Integrated assembly detection platform and assembly detection method for complex mechanical and electrical products

Abstract

According to the complex mechanical and electrical product integrated assembly detection platform and the assembly detection method, a general control system carries out general control on the whole integrated assembly detection platform, automation equipment integration is used for integrating various kinds of automation hardware, and an assembly guide system is used for guiding operators to complete actions of the whole assembly detection process. The intelligent detection system controls the collaborative robot, the lifting and rotating device and the transfer protection tool, calls the visual detection module to complete an image detection task, calls the three-dimensional scanning module to complete three-dimensional scanning and output a detection report, calls the offline programming simulation module to complete viewpoint planning and track planning, and calls the offline programming simulation module to complete visual inspection. And the collaborative robot is controlled to complete preset motion according to the output track, and the virtual-real mapping system displays the motion states of the collaborative robot, the lifting rotating device and the switching protection tool in real time. According to the invention, the assembly detection digitization level of the product can be improved, the learning cost of on-site assembly detection personnel is reduced, and the assembly detection efficiency and quality are improved.

Description

Technical Field

[0001] This invention relates to the field of automated assembly and inspection technology, and in particular to an integrated assembly and inspection platform and method for complex electromechanical products. Background Technology

[0002] Currently, complex electromechanical products are characterized by a wide variety of products and small batches. Their internal structures are complex, with numerous irregularly shaped components, presenting challenges in assembly and inspection processes, including complex procedures, large workloads, numerous inspection elements, and high requirements for consistency and reliability. The assembly process primarily involves connecting a large number of cables with complex connections, and various types of fasteners such as screws, each with different tightening requirements, and the tightening torque needs to be recorded. To achieve quality control during assembly, quality inspections are typically performed at appropriate assembly points. Typical inspection items include dimensional / geometric tolerance measurement, surface defect detection, misassembly detection, missing parts detection, and foreign object detection. Existing assembly and inspection methods are time-consuming and labor-intensive, suffer from poor consistency, rely on manual experience, lack traceability of inspection data, and primarily rely on paper-based documentation.

[0003] The statements herein provide only background information in relation to this invention and do not necessarily constitute prior art. Summary of the Invention

[0004] The purpose of this invention is to provide an integrated assembly and testing platform and method for complex electromechanical products, which can improve the digitalization level of product assembly and testing, reduce the learning cost of on-site assembly and testing personnel, and improve assembly and testing efficiency and quality.

[0005] To achieve the above objectives, the present invention provides an integrated assembly and testing platform for complex electromechanical products, comprising: The central control system is used for overall control of the entire integrated assembly and testing platform; The automated equipment is integrated and connected to the central control system for integrating various automated hardware. The assembly guidance system, connected to the central control system, is used to guide operators to complete the entire assembly and inspection process. It plays assembly animations, displays prompts, displays tool data, and saves the data in the background, using each step as a basic unit. The intelligent detection system is connected to the overall control system and is used to control the collaborative robot, lifting and rotating device and transfer protection fixture. It calls the vision detection module to complete the image detection task, calls the 3D scanning module to complete the 3D scanning and output the detection report, calls the offline programming simulation module to complete the viewpoint planning and trajectory planning, and controls the collaborative robot to complete the predetermined movement according to the output trajectory. The virtual-real mapping system is connected to the overall control system, assembly guidance system, and intelligent detection system to display the motion status of the collaborative robot, lifting and rotating device, and transfer protection tooling in real time.

[0006] The central control system includes: The user management function includes three functions: adding users, modifying users, and deleting users. The system's basic functions include system login and system self-check. The system login is a login mechanism that sets a username and password. The system self-check includes hardware self-check and software self-check. The hardware self-check checks whether the hardware is in the installation preparation state, and the software self-check configures and manages relevant parameters. The assembly and testing process management and control functions include: assembly and testing process template editing, allowing users to create or modify assembly and testing process templates according to the product's assembly and testing process requirements; assembly and testing process execution control, enabling automatic assembly and testing process control, manual single-step assembly and testing control, pause control, and exception handling; assembly and testing process execution monitoring, monitoring and displaying the execution status during the assembly and testing process; fault alarm and display, handling and displaying alarm information when system faults occur; and assembly and testing process step recording and backtracking, saving the assembly and testing execution process and providing a data query function for assembly and testing process steps. The subsystem functions include calling the automated equipment integration, assembly guidance system, intelligent detection system, and virtual-physical mapping system, and receiving instructions from the central control system to execute command tasks; The assembly and testing data analysis function provides assembly and testing data analysis capabilities. It loads the generated assembly and testing data, converts it into a standard format, and stores it in the database. It also provides a system for querying and statistically analyzing test results in the background database.

[0007] The automated equipment integration includes: an operating platform, a lifting and rotating device, and a collaborative robot; The central part of the operating platform is the assembly area, which is used to perform assembly actions; The lifting and rotating device is used to achieve overall horizontal flipping and rotation of the product; the lifting and rotating device includes a linear module, a hollow turntable, a transfer protection fixture, and a bottom turntable; the linear module is used to lift the product; the hollow turntable is connected to the linear module and can be lifted and lowered with the linear module, and the hollow turntable can also rotate, the interior of the hollow turntable is a crossed roller bearing; the transfer protection fixture is fixedly connected to the hollow turntable, the transfer protection fixture includes a transfer part, the transfer part has a clamping ring and a connecting part, the clamping ring is used to connect the base of the product. The connecting part is used to connect the hollow turntable; the connecting part is equipped with four cylinders and two handle-type positioning fasteners; the cylinders are inserted into the clamping ring to achieve a fixed connection between the connecting protection fixture and the product; the handle-type positioning fasteners are used to manually insert into the clamping ring to prevent abnormal retraction of the cylinders from causing them to detach from the product; both the cylinders and the handle-type positioning fasteners have signal detection inside to prevent the product from accidentally falling; the bottom turntable is located below the connecting protection fixture and can drive the product to rotate horizontally, so that the surface of the product to be installed faces the operator; The collaborative robot is used to install and drive the vision inspection module and the 3D scanning module.

[0008] The assembly guidance system includes: assembly process guidance software, type recognition camera, assembly tools, and display screen; The assembly process guidance software includes: an assembly process resource construction module, an assembly process planning and simulation module, an assembly process publishing module, a data interaction module, and a database module; the assembly process resource construction module and the assembly process planning and simulation module are used to generate assembly animations and data; the assembly process publishing module is called by the central control system to read and display assembly scenes and animations; the data interaction module is used to interact with assembly tools; and the database module is used to save and read assembly scene data. The type recognition camera is positioned above the operating platform and is used to identify product parts and components, prompting and driving the assembly process guidance steps. The assembly tool is located next to the operating platform, and the operation data of the assembly tool is displayed in real time on the interface of the assembly process guidance software. The display screen is located behind the operating platform and is used to display the interface of the assembly process guidance software to realize human-machine interaction.

[0009] The intelligent detection system includes: an offline programming simulation module, a motion control module, a vision detection module, and a 3D scanning module; The offline programming simulation module includes a virtual simulation environment and a viewpoint planning algorithm. The virtual simulation environment is used to build scene models for different assembly and testing products, and the viewpoint planning algorithm is used to automatically plan the robot's motion trajectory and the viewpoint trajectory of the detection task. The motion control module includes motion control software to control the motion of the collaborative robot. It also includes safety protection, signal control, detection management, and a collaborative system. The safety protection integrates emergency stop, motion anomaly protective stop, and safety parameter setting functions to ensure safety during automated operation. It also has handling and recovery functions for abnormal interruptions, ensuring no test data is lost during system pauses or interruptions. The signal control integrates analog and digital input / output functions, supporting the interaction of various sensor signals and control commands to achieve I / O control of relevant electrical components. The detection management and collaborative system enables communication, interaction, and collaborative control with the central control system, assembly guidance system, and intelligent detection system. The vision inspection module includes a vision component and vision processing platform software. The vision component is mounted on the collaborative robot and includes a defect detection camera, a light source, and a recording camera. The defect detection camera is installed at the end of the collaborative robot to detect product assembly and defects in the assembly area. The light source is installed at the end of the collaborative robot to provide a surface light source. The recording camera is positioned above the lifting and rotating device to record the product assembly process. The vision processing platform software controls the vision component to acquire specific images and processes the images acquired by the recording camera. The vision processing platform software includes a camera control module, a vision tool module, a deep learning algorithm module, and a communication interface module. The communication interface module receives task instructions from the central control system. The camera control module executes corresponding recognition and detection tasks according to the task instructions. The deep learning algorithm module acquires images of correct assembly and inspection steps for learning and training. The vision tool module processes the images using a preset recognition and detection program and the deep learning algorithm module to obtain recognition and detection results, and sends the recognition and detection results to the central control system through the communication interface module.

[0010] The 3D scanning module includes a 3D laser scanner, scanning software, and scanning data analysis and processing software. The 3D laser scanner is installed at the end of the collaborative robot and is used to scan the product's shape features after assembly. The scanning results are obtained by combining the scanning software and the scanning data analysis and processing software. The scanning software is used to configure scanning parameters and display the 3D model image in real time during the scanning process. The scanning data analysis and processing software compares the generated 3D scan model with the product design 3D model and outputs an analysis report.

[0011] The virtual-real mapping system includes a virtual simulation model and a virtual-real interaction interface. The virtual simulation model is connected to the assembly guidance system, reflects the real equipment and assembly product model, and is displayed on the virtual-real mapping system interface. The virtual-real interaction interface is connected to the intelligent detection system, receives motion status data of the collaborative robot, lifting and rotating device, and transfer protection fixture, and drives the virtual simulation model to update its pose in real time. It also has collision warning and process playback functions, enabling collision warning of the robot, lifting and rotating device, and transfer protection fixture, and traceability of assembly process actions.

[0012] This invention also provides a method for testing the integrated assembly of complex electromechanical products, comprising: Step S01: Add an assembly and testing process template and edit the assembly and testing process sequence in the assembly and testing process management and control function of the master control system; Step S02: The assembly guidance system, in the assembly process planning and simulation module of the assembly process guidance software, formulates the assembly process information table based on the assembly and testing process template, edits the assembly animation process, and generates assembly process scene data. Step S03: The intelligent detection system calls the offline programming simulation module, imports the 3D CAD model file of the product object, obtains the viewpoint trajectory and robot trajectory according to different detection tasks and viewpoint planning algorithms, and generates the robot executable program file. Step S04: In the intelligent testing system, the testing management and collaboration system formulates intelligent testing task processes based on the assembly and testing process template and generates testing process data. Step S05: The central control system selects the assembly and testing process template, enters the example product model and ID, sends the example product model and ID to the assembly guidance system and intelligent testing system, and notifies them to perform initialization; Step S06: The assembly guidance system loads the example product scenario configuration data, sets the status to unassembled, and notifies the central control system that initialization is complete. Step S07: The intelligent detection system loads the system configuration data of the example product, sets the status to initial state, and notifies the central control system that initialization is complete. Step S08: The main control system notifies the assembly guidance system to execute step STEP:1-1, and the assembly guidance system plays the assembly animation of STEP:1-1 in a loop. Step S09: The central control system notifies the intelligent detection system to execute visual recognition task T1. The purpose of visual recognition is to determine whether the loaded part in the current step is correct. If the recognition is correct, the central control software will automatically proceed to the next step. If the recognition is incorrect, it will prompt that the part is wrong and the next step cannot be continued. Step S10: The main control system notifies the assembly guidance system to execute step STEP:1-2, and the assembly guidance system plays the assembly animation of step STEP:1-2 in a loop. Step S11: If there is an assembly task in step STEP:1-2, after the assembly guidance system establishes communication with the assembly tool, the assembly guidance system selects the assembly tool task for the corresponding step; after the assembly tool starts, the tool data is displayed in real time on the assembly guidance system interface, and the assembly tool result data is saved in the background; after the assembly tool finishes its operation, the tool result data is returned to the central control system. Step S12: The central control system notifies the intelligent inspection system to execute step STEP:1-2 visual inspection and displays a prompt message in the assembly guidance system. Step S13: After manually clicking "Confirm" on the assembly guidance system interface, the central control system notifies the intelligent inspection system to execute visual inspection task T2. The purpose of visual inspection is to check whether each part is assembled in place after assembly, or whether there are defects, damage, scratches, or cracks on the product surface. Step S14: After visual inspection task T2 is completed, the intelligent inspection system notifies the central control system that visual inspection task T2 is complete. Step S15: The central control system notifies the intelligent detection system to perform the 3D scanning step and displays a prompt message on the assembly guidance system; Step S16: After manually clicking "OK" on the assembly guidance system interface, the central control system notifies the intelligent detection system to execute the 3D scanning task T3. Step S17: After the 3D scanning task T3 is completed, the intelligent detection system notifies the central control system that the 3D scanning task T3 is complete. Step S18: Execute the equipment actions of steps 1-4. The intelligent detection system obtains the corresponding action program and drives the collaborative robot, lifting and rotating device and transfer protection fixture to complete motion control. Step S19: Repeat or interleave subsequent assembly and inspection tasks according to steps S08-S18 until all assembly and inspection steps are completed.

[0013] Step S09 includes: Step S09.1: The intelligent detection system calls visual recognition task T1, and the type recognition camera performs a detection every 0.5 seconds using a deep learning visual algorithm; Step S09.2: If a part is detected or a specified time is reached, output the identification result and save the result data; Step S09.3: The visual recognition result is sent to the central control system. The central control system sends the recognition result to the assembly guidance system and gives a prompt. If the recognition is incorrect, the visual recognition task T1 will be executed again. The central control system waits until the recognition result is correct.

[0014] Step S13 includes: Step S13.1: The intelligent detection system finds the action program C1 corresponding to step STEP:1-2, which includes the motion trajectory of the collaborative robot and the motion of the lifting and rotating device and the transfer protection fixture. The intelligent detection system calls the motion control module to specify the motion control of the equipment coordinates until the motion is completed. Step S13.2: The virtual-real mapping system displays the motion status of the collaborative robot, lifting and rotating device, and transfer protection fixture in real time; Step S13.3: The intelligent detection system calls the visual processing platform software based on the communication interface module to perform visual detection task T2; Step S13.4: Start the visual processing platform detection process. The camera control module captures the detection image, the visual tool module obtains the preset detection program, obtains the storage path of the detection image, and calls the visual algorithm module to output the detection result. If the result is not obtained within the specified time, a prompt will be given. Step S13.5: Write the detection results into the database, and record the path of the corresponding detection result image in the database.

[0015] Step S16 includes: Step S16.1: The intelligent detection system finds the action program C2 corresponding to step STEP:1-3, which includes the motion trajectory of the collaborative robot, the lifting and rotating device, and the transfer protection fixture. The intelligent detection system calls the motion control module to specify the equipment coordinate motion control until the motion is completed. Step S16.2: The virtual-real mapping system displays the motion status of the collaborative robot, lifting and rotating device, and transfer protection fixture in real time; Step S16.3: The intelligent detection system automatically performs the 3D scanning task T3 by calling the 3D scanning module based on TCP communication; Step S16.4: The 3D scanning module calls the configured 3D scanning process program for step STEP:1-3, including scanner settings, scanning data acquisition parameters, and setting the workpiece number. The workpiece number is issued by the central control system. Step S16.5: Start the scanning process. The 3D scanning module displays the acquired 3D scanning data in real time. Step S16.6: After scanning is completed, the 3D scanning module calls the scanning data analysis and processing software to perform scanning data processing, report generation, and data saving. Step S16.7: Write the 3D scan data into the database, and also write the original scan result file into the database.

[0016] Compared with the prior art, the present invention has the following advantages: By employing technologies such as virtual simulation, deep learning vision, and multi-source data fusion perception, the system achieves functions including virtual-real mapping during assembly and testing, virtual-real data fusion comparison, assembly and testing operation guidance, and real-time storage of assembly and testing data. Multiple cameras collect information and perform data fusion. Customizable detection elements and configured element detection parameters are available. Offline programming simulation technology automatically plans the optimal robot trajectory. A robot-based intelligent inspection system enables rapid detection and identification analysis of assembly nodes, addressing needs such as misassembly / omission detection, surface defect detection, and product positioning. An auxiliary assembly mechanism assists operators in completing some operational actions. Based on the results of multiple detection elements, assembly quality is determined, and quality reports are generated. These technologies improve the digitalization level of product assembly and testing, reduce the learning cost for on-site assembly and testing personnel, and improve assembly and testing efficiency and quality. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of an integrated assembly and testing platform for complex electromechanical products provided by the present invention.

[0018] Figure 2 This is a functional breakdown diagram of the central control system.

[0019] Figure 3 This is a schematic diagram of the integrated structure of the automated equipment of the present invention.

[0020] Figure 4 This is a schematic diagram of the linear module and hollow turntable in the lifting and rotating device.

[0021] Figure 5 This is a structural diagram of the adapter protection fixture.

[0022] Figure 6 This is a functional diagram of the assembly guidance system.

[0023] Figure 7 This is a functional diagram of an intelligent detection system.

[0024] Figure 8 This is a structural diagram of a collaborative robot and its carried components.

[0025] Figure 9 The present invention provides an execution flowchart of an integrated assembly and testing method for complex electromechanical products.

[0026] Figure 10 This is a flowchart for a visual recognition task.

[0027] Figure 11 This is a flowchart for a visual inspection task.

[0028] Figure 12 This is a flowchart for a 3D scanning task. Detailed Implementation

[0029] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become clearer from the following description. It should be noted that the drawings are in a very simplified form and use non-precise proportions, used only to facilitate and clearly illustrate the embodiments of the present invention. Please refer to the drawings to make the objectives, features, and advantages of the present invention more apparent and understandable. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the implementation conditions of the present invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to the size, without affecting the effects and objectives achieved by the present invention, should still fall within the scope of the technical content disclosed in the present invention.

[0030] like Figure 1 As shown, the present invention provides an integrated assembly and testing platform for complex electromechanical products, comprising: The overall control system 1 is used to control the entire integrated assembly and testing platform. It has functions such as template creation, task scheduling, execution monitoring, process backtracking, and data management related to the assembly and testing process.

[0031] Automation equipment integration 2 is connected to the central control system 1 and is used to integrate various automation hardware.

[0032] The assembly guidance system 3 is connected to the main control system 1 and is used to guide operators to complete the entire assembly and inspection process. It plays assembly animations, displays prompts, displays tool data, and saves the data in the background, using each step as a basic unit.

[0033] The intelligent detection system 4 is connected to the main control system 1 and is used to control the collaborative robot, the lifting and rotating device and the transfer protection fixture. It calls the vision detection module to complete the image detection task, calls the 3D scanning module to complete the 3D scanning and output the detection report, calls the offline programming simulation module to complete the viewpoint planning and trajectory planning, and controls the collaborative robot to complete the predetermined movement according to the output trajectory.

[0034] The virtual-real mapping system 5 is connected to the overall control system 1, the assembly guidance system 3, and the intelligent detection system 4, and is used to display the motion status of the collaborative robot, the lifting and rotating device, and the transfer protection tooling in real time.

[0035] like Figure 1 and Figure 3 As shown, the central control system 1 runs on a hardware host (the hardware host can be a computer host or an industrial control computer, etc.), such as Figure 2 As shown, the functions of the central control system 1 include: User management function 11 includes three functions: adding users, modifying users, and deleting users. Users are assigned different permissions and can control different functions after logging in.

[0036] The system's basic function 12 includes system login and system self-test. System login uses a username + password mechanism to meet the needs of different users. System self-test performs hardware and software self-tests, as well as corresponding initialization tasks. The hardware self-test primarily checks whether the hardware is in an installation-ready state; the software self-test configures and manages relevant parameters; and the parameter settings initialize the parameters of each instrument and device.

[0037] The assembly and testing process management and control function 13 includes: assembly and testing process template editing, allowing users to create or modify assembly and testing process templates according to the product's assembly and testing process requirements; assembly and testing process execution control, enabling automatic assembly and testing process control, manual assembly and testing single-step control, pause control, and exception handling; assembly and testing process execution monitoring, monitoring and displaying the execution status during the assembly and testing process; fault alarm and display, enabling timely handling and display of alarm information when system faults occur; and assembly and testing process step recording and backtracking, saving the assembly and testing execution process and providing a data query function for assembly and testing process steps to facilitate process backtracking.

[0038] Subsystem function 14 is used to call the automation equipment integration 2, assembly guidance system 3, intelligent detection system 4 and virtual-real mapping system 5, and can receive instructions from the central control system 1 to execute corresponding instruction tasks.

[0039] The assembly test data analysis function 15 provides a dedicated assembly test data analysis function, which can load the generated assembly test data, convert it into a standard format and store it in the database, and provide a query and statistical analysis system for test results in the background database.

[0040] like Figure 3 As shown, the automated equipment integration 2 specifically includes: an operating platform 21, a lifting and rotating device 22, a collaborative robot 24, and a tool storage cabinet 25.

[0041] The middle part of the operating platform 21 is the assembly area, which is used to perform assembly actions.

[0042] The lifting and rotating device 22 is used to achieve overall horizontal flipping and rotation of the product. For example... Figure 3 and Figure 4As shown, the lifting and rotating device 22 includes a linear module 221, a hollow turntable 222, a transition protection fixture 23, and a bottom turntable 223. The linear module 221 is used to lift the product. The hollow turntable 222 is connected to the linear module 221 and can be lifted and lowered with the linear module 221. The hollow turntable 222 can also rotate. The hollow turntable 222 has crossed roller bearings inside, which can withstand a large radial load. Figure 3 As shown, the adapter protection fixture 23 is fixedly connected to the hollow turntable 222, as follows: Figure 5 As shown, the adapter protection fixture 23 includes an adapter part 231, which has a clamping ring 2311 and a connecting part 2312. The clamping ring 2311 is used to connect to the base of the product, and the connecting part 2312 is used to connect to the hollow turntable 222. Through the coordinated action of the linear module 221, the hollow turntable 222, and the adapter protection fixture 23, the product can be lifted and horizontally flipped, facilitating the assembly of cables and parts at the bottom of the product. The adapter part 231 is equipped with four cylinders 232 and two handle-type positioning fasteners 233. The cylinders 232 are inserted into the clamping ring 2311 to achieve a fixed connection between the adapter protection fixture and the product. The handle-type positioning fasteners 233 are used to manually insert into the clamping ring 2311 to prevent abnormal retraction of the cylinders from causing them to detach from the product. Both the cylinders 232 and the handle-type positioning fasteners 233 have internal signal detection to prevent the product from accidentally falling. The bottom turntable 223 is located below the adapter protection fixture 23 and can drive the product to rotate horizontally, so that the surface of the product to be installed is turned towards the operator.

[0043] The collaborative robot 24 is used to install and drive the vision inspection module 43 and the 3D scanning module 44.

[0044] The tool storage cabinet 25 is used to store tools.

[0045] like Figure 1 and Figure 3 As shown, the assembly guidance system 3 includes: assembly process guidance software 31, type recognition camera 32, assembly tool 33, and display screen 34.

[0046] The assembly process guidance software 31 runs on the hardware host of the main control system 1, such as... Figure 6As shown, the assembly process guidance software 31 includes: an assembly process resource construction module 311, an assembly process planning and simulation module 312, an assembly process publishing module 313, a data interaction module 314, and a database module 315. The assembly process resource construction module 311 and the assembly process planning and simulation module 312 are used to generate assembly animations and data. The assembly process publishing module 313 is called by the central control system 1 to read and display assembly scenes and animations. The data interaction module 314 is used to interact with the assembly tool 33 to exchange data. The database module 315 is used to save and read assembly scene data.

[0047] The type recognition camera 32 is positioned above the operating platform 21 and is used for identifying product parts and components, prompting and driving the assembly process guidance steps.

[0048] The assembly tool 33 is located next to the operating platform 21. The assembly tool 33 includes automatic tightening tools of different specifications, wireless calipers, etc. During the assembly process, tool data is displayed in real time on the interface of the assembly process guidance software 31, and the data is also stored in the background.

[0049] The display screen 34 is located behind the operating platform 21 and is used to display the interface of the assembly process guidance software 31 to realize human-machine interaction.

[0050] like Figure 1 and Figure 7 As shown, the intelligent detection system 4 includes: an offline programming simulation module 41, a motion control module 42, a vision detection module 43, and a three-dimensional scanning module 44.

[0051] The offline programming simulation module 41 runs on the hardware host of the main control system 1, such as... Figure 7 As shown, the offline programming simulation module 41 includes a virtual simulation environment and a viewpoint planning algorithm. The virtual simulation environment is used to build scene models for different assembly and testing products, and the viewpoint planning algorithm is used to automatically plan the robot's motion trajectory and the viewpoint trajectory of the detection task.

[0052] The motion control module 42 runs on the hardware host of the main control system 1, such as... Figure 7As shown, the motion control module 42 includes motion control software 421 to control the motion of the collaborative robot 24. The motion control module 42 also includes safety protection 422, signal control 423, and a detection management and collaboration system 424. The safety protection 422 integrates functions such as emergency stop, motion anomaly protective stop, and safety parameter setting to achieve safety protection during automated operation. It also has the function of handling and recovering from abnormal interruptions, ensuring that test data is not lost during system pauses and interruption recovery. The signal control 423 integrates analog and digital input / output functions, supports the interaction of various sensor signals and control commands, and realizes I / O control of related electrical components. The detection management and collaboration system 424 realizes communication interaction and collaborative control with the central control system 1, the assembly guidance system 3, and the intelligent detection system 4, meeting the functional requirements of test management, equipment control, and process monitoring.

[0053] like Figure 7 As shown, the visual inspection module 43 includes visual components and visual processing platform software 434. For example... Figure 3 and Figure 8 As shown, the vision component is mounted on the collaborative robot 24, and includes a defect detection camera 431, a light source 432, and a recording camera 433. The defect detection camera 431 is installed at the end of the collaborative robot 24 and is used to detect product assembly and defects in the assembly area. The light source 432 is installed at the end of the collaborative robot 24 and is used to provide a surface light source, supplementing the field of view and improving image quality when the camera takes pictures. The recording camera 433 is positioned above the lifting and rotating device 22 and is used to record the product assembly process. The vision processing platform software 434 runs on the hardware host of the main control system 1 and is used to control the vision component to complete the acquisition of specific images and process the images acquired by the recording camera 433. Figure 7 As shown, the vision processing platform software 434 includes: a camera control module, a vision tool module, a deep learning algorithm module, and a communication interface module. The communication interface module receives task instructions from the central control system 1. The camera control module executes corresponding recognition and detection tasks according to the task instructions. The deep learning algorithm module acquires images of the correct assembly detection steps for learning and training. The vision tool module processes the images using a preset recognition and detection program and the deep learning algorithm module to obtain recognition and detection results, and then sends the recognition and detection results to the central control system 1 through the communication interface module.

[0054] like Figure 7 As shown, the 3D scanning module 44 includes a 3D laser scanner 441, scanning software 442, and scanning data analysis and processing software 443. For example... Figure 3 and Figure 8As shown, the 3D laser scanner 441 is installed at the end of the collaborative robot 24. It is used to scan the product's shape and features after assembly, and obtains the scan results in conjunction with scanning software 442 and scanning data analysis and processing software 443. The scanning software 442 is used to configure scanning parameters and display the 3D model image in real time during the scanning process. The scanning data analysis and processing software 443 compares the generated scanned 3D model with the product design 3D model and outputs an analysis report.

[0055] like Figure 3 As shown, the scanning auxiliary fixture 444 is placed outside the product and is used for the three-dimensional scanning module 44 to scan the marked points. The two sides are the parts or auxiliary material placement areas, and the rear is equipped with a display screen 34.

[0056] like Figure 1 As shown, the virtual-real mapping system 5 includes a virtual simulation model and a virtual-real interaction interface. The virtual simulation model is connected to the assembly guidance system 3, reflects the real equipment and assembly product model, and is displayed on the virtual-real mapping system interface. The virtual-real interaction interface is connected to the intelligent detection system 4, receives motion status data of the collaborative robot and peripheral equipment (lifting and rotating device 22 and transfer protection fixture 23), and drives the virtual simulation model to update its pose in real time. It also has collision warning and process playback functions, which can realize collision warning of the robot and peripheral equipment and traceability of the assembly process.

[0057] like Figure 9 As shown, the present invention also provides a method for integrated assembly and testing of complex electromechanical products, comprising the following steps: Step S01: Add an assembly and testing process template in the assembly and testing process management and control function 13 of the main control system 1, and edit the assembly and testing process sequence; Step S02: The assembly guidance system 3, in the assembly process planning and simulation module 312 of the assembly process guidance software 31, formulates the assembly process information table according to the assembly and testing process template, edits the assembly animation process, and generates assembly process scene data. Step S03: The intelligent detection system 4 calls the offline programming simulation module 41, imports the 3D CAD model file of the product object, obtains the viewpoint trajectory and robot trajectory according to different detection tasks and viewpoint planning algorithms, and generates the robot executable program file. Step S04: In the intelligent testing system 4, the testing management and collaboration system 424 formulates the intelligent testing task process based on the assembly and testing process template and generates testing process data. Step S05: The central control system 1 selects the assembly and testing process template and enters the example product model and ID (used to notify each system to load the corresponding configuration data, which contains the assembly and testing data for the corresponding product model). It then sends the example product model and ID to the assembly guidance system 3 and the intelligent testing system 4 and notifies them to perform initialization. Step S06: The assembly guidance system 3 loads the example product scenario configuration data, and the status is unassembled. It then notifies the main control system 1 that initialization is complete. Step S07: The intelligent detection system 4 loads the system configuration data of the example product, sets the status to initial state, and notifies the central control system 1 that initialization is complete. Step S08: The main control system 1 notifies the assembly guidance system 3 to execute step STEP:1-1, and the assembly guidance system plays the assembly animation of STEP:1-1 in a loop. Step S09: The central control system 1 notifies the intelligent detection system 4 to execute step STEP:1-1 visual recognition task T1. The purpose of visual recognition is to determine whether the loaded part in the current step is correct. If the recognition is correct, the central control software will automatically proceed to the next step. If the recognition is incorrect, it will prompt that the part is incorrect and the next step cannot be continued. Step S10: The main control system 1 notifies the assembly guidance system 3 to execute step STEP:1-2, and the assembly guidance system 3 plays the assembly animation of step STEP:1-2 in a loop. Step S11: If there is an assembly task in step STEP:1-2, after the assembly guidance system 3 establishes communication with the assembly tool 33, the assembly guidance system 3 selects the assembly tool task for the corresponding step; after the assembly tool 33 starts, the tool data is displayed in real time on the assembly guidance system interface, and the assembly tool 33 result data is saved in the background; after the assembly tool 33 finishes its operation, the tool result data is returned to the central control system 1. Step S12: The central control system 1 notifies the intelligent detection system 4 to execute step STEP:1-2 visual inspection, and displays prompt information on the assembly guidance system 3 (e.g., prompting personnel to leave the assembly area). Step S13: After manually clicking "Confirm" on the assembly guidance system 3 interface, the central control system 1 notifies the intelligent inspection system 3 to execute visual inspection task T2. The purpose of visual inspection is to check whether each part is assembled in place after assembly, or whether there are defects, damage, scratches, cracks, or other quality issues on the product surface after assembly. Step S14: After the visual inspection task T2 is completed, the intelligent inspection system 4 notifies the central control system 1 that the visual inspection task T2 is complete. Step S15: The central control system 1 notifies the intelligent detection system 4 to perform the three-dimensional scanning step and displays a prompt message on the assembly guidance system 3. Step S16: After manually clicking "OK" on the assembly guidance system 3 interface, the main control system 1 notifies the intelligent detection system 4 to execute the 3D scanning task T3. Step S17: After the 3D scanning task T3 is completed, the intelligent detection system 4 notifies the central control system 1 that the 3D scanning task T3 is complete. Step S18: To facilitate assembly operations, the equipment actions of steps STEP:1-4 can be executed. The intelligent detection system 4 obtains the corresponding action program (lifting, flipping, horizontal rotation, and the actions of the collaborative robot 24), and drives the collaborative robot 24 and peripheral equipment to complete motion control. For example, if the bottom of the product needs to be assembled, the lifting and rotating device 22 is driven to complete the horizontal flipping; to facilitate assembly by the operator, the horizontal turntable 223 is driven to rotate so that the surface to be installed faces the operator. Step S19: Repeat or interleave subsequent assembly inspection tasks according to steps S08-S18 (there is no fixed order between visual recognition tasks, visual inspection tasks, and 3D scanning tasks; they can be freely configured in conjunction with the assembly and testing process. The 3D scanning process must be executed separately because the scanner emits blue laser light, which affects the image acquisition by the visual camera), until all assembly inspection steps are completed.

[0058] like Figure 10 As shown, step S09 specifically includes the following steps: Step S09.1: The intelligent detection system 4 calls the visual recognition task T1, and the type recognition camera 32 performs a detection every 0.5 seconds using a deep learning visual algorithm. Step S09.2: If a part is detected or a specified time is reached, output the identification result and save the result data; Step S09.3: The visual recognition result is sent to the central control system 1. The central control system 1 sends the recognition result to the assembly guidance system 3 and gives a prompt. If the recognition is incorrect, the visual recognition task T1 will be executed again. The central control system 1 waits until the recognition result is correct. like Figure 11 As shown, step S13 specifically includes: Step S13.1: The intelligent detection system 4 finds the action program C1 corresponding to step STEP:1-2, which includes the motion trajectory of the collaborative robot 24 and the motion of the peripheral devices. The intelligent detection system 4 calls the motion control module 42 to specify the device coordinates (cooperative robot 24 coordinates, peripheral devices) for motion control until the motion is completed. Step S13.2: The virtual-real mapping system 5 displays the motion status of the collaborative robot 24 and peripheral devices in real time; Step S13.3: The intelligent detection system 4 calls the visual processing platform software 434 based on the communication interface module to perform visual detection task T2; Step S13.4: Start the visual processing platform detection process. The camera control module captures the detection image, the visual tool module obtains the preset detection program, obtains the storage path of the detection image, and calls the visual algorithm module to output the detection result. If the result is not obtained within the specified time, a prompt will be given. Step S13.5: Write the detection results into the database, and record the path of the corresponding detection result image in the database.

[0059] like Figure 12 As shown, step S16 specifically includes: Step S16.1: The intelligent detection system 4 finds the action program C2 corresponding to step STEP:1-3, which includes the motion trajectory of the collaborative robot 24 and the motion of the peripheral equipment. The intelligent detection system 4 calls the motion control module 42 to specify the device coordinates (collaborative robot coordinates) for motion control until the motion is completed. Step S16.2: The virtual-real mapping system 5 displays the motion status of the collaborative robot 24 and peripheral devices in real time; Step S16.3: The intelligent detection system 4 automatically performs the three-dimensional scanning task T3 by calling the three-dimensional scanning module 44 based on TCP communication; Step S16.4: The 3D scanning module 44 calls the configured 3D scanning process program for step STEP:1-3, including scanner settings, scanning data acquisition parameters, and setting the workpiece number. The workpiece number is issued by the central control system 1. Step S16.5: Start the scanning process. The 3D scanning module 44 displays the acquired 3D scanning data in real time. Step S16.6: After the scan is completed, the 3D scanning module 44 calls the scanning data analysis and processing software 443 to perform scanning data processing, report generation, and data saving steps. Step S16.7: Write the 3D scan data into the database, and also write the original scan result file into the database.

[0060] In summary, this invention provides an integrated assembly and inspection platform and method for complex electromechanical products. Through virtual simulation, deep learning vision technology, and multi-source data fusion perception, it achieves functions such as virtual-real mapping during the assembly process, virtual-real data fusion comparison, assembly operation guidance, and real-time storage of assembly data. Multiple cameras collect information and perform data fusion, allowing for customization of inspection elements and configuration of element inspection parameters. Offline programming simulation technology automatically plans the optimal robot trajectory. A robot-based intelligent inspection system enables rapid detection and identification analysis of assembly nodes, addressing needs such as misassembly / omission detection, surface defect detection, and product positioning. An auxiliary assembly mechanism assists operators in completing some operational actions. Based on the results of multiple inspection elements, assembly quality is determined, and quality reports are generated. These methods improve the digitalization level of product assembly and inspection, reduce the learning cost for on-site assembly and inspection personnel, and improve assembly and inspection efficiency and quality.

[0061] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0062] In the description of this invention, it should be understood that the terms "center," "height," "thickness," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0063] In the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0064] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature include the first feature being directly above or diagonally above the second feature, or simply indicating that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" of the second feature include the first feature being directly below or diagonally below the second feature, or simply indicating that the first feature is at a lower horizontal level than the second feature.

[0065] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. An integrated assembly and testing platform for complex electromechanical products, characterized in that, Include: The central control system is used for overall control of the entire integrated assembly and testing platform; The automated equipment is integrated and connected to the central control system for integrating various automated hardware. The assembly guidance system, connected to the central control system, is used to guide operators to complete the entire assembly and inspection process. It plays assembly animations, displays prompts, displays tool data, and saves the data in the background, using each step as a basic unit. The intelligent detection system is connected to the overall control system and is used to control the collaborative robot, lifting and rotating device and transfer protection fixture. It calls the vision detection module to complete the image detection task, calls the 3D scanning module to complete the 3D scanning and output the detection report, calls the offline programming simulation module to complete the viewpoint planning and trajectory planning, and controls the collaborative robot to complete the predetermined movement according to the output trajectory. The virtual-real mapping system is connected to the overall control system, assembly guidance system, and intelligent detection system to display the motion status of the collaborative robot, lifting and rotating device, and transfer protection tooling in real time.

2. The integrated assembly and testing platform for complex electromechanical products as described in claim 1, characterized in that, The central control system includes: The user management function includes three functions: adding users, modifying users, and deleting users. The system's basic functions include system login and system self-check. The system login is a login mechanism that sets a username and password. The system self-check includes hardware self-check and software self-check. The hardware self-check checks whether the hardware is in the installation preparation state, and the software self-check configures and manages relevant parameters. The assembly and testing process management and control functions include: assembly and testing process template editing, allowing users to create or modify assembly and testing process templates according to the product's assembly and testing process requirements; assembly and testing process execution control, enabling automatic assembly and testing process control, manual assembly and testing single-step control, pause control, and exception handling; assembly and testing process execution monitoring, monitoring and displaying the execution status during the assembly and testing process; and fault alarm and display, handling and displaying alarm information when system faults occur. The assembly and testing process steps are recorded and traced back, the assembly and testing execution process is saved, and the assembly and testing process step data query function is provided; The subsystem functions include calling the automated equipment integration, assembly guidance system, intelligent detection system, and virtual-physical mapping system, and receiving instructions from the central control system to execute command tasks; The assembly and testing data analysis function provides assembly and testing data analysis capabilities. It loads the generated assembly and testing data, converts it into a standard format, and stores it in the database. It also provides a system for querying and statistically analyzing test results in the background database.

3. The integrated assembly and testing platform for complex electromechanical products as described in claim 1, characterized in that, The automated equipment integration includes: an operating platform, a lifting and rotating device, and a collaborative robot; The central part of the operating platform is the assembly area, which is used to perform assembly actions; The lifting and rotating device is used to achieve overall horizontal flipping and rotation of the product; the lifting and rotating device includes a linear module, a hollow turntable, a transfer protection fixture, and a bottom turntable; the linear module is used to lift the product; the hollow turntable is connected to the linear module and can be lifted and lowered with the linear module, and the hollow turntable can also rotate, the interior of the hollow turntable is a crossed roller bearing; the transfer protection fixture is fixedly connected to the hollow turntable, the transfer protection fixture includes a transfer part, the transfer part has a clamping ring and a connecting part, the clamping ring is used to connect the base of the product. The connecting part is used to connect the hollow turntable; the connecting part is equipped with four cylinders and two handle-type positioning fasteners; the cylinders are inserted into the clamping ring to achieve a fixed connection between the connecting protection fixture and the product; the handle-type positioning fasteners are used to manually insert into the clamping ring to prevent abnormal retraction of the cylinders from causing them to detach from the product; both the cylinders and the handle-type positioning fasteners have signal detection inside to prevent the product from accidentally falling; the bottom turntable is located below the connecting protection fixture and can drive the product to rotate horizontally, so that the surface of the product to be installed faces the operator; The collaborative robot is used to install and drive the vision inspection module and the 3D scanning module.

4. The integrated assembly and testing platform for complex electromechanical products as described in claim 1, characterized in that, The assembly guidance system includes: assembly process guidance software, type recognition camera, assembly tools, and display screen; The assembly process guidance software includes: an assembly process resource construction module, an assembly process planning and simulation module, an assembly process publishing module, a data interaction module, and a database module; the assembly process resource construction module and the assembly process planning and simulation module are used to generate assembly animations and data; The assembly process publishing module is called by the central control system to read and display the assembly scene and animation; the data interaction module is used to interact with the assembly tools; the database module is used to save and read the assembly scene data. The type recognition camera is positioned above the operating platform and is used to identify product parts and components, prompting and driving the assembly process guidance steps. The assembly tool is located next to the operating platform, and the operation data of the assembly tool is displayed in real time on the interface of the assembly process guidance software. The display screen is located behind the operating platform and is used to display the interface of the assembly process guidance software to realize human-machine interaction.

5. The integrated assembly and testing platform for complex electromechanical products as described in claim 1, characterized in that, The intelligent detection system includes: an offline programming simulation module, a motion control module, a vision detection module, and a 3D scanning module; The offline programming simulation module includes a virtual simulation environment and a viewpoint planning algorithm. The virtual simulation environment is used to build scene models for different assembly and testing products, and the viewpoint planning algorithm is used to automatically plan the robot's motion trajectory and the viewpoint trajectory of the detection task. The motion control module includes motion control software to control the motion of the collaborative robot. It also includes safety protection, signal control, detection management, and a collaborative system. The safety protection integrates emergency stop, motion anomaly protective stop, and safety parameter setting functions to ensure safety during automated operation. It also has handling and recovery functions for abnormal interruptions, ensuring no test data is lost during system pauses or interruptions. The signal control integrates analog and digital input / output functions, supporting the interaction of various sensor signals and control commands to achieve I / O control of relevant electrical components. The detection management and collaborative system enables communication, interaction, and collaborative control with the central control system, assembly guidance system, and intelligent detection system. The vision inspection module includes a vision component and vision processing platform software. The vision component is mounted on the collaborative robot and includes a defect detection camera, a light source, and a recording camera. The defect detection camera is installed at the end of the collaborative robot to detect product assembly and defects in the assembly area. The light source is installed at the end of the collaborative robot to provide a surface light source. The recording camera is positioned above the lifting and rotating device to record the product assembly process. The vision processing platform software controls the vision component to acquire specific images and processes the images acquired by the recording camera. The vision processing platform software includes a camera control module, a vision tool module, a deep learning algorithm module, and a communication interface module. The communication interface module receives task instructions from the central control system. The camera control module executes corresponding recognition and detection tasks according to the task instructions. The deep learning algorithm module acquires images of correct assembly inspection steps for learning and training. The vision tool module processes the images using a preset recognition and detection program and the deep learning algorithm module to obtain recognition and detection results, and sends the recognition and detection results to the central control system through the communication interface module. The 3D scanning module includes a 3D laser scanner, scanning software, and scanning data analysis and processing software. The 3D laser scanner is installed at the end of the collaborative robot and is used to scan the product's shape features after assembly. The scanning results are obtained by combining the scanning software and the scanning data analysis and processing software. The scanning software is used to configure scanning parameters and display the 3D model image in real time during the scanning process. The scanning data analysis and processing software compares the generated 3D scan model with the product design 3D model and outputs an analysis report.

6. The integrated assembly and testing platform for complex electromechanical products as described in claim 1, characterized in that, The virtual-real mapping system includes a virtual simulation model and a virtual-real interaction interface. The virtual simulation model is connected to the assembly guidance system, reflects the real equipment and assembly product model, and is displayed on the virtual-real mapping system interface. The virtual-real interaction interface is connected to the intelligent detection system, receives motion status data of the collaborative robot, lifting and rotating device, and transfer protection fixture, and drives the virtual simulation model to update its pose in real time. It also has collision warning and process playback functions, enabling collision warning of the robot, lifting and rotating device, and transfer protection fixture, and traceability of assembly process actions.

7. A method for integrated assembly and testing of complex electromechanical products, based on the integrated assembly and testing platform for complex electromechanical products as described in any one of claims 1-6, characterized in that, Include: Step S01: Add an assembly and testing process template and edit the assembly and testing process sequence in the assembly and testing process management and control function of the master control system; Step S02: The assembly guidance system, in the assembly process planning and simulation module of the assembly process guidance software, formulates the assembly process information table based on the assembly and testing process template, edits the assembly animation process, and generates assembly process scene data. Step S03: The intelligent detection system calls the offline programming simulation module, imports the 3D CAD model file of the product object, obtains the viewpoint trajectory and robot trajectory according to different detection tasks and viewpoint planning algorithms, and generates the robot executable program file. Step S04: In the intelligent testing system, the testing management and collaboration system formulates intelligent testing task processes based on the assembly and testing process template and generates testing process data. Step S05: The central control system selects the assembly and testing process template, enters the example product model and ID, sends the example product model and ID to the assembly guidance system and intelligent testing system, and notifies them to perform initialization; Step S06: The assembly guidance system loads the example product scenario configuration data, sets the status to unassembled, and notifies the central control system that initialization is complete. Step S07: The intelligent detection system loads the system configuration data of the example product, sets the status to initial state, and notifies the central control system that initialization is complete. Step S08: The main control system notifies the assembly guidance system to execute step STEP:1-1, and the assembly guidance system plays the assembly animation of STEP:1-1 in a loop. Step S09: The central control system notifies the intelligent detection system to execute visual recognition task T1. The purpose of visual recognition is to determine whether the loaded part in the current step is correct. If the recognition is correct, the central control software will automatically proceed to the next step. If the recognition is incorrect, it will prompt that the part is wrong and the next step cannot be continued. Step S10: The main control system notifies the assembly guidance system to execute step STEP:1-2, and the assembly guidance system plays the assembly animation of step STEP:1-2 in a loop. Step S11: If there is an assembly task in step STEP:1-2, after the assembly guidance system establishes communication with the assembly tool, the assembly guidance system selects the assembly tool task for the corresponding step; after the assembly tool starts, the tool data is displayed in real time on the assembly guidance system interface, and the assembly tool result data is saved in the background; after the assembly tool finishes its operation, the tool result data is returned to the central control system. Step S12: The central control system notifies the intelligent inspection system to execute step STEP:1-2 visual inspection and displays a prompt message in the assembly guidance system. Step S13: After manually clicking "Confirm" on the assembly guidance system interface, the central control system notifies the intelligent inspection system to execute visual inspection task T2. The purpose of visual inspection is to check whether each part is assembled in place after assembly, or whether there are defects, damage, scratches, or cracks on the product surface. Step S14: After visual inspection task T2 is completed, the intelligent inspection system notifies the central control system that visual inspection task T2 is complete. Step S15: The central control system notifies the intelligent detection system to perform the 3D scanning step and displays a prompt message on the assembly guidance system; Step S16: After manually clicking "OK" on the assembly guidance system interface, the central control system notifies the intelligent detection system to execute the 3D scanning task T3. Step S17: After the 3D scanning task T3 is completed, the intelligent detection system notifies the central control system that the 3D scanning task T3 is complete. Step S18: Execute the equipment actions of steps 1-4. The intelligent detection system obtains the corresponding action program and drives the collaborative robot, lifting and rotating device and transfer protection fixture to complete motion control. Step S19: Repeat or interleave subsequent assembly and inspection tasks according to steps S08-S18 until all assembly and inspection steps are completed.

8. The integrated assembly and testing method for complex electromechanical products as described in claim 7, characterized in that, Step S09 includes: Step S09.1: The intelligent detection system calls visual recognition task T1, and the type recognition camera performs a detection every 0.5 seconds using a deep learning visual algorithm; Step S09.2: If a part is detected or a specified time is reached, output the identification result and save the result data; Step S09.3: The visual recognition result is sent to the central control system. The central control system sends the recognition result to the assembly guidance system and gives a prompt. If the recognition is incorrect, the visual recognition task T1 will be executed again. The central control system waits until the recognition result is correct.

9. The integrated assembly and testing method for complex electromechanical products as described in claim 7, characterized in that, Step S13 includes: Step S13.1: The intelligent detection system finds the action program C1 corresponding to step STEP:1-2, which includes the motion trajectory of the collaborative robot and the motion of the lifting and rotating device and the transfer protection fixture. The intelligent detection system calls the motion control module to specify the motion control of the equipment coordinates until the motion is completed. Step S13.2: The virtual-real mapping system displays the motion status of the collaborative robot, lifting and rotating device, and transfer protection fixture in real time; Step S13.3: The intelligent detection system calls the visual processing platform software based on the communication interface module to perform visual detection task T2; Step S13.4: Start the visual processing platform detection process. The camera control module captures the detection image, the visual tool module obtains the preset detection program, obtains the storage path of the detection image, and calls the visual algorithm module to output the detection result. If the result is not obtained within the specified time, a prompt will be given. Step S13.5: Write the detection results into the database, and record the path of the corresponding detection result image in the database.

10. The integrated assembly and testing method for complex electromechanical products as described in claim 7, characterized in that, Step S16 includes: Step S16.1: The intelligent detection system finds the action program C2 corresponding to step STEP:1-3, which includes the motion trajectory of the collaborative robot, the lifting and rotating device, and the transfer protection fixture. The intelligent detection system calls the motion control module to specify the equipment coordinate motion control until the motion is completed. Step S16.2: The virtual-real mapping system displays the motion status of the collaborative robot, lifting and rotating device, and transfer protection fixture in real time; Step S16.3: The intelligent detection system automatically performs the 3D scanning task T3 by calling the 3D scanning module based on TCP communication; Step S16.4: The 3D scanning module calls the configured 3D scanning process program for step STEP:1-3, including scanner settings, scanning data acquisition parameters, and setting the workpiece number. The workpiece number is issued by the central control system. Step S16.5: Start the scanning process. The 3D scanning module displays the acquired 3D scanning data in real time. Step S16.6: After scanning is completed, the 3D scanning module calls the scanning data analysis and processing software to perform scanning data processing, report generation, and data saving. Step S16.7: Write the 3D scan data into the database, and also write the original scan result file into the database.

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