Intelligent processing method of conductive connecting device, electronic device and processing system

Abstract

The application discloses an intelligent processing method of a conductive connecting device, electronic equipment and a processing system. The method comprises the following steps: acquiring first space information of a plug-in slot of a first component; acquiring second space information and assembly information of a second component; determining a motion trajectory of the second component based on the assembly information, the first space information and the second space information; determining position information of a grabbing area based on the second space information, and controlling a mechanical arm to grab the second component based on the position information; controlling the mechanical arm to drive the second component to move based on the motion trajectory and the position information of the grabbing area; and obtaining the conductive connecting device when all the second components are inserted into corresponding plug-in slots and are in final target poses. The application determines the motion trajectory of the second component in the process of inserting the plug-in slot based on the assembly information, the first space information and the second space information, so that the shape of the second component is not changed by external force after assembly, and therefore the quality of the conductive connecting device is improved.

Description

Technical Field

[0001] This invention relates to the field of next-generation information technology, specifically to an intelligent processing method, electronic device, and processing system for conductive connection devices. Background Technology

[0002] Conductive connection devices are indispensable core components in many fields such as electronic equipment, power systems, and the automotive industry. Their main function is to realize the circuit conduction and mechanical fixation between different circuit modules, ensure the stable transmission of current, and thus ensure the normal operation of various equipment and systems.

[0003] In existing technologies, conductive connection devices are typically assembled from insulating and metal components. Generally, an insulating component with a insertion slot and a straight metal component are prefabricated, and then the metal component is inserted vertically into the insertion slot of the insulating component to complete the initial assembly. In practical applications, some conductive connection devices require the metal component to have a specific curved shape due to installation space limitations or connection requirements. For such requirements, the common approach in existing technologies is to insert the metal component into the insulating component and then use external force to bend and deform the metal component to achieve the desired shape.

[0004] However, bending metal parts with external force has several drawbacks. First, during the bending process, the external force can easily be transmitted through the metal part to the insertion slot of the insulating component, causing the insertion slot to deform synchronously with the bending of the metal part. This leads to overall structural deformation of the conductive connection device, compromising its original assembly accuracy and structural stability. Second, because the bending process of the metal part lags behind the assembly process with the insulating component, and is not directly formed into the target bending shape during the casting or other prefabrication processes, it is difficult to precisely control key dimensional parameters such as the bending angle and curvature of the metal part, resulting in low processing accuracy. Furthermore, residual stress is generated inside the metal part during the bending process. This residual stress cannot be easily eliminated through subsequent simple processing, and over long-term use, it can easily lead to fatigue deformation, fracture, and other problems, ultimately reducing the overall quality of the conductive connection device, shortening its service life, and potentially causing safety hazards such as poor circuit contact and short circuits. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this application provides an intelligent processing method, electronic device, and processing system for conductive connection devices. By determining the motion trajectory of the second component during insertion into the connector slot based on assembly information, first spatial information, and second spatial information, and specifically, when the second component includes a curved surface, the motion trajectory is a curved trajectory. This allows for flexible determination of the second component's motion trajectory, ensuring smooth insertion into the connector slot even when the second component includes a curved surface. It eliminates the need to alter the shape of the second component through external force after assembly. The second component can be fully processed before assembly with the first component, ensuring not only the processing accuracy of the second component and meeting the assembly requirements of second components with different shapes, especially those including curved surfaces, but also preventing connector slot deformation, thereby improving the quality of the conductive connection device.

[0006] To address the above problems, the present invention provides the following technical solution:

[0007] In a first aspect, embodiments of this application provide an intelligent processing method for a conductive connection device, comprising: acquiring first spatial information of a insertion slot of a first component, wherein the first component is an insulating component;

[0008] Acquire second spatial information for a second component used to insert into the insertion slot and assembly information of the second component and the insertion slot, wherein the second component is a conductive component, and the assembly information includes the final target pose of the second component relative to the insertion slot;

[0009] Based on the assembly information, the first spatial information, and the second spatial information, the motion trajectory of the second component during the insertion of the insertion slot is determined, wherein when the second component includes a curved surface, the motion trajectory is a curved motion trajectory;

[0010] Based on the second spatial information, the position information of the gripping area of ​​the robotic arm on the second component is determined, and the robotic arm is controlled to grip the second component based on the position information of the gripping area.

[0011] Based on the motion trajectory and the position information of the grasping area, the robotic arm is controlled to drive the second component to move, so as to insert the second component into the insertion slot and place it in the corresponding final target pose;

[0012] When all the second components are inserted into their corresponding slots and are in the final target position, the conductive connection device is obtained.

[0013] Secondly, embodiments of this application provide an electronic device, the electronic device comprising:

[0014] At least one processor; and,

[0015] A memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the intelligent fabrication method for the conductive connection device as described in the first aspect.

[0017] Thirdly, embodiments of this application provide a fully automated intelligent processing system for conductive connection devices. The fully automated intelligent processing system for conductive connection devices includes a machine base, a conveying device, and a loading device. The machine base includes an electronic device as described in the second aspect, and the machine base has a working plane. The conveying device is connected to the electronic device and includes a loading conveying mechanism disposed on the working plane. The loading device is disposed on the working plane and connected to the electronic device. The loading device includes a robotic arm and a storage device for storing a second component. Multiple loading devices are arranged at intervals along the conveying direction of the loading conveying mechanism. The conveying device is used to convey a first component, and the loading device is used to insert the second component into the first component.

[0018] This application provides an intelligent processing method, electronic device, and processing system for conductive connection devices. This application can flexibly determine the movement trajectory of the second component, and can smoothly insert the second component into the insertion slot even when the second component includes a curved surface, without having to change the shape of the second component by external force after assembly. The second component can be completely processed before being assembled with the first component, which not only ensures the processing accuracy of the second component and meets the assembly requirements of second components with different shapes, especially those including curved surfaces, but also avoids deformation of the insertion slot, thereby improving the quality of the conductive connection device. Attached Figure Description

[0019] Figure 1 This is a flowchart illustrating the intelligent manufacturing method for the conductive connection device provided in the embodiments of this application.

[0020] Figure 2 This is a structural diagram of the first and second components provided in the embodiments of this application when they are not assembled.

[0021] Figure 3 This is a schematic diagram of the movement of the second component along the grasping approach trajectory segment provided in the embodiments of this application.

[0022] Figure 4 This is a schematic diagram of the movement of the second component along the insertion trajectory segment provided in the embodiments of this application.

[0023] Figure 5 This is a schematic diagram of the second component being inserted into the insertion slot and in the final target pose according to an embodiment of this application.

[0024] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0025] Figure 7 This is a structural block diagram of a computer-readable storage medium provided in an embodiment of this application. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0027] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "multiple" means two or more, unless otherwise explicitly specified.

[0028] This application provides an intelligent processing method, electronic device, and processing system for conductive connection devices. The method determines the motion trajectory of a second component during insertion into a connector slot based on assembly information, first spatial information, and second spatial information. When the second component includes a curved surface, the motion trajectory is a curved trajectory, allowing for flexible determination of the second component's motion trajectory. Even when the second component includes a curved surface, it can be smoothly inserted into the connector slot without altering its shape through external force after assembly. The second component can be fully processed before assembly with the first component, ensuring the processing accuracy of the second component, meeting the assembly requirements of second components with different shapes, especially those including curved surfaces, and preventing connector slot deformation, thereby improving the quality of the conductive connection device.

[0029] The second component of this application may be a conductive element made of a novel electrical contact precious metal material. This application employs the robotic arm of an industrial robot for fully automated intelligent processing of the conductive connection device.

[0030] The intelligent processing method for the conductive connection device of this application achieves high processing precision and produces high-quality conductive connection devices. These devices can be applied to specialized equipment for semiconductor devices; therefore, this application also relates to the field of semiconductor device specialized equipment manufacturing. The fully automated intelligent processing system for the conductive connection device of this application belongs to intelligent manufacturing equipment; therefore, this application also relates to the intelligent manufacturing equipment industry.

[0031] The intelligent processing method of the conductive connection device provided in this application will be described in detail below with reference to the accompanying drawings.

[0032] Please see Figure 1 , Figure 1 This is a schematic diagram of the intelligent processing method for the conductive connection device provided in the embodiments of this application. For example... Figure 1 As shown, in some embodiments, the intelligent processing method of the conductive connection device includes steps S100 to S600.

[0033] Step S100: Obtain the first spatial information of the insertion slot of the first component.

[0034] The first component is an insulating part.

[0035] Optionally, the first component is a plastic part.

[0036] In some implementations, the first spatial information includes the geometry and pose information of the slot.

[0037] In some implementations, image information of the first component is captured, and the pose information of the first component is obtained based on the image information of the first component.

[0038] In some implementations, a CT scan is performed on the first component to obtain the geometric shape information of the insertion slot.

[0039] In some implementations, the geometry information of the socket includes a pre-defined standard three-dimensional model of the socket.

[0040] Step S200: Obtain second spatial information of the second component for inserting into the socket and assembly information of the second component and the socket.

[0041] The second component is a conductive element. The assembly information includes the final target pose of the second component relative to the insertion slot.

[0042] Optionally, the second component is a metal part.

[0043] In some implementations, the second spatial information includes the geometric shape information and pose information of the second component.

[0044] In some implementations, image information of the second component is captured, and the pose information of the second component is obtained based on the image information of the second component.

[0045] In some implementations, the second component is subjected to a CT scan to obtain its geometric shape information.

[0046] In some implementations, the geometric information of the second component includes a pre-defined standard three-dimensional model of the second component.

[0047] In some implementations, the method further includes steps S710 to S730 before step S300.

[0048] Step S710: Determine whether the geometry of the second component is a standard shape based on the second spatial information.

[0049] In some implementations, a second surface model of the second component is constructed based on the geometric shape information of the second component in the second spatial information, and the difference between the second surface model and the preset standard shape model is calculated. When the difference is greater than the preset difference threshold, it is determined that the geometry of the second component is not a standard shape.

[0050] Optionally, methods for calculating the difference between the second surface model and the preset standard shape model include calculating the Hausdorff distance, Dice similarity coefficient, and quadratic error metric between the second surface model and the standard shape model.

[0051] Step S720: When it is determined that the geometry of the second component is not a standard shape, control the robotic arm to grasp the second component and reshape it so that the geometry of the second component is a standard shape.

[0052] In some implementations, when it is determined that the geometry of the second component is not a standard shape, the robotic arm is controlled to grasp the second component and place it into a shaping device, where the shaping device performs shaping processing on the second component, and then the robotic arm is controlled to remove the second component from the shaping device.

[0053] Optionally, shaping processes include cutting and bending.

[0054] Step S730: Obtain the second spatial information of the second component after the reshaping process.

[0055] After step S730 is executed, the second spatial information used in the following steps is the second spatial information of the second component after the shaping process.

[0056] Step S300: Determine the motion trajectory of the second component during the insertion into the socket based on the assembly information, the first spatial information, and the second spatial information.

[0057] When the second component includes a curved surface, the motion trajectory is a curved motion trajectory.

[0058] Understandably, when the elasticity of the first component is very small and the second component includes a curved surface, the insertion slot should also include a curved surface, and the curved surface of the insertion slot should match the curved surface of the second component so that the second component can be inserted into the insertion slot.

[0059] When the elasticity of the first component is greater than a preset elasticity level, the insertion slot is allowed to deform by no more than the maximum deformation level during the insertion of the second component. After the second component is inserted, the insertion slot can return to its original shape or remain in a preset deformation state for a long time. In this case, when the second component includes a curved surface, the insertion slot may not include a curved surface, or the curved surface included in the insertion slot may not perfectly match the curved surface of the second component.

[0060] In some implementations, when the second component does not include a curved surface, the motion trajectory can be a linear motion trajectory.

[0061] Please see Figure 2 , Figure 2 This is a schematic diagram of the structure of the first and second components provided in the embodiments of this application when they are not assembled. Figure 2 As shown, the conductive connection device 1 includes a first component 11 and a second component 12. The first component 11 includes a insertion groove 111, and the second component 12 is arc-shaped. The surface of the insertion groove 111 matches the arc shape of the second component 12 so that the second component 12 can be inserted into the insertion groove 111. During the process of the second component 12 being inserted into the insertion groove 111, the movement trajectory of the second component 12 is a curved movement trajectory.

[0062] In some implementations, the motion trajectory includes a grasping approach trajectory segment and an insertion trajectory segment, and step S300 includes steps S310 to S350.

[0063] Step S310: Construct the first surface model of the insertion slot based on the first spatial information.

[0064] Because the slot has an interface, the first surface model can be an open three-dimensional model.

[0065] Step S320: Construct the second surface model of the second component based on the second spatial information.

[0066] Optionally, the second surface model is a closed three-dimensional model.

[0067] Step S330: Based on the assembly information, the first surface model and the second surface model, determine the first target pose parameter set of the second component at each trajectory point of the grasping approach trajectory segment, thereby determining the grasping approach trajectory segment.

[0068] Among them, the approach trajectory segment is the trajectory segment where the second component approaches the first component but is not inserted into the insertion slot.

[0069] In some embodiments, the assembly information also includes information on the insertion end of the second component for inserting into the socket and the insertion interface of the socket, and step S330 includes steps S331 to S333.

[0070] Step S331: Based on the assembly information, determine the area of ​​the insertion end of the second component for insertion into the socket and the area of ​​the insertion interface of the socket.

[0071] like Figure 2 As shown, in some embodiments, the second component 12 includes a first end 121 and a second end 122. The first end 121 is used to insert into the insertion slot 111, and the second end 122 cannot be inserted into the insertion slot 111. In this case, based on assembly information, the insertion end of the second component 12 used to insert into the insertion slot 111 is determined to be the first end 121, and the insertion interface of the insertion slot 111 is determined to be the right-side opening of the insertion slot 111. Determining the insertion end of the second component includes determining the region of the insertion end on the second component. Determining the insertion interface of the insertion slot includes determining the region of the insertion interface on the insertion slot.

[0072] Step S332: Determine a first target pose parameter set that minimizes the sum of the deviations between the multiple normal vectors of the insertion interface region of the first surface model and the multiple normal vectors of the insertion end region of the second surface model, and ensures that the first surface model and the second surface model do not collide, and captures the end trajectory point of the approach trajectory segment.

[0073] In this way, when capturing the end point of the trajectory segment, the second component can be in a position ready to be inserted into the insertion slot, which facilitates subsequent insertion.

[0074] Optionally, the first target pose parameter set includes the position parameters and attitude parameters of the second surface model. The position parameters include the X-axis coordinates, Y-axis coordinates and Z-axis coordinates of the second surface model in the world coordinate system, and the attitude parameters include the X-axis azimuth angle, Y-axis azimuth angle and Z-axis azimuth angle of the second surface model in the world coordinate system.

[0075] In some implementations, both the first surface model and the second surface model are mesh models, which consist of multiple facets, each facet having a normal vector.

[0076] In some implementations, a first normal vector and a feature descriptor of the first normal vector are calculated for each facet of the insertion interface region of the first surface model, and a second normal vector and a feature descriptor of the second normal vector are calculated for each facet of the insertion end region of the second surface model. Based on the feature descriptors of the first and second normal vectors, each first normal vector is matched with a second normal vector to determine a first target pose parameter set that minimizes the sum of the deviations of each pair of matched first and second normal vectors and prevents the first and second surface models from colliding.

[0077] Optionally, the formula for calculating the sum of the deviations of all matched first and second normal vectors is: ,in, This represents the sum of deviations. This represents the logarithm of the first and second normal vectors in the matching sequence. Represents a counting variable. Indicates the first The unit vector of the first normal vector. Indicates the first The unit vector of the second normal vector.

[0078] Optionally, algorithms for determining whether the first surface model and the second surface model collide include bounding box detection algorithms, separating axis theorem algorithms, collision body detection algorithms, collision callback detection algorithms, physics engine detection algorithms, etc.

[0079] Step S333: Based on the first target pose parameter set of the end trajectory point of the grasping approach trajectory segment, the current pose information of the first surface model, and the current pose information of the second surface model, determine the first target pose parameter set of each trajectory point of the grasping approach trajectory segment that makes the insertion end close to the insertion interface, thereby determining the grasping approach trajectory segment.

[0080] In some implementations, a three-dimensional model of obstacles in the operating environment is acquired. Based on the three-dimensional model of obstacles in the operating environment, a first target pose parameter set of the end trajectory point of the grasping approach trajectory segment, the current pose information of the first surface model, and the current pose information of the second surface model, a first target pose parameter set is determined for each trajectory point of the grasping approach trajectory segment that causes the insertion end to approach the insertion interface, thereby determining the grasping approach trajectory segment. The first target pose parameter set for each trajectory point of the grasping approach trajectory segment enables the first component to avoid obstacles.

[0081] Step S340: Based on the final target pose of the second component relative to the insertion slot, the first target pose parameter set, the first surface model, and the second surface model in the assembly information, determine the second target pose parameter set of the second component at each trajectory point of the insertion trajectory segment, thereby determining the insertion trajectory segment.

[0082] The insertion trajectory is the trajectory segment of the second component inserted into the insertion slot.

[0083] Optionally, the second target pose parameter set includes the position parameters and attitude parameters of the second surface model. The position parameters include the X-axis coordinates, Y-axis coordinates and Z-axis coordinates of the second surface model in the world coordinate system, and the attitude parameters include the X-axis azimuth angle, Y-axis azimuth angle and Z-axis azimuth angle of the second surface model in the world coordinate system.

[0084] Since the second component may be an irregularly shaped component with an irregular curved surface, and the insertion slot may also include an irregular curved surface, an improved optimization algorithm that addresses the technical problem of this application is used to determine the insertion trajectory segment.

[0085] In some implementations, step S340 includes steps S341 to S343.

[0086] Step S341: Generate an exploration domain based on the first target pose parameter set of the end trajectory point of the approaching trajectory segment using the first calculation method.

[0087] The exploration domain includes multiple sets of third pose parameters.

[0088] In some implementations, step S341 includes steps S3411 to S3414.

[0089] Step S3411: Calculate the chaotic sequence using a preset chaotic mapping formula.

[0090] The chaotic sequence includes a first preset number of chaotic values.

[0091] In some implementations, the chaotic mapping formula is:

[0092] ,

[0093] in, Indicates the first A chaotic value, Indicates the first A chaotic value, This represents the preset first calculation parameter. This represents a preset second calculation parameter. In some implementations, a first chaotic value is randomly generated, and the chaotic mapping formula described above is used to perform iterative calculations based on the first chaotic value to generate a first preset number of chaotic values.

[0094] in, and The value of makes the range of chaotic values ​​(0,1) possible.

[0095] Optionally, the first preset quantity is the number of parameters included in the first target pose parameter set multiplied by the third preset quantity.

[0096] Optionally, the range of the first chaotic value is (0,1).

[0097] The chaotic mapping formula includes... By adding an offset to the chaotic mapping formula, the window effect can be eliminated and the traversability of chaotic values ​​can be improved.

[0098] Step S3412: Determine the feasible region of pose parameters based on the first target pose parameter set of the capture approaching trajectory segment end trajectory point.

[0099] As described above, the first target pose parameter set includes the position parameters and attitude parameters of the second surface model. The position parameters include the X-axis coordinates, Y-axis coordinates and Z-axis coordinates of the second surface model in the world coordinate system, and the attitude parameters include the X-axis azimuth angle, Y-axis azimuth angle and Z-axis azimuth angle of the second surface model in the world coordinate system.

[0100] In some implementations, the feasible numerical range corresponding to each parameter in the first target pose parameter set is determined based on the value of each parameter in the set of parameters from the end trajectory point of the grasping approach trajectory segment and the preset interval length corresponding to that parameter. This determines the pose parameter feasible region, which includes the feasible numerical ranges of all parameters. In this way, the calculated initial trajectory point of the inserted trajectory segment is related to the end trajectory point of the grasping approach trajectory segment, resulting in a smoother motion trajectory. Furthermore, since the initial trajectory point of the inserted trajectory segment is not completely randomly generated, the computational load is reduced.

[0101] For example, if the X-axis coordinate of the first target pose parameter set that captures the end trajectory point of the approach trajectory segment is 0.1, and the preset interval length corresponding to the X-axis coordinate is 20, then the upper limit of the feasible numerical interval corresponding to the X-axis coordinate is determined to be (2×0.2+20)÷2=10.2, and the lower limit of the feasible numerical interval corresponding to the X-axis coordinate is (2×0.2-20)÷2=-9.8. The feasible numerical interval corresponding to the X-axis coordinate is determined based on the upper and lower limits of the feasible numerical interval corresponding to the X-axis coordinate.

[0102] Step S3413: Map each chaotic value in the chaotic sequence to the feasible region of the pose parameters to obtain multiple sets of third pose parameters, thereby generating the exploration domain.

[0103] In some implementations, multiple chaotic values ​​in the chaotic sequence are sequentially mapped to the feasible numerical range corresponding to each parameter in the feasible domain of the pose parameters to obtain multiple sets of third pose parameters, thereby generating the exploration domain.

[0104] Optionally, the number of the third pose parameter set in the exploration domain is a third preset number.

[0105] In some implementations, a chaotic value is mapped to a feasible numerical range corresponding to one of the parameters in the feasible region of the pose parameters, and the mapping formula is: ,in, Indicates the first The third pose parameter set of the third position parameter set The exploration value of the parameter, Indicates the first The lower limit of the feasible numerical range of the parameter. Indicates the first The upper limit of the feasible numerical range of the parameter.

[0106] Step S342: Determine the final target pose parameters based on the final target pose of the second component relative to the insertion slot in the assembly information.

[0107] Step S343: Using the second calculation method, the second target pose parameter set of the second component at each trajectory point of the inserted trajectory segment is calculated based on the constraints and the exploration domain, thereby determining the inserted trajectory segment.

[0108] The constraints include collision-free constraints, surface fitting constraints, and final target pose parameters. This approach prevents deformation of the first component during insertion, ensures a tight fit between the second component and the insertion slot, and ultimately achieves the final target pose, improving machining accuracy and thus enhancing the quality of the conductive connection device.

[0109] In some implementations, the final target pose parameters include the position parameters and attitude parameters of the second surface model at the final target pose. The position parameters include the X-axis coordinates, Y-axis coordinates, and Z-axis coordinates of the second surface model in the world coordinate system, and the attitude parameters include the X-axis azimuth, Y-axis azimuth, and Z-axis azimuth of the second surface model in the world coordinate system.

[0110] In some implementations, step S343 includes steps S3431 to S3437.

[0111] Step S3431: Determine each third pose parameter set that satisfies the constraints in the exploration domain as the fourth pose parameter set.

[0112] Optionally, each parameter in the third pose parameter set is added with the corresponding random chaotic perturbation value to obtain an updated third pose parameter set, which is then used for subsequent calculations.

[0113] In some implementations, when the third pose parameter set that satisfies the constraints in the exploration domain is not the third preset number, step S341 is executed to regenerate the third pose parameter set and add it to the current exploration domain until the third pose parameter set that satisfies the constraints in the current exploration domain is the third preset number.

[0114] In some implementations, the collision-free constraint includes a first constraint function.

[0115] In some implementations, when the surface of the second component does not rigidly collide with the surface of the insertion slot, the formula for calculating the first constraint function can be:

[0116] ,

[0117] in, Represents the first constraint function. This indicates that the second surface model is based on the first The minimum distance between the pose determined by the third pose parameter set and the first surface model. This indicates the preset collision-free threshold.

[0118] Optionally, Greater than or equal to 0.

[0119] In some implementations, to reduce the impact of surface bulges, the formula for calculating the first constraint function can be:

[0120] ,

[0121] in, This represents the curvature correction factor. This represents the curvature of the second surface model. This indicates the no-collision threshold. In this way, when the curvature of the second component's surface is large, deformation of the insertion slot can be avoided during the insertion process.

[0122] Optionally, The maximum or average curvature of the second surface model.

[0123] Optionally, in In this process, the distance between each patch of the first surface model and each patch of the second surface model is calculated, and the minimum distance among all distances is determined. When the first surface model intersects with the second surface model, It is 0.

[0124] In some implementations, when the insertion slot is elastic, the formula for calculating the first constraint function can be:

[0125] ,

[0126] in, This indicates that the second surface model is based on the first The deformation of the first surface model when the pose is determined by a third set of pose parameters. This represents the preset springback reserve deformation. At this time, It can be a negative number.

[0127] In some implementations, the elastic modulus of the first component is used to determine... .

[0128] Optionally, when the first surface model intersects with the second surface model, the collision region on the second surface model is determined based on all the faces where the first surface model and the second surface model intersect, and the deformation of the first surface model is determined based on the volume of the collision region on the second surface model.

[0129] It is understandable that during the insertion of the second component into the slot, the slot may undergo short-term deformation, but the amount of deformation during this short-term deformation must not exceed [a certain limit]. Otherwise, the second component will be damaged. After the second component is inserted into the slot, the slot can undergo long-term deformation, while the amount of deformation during short-term deformation cannot be... Otherwise, the second component will be damaged.

[0130] By using the methods described above, damage to the second component can be avoided.

[0131] In some implementations, the surface fitting constraint includes a second constraint function. The formula for calculating the second constraint function can be:

[0132] ,

[0133] in, Represents the second constraint function. This indicates that the second surface model is based on the first The degree of fit between the pose determined by the third pose parameter set and the first surface model. This represents the distance weighting coefficient. This represents the surface fit threshold. The unit is millimeters. The unit is degrees per millimeter. The unit is degrees.

[0134] Optionally, the third normal vector and its feature descriptor are calculated for each facet of the first surface model, and the fourth normal vector and its feature descriptor are calculated for each facet of the second surface model. Each third normal vector is then matched with a fourth normal vector based on the feature descriptors of the third and fourth normal vectors. It is the sum of all angles between the third normal vector and the fourth normal vector.

[0135] By using surface fitting constraints, the surfaces of the first surface model and the second surface model can be matched, allowing the second component to be tightly inserted into the insertion slot.

[0136] In some implementations, the distance between the trajectory point corresponding to the third pose parameter set and the end trajectory point of the inserted trajectory segment is determined based on the position parameters in the third pose parameter set and the position parameters of the final target pose parameter set corresponding to the final target pose. When the distance is less than a preset distance threshold, the constraint condition also includes that the distance is less than a preset end judgment distance threshold.

[0137] In some implementations, chaotic perturbation is applied to each third pose parameter set in the exploration domain to obtain an updated third pose parameter set, and the updated exploration domain is determined based on all updated third pose parameter sets. This increases the dispersion of parameter values ​​in the third pose parameter sets.

[0138] Step S3432: Calculate the fitness of each fourth pose parameter set using a preset fitness calculation function.

[0139] In some implementations, the fitness calculation function is:

[0140] ,

[0141] in, This represents the fitness calculation function. Indicates the first A fourth pose parameter set, This represents the first weighting coefficient. This represents the second weighting coefficient. It represents the base of the natural logarithm.

[0142] Step S3433: Determine the updated exploration domain, which includes the fourth pose parameter set with the second preset number of the highest fitness.

[0143] Optionally, the second preset quantity is the same as the third preset quantity.

[0144] In some implementations, the updated exploration domain also includes a fourth preset number of fourth pose parameter sets randomly selected from multiple fourth pose parameter sets other than the second preset number of fourth pose parameter sets with the highest fitness in the original exploration domain. In this case, the second preset number plus the fourth preset number equals the third preset number.

[0145] Step S3434: Generate a further updated exploration domain based on each fourth pose parameter set in the updated exploration domain.

[0146] In some implementations, the fourth pose parameter sets in the updated exploration domain are randomly paired in pairs, and the parameters of the same type in the fourth pose parameter sets in the updated exploration domain are calculated based on the two pairs of the same type of parameters in the paired fourth pose parameter sets, resulting in multiple fourth pose parameter sets in the updated exploration domain. The updated exploration domain is then generated based on the multiple fourth pose parameter sets in the updated exploration domain, as described in steps S3431 to S3433.

[0147] Optionally, the algorithmic average or weighted average of every two parameters of the same type can be used to determine the parameter of that type in the updated fourth pose parameter set.

[0148] Step S3435: Perform iterative calculations based on the fourth pose parameter set in the updated exploration domain. When the number of iterations reaches the preset number, determine the fourth pose parameter set with the highest fitness in the final exploration domain as the second target pose parameter set for the next trajectory point of the inserted trajectory segment.

[0149] The method for iterative calculation based on the fourth pose parameter set in the updated exploration domain is described in steps S341, S3431 to S3434. Specifically, the exploration domain is generated based on the second target pose parameter set of the current trajectory point using the first calculation method, as described in step S341.

[0150] Step S3436: Generate the next exploration domain based on the second target pose parameter set of the next trajectory point of the inserted trajectory segment, and return to execute step S3431.

[0151] Step S3437: When the second target pose parameter set of all trajectory points of the inserted trajectory segment is calculated, the inserted trajectory segment is determined based on all the second target pose parameter sets.

[0152] Step S350: Determine the motion trajectory based on the captured approach trajectory segment and the inserted trajectory segment.

[0153] Specifically, the motion trajectory is obtained by splicing together the captured approach trajectory segment and the inserted trajectory segment.

[0154] Step S400: Determine the position information of the gripping area of ​​the robotic arm on the second component based on the second spatial information, and control the robotic arm to grip the second component based on the position information of the gripping area.

[0155] In some implementations, the grasping area is at least one, and step S400 includes steps S410 to S440.

[0156] Step S410: Determine the location information of at least one first grasping area based on the second spatial information.

[0157] In some implementations, the density of the second component is defined to be uniform. A second surface model is constructed based on the geometric shape information of the second component in the second spatial information. The position information of the center of gravity of the second component is determined based on the second surface model. When the distance between the center of gravity of the second component and the insertion end of the second component is greater than a first preset distance, at least two first grasping areas are determined; otherwise, the position information of one first grasping area including the center of gravity is determined based on the position information of the center of gravity of the second component. In this way, the insertion end can be prevented from easily deforming during the insertion process due to its distance from the grasping area.

[0158] When a second surface model has already been constructed, calculations are performed directly based on the constructed second surface model.

[0159] In some implementations, when at least two first gripping areas are determined, the number and position information of the first gripping areas are determined such that the resultant torque of all the first gripping areas relative to the center of gravity of the second component is zero. In this way, the second component can maintain stable movement.

[0160] Step S420: Based on the motion trajectory, the first spatial information, and the second spatial information, determine whether each first grasping area needs to pass through the inside of the insertion slot.

[0161] Step S430: When it is determined that the first gripping area needs to pass through the inside of the insertion slot, the position information of the second gripping area on the second component after the first gripping area passes through the inside of the insertion slot is determined based on the motion trajectory and the second spatial information.

[0162] Please see Figures 3 to 5 , Figure 3 This is a schematic diagram of the movement of the second component along the grasping approach trajectory segment provided in the embodiments of this application. Figure 4 This is a schematic diagram illustrating the movement of the second component along the insertion trajectory segment provided in an embodiment of this application. Figure 5 This is a schematic diagram showing the second component, as provided in an embodiment of this application, inserted into the insertion slot and in its final target pose. (See diagram below.) Figures 3 to 5 As shown, during the movement of the second component 12 along the motion trajectory, the first end 121 inserts into the insertion slot 111 and eventually passes through the insertion slot 111. During this process, the first gripping area A1 needs to pass through the insertion slot 111, while the first gripping area A2 does not need to pass through the insertion slot 111. The contour trajectory Z is the trajectory formed by the contour of the second component 12 when it slides arbitrarily along the insertion slot 111.

[0163] In some implementations, when it is determined that the first gripping area needs to pass through the inside of the insertion slot, the position information of the center of gravity of the part of the second surface model that is exposed in the insertion slot when the first gripping area just passes through the insertion slot is determined, and the position information of the center of gravity of the part is determined as the position information of the second gripping area.

[0164] In some implementations, the location information of multiple second grasping areas is determined sequentially based on the motion trajectory and second spatial information. The method is as described above.

[0165] Step S440: Control the robotic arm to grasp the second component based on the position information of the first grasping area.

[0166] Step S500: Based on the motion trajectory and the position information of the grasping area, control the robotic arm to drive the second component to move, so as to insert the second component into the insertion slot and place it in the corresponding final target pose.

[0167] In some implementations, the robotic arm is controlled to move the second component based on the motion trajectory, the position information of the first grasping area, and the position information of the second grasping area, so as to insert the second component into the insertion slot and place it in the corresponding final target pose.

[0168] In some implementations, the gripping mechanism of the robotic arm is controlled to grip and hold the first gripping area based on the position information of the first gripping area. When the first gripping area of ​​the second component is inserted into the insertion slot based on the motion trajectory, the gripping mechanism of the robotic arm is controlled to grip and hold the second gripping area based on the position information of the second gripping area. When the current second gripping area of ​​the second component is inserted into the insertion slot based on the motion trajectory, the gripping mechanism of the robotic arm is controlled to grip and hold the next second gripping area based on the position information of the next second gripping area, and so on. In this way, the motion stability of the second component can be improved and deformation of the second component can be avoided.

[0169] like Figure 3 As shown, exemplarily, at this time, the robotic arm is controlled to grasp and hold the first grasping area A1 and the first grasping area A2.

[0170] like Figure 4 As shown, exemplarily, at this time, the robotic arm is controlled to grasp and hold the first grasping area A2 and the second grasping area A3.

[0171] like Figure 5 As shown, exemplarily, at this time, the robotic arm is controlled to grasp and hold the first grasping area A2 and the second grasping area A4.

[0172] like Figure 5 As shown, exemplarily, when the second component 12 is inserted into the insertion slot 111 and is in the corresponding final target pose, the distance H between the first end 121 of the second component 12 and the first component 11 is a preset distance.

[0173] Step S600: When all the second components are inserted into the corresponding slots and are in the final target pose, a conductive connection device is obtained.

[0174] In some implementations, the second component has multiple insertion slots and multiple feeding devices, with the robotic arm of each feeding device used to insert the second component corresponding to one insertion slot.

[0175] In summary, the intelligent manufacturing method for the conductive connection device provided in this application has the following advantages:

[0176] 1. The motion trajectory of the second component during insertion into the socket is determined based on assembly information, first spatial information, and second spatial information. When the second component includes a curved surface, the motion trajectory is a curved motion trajectory. This allows for flexible determination of the second component's motion trajectory and ensures that the second component can be smoothly inserted into the socket even when it includes a curved surface. There is no need to change the shape of the second component by external force after assembly. The second component can be fully processed before assembly with the first component. This not only ensures the processing accuracy of the second component and meets the assembly requirements of second components with different shapes, especially those including curved surfaces, but also avoids deformation of the socket, thereby improving the quality of the conductive connection device.

[0177] 2. By determining a first target pose parameter set that minimizes the sum of the deviations between the multiple normal vectors of the insertion interface region of the first surface model and the multiple normal vectors of the insertion end region of the second surface model, and ensures that the first surface model and the second surface model do not collide, the second component can be in a pose ready to be inserted into the insertion slot when the end of the trajectory segment is being grasped, which facilitates subsequent insertion.

[0178] 3. Through the chaotic mapping formula including By adding an offset to the chaotic mapping formula, the window effect can be eliminated and the traversability of chaotic values ​​can be improved.

[0179] 4. By using constraints including collision-free constraints, surface fitting constraints, and final target pose parameters, deformation of the first component during the insertion process can be avoided, while ensuring that the second component is tightly inserted into the insertion slot and ultimately in the final target pose, thereby improving machining accuracy and thus improving the quality of the conductive connection device.

[0180] Please see Figure 6 , Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. For example... Figure 6 As shown, the electronic device 400 includes: one or more processors 410 and a memory 420. Figure 6 Take a processor 410 as an example.

[0181] In some implementations, the processor 410 and the memory 420 may be connected via a bus or other means. Figure 6 Taking the example of a connection between China and Israel via a bus.

[0182] In some embodiments, the processor 410 is configured to: acquire first spatial information of the insertion slot of a first component, wherein the first component is an insulating component; acquire second spatial information of a second component for insertion into the insertion slot and assembly information of the second component and the insertion slot, wherein the second component is a conductive component, and the assembly information includes the final target pose of the second component relative to the insertion slot; determine the motion trajectory of the second component during insertion into the insertion slot based on the assembly information, the first spatial information, and the second spatial information, wherein when the second component includes a curved surface, the motion trajectory is a curved motion trajectory; determine the position information of the gripping area of ​​the robotic arm on the second component based on the second spatial information, and control the robotic arm to grip the second component based on the position information of the gripping area; control the robotic arm to move the second component based on the motion trajectory and the position information of the gripping area, so as to insert the second component into the insertion slot and place it in the corresponding final target pose; and obtain a conductive connection device when all second components are inserted into the corresponding insertion slots and are in the final target pose.

[0183] In some embodiments, memory 420 serves as a non-volatile computer-readable storage medium, used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules of the intelligent processing method for the conductive connection device in the embodiments of this application. Processor 410 executes various functional applications and data processing of electronic device 400 by running the non-volatile software programs, instructions, and modules stored in memory 420, thereby implementing the intelligent processing method for the conductive connection device in the above-described method embodiments.

[0184] In some implementations, one or more modules are stored in memory 420 and, when executed by one or more processors 410, perform the intelligent processing method for the conductive connection device in any of the above method embodiments, for example, performing the above-described... Figure 1 The method steps S100 to S600.

[0185] Please refer to Figure 7 , Figure 7 This is a structural block diagram of a computer-readable storage medium provided in an embodiment of this application. The computer-readable storage medium 500 stores program code 510, which can be called by a processor to execute the intelligent fabrication method for the conductive connection device described in the above method embodiments.

[0186] This application also provides a fully automated intelligent processing system for conductive connection devices. The fully automated intelligent processing system for conductive connection devices includes a machine base, a conveying device, and a loading device. The machine base includes the electronic equipment described above and has a working plane. The conveying device is connected to the electronic equipment and includes a loading conveying mechanism disposed on the working plane. The loading device is disposed on the working plane and connected to the electronic equipment. The loading device includes a robotic arm and a storage device for storing a second component. Multiple loading devices are arranged at intervals along the conveying direction of the loading conveying mechanism. The conveying device is used to convey a first component, and the loading device is used to insert the second component into the first component.

[0187] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the intelligent processing method for the conductive connection device described above.

[0188] In summary, this application provides an intelligent processing method, electronic device, and processing system for a conductive connection device. The intelligent processing method for the conductive connection device includes: acquiring first spatial information of a first component's insertion slot, wherein the first component is an insulating component; acquiring second spatial information of a second component for insertion into the insertion slot and assembly information of the second component and the insertion slot, wherein the second component is a conductive component, and the assembly information includes the final target pose of the second component relative to the insertion slot; determining the motion trajectory of the second component during insertion into the insertion slot based on the assembly information, the first spatial information, and the second spatial information, wherein when the second component includes a curved surface, the motion trajectory is a curved motion trajectory; determining the position information of a gripping area of ​​a robotic arm on the second component based on the second spatial information, and controlling the robotic arm to grip the second component based on the position information of the gripping area; controlling the robotic arm to move the second component based on the motion trajectory and the position information of the gripping area, so as to insert the second component into the insertion slot and place it in the corresponding final target pose; and obtaining a conductive connection device when all second components are inserted into the corresponding insertion slots and are in the final target pose. This application determines the motion trajectory of the second component during insertion into the socket based on assembly information, first spatial information, and second spatial information. When the second component includes a curved surface, the motion trajectory is a curved trajectory, which allows for flexible determination of the second component's motion trajectory. Even when the second component includes a curved surface, it can still be smoothly inserted into the socket without altering its shape through external force after assembly. The second component can be fully processed before assembly with the first component, ensuring the processing accuracy of the second component, meeting the assembly requirements of second components with different shapes, especially those including curved surfaces, and preventing socket deformation, thereby improving the quality of the conductive connection device.

[0189] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A smart manufacturing method for a conductive connection device, characterized in that, include: Obtain first spatial information of the insertion slot of the first component, wherein the first component is an insulating component; Acquire second spatial information for a second component used to insert into the insertion slot and assembly information of the second component and the insertion slot, wherein the second component is a conductive component, and the assembly information includes the final target pose of the second component relative to the insertion slot; Based on the assembly information, the first spatial information, and the second spatial information, the motion trajectory of the second component during the insertion of the insertion slot is determined, wherein when the second component includes a curved surface, the motion trajectory is a curved motion trajectory; The first spatial information includes the geometric shape and pose information of the insertion slot, the second spatial information includes the geometric shape and pose information of the second component, the motion trajectory includes a grasping approach trajectory segment and an insertion trajectory segment, and determining the motion trajectory of the second component during insertion into the insertion slot based on the assembly information, the first spatial information, and the second spatial information includes: A first surface model of the insertion slot is constructed based on the first spatial information; Construct a second surface model of the second component based on the second spatial information; Based on the assembly information, the first surface model and the second surface model, the first target pose parameter set of the second component at each trajectory point of the grasping approach trajectory segment is determined, thereby determining the grasping approach trajectory segment; Based on the final target pose of the second component relative to the insertion slot, the first target pose parameter set, the first surface model, and the second surface model in the assembly information, the second target pose parameter set of the second component at each trajectory point of the insertion trajectory segment is determined, thereby determining the insertion trajectory segment; The motion trajectory is determined based on the grasping approach trajectory segment and the insertion trajectory segment; Based on the second spatial information, the position information of the gripping area of ​​the robotic arm on the second component is determined, and the robotic arm is controlled to grip the second component based on the position information of the gripping area. Based on the motion trajectory and the position information of the grasping area, the robotic arm is controlled to drive the second component to move, so as to insert the second component into the insertion slot and place it in the corresponding final target pose; When all the second components are inserted into their corresponding slots and are in the final target position, the conductive connection device is obtained.

2. The intelligent processing method for the conductive connection device according to claim 1, characterized in that, The assembly information also includes information about the insertion end of the second component for inserting into the socket and the insertion interface of the socket. The step of determining the first target pose parameter set of the second component at each trajectory point of the grasping approach trajectory segment based on the assembly information, the first surface model, and the second surface model, thereby determining the grasping approach trajectory segment, includes: Based on the assembly information, determine the area of ​​the insertion end of the second component for insertion into the socket and the area of ​​the insertion interface of the socket; A first target pose parameter set is determined such that the sum of the deviations between the multiple normal vectors of the insertion interface region of the first surface model and the multiple normal vectors of the insertion end region of the second surface model is minimized, and the first surface model and the second surface model do not collide. Based on the first target pose parameter set of the end trajectory point of the grasping approach trajectory segment, the current pose information of the first surface model, and the current pose information of the second surface model, the first target pose parameter set of each trajectory point of the grasping approach trajectory segment that causes the insertion end to approach the insertion interface is determined, thereby determining the grasping approach trajectory segment.

3. The intelligent processing method for the conductive connection device according to claim 1, characterized in that, The step of determining the second target pose parameter set of the second component at each trajectory point of the insertion trajectory segment based on the final target pose of the second component relative to the insertion slot, the first target pose parameter set, the first surface model, and the second surface model in the assembly information, thereby determining the insertion trajectory segment, includes: An exploration domain is generated based on a first target pose parameter set of the end trajectory point of the grasping approach trajectory segment using a first calculation method, wherein the exploration domain includes multiple third pose parameter sets; The final target pose parameters are determined based on the final target pose of the second component relative to the insertion slot in the assembly information; The second calculation method is used to calculate the second target pose parameter set of the second component at each trajectory point of the inserted trajectory segment based on the constraints and the exploration domain, thereby determining the inserted trajectory segment. The constraints include collision-free constraints, surface fitting constraints, and the final target pose parameters.

4. The intelligent processing method for the conductive connection device according to claim 3, characterized in that, An exploration domain is generated based on a first target pose parameter set of the end trajectory point of the grasping approach trajectory segment using a first calculation method, including: A chaotic sequence is calculated using a preset chaotic mapping formula, wherein the chaotic sequence includes a first preset number of chaotic values; The feasible region of pose parameters is determined based on the first target pose parameter set of the end trajectory point of the grasping approach trajectory segment; The chaotic values ​​in the chaotic sequence are mapped one by one to the feasible region of the pose parameters to obtain multiple sets of third pose parameters, thereby generating the exploration domain.

5. The intelligent processing method for the conductive connection device according to claim 3, characterized in that, The second calculation method, based on constraints and the exploration domain, calculates the second target pose parameter set of the second component at each trajectory point of the inserted trajectory segment, thereby determining the inserted trajectory segment, including: Each third pose parameter set that satisfies the constraints in the exploration domain is determined as the fourth pose parameter set; The fitness of each of the fourth pose parameter sets is calculated using a preset fitness calculation function; Determine the updated exploration domain, which includes the second preset number of the fourth pose parameter set with the highest fitness. A further updated exploration domain is generated based on each of the fourth pose parameter sets in the updated exploration domain; Based on the fourth pose parameter set in the updated exploration domain, iterative calculations are performed. When the number of iterations reaches a preset number, the fourth pose parameter set with the highest fitness in the final exploration domain is determined as the second target pose parameter set for the next trajectory point of the inserted trajectory segment. The next exploration domain is generated based on the second target pose parameter set of the next trajectory point of the inserted trajectory segment, and the process returns to determine each of the third pose parameter sets that satisfies the constraint conditions in the exploration domain as the fourth pose parameter set. When the second target pose parameter set of all trajectory points of the inserted trajectory segment is calculated, the inserted trajectory segment is determined based on all the second target pose parameter sets.

6. The intelligent processing method for the conductive connection device according to claim 1, characterized in that, The grasping area is at least one. The step of determining the position information of the grasping area of ​​the robotic arm on the second component based on the second spatial information, and controlling the robotic arm to grasp the second component based on the position information of the grasping area, includes: Based on the second spatial information, the location information of at least one first grasping area is determined; Based on the motion trajectory, the first spatial information, and the second spatial information, determine whether each of the first grasping areas needs to pass through the inside of the insertion slot; When it is determined that the first grasping area needs to pass through the inside of the insertion slot, the position information of the second grasping area on the second component after the first grasping area passes through the inside of the insertion slot is determined based on the motion trajectory and the second spatial information. Based on the position information of the first grasping area, the robotic arm is controlled to grasp the second component; The step of controlling the robotic arm to move the second component based on the motion trajectory and the position information of the grasping area, so as to insert the second component into the insertion slot and place it in the corresponding final target pose, includes: Based on the motion trajectory, the position information of the first grasping area, and the position information of the second grasping area, the robotic arm is controlled to move the second component so as to insert the second component into the insertion slot and place it in the corresponding final target pose.

7. The intelligent processing method for the conductive connection device according to claim 1, characterized in that, Before determining the motion trajectory of the second component during insertion into the socket based on the assembly information, the first spatial information, and the second spatial information, the method further includes: Based on the second spatial information, determine whether the geometry of the second component is a standard shape; When it is determined that the geometry of the second component is not a standard shape, the robotic arm is controlled to grasp the second component and reshape it so that the geometry of the second component is a standard shape. Obtain the second spatial information of the second component after the reshaping process.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and a memory communicatively connected to said at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the intelligent processing method of the conductive connection device as described in any one of claims 1 to 7.

9. A fully automated intelligent processing system for a conductive connection device, characterized in that, The fully automated intelligent processing system for the conductive connection device includes a machine base, a conveying device, and a feeding device. The machine tool includes the electronic device as described in claim 8, and the machine tool has a working surface; The conveying device is connected to the electronic device, and the conveying device includes a loading and conveying mechanism, which is disposed on the working plane. The feeding device is disposed on the working plane and connected to the electronic device. The feeding device includes a robotic arm and a storage device for storing the second component. Multiple feeding devices are arranged at intervals along the conveying direction of the loading and conveying mechanism. The conveying device is used to convey the first component, and the feeding device is used to connect the second component to the first component.

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