 40 through bolts, buckles or modular guide rails, which is convenient for replacement and calibration. The installation spacing is set according to the side length of the regular polygon, and the recommended side length is 10 mm to 25 mm, and it can be specifically adjusted according to the size of the assembled parts and the space margin.

[0089] Each of the infrared ranging sensors 610 is connected to the main controller by an independent cable, and the signals are transmitted in parallel through the CAN bus or the RS485 bus to ensure high-speed real-time synchronous sampling and cooperate with the multi-channel A / D module for unified data processing.

[0090] In this embodiment, multiple infrared ranging sensors 610 are provided. Compared with the axis vertical verification and edge recognition scheme implemented by dual sensors, the regular polygon array composed of multiple infrared ranging sensors 610 in this embodiment can realize a wider range of scanning and attitude determination of the assembly hole and the surrounding space, and its working principle is as follows:

[0091] First, the controller calculates the distance between each point and the assembly surface of the energy absorption box according to the ranging values returned by multiple infrared ranging sensors in real time.

[0092] Then, based on the point set composed of three or more ranging points, the controller uses mathematical methods such as the least square method to fit out an "actual assembly surface plane".

[0093] Next, calculate the included angle between the normal vector of the fitted plane and the direction vector of the axis of the assembly end. If the included angle is less than the set tolerance (such as 1°), it is considered that the axis of the assembly end is perpendicular to the assembly surface.

[0094] After that, during the process of gradually approaching, multiple sensors simultaneously detect whether there are ranging mutation points. If any ranging value mutates, the "edge determination logic" is triggered. And based on the coordinate positions of multiple mutation points and the standard size of the assembly hole, the spatial position of the center point of the assembly hole is inversely solved.

[0095] Finally, the controller controls the linkage movement of the displacement mechanism 50 and the rotary assembly 540 to align the axis of the assembly end with the axis of the assembly hole.

[0096] Among them, a plane is determined by three points, and the normal of the assembly surface is judged by fitting the relationship between "measurement points and the assembly surface". Using four or more points can form an overdetermined system, and the system can still operate fault-tolerantly when the signals of individual sensors are abnormal. And by jointly fitting the shape of the hole edge with the mutation positions of multiple points, the robustness of the hole center judgment is further enhanced. Moreover, the ranging values of all infrared ranging sensors are simultaneously sampled within the same period to ensure the real-time and consistency of the judgment logic.

[0097] In this embodiment, due to the adoption of the multi-point infrared ranging sensor 610 array arrangement structure, and the emission directions of all sensors are unified and parallel to the axis direction of the assembly end, and at the same time all the center points are coplanar, forming a stable and resolvable three-dimensional ranging array structure; therefore, it effectively solves the problems of inaccurate judgment and poor adaptability in the existing two-point hole alignment system when facing an inclined assembly surface or a large-range offset hole position; furthermore, a three-dimensional space attitude recognition and assembly hole center positioning system with higher dimension, stronger fault tolerance and more reliable redundancy mechanism is realized, improving the adaptability of the automatic assembly equipment to the complex-shaped energy-absorbing box structure, and significantly improving the assembly efficiency and accuracy.

[0098] Among them, "based on a point set composed of 3 or more ranging points, the controller uses mathematical methods such as the least squares method to fit an "actual assembly surface plane", calculates the included angle between the normal vector of the fitted plane and the direction vector of the axis of the assembly end. If the included angle is less than the set tolerance (such as 1°), it is considered that the axis of the assembly end is perpendicular to the assembly surface" is specifically as follows:

[0099] Multiple infrared ranging sensors 610 have the same emission direction (parallel to the axis of the assembly end). When they respectively measure the distance values of different points on the energy absorption box assembly surface, it is equivalent to obtaining the coordinates of a set of points in three-dimensional space. If these points fall on a plane (ideal situation), the "actual plane equation" of this assembly surface can be fitted. After fitting, the normal vector of this plane can be obtained, and then the included angle between this normal vector and the direction vector of the axis of the assembly end is calculated. If the included angle is close to 0 (less than the threshold, such as 1°), it can be determined that the orientation of the assembly end is "perpendicular" to the normal vector of the assembly surface, meeting the assembly condition.

[0100] The logic for obtaining coordinate data is as follows:

[0101] Suppose there are three infrared ranging sensors 610 in the system, named A, B, and C, arranged as an equilateral triangle. The coordinates of the installation positions of each infrared ranging sensor 610 (in the coordinate system of the assembly mechanism 40) are known, denoted as: A = (x1, y1, z1), B = (x2, y2, z2), and C = (x3, y3, z3). The distance values they measure are d1, d2, and d3 respectively (the ranging direction is the direction of the X-axis or Y-axis facing the side of the energy absorption box, that is, the orientation of the assembly end). The spatial coordinates of the surface of the energy absorption box irradiated by each sensor are: P1 = (x1 + d1, y1, z1), P2 = (x2 + d2, y2, z2), P3 = (x3 + d3, y3, z3).

[0102] Given three points P1, P2, and P3, the plane normal vector n can be obtained through the following steps:

[0103] V1 = P2 - P1; V2 = P3 - P1; n = V1 × V2.

[0104] Normalize the normal vector n = (a, b, c) to obtain the unit normal vector of the plane.

[0105] Let the direction vector of the central axis of the assembly end be d = (1, 0, 0). (Along the X-axis)

[0106] Calculate the included angle: cos(θ) = (n·d) / (‖n‖‖d‖); if θ ≈ 0° (the allowable deviation range is usually between 0° and 1°), it is judged as "perpendicular to the assembly surface", otherwise, the attitude of the assembly end needs to be adjusted.

[0107] Please refer to Figure 3To achieve high-precision alignment of the energy absorption box assembly holes with respect to positional errors, one embodiment proposes a rotary assembly tooling control method based on infrared ranging feedback. This method, relying on the coordinated operation of the rotary mechanism 10, the displacement mechanism 50, and the monitoring assembly 60, enables dynamic adjustment of the assembly hole position and posture at the assembly end, providing high fault tolerance and real-time performance. The midpoint of the predetermined area on the placement plane 210 is defined as the coordinate origin. The control method specifically includes the following steps:

[0108] Step S100: obtaining preset position parameters corresponding to the assembly holes on the side of the crash box;

[0109] Step S200: Determining the motion trajectory of the second driving end 541 of the displacement mechanism 50 based on the coordinate origin, the preset position parameters corresponding to the assembly hole, and the preset rotation angle of the first driving end 110, so that the axis of the assembly end of the assembly mechanism 40 moves in a direction coaxial with the axis of the rivet hole on the side of the energy absorption box;

[0110] Step S300: After the axis of the assembly end is moved to a preset vicinity of the axis of the assembly hole, the infrared ranging sensor 610 provided on the assembly mechanism 40 emits an infrared beam to obtain ranging data generated by the infrared beam irradiating the surface of the energy absorbing box;

[0111] Step S400: When the infrared light beam passes through the assembly hole and enters the inner cavity thereof, the distance value measured by the infrared distance measuring sensor 610 undergoes a sudden change, and the edge position parameters of the assembly hole are determined according to the spatial position of the sudden change point;

[0112] Step S500: The controller determines the offset between the current axis of the assembly end of the assembly mechanism 40 and the axis of the assembly hole according to the edge position parameters and the size parameters of the assembly hole, combined with the known spatial coordinate relationship between the monitoring component 60 and the assembly end;

[0113] Step S600: According to the offset, control the second driving end 541 to drive the assembly mechanism 40 to perform fine-tuning compensation along the direction of the assembly end axis perpendicular to the side of the energy absorption box and / or around the direction parallel to the assembly end axis, so that the assembly end axis coincides with the assembly hole axis.

[0114] Among them, regarding "Step S100 to obtain the preset position parameters corresponding to the assembly holes on the side of the energy absorption box", during the system initialization phase, the controller sets the midpoint of the preset area on the rotary assembly tooling placement plane 210 as the origin of the spatial coordinate system, and establishes an X-Y-Z three-dimensional coordinate system, where the Z-axis is perpendicular to the assembly surface and is used to describe the advancing direction of the assembly end. The controller then calls the structural modeling data of the energy absorption box, obtains the spatial position coordinates, normal direction, and aperture information of each assembly hole, and loads them into the cache table in the structural order to form a target assembly information table, providing a unified geometric basis and data interface for subsequent path control, infrared ranging judgment, attitude verification, and assembly compensation. Step S100 is specifically described as follows:

[0115] The purpose of this step is to provide accurate target positioning data for subsequent control of the spatial movement trajectory of the assembly end. By establishing a unified coordinate system and loading the preset spatial parameters of the assembly holes, it ensures that the data calculation of the entire assembly process has a unified reference and transformability.

[0116] Step S110: Establish a unified coordinate system. During the system initialization phase, the controller performs spatial calibration on the placement platform 20 of the rotary assembly tooling for placing the energy absorption box, sets the center point of the preset area on the placement plane 210 (the center point of the placement plane 210) as the coordinate origin (0, 0, 0), and establishes the following three-dimensional space coordinate system:

[0117] The Z-axis direction is perpendicular to the placement plane 210 and points to the advancing direction of the assembly end (usually the "downward pressing direction"), the X-axis direction is consistent with the length direction of the placement platform 20, and the Y-axis direction is consistent with the width direction of the placement platform 20 and is perpendicular to the X-axis. This coordinate system serves as the "assembly reference coordinate system" in the system, and the subsequent assembly hole positions and the trajectories of the assembly mechanism 40 are all referenced based on this coordinate system.

[0118] Step S120: Import the spatial parameters of the assembly holes. The controller obtains or reads the theoretical modeling data of the energy absorption box structure through parameters or models, including:

[0119] The numbers or IDs of all assembly holes of the energy absorption box.

[0120] The spatial position coordinates of each assembly hole in the three-dimensional model, that is, the (X, Y, Z) values relative to the coordinate origin.

[0121] The aperture size parameters of each assembly hole.

[0122] The normal direction vector of each assembly hole, which is used to judge the assembly direction.

[0123] The initial attitude (angle) parameters of the energy absorption box after being installed on the assembly tooling as a whole, including rotation angle (around the Z-axis) or tilt angle and other information (used for subsequent coordinate transformation calculations).

[0124] The above data can be sourced from the hole position data table after CAD model conversion, the position templates preset in the intelligent calibration system, manual input, or the hole position tables set by the user (such as Excel, database). These data are formatted and stored in the controller as part of the target assembly instruction set.

[0125] S130: Spatial data caching and binding assembly strategy. The controller classifies and caches all the obtained assembly hole position information, including the hole ID, X coordinate, Y coordinate, Z coordinate, hole diameter, normal direction (i, j, k), the affiliated structural plane, and the initial angle of each hole. Then the system logically binds each hole position data with the corresponding assembly sequence, the type of assembly tool used, and the assembly mode to generate a hole-process mapping relation table, providing a matching basis for subsequent step-by-step control (such as rotation angle, assembly sequence, assembly path).

[0126] The key technical points in this step are as follows:

[0127] Selection of the reference origin. By setting a unified origin and coordinate system, the coordinate system ambiguity caused by the geometric shape of the energy absorption box body or the clamping position can be eliminated, facilitating subsequent rotation transformation and spatial compensation calculation.

[0128] Spatial consistency of the preset position parameters. With this coordinate system as the unified reference, the assembly hole positions of all energy absorption boxes can be uniformly processed, dynamically matched, and vectorially transformed.

[0129] Moreover, this step supports the loading of dynamic hole position tables for energy absorption boxes of different specifications. The controller can switch the target hole position parameters according to the work order or the system identification code, with high flexibility.

[0130] It should be noted that step S100 is the first stage of the entire control process, providing an input reference for the path planning in step S200 and the initiation of infrared ranging in step S300. The target coordinates of the assembly holes obtained after S100 will serve as the spatial comparison basis for subsequent attitude judgment and deviation compensation algorithms. If this step is skipped, the system will not be able to construct a dynamic matching mechanism, and the assembly end will not be able to accurately align with the target hole positions.

[0131] Please refer to Figure 4, for "In step S200, the controller determines the motion trajectory of the second driving end 541 of the displacement mechanism 50 according to the coordinate origin, the preset position parameters corresponding to the assembly holes, and the preset angle of rotation of the first driving end 110, so that the axis of the assembly end of the assembly mechanism 40 moves in a direction coaxial with the axis of the riveting hole on the side of the energy absorption box", based on the coordinate origin and the preset spatial position parameters of the assembly holes, and combining with the current rotation angle of the first driving end 110, the controller obtains the target coordinates of the center of the real-time assembly hole through a three-dimensional space transformation method. Subsequently, a target trajectory is generated, and the displacement mechanism 50 connected to the second driving end 541 is controlled to operate, so that the assembly end of the assembly mechanism 40 moves to the buffer working area at the center of the assembly hole along a predetermined path, completing the transition positioning from the initial position to the precision assembly area.

[0132] Step S210: Obtain the target spatial position of the assembly hole on the side of the energy absorption box in the rotating assembly tooling coordinate system;

[0133] Step S220: Transform the preset assembly hole coordinates according to the preset angle of rotation of the current first driving end 110 to obtain the real-time target position;

[0134] Step S230: Control the second driving end 541 to move so as to move the axis of the assembly end to a preset nearby area of the target assembly hole axis.

[0135] Among them, step S210 to obtain the target spatial position of the assembly hole on the side of the energy absorption box in the rotating assembly tooling coordinate system is specifically as follows:

[0136] First, read the assembly hole spatial position data cached in the controller, that is, extract the center coordinates of the current assembly hole to be assembled from the target hole position parameter table established in step S100:

[0137] The original target coordinates (relative to the coordinate origin) are P0 = (x 0， y 0， z0). This coordinate is the theoretical center point of the assembly hole when the energy absorption box is in the "non-rotated" state.

[0138] Step S220 transforms the preset assembly hole coordinates according to the preset angle of rotation of the current first driving end 110 to obtain the real-time target position. Specifically as follows:

[0139] Since the energy absorption box performs multi-hole positioning by rotating through the rotary mechanism 10, there is a rotational difference between the actual current hole position and the theoretical value. The controller obtains the current rotational angle θ of the first driving end 110 and performs a two-dimensional plane rotation transformation to rotate the P0 coordinate point by θ degrees around the coordinate origin (Z axis) to obtain the real-time target position .

[0140] The calculation formula is as follows:

[0141] .

[0142] Among them, the z-axis direction remains unchanged because the rotation only occurs within the platform plane.

[0143] Step S230: Control the movement of the second driving end 541 to move the axis of the assembly end to a preset nearby area of the axis of the target assembly hole, specifically as follows:

[0144] According to the transformed target coordinates, the controller generates an instruction to drive the second driving end 541 to move the assembly mechanism 40 from the current position to the vicinity, that is, the "buffer working area" of the target hole axis, according to the shortest path strategy.

[0145] The system defaults this "buffer area" to be a spatial cylindrical area centered at and with a radius ranging from 2 mm to 3 mm. The assembly end can trigger infrared ranging judgment within this area.

[0146] In step S200, the key technical points include:

[0147] Precision control of spatial coordinate transformation: The angle reading should be the feedback value of the encoder or servo system, with a precision of at least 0.1° to ensure the accuracy of displacement path calculation.

[0148] Path planning logic: The moving path preferably adopts a three-axis straight segmented composite path (non-curved trajectory) to simplify the control algorithm and improve motion stability.

[0149] Buffer strategy setting: Introducing the "buffer working area" mechanism can improve the system's tolerance to the position tolerance of the assembly hole and the installation deviation of the energy absorption box, and ensure that the infrared ranging link successfully enters the working window.

[0150] It should be noted that step S200 depends on the original coordinate data output by S100, depends on the rotary mechanism 10 to feedback the current rotation angle, and is a prerequisite for "the assembly end approaching the assembly hole and triggering infrared ranging" in the subsequent step S300.

[0151] Please refer to Figure 5 , after step S300 moves the axis of the assembly end to a preset nearby area of the axis of the assembly hole, the infrared ranging sensor 610 provided on the assembly mechanism 40 emits an infrared beam, and the ranging data obtained from the infrared beam irradiating on the surface of the energy absorption box includes:

[0152] Step S310: After moving the axis of the assembly end to a preset nearby area of the axis of the assembly hole, at least two of the infrared distance sensors 610 provided on the assembly mechanism 40 respectively obtain the distance values in the direction of the surface of the energy absorption box towards the assembly end;

[0153] Step S320: If the differences between the distance values measured by all the infrared distance sensors 610 are within the equipment error range, it is determined that the axis of the assembly end is perpendicular to the side surface of the energy absorption box where the assembly hole is provided.

[0154] The purpose of step S300 is to obtain the geometric state information of the surface where the assembly hole of the energy absorption box is located in real time through infrared distance measurement technology when the assembly end approaches the target assembly hole position, initially complete the judgment of the attitude flatness (perpendicularity), and provide a data basis for subsequent hole edge recognition and position compensation. In step S300, after the controller detects that the assembly end enters the area near the axis of the target assembly hole, it starts a plurality of infrared distance sensors 610 installed on the assembly mechanism 40, emits infrared light beams along the axis direction of the assembly end, and collects the real-time ranging data generated when the light beams irradiate the assembly surface of the energy absorption box. The controller makes a difference judgment on each ranging value. If the differences between the distance values measured by all sensors are within the allowable range of equipment error, it is determined that the axis of the assembly end is perpendicular to the normal direction of the side surface of the energy absorption box; if the ranging difference exceeds the tolerance range, the controller controls the rotary assembly 540 of the assembly mechanism 40 to perform fine adjustment compensation, and repeats the ranging judgment process to form an attitude closed-loop control.

[0155] Among them, after step S310 moves the axis of the assembly end to a preset nearby area of the axis of the assembly hole, at least two of the infrared distance sensors 610 provided on the assembly mechanism 40 respectively obtain the distance values in the direction of the surface of the energy absorption box towards the assembly end, specifically as follows:

[0156] After the controller detects that the assembly end has entered the aforementioned "target buffer working area", it starts a plurality of infrared distance sensors 610 (at least two, preferably three or four, arranged symmetrically around the assembly end) configured at the end of the assembly mechanism 40. The emission directions of these infrared distance sensors 610 are all parallel to the axis of the assembly end, and infrared light beams are emitted along the predetermined assembly direction (X axis or Y axis). The controller real-time collects the ranging values (such as d1, d2, d3...) returned by all the infrared distance sensors, and each sensor corresponds to a fixed spatial installation coordinate (calibrated by mechanical design).

[0157] In step S320, if the differences between the distance values measured by all the infrared distance sensors 610 are within the equipment error range, it is determined that the axis of the assembly end is perpendicular to the side surface of the energy absorption box where the assembly hole is provided, specifically as follows:

[0158] Compare the above multiple ranging values. The controller calculates the difference Δd between each pair and determines whether the set vertical error threshold (such as ±1 mm) is satisfied.

[0159] If the difference in ranging values of all sensors is less than or equal to the threshold, it indicates that the axis of the assembly end is perpendicular or approximately perpendicular to the normal direction of the energy absorption box surface, and the next step of "hole edge mutation recognition" can be entered.

[0160] If Δd between a pair of sensors exceeds the tolerance, it indicates that there is a deviation between the attitude of the assembly end and the assembly surface. The controller issues a correction instruction, adjusts the attitude of the assembly end (such as a slight rotation) through the rotary assembly 540, and re-samples for judgment to form a closed-loop adjustment.

[0161] The key technical points of step S300 are as follows:

[0162] A non-contact pre-judgment mechanism is adopted. Compared with the traditional hard alignment method, infrared ranging realizes the ability to judge "whether it is perpendicular" without contact, reducing the risk of misinsertion.

[0163] Multi-point parallel acquisition. Multiple infrared ranging sensors 610 are used to simultaneously read the height values on the surface of the energy absorption box at different points, and the spatial "slope perception" of the assembly surface is formed through geometric fitting.

[0164] Angle error back-calculation. When the difference is too large, the deflection direction and angle can be back-calculated by a simple geometric method, and the rotary assembly 540 is controlled for compensation to improve the attitude self-adaptability.

[0165] Moreover, this step is a prerequisite for step S400 (mutation recognition). If the perpendicularity judgment fails, entry into the next step of hole edge capture is not allowed. And if the attitude error continuously does not meet the requirements, an "assembly abnormal alarm" can be issued to prevent incorrect operations.

[0166] Please refer to Figure 6 , after the vertical attitude calibration of the assembly end is completed in step S400, the controller starts the infrared ranging mutation recognition program, reads the data stream returned by the infrared ranging sensor 610 in real time, and determines whether there is a situation where the distance value suddenly changes within a unit time. If it is detected that the change amplitude of a certain ranging data exceeds the preset threshold (for example, 50 mm), it is considered that the infrared beam has penetrated the assembly hole and entered its inner cavity area. The system marks the position coordinates corresponding to this mutation point as the assembly hole edge position parameter, and subsequently, the center axis of the assembly hole is calculated based on this edge position point to achieve precise hole alignment control. The purpose of this step is to identify the edge position point of the assembly hole through the distance mutation phenomenon when the infrared beam penetrates the assembly hole and enters its internal cavity after the assembly end has been adjusted to a vertical state with the energy absorption box assembly surface, and to use it for subsequent center position fitting and error compensation.

[0167] In step S400, when the infrared beam passes through the assembly hole and enters its inner cavity, the distance value measured by the infrared ranging sensor 610 undergoes a sudden change. Determining the edge position parameters of the assembly hole based on the spatial position of the mutation point includes:

[0168] S410 Determine whether there is a mutation value in the data of the infrared ranging sensor 610. The mutation value is that the distance value obtained by the infrared ranging sensor 610 changes instantaneously beyond the allowable range, specifically as follows:

[0169] When the assembly end is in the current static or slow advancement state, the controller continuously reads the distance data sequence d(t) of each infrared ranging sensor 610 and executes the dynamic change rate judgment algorithm:

[0170] Set the mutation judgment threshold Δd thresh , such as 50mm;

[0171] Judge whether the difference between the current sampling value and the previous sampling value satisfies: .

[0172] If the mutation condition is satisfied, record the ranging value and the spatial coordinates of the assembly mechanism 40 corresponding to this time point, and mark it as a "mutation point". This mutation represents that the infrared beam suddenly penetrates from the solid area of the assembly surface into the inner cavity of the assembly hole, forming a state of long distance or echo disappearance, which is the direct basis for identifying the edge of the assembly hole.

[0173] S420 If the mutation value is detected, mark the mutation point position as the edge of the assembly hole, specifically as follows:

[0174] The system marks the spatial coordinates of this mutation sampling point as the edge point of the assembly hole and saves its three-dimensional coordinates to prepare for the subsequent calculation of the central axis.

[0175] If multiple infrared ranging sensors show mutation phenomena, combine the coordinates of all mutation points to form an edge point set;

[0176] Optionally, fit these mutation points into a circular arc edge or inversely deduce the aperture symmetry center through geometric analysis.

[0177] The key technical points of step S400 include:

[0178] When the infrared ranging enters the hole cavity, it instantly becomes without echo or greater than 50mm, which is greater than the set threshold and triggers the judgment.

[0179] Moreover, in order to ensure the first-time response sampling frequency and mutation positioning accuracy for capturing mutation points, high-frequency sampling (such as 50Hz or above) can be set through the controller to improve the accuracy of edge positioning (error less than 0.5mm).

[0180] Furthermore, the collaborative recognition of multiple sensors for mutation points can be used to filter out accidental measurement errors (such as local light reflection) and improve the recognition accuracy.

[0181] The output P of step S400 edge is the direct input of S500 "offset calculation"; if the mutation point cannot be recognized, the controller can issue an "unconfirmed hole position" alarm and pause the assembly process. In a multi-sensor redundancy system, mutation point screening and weighted average processing can be performed to improve stability.

[0182] In step S500, the controller constructs a geometric fitting model based on the edge point coordinates. Preferably, when the number of edge points is not less than three, the least squares circle fitting method is used to calculate the center position and normal direction of the assembly hole. If the edge points are three-dimensional space points, they are first projected onto the current assembly surface and then two-dimensional fitting is performed. Finally, the three-dimensional hole center coordinates are reconstructed in combination with the normal vector. After obtaining the center point and normal of the assembly hole, the controller compares them with the current center position and attitude of the assembly end to obtain the position offset and attitude angle error, which serve as the input basis for subsequent fine-tuning control. This process realizes the accurate spatial recognition of complex assembly errors and is a key step in non-contact high-precision assembly control. Step S500 aims to calculate the center point and normal direction of the assembly hole based on the set of mutation points at the edge of the assembly hole identified in step S400, combined with the known dimensional parameters of the assembly hole and the spatial installation calibration data between the infrared distance sensor 610 and the assembly end, and further determine the spatial offset and attitude angle error of the current assembly end axis relative to the assembly hole axis. These deviation information will be used as the basic input for the fine-tuning compensation control in the next step S600.

[0183] In step S500, the controller determines the offset between the current assembly end axis of the assembly mechanism 40 and the axis of the assembly hole according to the edge position parameters and the dimensional parameters of the assembly hole, in combination with the known spatial coordinate relationship between the monitoring component 60 and the assembly end, including:

[0184] At least three mutation points are measured.

[0185] The controller has completed the recognition of mutation points in step S400 and recorded the corresponding spatial coordinates. At least three effective edge points are obtained to form an edge point set: These point coordinates have usually been mapped to the assembly coordinate system and the installation offset of the infrared distance sensor has been considered.

[0186] Calculate the center coordinates of the assembly hole.

[0187] This step fits a circular geometric structure through the edge point set to determine the center point C and normal direction of the assembly hole Preferably, the Kasa least squares circle fitting algorithm is used, and the calculation process is as follows:

[0188] Two-dimensional circle fitting (simplified model, default assembly surface is a plane). Assume the center coordinates of the circle are (a, b), and the edge points .

[0189] Fitting objective function: .

[0190] Linearize the equation and construct the following matrix:

[0191] .

[0192] Solve the linear equations , where: .

[0193] Recovery of the center of the circle in three-dimensional space (applicable to any attitude surface).

[0194] First, project all P i onto the two-dimensional plane where the current assembly surface is located.

[0195] Use the two-dimensional circle fitting algorithm to find the center (a, b).

[0196] Then, combined with the normal vector of this plane recover the three-dimensional coordinates: .

[0197] Among them, is the local orthogonal basis of this surface, and P0 is the reference point.

[0198] Normal vector of the circular surface can be obtained through PCA principal component analysis or edge point plane fitting.

[0199] Calculation of the offset vector and the attitude angle.

[0200] The controller performs a spatial difference operation on the hole center coordinates fitted and obtained and the center position of the current assembly end of the assembly mechanism 40 to obtain the position offset: .

[0201] In addition, if it is necessary to determine whether the attitudes are consistent, then compare the included angle between two direction vectors: the axis direction of the assembly end and the normal direction of the hole surface .

[0202] Attitude angle error calculation formula: .

[0203] The controller judges whether to enter the next fine-tuning compensation according to and .

[0204] Specifically:

[0205] The purpose of pose consistency is to determine whether the current assembly end is also aligned with the assembly hole on the side of the energy absorption box in the spatial direction (i.e., not only the positions are aligned, but also the directions are the same).

[0206] In high-precision assembly, for the hole, it is required not only that the center position of the assembly end is aligned with the center of the hole, but also that the orientation (axis direction) of the assembly end is the same as the normal direction of the assembly hole. Otherwise, even if the positions are aligned, there may be assembly defects such as difficult insertion, jamming, and skewing. This dual control of position and direction is called pose matching.

[0207] Moreover, the necessary and sufficient condition for two directions to be the same is that their direction vectors are collinear. The most direct method to determine whether two vectors are collinear is to calculate their included angle Δθ. If Δθ is small enough (e.g., <0.5°), it can be regarded as "the directions are the same". This step is to judge whether the current assembly pose meets the requirements through the vector included angle calculation formula.

[0208] The detailed processing steps of the pose error angle Δθ are as follows:

[0209] First, obtain two direction vectors.

[0210] Axis direction vector of the assembly end , the installation direction of the assembly end is known in the system or calculated in real time through an internal encoder / pose sensor.

[0211] Usually, the unit vector after three-dimensional pose calculation is defaulted to the spindle vector of the assembly.

[0212] Normal vector of the assembly hole surface . The normal vector of the plane where the assembly hole is located calculated during the circle fitting of the edge points in S520. The specific fitting method is: the unit normal vector extracted after constructing the fitting plane through PCA or the three-point method, for example.

[0213] Then, perform the standard vector included angle calculation.

[0214] Use the following formula to calculate the included angle Δθ between the two vectors.

[0215] .

[0216] Where:

[0217] : is the dot product of the two direction vectors.

[0218] : are the magnitudes of the two vectors respectively (should be normalized).

[0219] arccos: inverse cosine function, and the output angle unit can be in radians or degrees.

[0220] Next, set a judgment threshold and output the judgment result.

[0221] The controller sets an acceptable attitude error tolerance .

[0222] When Δθ ≤ 0.5° is determined to be acceptable, it is considered that the direction of the assembly end is consistent with the hole normal.

[0223] When Δθ > 0.5° is determined to be unacceptable, attitude fine-tuning is required.

[0224] If the perpendicularity requirement is not met, the system will issue a control command in S600 to make the slewing mechanism 10 perform a micro-angle compensation rotation around the axis.

[0225] For example: Direction of the axis of the assembly end: . Direction of the normal of the assembly hole: .

[0226] Calculate the dot product to get: .

[0227] Find the included angle: .

[0228] Result: The boundary is reached. If strict control is required, enter the fine-tuning compensation.

[0229] In step S600, the controller drives the displacement mechanism 50 and the slewing assembly 540 to perform compensation control in coordination according to the spatial offset and included angle error between the current assembly end axis of the assembly mechanism 40 and the assembly hole axis. First, according to the position offset Δp, control each moving component to perform a small amount of correction in the X, Y, and Z directions to make the position of the assembly end close to the hole center; subsequently, by calculating the attitude angle error Δθ between the assembly end axis and the assembly hole normal, control the slewing assembly 540 to perform angle fine-tuning compensation, and gradually adjust the direction of the assembly end to be consistent with the assembly hole direction. The above process forms a closed-loop control. After the compensation is completed, if the deviation has met the set tolerance, mark that the assembly preparation is completed. If it still does not meet the requirement after exceeding the maximum compensation times, trigger an alarm process to ensure the accuracy of the hole alignment operation and the stability of the system operation. The goal of this step is to drive the displacement component and the slewing component 540 of the assembly mechanism 40 to move in coordination on the basis of calculating the spatial offset and attitude angle error between the assembly end and the assembly hole in position and direction in step S500, perform fine-tuning compensation on the position and direction of the assembly end, and make the assembly end axis achieve high-precision complete collinearity with the assembly hole axis in space.

[0230] Step S600 controls the second driving end 541 to drive the assembly mechanism 40 to perform fine adjustment compensation in the direction perpendicular to the side surface of the energy absorption box of the assembly end axis and / or around the direction parallel to the assembly end axis according to the offset amount, so that the assembly end axis coincides with the assembly hole axis, including:

[0231] Step S600: Control the assembly mechanism 40 to perform fine adjustment compensation to achieve axis collinearity.

[0232] Step S610: Deviation tolerance judgment.

[0233] The controller receives the position offset vector Δp = (Δx, Δy, Δz) and the attitude angle error Δθ output in step S500, and compares them with the system-set tolerance (such as Δp ≤ 0.2 mm, Δθ ≤ 0.5°). If both are within the tolerance range, the compensation is skipped and the assembly step is entered. Otherwise, the fine adjustment compensation process is entered.

[0234] Step S620: Execute position fine adjustment compensation. The controller drives the displacement mechanism to perform three-axis (X / Y / Z) micro-displacements according to the components of Δp. The X-direction compensation is realized by the first moving component, the Y-direction compensation is realized by the second moving component 520, and the Z-direction compensation is realized by the third moving component (or lifting mechanism). Each fine adjustment is recommended to use a step size of 0.05 to 0.2 mm, and the maximum compensation range (such as ±2 mm) can be set.

[0235] Step S630: Re-obtain the position of the assembly end and judge.

[0236] After the displacement is completed, the system recalculates the current center position of the assembly end, compares it with the center of the assembly hole again, and updates Δp. If it is still out of tolerance, continue to perform position fine adjustment; if the positions are aligned, enter the attitude compensation judgment.

[0237] S640: Attitude compensation fine adjustment processing, including:

[0238] Step S641: Attitude error judgment.

[0239] Judge whether Δθ exceeds the attitude angle error tolerance.

[0240] If Δθ ≤ the threshold value (such as 0.5°), skip it; otherwise, enter the attitude compensation control.

[0241] Step S642: Select the attitude compensation axis.

[0242] The controller judges the error direction and selects to rotate around the Z-axis direction.

S640-3

[0243] Use the vector cross product to calculate the rotation axis vector: ; The rotation angle = Δθ × gain factor (or step-by-step angle compensation).

[0244] Step S644: Drive the attitude adjustment of the slewing mechanism 10.

[0245] Drive the servo slewing assembly 540 to rotate by a specified angle. The recommended rotation angle each time is 0.1° to 0.5°;

[0246] After adjustment, re-obtain the direction vector of the assembly end;

[0247] Form a closed-loop control until Δθ meets the requirements or exceeds the maximum compensation times. Among them, the maximum compensation times should be set according to the actual situation.

[0248] S645: Check and confirm.

[0249] Calculate the included angle Δθ again after the attitude adjustment is completed. If it is within the tolerance range, it is determined as "attitude alignment"; if it is still out of tolerance, an exception handling is triggered.

[0250] Finally, if both Δp and Δθ meet the tolerance: The controller marks the completion status of the axis collinearity. The process enters the next assembly operation (insertion, riveting, etc.). If alignment still cannot be achieved after multiple rounds of compensation, the controller sends a fault signal, the system pauses the assembly operation, and prompts for manual intervention or records an exception log.

[0251] The above content described in this specification is only an example of the present invention. Those skilled in the technical field to which the present invention pertains can make various modifications or supplements to the specific embodiments described or use similar ways to replace them, as long as they do not deviate from the content of this specification of the present invention or exceed the scope defined by this claim book, they should fall within the protection scope of the present invention.

Claims

1. A control method for a rotary assembly tooling of an energy absorption box, wherein, The side surface of the energy absorption box is provided with an assembly hole, and the dimensional parameters of the assembly hole are known quantities. It is characterized in that: The rotary assembly tooling includes: A rotary mechanism, including a first driving end, and the first driving end is controlled to rotate a preset angle around its own axis; A placement platform, connected to the first driving end to move synchronously with the first driving end. The placement platform includes a placement plane for placing the energy absorption box, and the side surface of the energy absorption box is perpendicular to the placement plane; A clamping mechanism, arranged on the placement plane. The clamping mechanism is configured to limit the energy absorption box placed on the placement plane at a preset area when the rotary assembly tooling is in the working state; An assembly mechanism, including an assembly end, and a fitting is installed at the assembly end; A displacement mechanism, including a second driving end that moves controllably. The second driving end is connected to the assembly mechanism to drive the assembly mechanism to move synchronously; A monitoring component, arranged at a preset position on the assembly mechanism, so that the spatial position relationship between the monitoring component and the axis of the assembly end of the assembly mechanism is defined as a known quantity. The monitoring component is configured to measure the edge position parameters of the assembly hole on the side surface of the energy absorption box when the rotary assembly tooling is in the working state; the monitoring component includes an infrared distance sensor, and the infrared distance sensor includes a transmitting end for emitting an infrared beam. The beam emitted by the infrared distance sensor is parallel to the axis of the assembly end of the assembly mechanism, and the emitting direction of the infrared beam of the transmitting end is the same as the orientation of the assembly end; A controller, electrically connected to the assembly mechanism, the displacement mechanism and the monitoring component. The controller is configured to control the movement of the driving end of the displacement mechanism according to the measured edge position parameters of the assembly hole on the side surface of the energy absorption box and the dimensional parameters of the assembly hole, so that the axis of the assembly end of the assembly mechanism connected to the second driving end is collinear with the axis of the assembly hole on the side surface of the energy absorption box; The midpoint of the preset area on the placement plane is defined as the coordinate origin; The control method includes: Obtaining the preset position parameters corresponding to the assembly hole on the side surface of the energy absorption box; Determining the movement trajectory of the second driving end of the displacement mechanism according to the coordinate origin, the preset position parameters corresponding to the assembly hole and the preset angle of rotation of the first driving end, so that the axis of the assembly end of the assembly mechanism moves in the direction coaxial with the axis of the riveting hole on the side surface of the energy absorption box; After moving the axis of the assembly end to a preset nearby area of the axis of the assembly hole, an infrared beam is emitted through the infrared distance sensor arranged on the assembly mechanism to obtain the ranging data generated when the infrared beam irradiates the surface of the energy absorption box; When the infrared beam passes through the assembly hole and enters its inner cavity, the measured distance value of the infrared distance sensor changes suddenly, and the edge position parameters of the assembly hole are determined according to the spatial position of the mutation point; The controller determines the offset amount between the current axis of the assembly end of the assembly mechanism and the axis of the assembly hole according to the edge position parameters and the dimensional parameters of the assembly hole, in combination with the known spatial coordinate relationship between the monitoring component and the assembly end; According to the offset, control the second driving end to drive the assembly mechanism to perform fine adjustment compensation in a direction perpendicular to the side surface of the energy absorption box along the axis of the assembly end and / or around a direction parallel to the axis of the assembly end, so that the axis of the assembly end coincides with the axis of the assembly hole.

2. The control method according to claim 1, wherein The displacement mechanism includes: A first moving component, including a first moving end that moves under control, and the moving direction of the first moving end is parallel to the placement plane; A second moving component, connected to the first moving end to move along with the first moving end. The second moving component includes a second moving end that moves under control, and the moving direction of the second moving end is parallel to the placement plane and parallel to the moving direction of the first moving end; A third moving component, connected to the second moving end to move along with the second moving end. The third moving component includes a third moving end that moves under control, and the moving direction of the third moving end is perpendicular to the placement plane; A rotary component, connected to the third moving end to move along with the third moving end. The rotary component includes a rotary end that rotates under control, and the rotating direction of the rotary end is parallel to the placement plane, and the rotary end is defined as the second driving end.

3. The control method according to claim 1, wherein The number of the infrared distance sensors is two. The two infrared distance sensors are arranged in parallel, and the center points of the two infrared distance sensors are both in a first plane, and the first plane is perpendicular to the axis of the transmitting end.

4. The control method according to claim 1, wherein The number of the infrared distance sensors is at least three. Each of the infrared distance sensors is arranged at each end point of a regular polygon in a one-to-one correspondence, and the number of end points of the regular polygon is equal to the number of the infrared distance sensors. Each of the infrared distance sensors is arranged in parallel, and the center points of each of the infrared distance sensors are both in a second plane, and the second plane is perpendicular to the axis of the transmitting end.

5. The control method according to claim 1, characterized in that The clamping mechanism includes: A first positioning component, arranged on the placement plane, and the first positioning component includes a first limiting end under control; A second positioning component, arranged on the placement plane, and the second positioning component includes a second limiting end under control; A third positioning component, arranged on the placement plane, and the third positioning component includes a third limiting end under control; Wherein, when the clamping mechanism is in a working state, the first limiting end abuts against the side of the energy absorption box placed on the placement plane away from the placement platform to limit the energy absorption box from moving in a first direction, the second limiting end abuts against the side of the energy absorption box perpendicular to the placement plane to limit the energy absorption box from moving in a second direction, the second direction is perpendicular to the first direction, and the third limiting end abuts against the side of the energy absorption box perpendicular to the placement plane and perpendicular to the second direction to limit the energy absorption box from moving in a third direction, and the third direction is perpendicular to the first direction and the second direction.

6. The control method according to claim 1, characterized in that The step of determining the motion trajectory of the second driving end of the displacement mechanism according to the coordinate origin, the preset position parameters corresponding to the assembly holes, and the preset angle of rotation of the first driving end, so that the axis of the assembly end of the assembly mechanism moves in a direction coaxial with the axis of the riveting hole on the side surface of the energy absorption box includes: Obtain the target spatial position of the assembly holes on the side surface of the energy absorption box in the rotating assembly tooling coordinate system; According to the preset angle of rotation of the first driving end at present, transform the preset assembly hole coordinates to obtain the real-time target position; Control the second driving end to move so as to move the axis of the assembly end to a preset nearby area of the target assembly hole axis.

7. A control method according to claim 1, wherein After moving the axis of the assembly end to a preset nearby area of the assembly hole axis, the step of obtaining the ranging data generated by the infrared beam irradiated on the surface of the energy absorption box by emitting the infrared beam through the infrared ranging sensor arranged on the assembly mechanism includes: After moving the axis of the assembly end to a preset nearby area of the assembly hole axis, respectively obtain the distance values in the direction of the surface of the energy absorption box of the assembly end through at least two infrared ranging sensors arranged on the assembly mechanism; If the difference between the distance values measured by all the infrared ranging sensors is within the equipment error range, it is determined that the axis of the assembly end is perpendicular to the side surface of the energy absorption box where the assembly holes are provided.

8. A control method according to claim 1, wherein The step of determining the edge position parameters of the assembly hole according to the spatial position of the mutation point when the distance value measured by the infrared ranging sensor changes suddenly when the infrared beam passes through the assembly hole and enters its inner cavity includes: Judge whether there is a mutation value in the data of the infrared ranging sensor, and the mutation value is that the distance value obtained by the infrared ranging sensor changes instantaneously by more than the allowable range; If the mutation value is detected, mark the mutation point position as the edge of the assembly hole.

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