Automatic bolt assembling method and device, terminal equipment and storage medium

Abstract

The invention relates to the technical field of automatic control, in particular to an automatic bolt assembling method and device, terminal equipment and a storage medium. The method comprises the steps that a received assembling mode command is responded, and a first assembling mode or a second assembling mode is entered; when in the first assembly mode, according to an input bolt head type and visible parts in a preset model tree, identifying hole features of the visible parts matched with the bolt head type, and extracting hole parameters; the hole parameters are matched with a bolt library, a target bolt is determined, a corresponding bolt is inserted into the position of the target hole, and automatic assembling is carried out; and in the second assembly mode, according to the input bolt category, specific specification, assembly position cylindrical surface and mounting surface, a target bolt is inserted in a specified position, and automatic assembly is carried out. Double-mode automatic bolt assembling is achieved, and bolt assembling is more intelligent.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, and in particular to an automatic bolt assembly method, device, terminal equipment and storage medium. Background Technology

[0002] Currently, bolt assembly operations in 3D design software require manual intervention. First, the bolt is inserted into the product (via the catalog). Then, the parts to be assembled are selected, and fixed constraints are created. Next, the axis of the parts to be assembled and the axis of the bolt are selected, and mating constraints are created. Finally, the mounting surfaces of the parts to be assembled and the mounting surfaces of the bolt are selected, and contact constraints are created. For bolts of the same direction and type, the bolt can be copied to the assembly hole location. All of these operations require manual user intervention, resulting in low assembly efficiency and a high risk of errors. Summary of the Invention

[0003] In view of this, embodiments of this application provide an automatic bolt assembly method, apparatus, terminal equipment, and storage medium, which can effectively solve the problem of low assembly efficiency.

[0004] In a first aspect, embodiments of this application provide an automatic bolt assembly method, including: In response to the received assembly mode command, enter the first assembly mode or the second assembly mode; When in the first assembly mode, based on the input bolt head type and the visible parts in the preset model tree, the hole features of the visible parts that match the bolt head type are identified, and the hole parameters are extracted. The hole parameters are matched with the bolt library to determine the target bolt. The corresponding bolt is then inserted at the target hole position for automatic assembly. When in the second assembly mode, the selected bolt is inserted at the specified position based on the input bolt type, specific specifications, assembly position (cylindrical surface and mounting surface) to perform automatic assembly. In some embodiments, matching the hole parameters with a bolt library to determine the target bolt includes: The diameter parameter of each hole feature is compared with the target hole diameter value. If the diameter parameter and the target hole diameter value match, the hole feature is added to the set to be processed. Pattern matching is performed on each hole feature in the set to be processed. If the match is successful, the depth value of the hole feature is obtained, and the target hole diameter value, the depth value and the preset mapping relationship are used to determine the corresponding target bolt.

[0005] In some embodiments, identifying the hole features of visible parts that match the bolt head type based on the input bolt head type and visible parts in a preset model tree includes: Traverse the entity features of the visible parts, determine the visible parts that match the bolt head type, and determine the shape features in the entity features of the matching visible parts; Based on each shape feature, obtain the feature name of each shape feature, and determine whether the type of the shape feature is a hole feature based on the feature name.

[0006] In some embodiments, the step of inserting the corresponding bolt at the target hole position for automatic assembly includes: Automatically create fixing constraints, mating constraints, and contact constraints for the bolts and holes until all bolts are assembled.

[0007] In some embodiments, the step of being in the second assembly mode further includes: When the type of bolt entered is a parallel pin, the user is prompted to enter the diameter data of the parallel pin. When the input bolt category is threaded bolt, the user is prompted to input the thread specification and bolt head type data of the threaded bolt.

[0008] In some embodiments, the automatic creation of fixing constraints, mating constraints, and contact constraints for the bolts and holes until all bolts are assembled includes: The bolts are fastened to the target part to create the fixation constraint; The bolt is aligned with the central axis of the hole in the part to create the engagement constraint; The lower end face of the bolt is brought into contact with the mounting surface of the part to create the contact constraint.

[0009] In some embodiments, aligning the bolt with the central axis of the hole in the part to create the engagement constraint, and contacting the lower end face of the bolt with the mounting surface of the part to create the contact constraint, includes: Based on the center position and axial direction of the identified holes, reference geometric elements for assembly positioning are automatically created. Based on the reference geometry, the bolt and the hole are aligned along their axes and their surfaces are mated before the bolt assembly operation is performed.

[0010] Secondly, this application also provides an automatic bolt assembly device, comprising: The mode control module is used to respond to the received assembly mode command and enter the first assembly mode or the second assembly mode. The hole matching module is used to identify the hole features of visible parts that match the bolt head type when the first assembly mode is in use, based on the input bolt head type and visible parts in the preset model tree, and to extract the hole parameters. An automatic assembly module is used to match the hole parameters with the bolt library, determine the target bolt, insert the corresponding bolt at the target hole position, and perform automatic assembly. The semi-automatic assembly module is used to automatically assemble bolts by inserting them at specified positions based on the input bolt type, specific specifications, and the cylindrical and mounting surfaces of the assembly location when in the second assembly mode.

[0011] Thirdly, this application also provides a terminal device, the terminal device including a processor and a memory, the memory storing a computer program, and the processor executing the computer program to implement the described automatic bolt assembly method.

[0012] Fourthly, this application also provides a computer-readable storage medium storing a computer program that, when executed on a processor, implements the aforementioned automatic bolt assembly method.

[0013] The embodiments of this application have the following beneficial effects: This application provides two assembly modes for flexible automatic bolt assembly. When the bolt and part data can be matched in the model tree and bolt library, the first assembly mode enables automated assembly. When custom assembly is required, the second assembly mode enables semi-automatic assembly. Users only need to input the correct parameters to complete the assembly operation, which greatly reduces the possibility of misoperation and improves assembly efficiency. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 A flowchart illustrating an automatic bolt assembly method according to an embodiment of this application is shown; Figure 2 This paper illustrates a schematic diagram of an automatic bolt matching process according to an embodiment of this application. Figure 3 A schematic diagram of a semi-automatic bolt matching process according to an embodiment of this application is shown; Figure 4 A schematic diagram of an automatic bolt assembly device according to an embodiment of this application is shown. Detailed Implementation

[0016] The technical solutions in 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.

[0017] The components of the embodiments of this application described and illustrated in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0018] In the following text, the terms "comprising," "having," and their cognates, which may be used in various embodiments of this application, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more combinations thereof. Furthermore, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0019] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be construed as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this application.

[0020] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0021] Current bolt assembly operations require manual assembly. Therefore, this application provides an automatic bolt assembly method, comprising: responding to a received assembly mode command and entering a first assembly mode or a second assembly mode; when in the first assembly mode, identifying the hole features of visible parts matching the bolt head type based on the input bolt head type and visible parts in a preset model tree, and extracting hole parameters; matching the hole parameters with a bolt library to determine the target bolt, inserting the corresponding bolt at the target hole position, and performing automatic assembly; when in the second assembly mode, inserting the selected bolt at a specified position based on the input bolt type, specific specifications, and the cylindrical surface and mounting surface of the assembly position, and performing automatic assembly. This dual-mode parallel assembly method enables efficient and controllable automatic bolt assembly operations.

[0022] The automatic bolt assembly method will be explained below with reference to some specific embodiments.

[0023] Figure 1 A flowchart of an automatic bolt assembly method according to an embodiment of this application is shown. Exemplarily, the automatic bolt assembly method includes the following steps: Step S100: In response to the received assembly mode command, enter the first assembly mode or the second assembly mode.

[0024] The automatic bolt assembly method of this embodiment is applied to bolt assembly scenarios, primarily in scenarios involving bolt assembly using software such as CATIA (a 3D design software). Users will need to perform bolt assembly operations within a virtual scene created in this 3D design software, that is, inserting the target bolt into the corresponding hole of the part to complete the assembly operation. Therefore, the method of this embodiment can be in the form of an auxiliary plug-in, assisting users in performing more intelligent and automated bolt assembly operations when using such 3D design software.

[0025] The automatic bolt assembly method in this embodiment provides two assembly modes: a first assembly mode and a second assembly mode. For operators, it is necessary to select an assembly mode before proceeding with subsequent assembly operations.

[0026] The first assembly mode is a fully automatic assembly mode. In subsequent assembly operations, the user only needs to provide basic data, and the system can automatically identify and assemble bolts based on local data. The second assembly mode is a semi-automatic assembly mode, which is required in some special scenarios.

[0027] Step S200: When in the first assembly mode, based on the input bolt head type and the visible parts in the preset model tree, identify the hole features of the visible parts that match the bolt head type, and extract the hole parameters.

[0028] When in the first assembly mode, the user needs to input the bolt head type to be assembled. Bolt head types include internal hexagon and external hexagon. The bolt corresponding to the input bolt head type is the target bolt.

[0029] Once the type is determined, the visible parts in the preset model tree are scanned based on that bolt type. Visible parts are various part data stored in the preset model tree. Since the user needs to use the target bolt for assembly operations, it is necessary to find parts that match the target bolt. Matching between parts and bolts means that the diameter, length, and other specifications of the holes on the parts and the bolts are consistent.

[0030] Therefore, it is necessary to obtain the hole features of each visible part and extract the hole parameters.

[0031] It is understood that the visible parts mentioned here refer to the part data stored in the calculation, which is also the data in the aforementioned 3D design software. Its form can be such as CAD drawings or other 3D model data.

[0032] Therefore, this embodiment uses a multi-level feature traversal mechanism to identify whether each part has hole features. Only after determining whether the hole features exist can it be further determined whether it matches the target bolt.

[0033] First, it iterates through the solid features of each visible part. These solid features refer to the visible and tangible features of the part, such as Extrude, Revolve, Sweep, Loft, Chamfer, Fillet, and Hole.

[0034] Based on the acquired entity features, further traversal can be performed to determine all shape features contained within them. Shape features are included within entity features and refer to features such as chamfers, fillets, and holes. This step requires determining the hole feature; therefore, when traversing shape features, it is only necessary to determine whether its feature type name is "hole". It should be noted that the feature type name here is limited by language or software settings. The determination is made by identifying whether it is "hole" or "hole". However, the main purpose here is to determine whether the meaning represented by the feature type name is "hole". In other environments, if the wording changes but still represents the same meaning, the feature can still be identified as a hole feature.

[0035] Once the hole features of the part are determined, the hole parameters can be extracted. The hole parameters include parameters such as the diameter, depth, and position coordinates of the hole.

[0036] It is understandable that the aforementioned hole parameters can be directly read from the system after the existence of hole features is confirmed. This step mainly involves obtaining parts with hole features from the system based on a secondary traversal method, as well as obtaining the hole parameters in the hole features of these parts.

[0037] Step S300: Match the hole parameters with the bolt library to determine the target bolt, insert the corresponding bolt at the target hole position, and perform automatic assembly.

[0038] After obtaining the hole parameters, they can be matched with the bolt data in the bolt library. It's understandable that initially, the user only input the bolt head type; however, this condition alone is insufficient to limit the types of bolts that can be assembled. For example, if the user only wants to assemble hexagonal bolts, then various bolts conforming to the hexagonal shape are generally within the scope of the assembly.

[0039] In order to enable automated assembly, the hole parameters obtained in the previous steps need to be matched with the bolt library to determine the final bolt specifications to be used in the assembly, and then the corresponding assembly work is carried out.

[0040] Specifically, such as Figure 2 As shown, this step includes the following process: Step S310: Compare the diameter parameter of each hole feature with the target hole diameter value. If the diameter parameter and the target hole diameter value match, add the hole feature to the set to be processed.

[0041] First, compare the diameter parameter with the target hole diameter value. The target hole diameter value here refers to the diameter of the target hole to be assembled during this assembly. This value is a preset value, which can be input by the user or a value determined according to the current project.

[0042] Matching here refers to the diameter parameter and the target hole diameter value being compatible with each other. In this case, the bolt with the corresponding diameter can be perfectly fitted into the corresponding part hole. Therefore, matching is achieved by comparing the target hole diameter value.

[0043] It is understandable that, since the matching is performed in the bolt library, multiple data can be matched based on the diameter alone. Therefore, the matched hole features will be recorded and stored in the set to be processed for subsequent processing.

[0044] It is understandable that, due to the above-mentioned update method, this set can dynamically add the hole features that need to be processed to the set, realizing a dynamic management mechanism, thereby flexibly adapting to different numbers of matching hole features.

[0045] Step S320: Perform pattern matching on each hole feature in the set to be processed. If the matching is successful, obtain the depth value of the hole feature, and determine the corresponding target bolt by using the target hole diameter value, the depth value and the preset mapping relationship.

[0046] Next, pattern matching is performed on each hole feature in the set to be processed to determine the target bolt.

[0047] Here, the feature data in the set to be processed will still be traversed to obtain the depth value of the hole feature. Then, based on the hole diameter, the corresponding standard bolt specification name will be determined through a preset mapping relationship. This mapping relationship can be a mapping relationship between depth value and specification, or a mapping relationship between hole diameter and specification, or a combination of both. Any mapping relationship that can find the corresponding bolt specification based on the extracted data is a usable mapping relationship in this embodiment.

[0048] Once the target bolts are identified, they can be used for assembly.

[0049] Visually, assembly involves inserting bolts into holes to complete the assembly. In the program, it is necessary to create fixing constraints, mating constraints, and contact constraints for the bolts and the holes.

[0050] Fixed constraint refers to fixing the bolt to the part. Matching constraint refers to aligning the central axis of the bolt with the central axis of the hole. Contact constraint refers to ensuring that the lower end face of the bolt contacts the mounting surface of the part.

[0051] To create the aforementioned constraints, reference geometric elements for assembly positioning can be automatically created based on the center position and axial direction of the identified holes. Based on the reference geometry, the bolt and the hole are aligned along their axes and their surfaces are mated before a bolt assembly operation is performed. This creates the engagement constraint by aligning the bolt with the center axis of the hole in the part, and creates the contact constraint by bringing the lower end face of the bolt into contact with the mounting surface of the part.

[0052] Because there are many parts to process and more than one type of bolt, the process is repeated until all parts are assembled with bolts.

[0053] Step S400: When in the second assembly mode, based on the input bolt type, specific specifications, assembly position (cylindrical surface and mounting surface), insert the selected bolt at the specified position for automatic assembly. When in the second assembly mode, the control method may differ from the steps described above.

[0054] It should be noted that the second assembly mode is used when the assembly position is a special position, or a position specially selected by the user, or when the target hole position does not have a standard hole feature saved in the current database.

[0055] Among them, such as Figure 3 As shown, it also includes the following steps: Step S410: When the input bolt type is parallel pin, the user is prompted to input the diameter data of the parallel pin.

[0056] The bolt category includes parallel pins and threaded bolts. The data that users need to input is different for these two different categories. For example, when the bolt category is parallel pins, there is no specification data for threaded bolts. Therefore, users need to input the diameter data of the parallel pins, such as Φ5, Φ6, etc.

[0057] Step S420: When the input bolt category is threaded bolt, the user is prompted to input the thread specification and bolt head type data of the threaded bolt.

[0058] When the bolt category entered is threaded bolt, the thread specification (such as M6, M8, etc.) and bolt head type (internal hexagon, external hexagon, etc.) need to be entered.

[0059] After obtaining different data for different bolt types, automatic assembly can be performed. The automatic assembly process here is similar to the automatic assembly process in step S300, both of which involve establishing corresponding fixed constraints, matching constraints, and contact constraints.

[0060] Once one bolt is assembled, the next bolt can be assembled. When other types of bolts need to be assembled, the bolt specifications and specific dimensions, as well as the assembly position (cylindrical surface and mounting surface), can be re-entered to achieve a new installation method.

[0061] The automatic bolt assembly method in this embodiment provides two assembly modes. When the bolts to be assembled are in the bolt library, it can be fully automatic, and the user only needs to input the bolt characteristics to perform the assembly. When the user needs to perform special custom assembly, a second assembly mode can be used for semi-automatic assembly, which improves assembly efficiency and reduces the probability of errors.

[0062] Figure 4 A schematic diagram of an automatic bolt assembly device according to an embodiment of this application is shown. Exemplarily, the device includes: The mode control module 10 is used to respond to the received assembly mode command and enter the first assembly mode or the second assembly mode. The hole matching module 20 is used to identify the hole features of visible parts that match the bolt head type when the first assembly mode is in use, based on the input bolt head type and visible parts in the preset model tree, and extract the hole parameters. The automatic assembly module 30 is used to match the hole parameters with the bolt library, determine the target bolt, insert the corresponding bolt at the target hole position, and perform automatic assembly. The semi-automatic assembly module 40 is used to automatically assemble bolts by inserting selected bolts at specified positions according to the input bolt type, specific specifications, and assembly position (cylindrical surface and mounting surface) when in the second assembly mode.

[0063] It is understood that the apparatus of this embodiment corresponds to the method of the above embodiments, and the options in the above embodiments are also applicable to this embodiment, so they will not be described again here.

[0064] This embodiment also provides a terminal device, which includes a processor and a memory. The memory stores a computer program, and the processor executes the computer program to implement the described automatic bolt assembly method. Exemplarily, the terminal device can be a computer, tablet, or other device capable of running 3D design software.

[0065] The processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including at least one of a Central Processing Unit (CPU), Graphics Processing Unit (GPU), Network Processor (NP), Digital Signal Processor (DSP), Application-Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0066] The memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory is used to store computer programs, and the processor can execute the computer programs accordingly after receiving execution instructions.

[0067] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that, in alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0068] In addition, the functional modules or units in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0069] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0070] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. An automatic bolt assembly method, characterized in that, include: In response to the received assembly mode command, enter the first assembly mode or the second assembly mode; When in the first assembly mode, based on the input bolt head type and the visible parts in the preset model tree, the hole features of the visible parts that match the bolt head type are identified, and the hole parameters are extracted. The hole parameters are matched with the bolt library to determine the target bolt. The corresponding bolt is then inserted at the target hole position for automatic assembly. When in the second assembly mode, the target bolt is inserted at the specified position based on the input bolt type, specific specifications, assembly position (cylindrical surface and mounting surface) for automatic assembly.

2. The automatic bolt assembly method according to claim 1, characterized in that, The step of matching the hole parameters with the bolt library to determine the target bolt includes: The diameter parameters of each hole feature are compared with the target hole diameter value. If the diameter parameters and the target hole diameter value match, the hole feature is added to the set to be processed. Pattern matching is performed on each hole feature in the set to be processed. If the match is successful, the depth value of the hole feature is obtained, and the target hole diameter value, the depth value and the preset mapping relationship are used to determine the corresponding target bolt.

3. The automatic bolt assembly method according to claim 1, characterized in that, The step of identifying the hole features of visible parts that match the bolt head type based on the input bolt head type and visible parts in the preset model tree includes: Traverse the entity features of the visible parts, determine the visible parts that match the bolt head type, and determine the shape features in the entity features of the matching visible parts; Based on each shape feature, obtain the feature name of each shape feature, and determine whether the type of the shape feature is a hole feature based on the feature name.

4. The automatic bolt assembly method according to claim 1, characterized in that, The step of inserting the corresponding bolt at the target hole position for automatic assembly includes: Automatically create fixing constraints, mating constraints, and contact constraints for the bolts and holes until all bolts are assembled.

5. The automatic bolt assembly method according to claim 1, characterized in that, When in the second assembly mode, the method further includes: When the type of bolt entered is a parallel pin, the user is prompted to enter the diameter data of the parallel pin. When the input bolt category is threaded bolt, the user is prompted to input the thread specification and bolt head type data of the threaded bolt.

6. The automatic bolt assembly method according to claim 4, characterized in that, The automatic creation of fixing constraints, mating constraints, and contact constraints for the bolts and holes, until all bolts are assembled, includes: The bolts are fastened to the target part to create the fixation constraint; The bolt is aligned with the central axis of the hole in the part to create the engagement constraint; The lower end face of the bolt is brought into contact with the mounting surface of the part to create the contact constraint.

7. The automatic bolt assembly method according to claim 6, characterized in that, The step of aligning the bolt with the central axis of the hole in the part to create the engagement constraint, and contacting the lower end face of the bolt with the mounting surface of the part to create the contact constraint, includes: Based on the center position and axial direction of the identified holes, reference geometric elements for assembly positioning are automatically created. Based on the reference geometry, the bolt and the hole are aligned along their axes and their surfaces are mated before the bolt assembly operation is performed.

8. An automatic bolt assembly device, characterized in that, include: The mode control module is used to respond to the received assembly mode command and enter the first assembly mode or the second assembly mode. The hole matching module is used to identify the hole features of visible parts that match the bolt head type when the first assembly mode is in use, based on the input bolt head type and visible parts in the preset model tree, and to extract the hole parameters. An automatic assembly module is used to match the hole parameters with the bolt library, determine the target bolt, insert the corresponding bolt at the target hole position, and perform automatic assembly. The semi-automatic assembly module is used to automatically assemble bolts by inserting selected bolts at specified positions based on the input bolt type, specific specifications, and the cylindrical and mounting surfaces of the assembly location when in the second assembly mode.

9. A terminal device, characterized in that, The terminal device includes a processor and a memory, the memory storing a computer program, and the processor executing the computer program to implement the bolt automatic assembly method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed on a processor, implements the automatic bolt assembly method according to any one of claims 1-7.

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