Structural component assembling method and device, electronic equipment and storage medium

Abstract

The invention provides a structural member assembling method and device, electronic equipment and a storage medium. The method comprises the steps that real coordinates of all measuring points of a plurality of to-be-assembled structural members are acquired; according to the real coordinate and the theoretical coordinate of each measuring point, obtaining the deviation of each measuring point in the local coordinate system; according to the deviations of all the measuring points, matching is carried out in a preset scene working condition library, and an adjustment strategy of the to-be-assembled structural part is obtained; and the multiple structural parts are assembled according to the adjusting strategy of the to-be-assembled structural parts. Real coordinates of all measuring points of a plurality of to-be-installed structural members are accurately measured, then a scene working condition library is constructed through a large model, and the to-be-assembled structural members are rapidly adjusted based on the scene working condition library by using the super-powerful simulation, big data analysis and screening locking capabilities of AI, so that errors caused by human factors are replaced, and the accuracy of the to-be-assembled structural members is improved. And the assembling precision and consistency are improved, so that the labor cost is reduced, the assembling efficiency is improved, and the production quality of assembling parts is improved.

Description

Technical Field

[0001] The present invention relates to the field of assembly technology, and in particular to an assembly method and device for structural parts, electronic equipment, and a storage medium. Background Art

[0002] Currently, the assembly of vehicle structural parts at major domestic automakers relies primarily on experienced technicians and dimensional engineers to ensure reliable and accurate assembly. However, this reliance on manual labor and experience is hindering the industry's development. Manual adjustment methods are inefficient and require high technical skills and experience. Therefore, there is an urgent need to find new assembly methods that can match the intelligent development of the automotive industry and reduce reliance on manual labor, especially on specialized personnel.

[0003] In addition to vehicle structural parts, many other fields involve the assembly of multiple structural parts, and the above problems also exist in these scenarios. Summary of the Invention

[0004] In view of the above-mentioned defects of the prior art, the present invention provides a method and device for assembling structural parts, an electronic device, and a storage medium to solve the technical problems of the prior art in manual assembly, such as dependence on professional and technical personnel and low efficiency.

[0005] To achieve the above-mentioned object and other related objects, the present invention provides a method for assembling structural parts, comprising: obtaining the real coordinates of all measuring points of a plurality of structural parts to be assembled, the real coordinates being measured in a global coordinate system based on a preset installation positioning reference system; obtaining the deviation of each measuring point in a local coordinate system based on the real coordinates and theoretical coordinates of each measuring point; matching a preset scenario working condition library based on the deviations of all measuring points in the local coordinate system to obtain an adjustment strategy for the structural parts to be assembled, the scenario working condition library being constructed by simulating the assembly of a plurality of structural parts under different tolerances using a large three-dimensional tolerance simulation model; and assembling the plurality of structural parts according to the adjustment strategy for the structural parts to be assembled.

[0006] In one embodiment of the present invention, the types of measuring points include surface measuring points and hole measuring points, and the surface measuring points include one or more of installation surface measuring points, gap matching surface measuring points, face difference matching surface measuring points, and alignment matching surface measuring points.

[0007] In one embodiment of the present invention, obtaining the deviation of each measuring point in the local coordinate system based on the real coordinates and theoretical coordinates of each measuring point includes: obtaining the real coordinates of each measuring point in the local coordinate system based on the real coordinates of each measuring point and the transformation relationship between the global coordinate system and the local coordinate system preset for each measuring point; and obtaining the deviation of each measuring point in the local coordinate system based on the real coordinates and theoretical coordinates of each measuring point in the local coordinate system.

[0008] In one embodiment of the present invention, the scenario working condition library is constructed by simulating the assembly of multiple structural parts under different tolerances using a three-dimensional tolerance simulation large model, including: obtaining a standard virtual model of each structural part based on the theoretical coordinates of all measuring points of each structural part; obtaining all possible virtual models of each structural part based on the standard virtual model of each structural part, the tolerance of each measuring point, and a preset gradient; using the three-dimensional tolerance simulation large model, virtually assembling all possible virtual models of the multiple structural parts to obtain all possible assembly schemes of the multiple structural parts; and screening out assembly schemes that meet the measurement requirements from all possible assembly schemes of the multiple structural parts according to the measurement requirements defined in the dimensional technical specifications to obtain the scenario working condition library.

[0009] In one embodiment of the present invention, a three-dimensional tolerance simulation large model is used to virtually assemble all possible virtual models of a plurality of structural parts to obtain all possible assembly schemes for the plurality of structural parts, including: obtaining any virtual model of each of the plurality of structural parts to obtain a virtual model combination; using the three-dimensional tolerance simulation large model, virtually assembling the virtual models according to the adjustment strategies of all the structural parts to be assembled to obtain all possible assembly schemes for the virtual model combination; and traversing all the virtual model combinations to obtain all possible assembly schemes for the plurality of structural parts.

[0010] In one embodiment of the present invention, based on the measurement requirements defined in the dimensional technical specifications, screening out the assembly solutions that meet the measurement requirements from all possible assembly solutions of the plurality of structural parts includes: screening all possible assembly solutions of the virtual model combination based on the measurement requirements to obtain an optimal assembly solution of the virtual model combination; and traversing all the virtual model combinations to obtain all optimal assembly solutions of the plurality of structural parts that meet the measurement requirements.

[0011] In one embodiment of the present invention, the measurement requirements include several measurement items, each of which includes a set level; according to the measurement requirements, all possible assembly schemes of the virtual model combination are screened to obtain an optimal assembly scheme for the virtual model combination, including: judging whether there is an assembly scheme in which all the measurement items meet the highest level among all possible assembly schemes of the virtual model combination: if so, regard it as the optimal assembly scheme for the virtual model combination; if not, reduce the level of each measurement item from the highest level to the set level step by step, and judge whether there is an assembly scheme in which the current level is met among all possible assembly schemes of the virtual model combination after each downgrade: if so, regard it as the optimal assembly scheme for the virtual model combination; if not, issue an error reminder, and / or relax the level requirements of each measurement item until the assembly scheme closest to the set level is found.

[0012] To achieve the above-mentioned purpose and other related purposes, the present invention also provides an assembly device for structural parts, comprising: a data acquisition unit, for acquiring the real coordinates of all measuring points of a plurality of structural parts to be assembled, the real coordinates being measured in a global coordinate system based on a preset installation positioning reference system; a deviation calculation unit, for obtaining the deviation of each measuring point in a local coordinate system based on the real coordinates and theoretical coordinates of each measuring point; a matching unit, for matching from a preset scenario condition library based on the deviations of all measuring points in the local coordinate system to obtain an adjustment strategy for the structural parts to be assembled, the scenario condition library being constructed by simulating the assembly of a plurality of structural parts under different tolerances using a large three-dimensional tolerance simulation model; and an assembly unit, for assembling the plurality of structural parts according to the adjustment strategy for the structural parts to be assembled.

[0013] To achieve the above-mentioned purpose and other related purposes, the present invention also provides an electronic device, including a processor, a memory and a communication bus; the communication bus is used to connect the processor and the memory; the processor is used to execute the computer program stored in the memory to implement the method provided in any one of the above embodiments.

[0014] To achieve the above-mentioned object and other related objects, the present invention further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program is used to enable a computer to execute the method provided in any one of the above-mentioned embodiments.

[0015] Beneficial effects of the present invention: The present invention proposes a method and device for assembling structural parts, an electronic device, and a storage medium. The method first accurately measures the real coordinates of all measuring points of multiple structural parts to be assembled, and then constructs a scenario working condition library through a large model. By utilizing AI's super-powerful simulation, big data analysis, and screening and locking capabilities, rapid adjustment of the structural parts to be assembled can be achieved based on the scenario working condition library, replacing the errors caused by human factors, improving the accuracy and consistency of assembly, thereby reducing labor costs, improving assembly efficiency, and improving the production quality of assembly parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 A first flow chart of an assembly method provided in one embodiment of the present invention;

[0018] Figure 2 A schematic diagram of an installation and positioning reference system for a tailgate assembly according to an embodiment of the present invention;

[0019] Figure 3 A schematic diagram of measurement points of a body-in-white assembly provided by one embodiment of the present invention;

[0020] Figure 4 A schematic diagram of measuring points of a tailgate assembly provided in one embodiment of the present invention;

[0021] Figure 5 A detailed flow chart of step S200 provided in one embodiment of the present invention;

[0022] Figure 6 A flowchart of the steps for constructing a scenario library according to an embodiment of the present invention;

[0023] Figure 7 A detailed flowchart of step S330 provided in one embodiment of the present invention;

[0024] Figure 8 A detailed flowchart of step S340 provided in one embodiment of the present invention;

[0025] Figure 9 A second flow chart of an assembly method provided in one embodiment of the present invention;

[0026] Figure 10 A schematic diagram of the on-site layout of a welding workshop provided by one embodiment of the present invention;

[0027] Figure 11 A schematic diagram of the assembly of a body-in-white assembly and a rear door assembly according to an embodiment of the present invention;

[0028] Figure 12 A schematic diagram of an assembly device provided in one embodiment of the present invention;

[0029] Figure 13 The present invention provides a schematic structural diagram of an electronic device according to an embodiment of the present invention.

[0030] Explanation of the reference numerals: 101, data acquisition unit; 102, deviation calculation unit; 103, matching unit; 104, assembly unit; 201, processor; 202, memory. DETAILED DESCRIPTION

[0031] The following describes the embodiments of the present invention through specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. It should be noted that the following embodiments and the features in the embodiments can be combined with each other unless they conflict. In addition to the specific methods, equipment, and materials used in the embodiments, based on the understanding of the prior art by those skilled in the art and the description of the present invention, any methods, equipment, and materials of the prior art that are similar or equivalent to the methods, equipment, and materials in the embodiments of the present invention can also be used to implement the present invention.

[0032] It should be understood that the terms used in the examples of the present invention are for describing specific embodiments rather than for limiting the scope of protection of the present invention. Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as those generally understood by those skilled in the art.

[0033] The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the efficacy and purpose that can be achieved by the present invention. In addition, the drawings only show components related to the present invention rather than being drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component can be changed at will, and the component layout type may also be more complex.

[0034] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In some of the embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring the embodiments of the present invention.

[0035] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functions and operations that may be implemented by the methods and computer program products of various embodiments disclosed in the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0036] Before introducing the assembly method of the present invention, let's briefly describe the manual assembly process, using the assembly of the body-in-white (BIW) and tailgate assembly in a vehicle as an example. Both the BIW and tailgate assemblies are equipped with measuring points. During manual assembly, the two assemblies are brought close together to align them within the installation positioning reference system. Tools are then used to measure the measuring points. The results are then used to determine whether they meet the measurement requirements defined in the Dimensional Technical Specification (DTS), including clearance, flushness, distance, and alignment.

[0037] If it doesn't meet the requirements, manual fine-tuning of the tailgate assembly is required, such as adding or removing gaskets or adjusting the position. An experienced professional, drawing on past experience, can quickly complete these adjustments. However, this still requires repeated attempts, each requiring further measurement and adjustment until the measured points meet the measurement requirements defined in the dimensional specifications. Inexperienced workers will face even longer adjustments.

[0038] See Figure 1 , Figure 1 A method for assembling a structural component provided in an embodiment of the present invention includes steps S100 to S400.

[0039] Step S100, obtain the real coordinates of all measuring points of the multiple structural parts to be assembled, and the real coordinates are measured in the global coordinate system based on the preset installation positioning reference system. Before assembly, it is first necessary to measure the real coordinates of all measuring points of all structural parts to obtain the real measurement data of the multiple structural parts to be assembled. During the specific measurement, the multiple structural parts to be assembled can be positioned on the measurement assembly line, and the measurement of all measuring points can be completed by online laser measurement, and then the measurement data can be obtained. In this step, the number of structural parts is 2 or more, and the number can be several, dozens, or even hundreds, thousands, tens of thousands, etc. Taking a vehicle as an example, the entire vehicle is composed of tens of thousands of structural parts. If the computing power can support it, an assembly plan can be directly generated for the tens of thousands of structural parts of the entire vehicle.

[0040] The installation positioning reference system is the core framework for ensuring the accuracy of the position, orientation and geometric relationship of parts during the manufacturing and assembly process. It is mainly used in mechanical processing, assembly process, quality inspection and other links. It ensures the consistency of processing or assembly by defining the geometric reference reference of parts (such as faces, holes, edges, etc.) to avoid product performance degradation or failure due to positioning deviation. The installation positioning reference system is based on rigidity definition and can achieve complete positioning through 6 points. Taking a rectangular parallelepiped as an example, the rectangular parallelepiped part can be fixed by the bottom surface (3 points limit Z-direction movement and X / Y rotation), the side surface (2 points limit X-direction movement and Z rotation), and the end surface (1 point limit Y-direction movement).

[0041] Taking the assembly of the body-in-white assembly and the tailgate assembly as an example, Figure 2 The diagram shows the installation and positioning reference system of the tailgate, which is fully positioned in three directions by 6 reference points. The three directions include the vehicle length direction (X direction), the vehicle width direction (Y direction) and the vehicle height direction (Z direction). There are three reference points in the vehicle length direction, namely X1, X2, and X3. Among them, the reference point X3 can be decomposed into two points, X3-1 and X3-2, and the midpoint of these two points constitutes the reference point X3. There are two reference points in the vehicle height direction, namely Z4 and Z5. There is a reference point Y6 in the vehicle width direction, which can be decomposed into Y6-1 and Y6-2. Before measuring the true coordinates of the measuring points, these reference points can be used to locate the tailgate assembly to achieve accurate measurement of the measuring points.

[0042] See Figure 3 and Figure 4In a specific embodiment of the present invention, measurement points include surface measurement points and hole measurement points. Surface measurement points include one or more of the following: mounting surface measurement points, gap matching surface measurement points, flush matching surface measurement points, and alignment matching surface measurement points. Other types of measurement points are also possible. The specific measurement point type can be set based on actual circumstances and is not listed here.

[0043] Figure 3 This diagram shows all measurement points on the body-in-white assembly. * and × represent surface measurement points, including their coordinates; ○ represents hole measurement points, including the coordinates of the hole's center. All required measurement points include those directly mating with the tailgate assembly, trim mounting points between the body-in-white and the tailgate, or between the tailgate-end trim, and positioning points.

[0044] Figure 4 The diagram shows all the measuring points on the tailgate assembly. In this diagram, * and × represent surface measuring points, and ○ represents hole measuring points. All required measuring points include those directly mating with the body-in-white (BIW), mounting points for matching trim components between the tailgate end and the BIW or between BIW trim components, and positioning points.

[0045] In the above steps, the global coordinate system mentioned is the coordinate system used for measuring all measurement points. It is generally the world coordinate system. In the assembly scenario of vehicle structural parts, the global coordinate system can be the entire vehicle coordinate system.

[0046] Step S200: Based on the real coordinates and theoretical coordinates of each measuring point, the deviation of each measuring point in the local coordinate system is obtained. For each measuring point, the real coordinates are typically obtained at the measuring station based on the global coordinate system. However, the surface on which each measuring point lies is not necessarily parallel to the vehicle coordinate system. To accurately represent the tolerances of these measuring points, their theoretical coordinates and measurement requirements are generally expressed in each measuring point's local coordinate system. Therefore, processing of the real coordinates is required in this step.

[0047] See Figure 5 In a specific embodiment of the present invention, step S200 includes steps S201~S201.

[0048] Step S201: Based on the real coordinates of each measuring point and the transformation relationship between the global coordinate system and the local coordinate system preset for each measuring point, the real coordinates of each measuring point in the local coordinate system are obtained. In this step, these transformation relationships are pre-set. Each measuring point and its corresponding transformation relationship can be saved as a mapping relationship. After the measuring point is determined, the corresponding transformation relationship can be found based on this mapping relationship. Then, based on the corresponding transformation relationship of the measuring point, the real coordinates of each measuring point in the local coordinate system are obtained.

[0049] Step S202: Determine the deviation of each measuring point in the local coordinate system based on its real and theoretical coordinates. The theoretical coordinates represent the position of the measuring point during structural design, and are based on the local coordinate system. With both the real and theoretical coordinates in the same local coordinate system, the specific deviation can be determined.

[0050] Step S300: According to the deviations of all measuring points in the local coordinate system, matching is performed from the preset scenario condition library to obtain the adjustment strategy of the structural parts to be assembled. The scenario condition library is constructed by simulating the assembly of multiple structural parts under different tolerances using a three-dimensional tolerance simulation large model. In this step, the scenario condition library is the focus of the present invention. Through the preset scenario condition library, the adjustment strategy of the structural parts to be assembled is quickly obtained based on the deviations of all measuring points in the local coordinate system that are actually measured. The scenario condition library can be imagined as a table, in which each row corresponds to a situation of the deviation of all measuring points, and the row also corresponds to the adjustment strategy of the structural parts to be assembled under the deviation. The adjustment strategy is constructed by virtual assembly and measurement using a large model.

[0051] See Figure 6 In a specific embodiment of the present invention, the scenario condition library is constructed by simulating the assembly of multiple structural parts under different tolerances using a three-dimensional tolerance simulation model, including steps S310 to S340.

[0052] Step S310: Obtain a standard virtual model of each structural component based on the theoretical coordinates of all measurement points of each structural component. The standard virtual model is obtained based on the theoretical coordinates. When generating a virtual model, other virtual models can be obtained by fine-tuning the standard virtual model.

[0053] Step S320: Based on the standard virtual model of each structural component, the tolerance of each measuring point, and the preset gradient, all possible virtual models of each structural component are obtained. Due to the existence of tolerances, the actual model of each structural component may vary. In this step, all possible actual models are virtually constructed to obtain all possible virtual models of each structural component.

[0054] Step S330: Use the 3D tolerance simulation macromodel to virtually assemble all possible virtual models of the multiple structural parts to obtain all possible assembly solutions for the multiple structural parts. The 3D tolerance simulation macromodel can be created using 3D tolerance simulation software (such as 3DCS). The AI ​​macromodel's powerful simulation, big data analysis, and screening and locking capabilities enable virtual assembly of all possible virtual models.

[0055] See Figure 7In a specific embodiment of the present invention, step S330 includes: S331, obtaining any virtual model of each structural part in a plurality of structural parts to obtain a virtual model combination; S332, using a three-dimensional tolerance simulation large model, combining the virtual models, and performing virtual assembly according to the adjustment strategy of all structural parts to be assembled to obtain all possible assembly schemes of the virtual model combination; S333, traversing all virtual model combinations to obtain all possible assembly schemes of the plurality of structural parts.

[0056] In this step, take the assembly of two structural parts as an example. For example, the first structural part is recorded as A, and its virtual model can be recorded as A i , the subscript i represents the number of the virtual model of the structural component A. Assuming that the total number of all possible virtual models of the structural component A is I, then i∈{1,2,…,I}; similarly, the virtual model of the second structural component B can be recorded as B j , where j∈{1,2,…,J}, J is the total number of all possible virtual models of the structural part B. At the same time, the adjustment strategy of the structural part to be assembled can be recorded as k, where k∈{1,2,…,K}, K is the total number of adjustment strategies of the structural part to be assembled.

[0057] When performing virtual assembly, the final assembly solution can be recorded as (A i B j ) k , which represents the virtual model A i and virtual model B j Perform virtual assembly according to the adjustment strategy of the kth structural component to be assembled, where A i B j It can be regarded as a virtual model combination. In step S332, for a determined virtual model combination, all possible assembly solutions are K; in step S333, for two structural parts, all possible assembly solutions are I×J×K.

[0058] Step S340: According to the measurement requirements defined in the dimensional technical specifications, the assembly schemes that meet the measurement requirements are screened out from all possible assembly schemes of multiple structural parts to obtain a scenario working condition library. All possible assembly schemes have been listed in step S330. In these assembled scenes, the assembly schemes that meet the requirements are screened out according to the measurement requirements defined in the dimensional technical specifications to construct a scenario working condition library. It can be understood that the measurement requirements not only include some measurement requirements of the structural parts to be assembled themselves or between the structural parts to be assembled, but also include measurement requirements between the structural parts to be assembled and other structural parts that are not involved in the assembly. All measurement requirements related to the current structural parts to be assembled, as long as they are defined in the dimensional technical specifications, should be included.

[0059] See Figure 8In a specific embodiment of the present invention, based on the measurement requirements defined in the dimensional technical specifications, all possible assembly solutions for multiple structural parts are screened to identify those that meet the measurement requirements, including: S341, based on the measurement requirements, screening all possible assembly solutions for the virtual model combination to obtain an optimal assembly solution for the virtual model combination; S342, traversing all virtual model combinations to obtain all optimal assembly solutions for the multiple structural parts that meet the measurement requirements. In this step, only one optimal assembly solution is selected for each of the K assembly solutions for each virtual model combination. For two structural parts, since there are I×J virtual model combinations for them, after processing in step S342, there are ultimately I×J optimal assembly solutions, each corresponding to a different virtual model combination.

[0060] After constructing a scenario library, the deviations of all measured points on multiple structural components can be obtained from their real-world coordinates. For any structural component, the deviations of all its measured points correspond to a virtual model. Therefore, based on the deviations of all measured points, multiple virtual models corresponding to the current measurement data of multiple structural components can be found and combined to form the current actual virtual model combination. Within the pre-constructed scenario library, the optimal assembly solution corresponding to the current actual virtual model combination can be quickly found, resulting in the corresponding adjustment strategy for the structural component to be assembled.

[0061] In a specific embodiment of the present invention, the measurement requirements defined in the dimensional technical specifications include several measurement items, each of which includes a set level. The specific number of measurement items is set according to actual conditions, and its order of magnitude can range from a few to tens of thousands, or even higher. The more structural parts that need to be assembled, the more measurement items are involved. For example, the measurement requirement levels can be divided into levels A to I, where the measurement requirement error for level A is ±0.1mm, the measurement requirement error for level B is ±0.2mm, the measurement requirement error for level C is ±0.3mm, the measurement requirement error for level D is ±0.4mm, the measurement requirement error for level E is ±0.5mm, the measurement requirement error for level F is ±0.7mm, the measurement requirement error for level G is ±1.0mm, the measurement requirement error for level H is ±1.2mm, and the measurement requirement error for level I is ±1.5mm. Different measurement items are divided into different levels according to their accuracy. For example, if a measurement item is level A, it means that the assembly error of the measurement item is ±0.1mm, and so on.

[0062] Step S341 includes: first determine whether there is an assembly scheme in which all measurement items meet the highest level among all possible assembly schemes of the virtual model combination. In this judgment logic, all K assembly schemes are traversed to first see whether there is an assembly scheme in which all measurement items (even if the setting level of the measurement item is C) can meet the highest level (i.e., level A). If there is an assembly scheme that meets the conditions, it will be regarded as the best assembly scheme for the virtual model combination, and then the deviations of all measurement points in the virtual model combination in the local coordinate system and the corresponding adjustment strategies for the structural parts to be assembled are saved in the scene condition library. If there are multiple, they can all be saved in the scene condition library. For example, assuming there are measurement items o1, o2, and o3, and their setting levels are A, C, and E respectively, in the above steps, first see whether there is an assembly scheme so that the errors of these three measurement items are all level A, that is, the errors are within ±0.1mm.

[0063] If not, the level of each measurement item is gradually reduced from the highest level to the set level, and further judgment is made. When downgrading, a step-by-step reduction strategy is adopted. That is, the level of measurement item o3 is first downgraded to level B. Then, it is determined whether all possible assembly solutions of the downgraded virtual model combination meet the current level assembly solution. If not, the level of measurement item o2 is downgraded to level B or the level of measurement item o3 is downgraded to level C. After each downgrade, a judgment is made. If there is a solution, it is considered the best assembly solution.

[0064] If measurement item o2 is downgraded to level C and measurement item o3 is downgraded to level E, that is, they have already fallen to their set levels, and there is no assembly solution that meets the measurement item level requirements, then an error reminder can be issued and / or the level requirements of each measurement item can be relaxed until an assembly solution closest to the set level is found.

[0065] When relaxing the grade requirements for each measurement item, you can set up multiple plans in advance. For example, the three measurement items o1, o2, and o3 are set to grades A, C, and E, respectively. This is the first plan. You can also set up a second plan, for example, the three measurement items o1, o2, and o3 are set to grades B, D, and F, respectively. If the first plan fails to find the optimal assembly solution, you can continue to find the optimal assembly solution with the second plan.

[0066] Step S400: Assemble multiple structural parts according to the adjustment strategy for the structural parts to be assembled. The adjustment strategy for the structural parts to be assembled can be directly output and displayed, allowing workers to assemble the multiple structural parts according to the adjustment strategy; or a unique instruction can be generated based on the adjustment strategy for the structural parts to be assembled and sent to a robot, which then automatically completes the assembly of the multiple structural parts according to the instruction.

[0067] It should be noted that the step division of the various methods above is only for the purpose of clear description. During implementation, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they contain the same logical relationship, they are all within the scope of protection of this application; adding insignificant modifications to the algorithm or process or introducing insignificant designs without changing the core design of the algorithm and process are all within the scope of protection of this patent.

[0068] For example Figure 9 A flowchart of the assembly strategy of the body-in-white assembly and the rear door assembly is shown, in which each step is similar to the Figure 1 The steps in the are slightly different, such as including data measurement, but the overall idea is still the same. Figure 1 The same as the embodiment in. Figure 10 This is a schematic diagram of the welding workshop layout. Figure 9 It can be seen from the on-site layout diagram designed by the flow chart that the assembly method of the present invention can achieve fully automatic assembly without manual intervention. Figure 11 Schematic diagram of the assembly of the body-in-white assembly and the rear door assembly.

[0069] It should be noted that the above-described assembly method can be used to assemble two or more structural components. In scenarios involving multiple structural components, the optimal matching solution is the optimal assembly solution for all the structural components to be assembled, taking into account the overall situation. Furthermore, it is understood that the structural components mentioned in the present invention can themselves be assembled from multiple sub-structures, and these sub-structures can also be assembled using the assembly method of the present invention.

[0070] See Figure 12 , Figure 12 A structural component assembly device provided in accordance with one embodiment of the present invention includes a data acquisition unit 101, a deviation calculation unit 102, a matching unit 103, and an assembly unit 104. The data acquisition unit 101 is configured to acquire the real coordinates of all measurement points of multiple structural components to be assembled, where the real coordinates are measured in a global coordinate system based on a preset installation positioning reference system. The deviation calculation unit 102 is configured to obtain the deviation of each measurement point in a local coordinate system based on the real coordinates and theoretical coordinates of each measurement point. The matching unit 103 is configured to match the deviations of all measurement points in the local coordinate system from a preset scenario library to obtain an adjustment strategy for the structural components to be assembled. The scenario library is constructed using a large three-dimensional tolerance simulation model by simulating the assembly of multiple structural components under different tolerances. The assembly unit 104 is configured to assemble the multiple structural components according to the adjustment strategy for the structural components to be assembled.

[0071] It should be noted that the assembly device of this embodiment is a device corresponding to the above-mentioned assembly method, and the functional modules in the assembly device correspond to the corresponding steps in the assembly method. The assembly device of this embodiment can be implemented in conjunction with the assembly method, that is, in the absence of conflict, the relevant technical details mentioned in the assembly method of the above-mentioned embodiment can also be applied to the assembly device of this embodiment.

[0072] See Figure 13 , Figure 13 An electronic device provided in one embodiment of the present invention includes a processor 201, a memory 202 and a communication bus; the communication bus is used to connect the processor 201 and the memory 202; the processor 201 is used to execute the computer program stored in the memory 202 to implement the above-mentioned assembly method.

[0073] The above-mentioned electronic device is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions. Its hardware includes but is not limited to microprocessors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0074] The electronic device mentioned above can be any electronic product that can interact with the user, such as a personal computer, tablet computer, smart phone, personal digital assistant (PDA), game console, interactive network television (IPTV), smart wearable device, etc.

[0075] The electronic devices may also include network devices and / or user devices, wherein the network devices include, but are not limited to, a single network server, a server group consisting of multiple network servers, or a cloud based on cloud computing consisting of a large number of hosts or network servers.

[0076] The network where the above electronic devices are located includes but is not limited to the Internet, wide area network, metropolitan area network, local area network, virtual private network (VPN), etc.

[0077] The above-mentioned processor can be, for example, a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components; the above-mentioned memory may include random access memory (RAM), and may also include non-volatile memory (Non-volatile Memory), such as at least one disk storage.

[0078] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program for causing a computer to execute the above-mentioned assembly method.

[0079] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A method for assembling a structural member, characterized in that: include: Obtaining the real coordinates of all measurement points of the plurality of structural parts to be assembled, wherein the real coordinates are measured in a global coordinate system based on a preset installation positioning reference system; Obtaining the deviation of each measuring point in the local coordinate system according to the real coordinates and theoretical coordinates of each measuring point; Based on the deviations of all measurement points in the local coordinate system, the adjustment strategy for the structural parts to be assembled is obtained by matching them from a preset scenario library. The scenario library is constructed by simulating the assembly of multiple structural parts under different tolerances using a large 3D tolerance simulation model. According to the adjustment strategy of the structural parts to be assembled, the plurality of structural parts are assembled.

2. The method for assembling a structural member according to claim 1, wherein: The types of the measuring points include surface measuring points and hole measuring points. The surface measuring points include one or more of installation surface measuring points, gap matching surface measuring points, face difference matching surface measuring points, and alignment matching surface measuring points.

3. The method for assembling a structural member according to claim 1, wherein: According to the real coordinates and theoretical coordinates of each measuring point, the deviation of each measuring point in the local coordinate system is obtained, including: According to the real coordinates of each measuring point and the transformation relationship between the global coordinate system and the local coordinate system preset for each measuring point, the real coordinates of each measuring point in the local coordinate system are obtained; According to the real coordinates and theoretical coordinates of each measuring point in the local coordinate system, the deviation of each measuring point in the local coordinate system is obtained.

4. The method for assembling a structural member according to claim 1, wherein: The scenario library is constructed by simulating the assembly of multiple structural parts under different tolerances using a three-dimensional tolerance simulation model, including: Obtaining a standard virtual model of each structural component according to the theoretical coordinates of all measuring points of each structural component; Obtain all possible virtual models of each structural component according to the standard virtual model of each structural component, the tolerance of each measuring point, and the preset gradient; Using a large three-dimensional tolerance simulation model, virtually assembling all possible virtual models of the plurality of structural parts to obtain all possible assembly schemes of the plurality of structural parts; According to the measurement requirements defined in the dimensional technical specifications, assembly solutions that meet the measurement requirements are screened out from all possible assembly solutions of the plurality of structural parts to obtain the scenario working condition library.

5. The method for assembling a structural member according to claim 4, wherein: Using a large three-dimensional tolerance simulation model, all possible virtual models of the plurality of structural parts are virtually assembled to obtain all possible assembly schemes of the plurality of structural parts, including: Acquire any virtual model of each of the plurality of structural members to obtain a virtual model combination; Using a three-dimensional tolerance simulation large model, the virtual models are combined, and virtual assembly is performed according to the adjustment strategy of all the structural parts to be assembled to obtain all possible assembly solutions of the virtual model combination; All the virtual model combinations are traversed to obtain all possible assembly solutions of the plurality of structural parts.

6. The method for assembling a structural member according to claim 5, wherein: According to the measurement requirements defined in the dimensional technical specifications, an assembly scheme that meets the measurement requirements is screened out from all possible assembly schemes of the plurality of structural parts, including: Screening all possible assembly schemes of the virtual model combination according to the measurement requirements to obtain an optimal assembly scheme of the virtual model combination; All the virtual model combinations are traversed to obtain all the optimal assembly solutions of the plurality of structural parts that meet the measurement requirements.

7. The method for assembling a structural member according to claim 6, wherein: The measurement requirement includes a plurality of measurement items, each of which includes a set level; According to the measurement requirements, all possible assembly schemes of the virtual model combination are screened to obtain an optimal assembly scheme of the virtual model combination, including: Determine whether there is an assembly solution in which all the measurement items satisfy the highest level among all possible assembly solutions of the virtual model combination: If so, it is considered as the best assembly solution for the virtual model combination; If not, the level of each measurement item is gradually reduced from the highest level to the set level, and it is determined whether there is an assembly solution that meets the current level among all possible assembly solutions of the virtual model combination after each downgrade: If so, it is considered as the best assembly solution for the virtual model combination; If not, an error reminder is given and / or the level requirement of each measurement item is relaxed until an assembly solution closest to the set level is found.

8. A structural component assembly device, characterized in that: include: A data acquisition unit, configured to acquire the real coordinates of all measurement points of the plurality of structural parts to be assembled, wherein the real coordinates are measured in a global coordinate system based on a preset installation positioning reference system; a deviation calculation unit, configured to obtain the deviation of each measuring point in the local coordinate system according to the real coordinates and theoretical coordinates of each measuring point; A matching unit is used to match the deviations of all measuring points in the local coordinate system from a preset scenario library to obtain an adjustment strategy for the structural parts to be assembled. The scenario library is constructed by simulating the assembly of multiple structural parts with different tolerances using a large three-dimensional tolerance simulation model; as well as The assembly unit is used to assemble a plurality of the structural parts according to the adjustment strategy of the structural parts to be assembled.

9. An electronic device, characterized in that: The system comprises a processor, a memory and a communication bus; the communication bus is used to connect the processor and the memory; the processor is used to execute the computer program stored in the memory to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that A computer program is stored thereon, and the computer program is used to enable a computer to execute the method according to any one of claims 1 to 7.

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