Remote intelligent assembly platform based on man-machine cooperation and operation method thereof

Abstract

The invention relates to the technical field of intelligent assembly platforms, in particular to a remote intelligent assembly platform based on man-machine cooperation and an operation method thereof, and the remote intelligent assembly platform comprises a transfer system, an assembly system, an online monitoring system, a handle control system and a comprehensive software platform; the transfer system adopts two modes; transferring is carried out in a manual cooperation mode, that is, a power-assisted mechanism is manually dragged to clamp a to-be-assembled object, and transferring of the to-be-assembled object is achieved. A truss guide rail mechanism is adopted for transferring; the automation degree of existing equipment during assembly operation is improved, a man-machine cooperation intelligent assembly method is established, the labor intensity of assembly personnel is reduced, and the assembly operation efficiency is improved; remote assembly of the equipment system is achieved through the control technology, waste of time in the round-trip process of assembly engineers in a traditional mode is avoided, tasks of remote assembly personnel and on-site assembly personnel are clearly divided, the assembly efficiency is improved, and economic benefits are increased.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent assembly platforms, and particularly relates to a remote intelligent assembly platform based on human-machine collaboration and an operation method thereof. Background Art

[0002] Assembly operation is a key assembly step of integrated equipment, and the assembly effect directly affects the use performance of the product. Intelligent equipment technology is an inevitable way in the development of the product assembly process. However, for the integration of some products, the current assembly method is still the traditional manual assembly method. For example, when disassembling and assembling a certain type of aviation equipment, it is carried out on a disassembly and assembly vehicle (disassembly and assembly rack). All operation steps such as transportation, placement, connection (removal), installation, etc. need to be manually operated, and some steps also require special equipment such as overhead cranes. In addition, some specific assembly operations must be completed by engineers with proficient professional skills. The engineers travel between various assembly bases, and the journey can last for several days, which greatly wastes time. The invention patent (CN118513842A) discloses an intelligent docking platform device for aero-engine assembly, which combines multiple industrial robot arms with multiple degrees of freedom and an AGV with autonomous navigation function as the docking mechanism for the low-pressure turbine unit body, having better flexibility and efficiency, but lacking a remote operation control scheme and a human-machine collaborative operation function; the invention patent (CN114619432B) discloses a PR-3RRR dual-platform device for intelligent assembly, which improves the degree of assembly automation and is equipped with a force sensor, but lacks a visual monitoring system, and it is difficult to apply to large-sized assembled parts due to the device size limitation; the utility model patent (CN220305902U) discloses an intelligent manufacturing assembly training platform, which replaces manual operation and is equipped with a visual monitoring system for convenient assembly training, but also lacks a remote training and teaching process; the invention patent (CN119266499A) discloses an assembled mobile operation platform with an intelligent early warning function, which is provided with a camera and an audible and visual alarm. Although the protection measures are improved, remote monitoring and alarm cannot be achieved. In summary, the current assembly technology lacks an intelligent assembly platform and method that can achieve remote collaborative assembly. It is extremely urgent to design a remote intelligent assembly platform and method based on human-machine collaboration. Summary of the Invention

[0003] The purpose of the present invention is to provide a remote intelligent assembly platform based on human-machine collaboration and an operation method thereof. The intelligent assembly platform and method can effectively relieve the labor intensity of assembly personnel, improve the assembly efficiency and accuracy, retain the experience of personnel, and reduce mechanical safety hazards; by using the intelligent human-machine collaborative remote assembly platform, the degree of equipment automation is improved, and personnel participate throughout the process to achieve intelligent human-machine collaboration, reduce the round-trip time of assembly personnel, and increase economic benefits.

[0004] To achieve the above object, the present invention adopts the following technical solutions: A remote intelligent assembly platform based on human-machine collaboration, characterized by comprising a transfer system, an assembly system, an on-line monitoring system, a handle control system, and an integrated software platform; The transfer system selects two methods; one is to use an assisted robotic arm and adopt a manual collaboration method for transfer, that is, manually drag the assisting mechanism to clamp the object to be assembled to achieve the transfer of the object to be assembled; the other is to use a truss guide rail mechanism for transfer; The assembly system selects three methods; one is to use an assembly robotic arm, set a special tooling at the output end of the assembly robotic arm to clamp the object to be assembled, and use two six-degree-of-freedom robotic arms for docking; the second is to use a motion module method, and the motion modules are combined to achieve movement in the x, y, and z directions; the third is to use a six-degree-of-freedom motion platform to achieve six-way degrees of freedom movement of the platform to meet the assembly degree-of-freedom requirements; The on-line monitoring system is composed of a force monitoring system and a vision monitoring system; the force monitoring system is composed of a force sensor, a signal transmission line I, and a acquisition card; the vision monitoring system is composed of a vision sensor, a signal transmission line II, and computer measurement software; The handle control system is composed of a handle operating mechanism and a connecting line, and the handle operating mechanism has multi-degree-of-freedom movement directions and can enable the controlled carrier to achieve multi-directional movement; The integrated software platform is an integrated assembly operation platform. The integrated software platform includes a driving module and an on-line monitoring module. The driving module can realize the movement control of the transfer system and the assembly system through a motion driving interface; the on-line monitoring module can real-time monitor the assembly force and the assembly process picture during the assembly process.

[0005] Further, the truss guide rail mechanism includes a support frame, a running guide rail, and a clamping mechanism. The running guide rail is arranged at the upper end of the support frame, and the running guide rail is a bidirectional parallel guide rail; the clamping mechanism is located below the running guide rail, slides relying on the parallel guide rail, and can move up and down by itself; during handling, the clamping mechanism clamps the object to be assembled, self-lifts to a specified height, the running guide rail moves, drives the clamping mechanism to translate to a specified position, and then the clamping mechanism descends to place the object to be assembled at a fixed position on the assembly workbench to complete the handling work of the transfer system.

[0006] Further, a special tooling is set at the output end of the assembly robot arm to clamp the object to be assembled, and two six-degree-of-freedom robot arms are used for docking. The special tooling is determined according to the size of the object to be assembled and includes clamping and disassembly functions; the assembly robot arm can select a general model on the market and determine the load capacity and arm span parameters according to the actual working conditions. Combined with the special tooling, the assembly movement of the object to be assembled is realized; the assembly robot arm has two working states. One is the automatic operation mode, in which the assembly robot arm automatically performs assembly docking operations. The other is the human-machine collaboration mode, in which maintenance personnel move the assembly robot arm by manual dragging to achieve docking in the manual operation mode.

[0007] Further, a rotating motor is added to the motion module to enable the rotational movement of the object to be assembled. Corresponding motion motors can be added according to the degree-of-freedom requirements during the assembly process; the motion module can select a general model on the market and determine the load capacity and stroke parameters according to the actual working conditions. Using the motion module, rotating motor, and combined with the special tooling, the connection and assembly movement of the object to be assembled are realized. In the multi-object assembly process, two motion modules can be used to connect the objects to be assembled through the tooling for linkage assembly operations to improve the assembly efficiency.

[0008] Further, to avoid excessive force load during the assembly process and damage to the assembled object, a force sensor is embedded in the assembly platform to monitor the assembly force in real time, and a safety threshold is designed. When the assembly force is higher than the safety load force, an "alarm" signal is sent to terminate the assembly work or change the assembly path; the vision monitoring system can record the assembly process, measure the gap size parameters of the cabin section, judge the assembly effect, and alarm when the object to be assembled moves beyond the safe range to terminate the assembly movement.

[0009] Further, an operation method for a remote intelligent assembly platform based on human-machine collaboration includes the following steps: S1. Use the transfer system to clamp the object to be assembled, operate the transfer system, and transport the object to be assembled to the corresponding position on the assembly platform; repeat the above operation to transfer another object to be assembled to the corresponding position on the assembly platform. If there are multiple objects to be assembled, repeat the corresponding operation. S2. Perform initial position calibration. Take a fixed point of the object to be assembled as a reference point to fix the initial position and fix the object to be assembled on the assembly platform. S3. Determine the "zero" point of the force sensor. Set the force state of the workbench with the assembled object as the "zero" point force state as a reference for subsequent on-line measurement of the assembly force. S4. Operate the assembly platform to perform the assembly operation. The remote operator manipulates the corresponding handle or software platform to enable the assembly platform to complete the assembly actions in the corresponding directions, and monitors the assembly force and assembly screen in real time during the assembly process to conduct a safety assembly force determination. When the force load is greater than the safety threshold, stop the assembly operation. After the assembly action is executed, conduct an assembly accuracy determination. If the assembly requirements are met, proceed to the next step. When the established requirements cannot be achieved, perform the assembly operation again until the assembly accuracy meets the corresponding requirements, and then proceed to the next step; S5. Operate the transfer system to clamp the object to be assembled from the assembly platform and transfer it from the assembly platform to the specified position to complete the "unloading" of the object to be assembled; S6. The assembly work is completed.

[0010] The beneficial effects of the present invention are as follows: The remote intelligent assembly platform and its operation method provided by the present invention have the following advantages when specifically operated and used: 1. The remote intelligent assembly platform and its operation method of the present invention improve the automation degree of the existing equipment during the assembly operation, establish a human-machine collaborative intelligent assembly method, reduce the labor intensity of the assembly personnel, and improve the assembly operation efficiency. At the same time, the present invention uses the control technology to realize the remote assembly of the system, avoids the waste of time during the round-trip process of the assembly engineer in the traditional way, and has a clear division of tasks for the remote assembly personnel and on-site assembly personnel, improving the assembly efficiency and increasing the economic benefits; 2. The present invention uses vision and force load measurement for on-line measurement and evaluation, evaluates the assembly effect based on the on-line monitoring results, and establishes an assembly process monitoring plan; establishes a human-machine collaborative assembly mode, which includes the experience of the assembly personnel during the assembly process. During the automated assembly process, the personnel can also intervene in the assembly process in real time, which helps to implement the assembly process safely and efficiently; the assembly accuracy can meet the common integrated assembly requirements and can be popularized and implemented in different fields, having good economic benefits. Description of the Drawings

[0011] Figure 1 Shows different implementation manners of the transfer system in the present invention; Figure 2 Schematic diagram of the truss transfer structure in the present invention; Figure 3 Shows different implementation manners of the assembly system in the present invention; Figure 4 Schematic diagram of the module assembly platform in the present invention; Figure 5 Schematic diagram of the monitoring system module in the present invention; Figure 6 Schematic diagram of the remote operation in the present invention; Figure 7Schematic diagram of the software control interface in the present invention; Figure 8 Schematic diagram of the assembly operation process in the present invention; The reference numerals in the figure are: 1 - assisting robotic arm, 2 - transfer truss, 3 - support frame, 4 - running guide rail, 5 - clamping mechanism, 6 - assembly robotic arm, 7 - motion module, 8 - six-degree-of-freedom motion platform, 9 - damping ball hinge, 10 - rotating motor, 11 - on-line monitoring system, 12 - force monitoring system, 13 - force sensor, 14 - signal transmission line I, 15 - acquisition card, 16 - vision monitoring system, 17 - vision sensor, 18 - signal transmission line II, 19 - computer measurement software, 20 - remote computer, 21 - remote assembly screen, 22 - remote operator, 23 - handle operating mechanism, 24 - on-site computer, 25 - assembly platform, 26 - on-site personnel, 27 - software vision assembly screen, 28 - drive module, 29 - software force monitoring module, 30 - software threshold alarm module, 31 - left-section assembled object, 32 - middle-section assembled object, 33 - right-section assembled object, 34 - up-and-down floating support device. Detailed implementation manners

[0012] Specific Example 1: The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts fall within the protection scope of the present invention. It should be noted that: in the present invention, if there is no special description, all the implementation manners and preferred implementation methods mentioned herein can be combined with each other to form a new technical solution. In the present invention, if there is no special description, all the technical features and preferred features mentioned herein can be combined with each other to form a new technical solution.

[0013] As shown in the attached drawings of the specification of the present invention Figure 1 to the attached drawings of the specification Figure 8As shown in the figure, a remote intelligent assembly platform based on human-machine collaboration provided by an embodiment of the present invention includes a transfer system, an assembly system, an on-line monitoring system, a handle control system, and an integrated software platform. The transfer system can be selected in two ways. One is to use an assistive robotic arm 1 and adopt a manual collaboration method for transfer, that is, manually drag the assistive mechanism to clamp the object to be assembled, so as to realize the transfer of the object to be assembled. The other is to use a truss guide rail mechanism. The truss guide rail mechanism specifically includes a support frame 3, a running guide rail 4, and a clamping mechanism 5. The running guide rail 4 is located at the upper end of the support frame 3 and is a bidirectional parallel guide rail. The clamping mechanism 5 is located below the running guide rail, slides along the parallel guide rail, and can move up and down by itself. During handling, the clamping mechanism 5 clamps the object to be assembled, lifts itself to a specified height, the running guide rail 4 moves, drives the clamping mechanism 5 to translate to a specified position, and then the clamping mechanism 5 descends to place the object to be assembled at a fixed position on the assembly platform 25, completing the handling work of the transfer system.

[0014] As shown in the attached drawings of the specification of the present invention Figure 3 As shown in the figure, the assembly system can be selected in three ways. Among them, the first way of the assembly system is to use an assembly robotic arm 6, and a special tooling is set at the output end of the assembly robotic arm 6 to clamp the object to be assembled, and two six-degree-of-freedom robotic arms are used for docking. The assembly robotic arm 6 has two working states. One is the automatic operation mode. In this mode, the assembly robotic arm 6 automatically performs assembly docking operations. The other is the human-machine collaboration mode. The maintenance personnel move the assembly robotic arm 6 by manual dragging to realize docking in the manual operation mode. The second way of the assembly system is to use a motion module method. The motion modules 7 are combined to realize movement in the x, y, and z directions. By adding a rotary motor 10, the rotation movement of the object to be assembled can be realized. Specifically, corresponding motion motors can be added according to the degree-of-freedom requirements during the assembly process. During the assembly process, the two motion modules 7 are connected to the object to be assembled through tooling for linkage assembly operations. The third way of the assembly system is to use a six-degree-of-freedom motion platform 8. The six-degree-of-freedom motion is driven by six electric cylinders in parallel, which can realize the six-direction degree-of-freedom motion of the platform to meet the degree-of-freedom requirements of assembly. During the assembly operation, the object to be assembled is fixed by tooling, and a double six-degree-of-freedom platform is used for linkage docking assembly.

[0015] As shown in the attached drawings of the specification of the present invention Figure 5As shown, the online monitoring system is composed of a force monitoring system 12 and a visual monitoring system 16, wherein the force monitoring system 12 is composed of a force sensor 13, a signal transmission line I14, and an acquisition card 15. In order to avoid excessive force load during the assembly process and damage to the assembled object, a force sensor 13 is embedded in the assembly platform 25 for real-time monitoring of the assembly force, and a safety threshold is designed. When the assembly force is higher than the safety load force, an "alarm" signal is issued to terminate the assembly work or change the assembly path; the visual monitoring system 16 is composed of a visual sensor 17, a signal transmission line II18, and a computer measurement software 19. The visual monitoring system 16 can be used to record the assembly process, and can also measure the gap size parameters of the compartment to determine the assembly effect. When the assembled object moves beyond the safety range, an alarm is issued to terminate the assembly movement.

[0016] The handle control system is composed of a handle operating mechanism 23 and a connecting line. The handle operating mechanism 23 has multiple degrees of freedom of motion, which can enable the controlled carrier to achieve multi-directional motion. The handle control object is the power-assisted mechanical arm 1 in the transport system, and any driving carrier of the three assembly modes in the assembly system. The handle control system can realize manual control by the assembler, and realize transportation and assembly in the manual control operation mode.

[0017] The comprehensive software platform is an integrated assembly operation platform. The comprehensive software platform includes a drive module 28, i.e., a motion drive module 28 of the transfer system and the assembly system, and the motion control of the transfer system and the assembly system can be realized through the motion drive module 28. At the same time, the comprehensive software platform also includes an online monitoring module, which can monitor the assembly force and the assembly process screen in real time during the assembly process, and can be set through the software threshold alarm module 30 to realize online "alarm" and online "emergency stop".

[0018] The operation method of the remote intelligent assembly platform based on human-machine collaboration of the present invention comprises the following steps: Step 1: Use the transfer system to clamp the object to be assembled, operate the transfer system, and transport the object to be assembled to the corresponding position of the assembly platform 25. Repeat the above operation to transport another object to be assembled to the corresponding position of the assembly platform 25. If there are multiple objects to be assembled, repeat the corresponding operation; Step 1: perform initial position calibration, using a fixed point of the assembled object as a reference point, perform initial position fixation, and fix the assembled object on the assembly platform 25; Step 2: Determine the “zero” point of the force sensor 13, and set the stress state of the workbench where the assembly object has been placed as the “zero” point stress state, which serves as a reference for subsequent online measurement of assembly force; Step 3: Operate the assembly platform 25 to perform the assembly operation. The remote operator 22 operates the corresponding handle or software platform to enable the assembly platform 25 to complete the assembly actions in the corresponding directions, and monitors the assembly force and assembly screen in real time during the assembly process to determine the safe assembly force. When the force load is greater than the safety threshold, stop the assembly operation. After the assembly action is executed, perform the assembly accuracy determination. If the assembly requirements are met, execute the next step. When the established requirements cannot be achieved, perform the assembly operation again until the assembly accuracy meets the corresponding requirements, and then execute the next step; Step 4: Operate the transfer system to pick up the object to be assembled from the assembly platform 25 and transfer it from the assembly platform 25 to the specified position to complete the "unloading" of the object to be assembled; Step 5: The assembly work is completed.

[0019] In summary, the remote intelligent assembly platform for human-machine collaboration of the present invention has the function of "human-machine collaboration". The task allocation of "human-machine" can be adjusted according to the actual working conditions. Assembly personnel can operate the machine to complete the assembly operation. When the workload of personnel is "zero", the assembly system automatically completes the assembly operation process. The remote intelligent assembly platform for human-machine collaboration can not only realize the assembly operation, but also realize the "disassembly" work, that is, the reverse process of the assembly operation, and the relevant assembly steps are carried out in reverse. The intelligent assembly platform has multiple functions such as online monitoring, assembly operation, and disassembly manipulation, and can realize the switching between human-machine collaboration and fully automatic working modes. The integrated software platform has movement manipulation buttons, and the assembly drive can be realized through the buttons of the software platform, and "human-machine collaboration" is realized by using the software platform. The intelligent assembly platform can realize "remote operation", that is, software platforms are set at both the local end and the remote end, communication is realized by using the software platform, the remote end platform controls the on-site platform, and then controls the on-site assembly platform to realize the "remote operation" assembly operation when the assembly personnel are not on-site. The remote remote operation can be realized not only through the software platform, but also through operating the remote handle, that is, the operator manually controls the handle at the remote end, the handle sends a signal to the remote computer 20, the remote computer 20 communicates with the on-site computer 24, and transmits the instruction to the on-site motion device to realize the mapping and control of the remote handle movement and the on-site device movement, and realize the remote human-machine collaboration assembly operation controlled by the handle. It should be noted that in the present invention, unless otherwise clearly specified and limited, terms such as "sliding", "rotating", "fixing", "provided with" should be understood in a broad sense. For example, it can be a welded connection, a bolt connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the connection inside two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations. In addition, it should be understood that although this specification is described according to the embodiments, not every embodiment only contains an independent technical solution. The narrative way of this specification is only for clarity. Those skilled in the art should regard this specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A remote intelligent assembly platform based on human-machine collaboration, characterized in that It includes a transfer system, an assembly system, an on-line monitoring system (11), a handle control system, and an integrated software platform; The transfer system selects two methods; one is to use an assisted robotic arm (1) and adopt a manual cooperation method for transfer, that is, manually drag the assisting mechanism to clamp the object to be assembled to achieve the transfer of the object to be assembled; the other is to use a truss guide rail mechanism for transfer; The assembly system selects three methods; one is to use an assembly robotic arm (6), set a special tooling at the output end of the assembly robotic arm (6), clamp the object to be assembled, and use two six-degree-of-freedom robotic arms for docking; the second is to use a motion module method, and the motion modules (7) are combined to be able to achieve movement in the x, y, and z directions; the third is to use a six-degree-of-freedom motion platform (8) to achieve six-way degrees of freedom of the platform to meet the assembly degree-of-freedom requirements; The on-line monitoring system (11) is composed of a force monitoring system (12) and a vision monitoring system (16); the force monitoring system (12) is composed of a force sensor (13), a signal transmission line I (14), and a data acquisition card (15); the vision monitoring system (16) is composed of a vision sensor (17), a signal transmission line II (18), and computer measurement software (19); The handle control system is composed of a handle operating mechanism (23) and a connecting line. The handle operating mechanism (23) has multi-degree-of-freedom movement directions and can enable the controlled carrier to achieve multi-directional movement; The integrated software platform is an integrated assembly operation platform. The integrated software platform includes a driving module (28) and an on-line monitoring module. The driving module (28) can realize the movement control of the transfer system and the assembly system through a motion driving interface; The on-line monitoring module can monitor the assembly force and the assembly process picture during the assembly process in real time.

2. The remote intelligent assembly platform based on human-machine collaboration according to claim 1, characterized in that, The truss guide rail mechanism includes a support frame (3), a running guide rail (4), and a clamping mechanism (5). The running guide rail (4) is arranged at the upper end of the support frame (3). The running guide rail (4) is a bidirectional parallel guide rail; the clamping mechanism (5) is located below the running guide rail (4), slides relying on the parallel guide rail, and moves up and down by itself; during handling, the clamping mechanism (5) clamps the object to be assembled, lifts itself to a specified height, the running guide rail (4) moves, drives the clamping mechanism (5) to translate to a specified position, and then the clamping mechanism (5) descends to place the object to be assembled at a fixed position on the assembly workbench to complete the handling work of the transfer system.

3. A remote intelligent assembly platform based on human-machine collaboration according to claim 1, characterized in that, Set a special tooling at the output end of the assembly robotic arm (6) to clamp the object to be assembled, and use two six-degree-of-freedom robotic arms for docking; the assembly robotic arm (6) has two working states. One is the automatic operation mode, in which the assembly robotic arm (6) automatically performs assembly docking operations. The second is the human-machine cooperation mode, in which maintenance personnel move the assembly robotic arm (6) by manual dragging to achieve docking in the manual operation mode.

4. A remote intelligent assembly platform based on human-machine collaboration according to claim 1, characterized in that, Install a rotating motor (10) in the motion module (7) to be able to achieve the rotational movement of the object to be assembled. According to the degree-of-freedom requirements during the assembly process, install corresponding motion motors; during the assembly process, use two motion modules (7) to connect the object to be assembled through tooling for linkage assembly operations.

5. A remote intelligent assembly platform based on human-machine collaboration according to claim 1, characterized in that To avoid excessive force load during the assembly process and damage to the assembled object, a force sensor (13) is embedded in the assembly platform (25) to monitor the assembly force in real time, and a safety threshold is designed. When the assembly force is higher than the safe load force, an "alarm" signal is issued to terminate the assembly work or change the assembly path; the vision monitoring system (16) can record the assembly process, measure the size parameters of the cabin segment gap, determine the assembly effect, and alarm when the assembled object moves beyond the safe range to terminate the assembly movement.

6. The operation method of the remote intelligent assembly platform based on human-machine collaboration according to any one of claims 1-5, characterized in that, The steps are as follows: S1. Use the transfer system to clamp the assembled object, operate the transfer system, and transport the assembled object to the corresponding position on the assembly platform (25); repeat the above operation to transfer another assembled object to the corresponding position on the assembly platform (25). If there are multiple assembled objects, repeat the corresponding operation; S2. Perform initial position calibration, use a fixed point on the assembled object as a reference point to fix the initial position, and fix the assembled object on the assembly platform (25); S3. Determine the "zero" point of the force sensor (13), and set the force state of the workbench with the assembled object placed on it as the "zero" point force state as a reference for subsequent on-line measurement of the assembly force; S4. Operate the assembly platform (25) to perform the assembly operation. The remote operator (22) operates the corresponding handle or software platform to make the assembly platform (25) complete the assembly action in the corresponding direction, and monitor the assembly force and assembly screen in real time during the assembly process to determine the safe assembly force. When the force load is greater than the safety threshold, stop the assembly operation; after the assembly action is executed, perform the assembly accuracy determination. If the assembly requirements are met, proceed to the next step. If the established requirements cannot be achieved, perform the assembly operation again until the assembly accuracy meets the corresponding requirements, and then proceed to the next step; S5. Operate the transfer system to clamp the assembled object from the assembly platform (25) and transfer it from the assembly platform (25) to the specified position to complete the "unloading" of the assembled object; S6. The assembly work is completed.

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