Workpiece setup method, workpiece setup device, workpiece setup system, and storage medium

Abstract

The application discloses a workpiece adjusting and mounting method, a workpiece adjusting and mounting device, a workpiece adjusting and mounting system and a storage medium, and belongs to the technical field of workpiece adjusting and mounting. The workpiece adjusting and mounting method comprises the following steps: a first current coordinate of a first region of a workpiece is obtained by using a joint arm, and the first region is adjusted and mounted based on the first current coordinate and a first target coordinate; after the first region is adjusted and mounted, a locking coordinate is obtained; a second current coordinate of a second region of the workpiece is obtained by using the joint arm, and the second region is adjusted and mounted based on the second current coordinate and a second target coordinate; after the second region is adjusted and mounted, the joint arm is used again to measure the first region to obtain a re-measured coordinate; a re-measured deviation is determined according to the re-measured coordinate and the locking coordinate, and a compensation amount is determined based on the re-measured deviation; the second target coordinate is corrected according to the compensation amount, and the second region is adjusted and mounted again based on the second current coordinate and the second target coordinate. In this way, the adjusting and mounting precision and reliability of the workpiece in a limited space are significantly improved.

Description

Technical Field

[0001] This application relates to the field of workpiece assembly technology, and in particular to a workpiece assembly method, workpiece assembly device, workpiece assembly system and computer-readable storage medium. Background Technology

[0002] In the fields of aerospace, shipbuilding, and large mold assembly, high-precision assembly of long or complex-shaped workpieces is often required within narrow and confined spaces. Due to the limited measurement range of a single articulated arm, "leapfrog" transfer station technology is typically used to extend the measurement coverage, enabling segmented measurement and assembly of different areas of the workpiece.

[0003] However, current segmented assembly methods typically employ a sequential process, completing the assembly of each region in turn. This approach implicitly assumes the workpiece is an absolutely rigid body, neglecting the positional coupling effect between regions caused by stress transmission and elastic deformation during the assembly process. In actual working conditions, the stress generated when assembling one end of the workpiece will be transmitted along the workpiece, causing a slight displacement at the already assembled end. The operator cannot perceive this displacement from their current measurement position, ultimately resulting in the overall assembly accuracy of the workpiece failing to meet requirements. Summary of the Invention

[0004] This application provides a workpiece loading method, a workpiece loading device, a workpiece loading system, and a computer-readable storage medium to solve at least one of the aforementioned technical problems.

[0005] The workpiece assembly method of this application includes: The first current coordinates of the workpiece are obtained by measuring the first area of ​​the workpiece using an articulated arm, and the first area is adjusted based on the first current coordinates and the first target coordinates. After the first area is adjusted, the first current coordinates are obtained as the locking coordinates; The second current coordinates of the workpiece are obtained by measuring the second region of the workpiece using the articulated arm, and the second region is adjusted based on the second current coordinates and the second target coordinates; After the second region is adjusted, the articulated arm is used again to measure the first region to obtain the remeasured coordinates; The remeasurement deviation is determined based on the remeasurement coordinates and the locked coordinates, and the compensation amount is determined based on the remeasurement deviation; The second target coordinates are corrected according to the compensation amount, and the second region is re-adjusted based on the second current coordinates and the second target coordinates.

[0006] In some embodiments, the articulated arm is used to measure the first region at a first measurement position and the second region at a second measurement position, wherein a common reference element is provided within the overlap measurable area of ​​the articulated arm between the first region and the second region; before obtaining the first current coordinate by measuring the first region of the workpiece using the articulated arm, the workpiece adjustment method further includes: When the articulated arm is in the first measurement position, the first region and the common reference piece are measured using the articulated arm to establish a first local coordinate system; When the articulated arm is in the second measurement position, the second region and the common reference piece are measured using the articulated arm to establish a second local coordinate system; Based on the first local coordinate system and the second local coordinate system, the rigid coordinate transformation relationship is determined; The rigid coordinate transformation relationship is used to transform the measurement data of the first region and the second region to the same coordinate system.

[0007] In some embodiments, during the adjustment process of the first region and / or the second region, the workpiece adjustment method further includes: According to preset triggering conditions, the articulated arm is used to measure the common reference component to obtain the current measurement value; Based on the current measured value and the initial reference value, determine the reference drift amount; Based on the reference drift amount and the reference drift threshold, determine whether the common reference component has failed; When the common reference component fails, the rigid coordinate transformation relationship is redefined.

[0008] In some implementations, the preset triggering condition includes at least one of the following conditions: The articulated arm moves from the first measurement position to the second measurement position; The articulated arm moves from the second measurement position to the first measurement position; The assembly and adjustment operation lasted for the preset time interval.

[0009] In some embodiments, the workpiece assembly method further includes: Obtain the environmental state and adjust the baseline drift threshold according to the environmental state; The more stable the environmental state, the smaller the reference drift threshold.

[0010] In some implementations, determining whether the common reference component has failed based on the reference drift amount and the reference drift threshold includes: When the reference drift is greater than the reference drift threshold in multiple consecutive samplings, the common reference component is determined to be faulty.

[0011] In some embodiments, adjusting the first region based on the first current coordinates and the first target coordinates includes: A first adjustment deviation is determined based on the first current coordinates and the first target coordinates, and the first area is adjusted based on the first adjustment deviation; The first area has been assembled, including: The first adjustment deviation is less than the first adjustment tolerance; and / or The adjustment of the second region based on the second current coordinates and the second target coordinates includes: The second adjustment deviation is determined based on the second current coordinates and the second target coordinates, and the second area is adjusted based on the second adjustment deviation; The second area has been assembled, including: The second adjustment deviation is less than the second adjustment tolerance.

[0012] In some implementations, determining the compensation amount based on the remeasurement deviation includes: When the remeasurement deviation is greater than the remeasurement tolerance, the compensation amount is determined based on the remeasurement deviation and the stress coupling parameters of the workpiece; The direction of the compensation amount is used to counteract the positional change of the first region caused by the adjustment of the second region.

[0013] In some embodiments, after correcting the second target coordinates according to the compensation amount and re-adjusting the second region based on the second current coordinates and the second target coordinates, the workpiece adjustment method further includes: Returning to the step of re-measuring the first region to obtain the re-measured coordinates after the second region has been adjusted, the re-measurement deviation is less than the re-measurement tolerance, the second adjustment deviation is less than the second adjustment tolerance, and the common reference component has not failed.

[0014] The workpiece loading device according to the embodiments of this application includes: The first adjustment module is used to measure the first area of ​​the workpiece using an articulated arm to obtain the first current coordinates, and to adjust the first area based on the first current coordinates and the first target coordinates. The locking module is used to obtain the first current coordinates as the locking coordinates after the first area is adjusted; The second adjustment module is used to measure the second region of the workpiece using the articulated arm to obtain the second current coordinates, and to adjust the second region based on the second current coordinates and the second target coordinates; The retest module is used to remeasure the coordinates of the first region after the second region has been adjusted and installed. The determination module is used to determine the remeasurement deviation based on the remeasurement coordinates and the locked coordinates, and to determine the compensation amount based on the remeasurement deviation; The correction module is used to correct the second target coordinates according to the compensation amount, and to re-adjust the second region based on the second current coordinates and the second target coordinates.

[0015] The workpiece loading system of this application includes one or more processors and a memory. The memory stores a computer program, which, when executed by the processor, implements the workpiece loading method of any of the above embodiments.

[0016] The computer-readable storage medium of the present application embodiment stores a computer program thereon, which, when executed by a processor, implements the workpiece assembly method of any of the above embodiments.

[0017] The workpiece assembly method, workpiece assembly device, workpiece assembly system, and computer-readable storage medium of this application, after the second region is assembled, retrospectively remeasure the first region, compare the remeasured coordinates with the locked coordinates to determine the remeasurement deviation, and calculate the compensation amount to correct the second target coordinates before reassembly, thereby forming a closed-loop iterative assembly strategy. This effectively solves the problem of "adjusting one end and shifting the other end" caused by workpiece flexible deformation and stress coupling, enabling the assembly accuracy of each region of the workpiece to converge simultaneously within the tolerance range, significantly improving the assembly accuracy and reliability of the workpiece in a confined space.

[0018] Additional aspects and advantages of embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of this application. Attached Figure Description

[0019] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein: Figure 1 This is a flowchart illustrating a workpiece assembly method according to certain embodiments of this application; Figure 2 This is a schematic diagram of the workpiece loading device according to certain embodiments of this application; Figure 3This is a schematic diagram of the workpiece loading system according to certain embodiments of this application; Figure 4 This is a schematic diagram illustrating the connection state between a computer-readable storage medium and a processor according to certain embodiments of this application.

[0020] Explanation of reference numerals in the attached figures: The workpiece loading device 100, the first loading module 110, the locking module 120, the second loading module 130, the retesting module 140, the determining module 150, the correction module 160, the workpiece loading system 200, the processor 210, the memory 220, the computer-readable storage medium 300, the computer program 310, and the processor 320. Detailed Implementation

[0021] The embodiments of this application will be further described below with reference to the accompanying drawings. The same or similar reference numerals in the drawings denote the same or similar elements or elements having the same or similar functions throughout. Furthermore, the embodiments of this application described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of this application, and should not be construed as limiting this application.

[0022] Please see Figure 1 The workpiece assembly method of this application includes: S101. The first current coordinate is obtained by measuring the first area of ​​the workpiece using the articulated arm, and the first area is adjusted based on the first current coordinate and the first target coordinate.

[0023] In the embodiments of this application, the workpiece can be a large-sized structural component that requires high-precision pose adjustment within a confined space, such as a fuselage section in the aerospace field, a cabin section in the shipbuilding field, or a surface component of a large mold. Since the overall size of the workpiece exceeds the measurement range of a single articulated arm, the workpiece needs to be divided into multiple regions for separate measurement and adjustment. The first region is the local area on the workpiece that is adjusted first, such as the head end of the workpiece.

[0024] When the articulated arm is in the first measurement position, the operator uses the probe of the articulated arm to touch the key assembly feature points in the first area one by one, collecting the three-dimensional spatial coordinates of each feature point, thereby obtaining the first current coordinates. The first target coordinates are the theoretical design position that the first area should reach after assembly. These coordinates can be derived from the workpiece design model or assembly process documents. By comparing the first current coordinates with the first target coordinates, the current pose deviation of the first area can be determined. The operator adjusts the support mechanism corresponding to the first area according to this deviation, so that the first area gradually approaches the theoretical position determined by the first target coordinates. When the pose deviation of the first area meets the assembly requirements, the assembly of the first area is completed.

[0025] S102. After the first area is adjusted, obtain the first current coordinate as the locking coordinate.

[0026] In the embodiments of this application, after the first region is assembled, the measured first current coordinates can be recorded and fixed as the locked coordinates PA1. The locked coordinates characterize the spatial position of the first region in the qualified assembly state and can be used as a comparison benchmark for subsequent re-measurement to determine whether the position of the first region has changed due to external factors.

[0027] S103. Use the articulated arm to measure the second region of the workpiece to obtain the second current coordinates, and adjust the second region based on the second current coordinates and the second target coordinates.

[0028] In embodiments of this application, the second region is another local area on the workpiece that differs from the first region, such as the tail end of the workpiece. Since the second region is beyond the reach of the articulated arm at the first measurement position, the articulated arm needs to move from the first measurement position to the second measurement position to cover the measurement requirements of the second region.

[0029] After the articulated arm reaches the second measurement position, the operator uses the articulated arm to measure key adjustment feature points within the second area to obtain the second current coordinates. The second target coordinates represent the theoretical design position that the second area should reach after adjustment. By comparing the second current coordinates with the second target coordinates, the current pose deviation of the second area can be determined. Based on this, the operator adjusts the corresponding support mechanism for the second area, gradually bringing the second area closer to the theoretical position determined by the second target coordinates. When the pose deviation of the second area meets the adjustment requirements, the adjustment of the second area is complete.

[0030] S104. After the second region is adjusted, the first region is remeasured using the articulated arm to obtain the remeasured coordinates.

[0031] Research revealed that, because the workpiece is not an absolutely rigid body, the external force applied during the adjustment of the second region will transmit stress along the workpiece, causing a slight displacement in the already adjusted first region. However, the operator cannot directly observe the state change of the first region from the second measurement position.

[0032] In the embodiments of this application, after the second region is assembled, the overall assembly is not directly deemed qualified; instead, a retrospective re-measurement process is forcibly executed. The articulated arm returns from the second measurement position to the first measurement position, re-measures the key assembly feature points of the first region, and obtains the actual spatial coordinates of the first region after the second region is assembled, i.e., the re-measurement coordinates PA1'. The re-measurement coordinates reflect the true positional state of the first region after undergoing the second region assembly process.

[0033] S105. Determine the remeasurement deviation based on the remeasured coordinates and the locked coordinates, and determine the compensation amount based on the remeasurement deviation.

[0034] In embodiments of this application, the remeasured coordinate PA1' and the locked coordinate PA1 can be compared and calculated to obtain the remeasurement deviation ΔEA. The remeasurement deviation characterizes the positional change of the first region due to stress transfer and elastic deformation during the adjustment process of the second region. In some embodiments, the remeasurement deviation can be the vector difference between the remeasured coordinate and the locked coordinate, i.e., ΔEA = PA1' PA1.

[0035] Furthermore, the compensation amount can be determined based on the remeasurement deviation. The compensation amount is a correction vector to be applied to the second target coordinates, and its function is to offset the positional influence of the second region's adjustment on the first region by correcting the adjustment target position of the second region. In some embodiments, the determination of the compensation amount can be combined with the material and structural characteristics of the workpiece itself, so that the compensation amount can accurately reflect the coupling relationship between the adjustment displacement of the second region and the positional change of the first region.

[0036] S106. Correct the second target coordinates according to the compensation amount, and re-adjust the second region based on the second current coordinates and the second target coordinates.

[0037] In the embodiments of this application, the compensation amount can be superimposed on the second target coordinates to obtain the corrected second target coordinates. The corrected second target coordinates take into account the positional changes of the first region caused by stress coupling, so that subsequent readjustment of the second region can reduce positional interference to the first region while meeting the accuracy requirements of the second region itself.

[0038] The articulated arm returns to the second measurement position, and the second region is remeasured to obtain the updated second current coordinates. Based on the deviation between the updated second current coordinates and the corrected second target coordinates, the operator readjusts the support mechanism of the second region. Through the above process of backtracking, remeasurement, and compensation correction, the residual stress inside the workpiece can be gradually released and tend to balance, and the pose deviations of the first and second regions can simultaneously converge to their respective tolerance ranges.

[0039] The workpiece assembly method of this application, after assembling in the second region, retrospectively remeasures the first region, compares the remeasured coordinates with the locked coordinates to determine the remeasurement deviation, calculates the compensation amount to correct the second target coordinates, and then reassembles, thus forming a closed-loop iterative assembly strategy. This effectively solves the problem of "adjusting one end and shifting the other end" caused by workpiece flexible deformation and stress coupling, enabling the assembly accuracy of each region of the workpiece to converge simultaneously within the tolerance range, significantly improving the assembly accuracy and reliability of workpieces in confined spaces.

[0040] In some embodiments, the articulated arm is used to measure a first region at a first measurement position and a second region at a second measurement position. A common reference element is provided within the overlapping measurable area of ​​the articulated arm between the first and second regions. Before obtaining the first current coordinate by measuring the first region of the workpiece using the articulated arm, the workpiece mounting method further includes: S201. When the articulated arm is in the first measurement position, the articulated arm is used to measure the first region and the common reference component to establish a first local coordinate system.

[0041] In the embodiments of this application, since the overall size of the workpiece exceeds the measurement range of a single articulated arm at a single position, the articulated arm needs to move between different measurement positions to cover the first region and the second region respectively. The first measurement position is the placement position where the articulated arm can cover the first region, and the second measurement position is the placement position where the articulated arm can cover the second region.

[0042] A common reference element can be located within the overlapping measurable area of ​​the articulated arm between the first and second regions. The overlapping measurable area refers to the spatial region that the articulated arm can measure regardless of whether it is in the first or second measurement position. The common reference element can be a highly stable tooling block with a relatively fixed position in space and multiple feature points on its surface that can be touched by the articulated arm probe. There must be at least one common reference element.

[0043] When the articulated arm is in the first measurement position, the operator uses the articulated arm to measure the assembly feature points in the first area, and simultaneously measures each feature point on the common reference component. Based on the above measurement data, a first local coordinate system C1 can be established. The first local coordinate system is the local reference coordinate system of the articulated arm in the first measurement position, and the measurement data of the first area and the common reference component are all expressed in the first local coordinate system.

[0044] S202. When the articulated arm is in the second measurement position, the second region and the common reference component are measured using the articulated arm to establish a second local coordinate system.

[0045] In the embodiments of this application, after the articulated arm moves from the first measurement position to the second measurement position, the operator uses the articulated arm to measure the assembly feature points in the second region, and simultaneously measures each feature point on the common reference component. Based on the above measurement data, a second local coordinate system C2 can be established. The second local coordinate system is the local reference coordinate system of the articulated arm in the second measurement position, and the measurement data of the second region and the common reference component are all expressed in the second local coordinate system.

[0046] Since the articulated arm measures the same common reference piece at both measurement positions, the feature points on the common reference piece have corresponding coordinate values ​​in the first local coordinate system and the second local coordinate system, respectively. These two sets of coordinate values ​​constitute a common reference connecting the two local coordinate systems.

[0047] S203. Determine the rigid coordinate transformation relationship based on the first local coordinate system and the second local coordinate system; The rigid coordinate transformation relationship is used to transform the measurement data of the first and second regions to the same coordinate system.

[0048] In embodiments of this application, the rigid coordinate transformation relationship T between the two coordinate systems can be calculated using the coordinate point set of the first local coordinate system C1 and the coordinate point set of the second local coordinate system C2, based on a common reference. The rigid coordinate transformation relationship T may include a rotation matrix R and a translation vector t, used to describe the spatial pose transformation between the first local coordinate system and the second local coordinate system.

[0049] In some embodiments, the Singular Value Decomposition (SVD) algorithm can be used to solve the rigid coordinate transformation relationship. Let P_A be the coordinate set of common reference feature points measured by the articulated arm at the first measurement position, and P_B be the coordinate set of the corresponding common reference feature points measured by the articulated arm at the second measurement position. Let P_B be the coordinate point set of the common reference component in the first local coordinate system. A The set of coordinate points in the second local coordinate system is P. B The optimal rotation matrix R and translation vector t can be solved by minimizing the following error function:

[0050] The rotation matrix R and translation vector t that minimize the above error function can be obtained by SVD decomposition, thereby determining the rigid coordinate transformation relationship.

[0051] In some embodiments, after determining the rigid coordinate transformation relationship, the reprojection error of each feature point after coordinate transformation can be calculated. If the reprojection error is less than a preset threshold, the transformation relationship is deemed valid and the global unified coordinate system is locked; if the reprojection error is greater than or equal to the preset threshold, the operator is prompted to remeasure or check the status of the common reference component.

[0052] Through the above rigid coordinate transformation relationship, regardless of whether the articulated arm is in the first or second measurement position, the measurement data it collects can be unified into the global coordinate system for comparison and calculation, thereby realizing coordinated measurement and adjustment of different areas of the workpiece.

[0053] The embodiments of this application set up a common reference component in the overlapping measurable area between the first region and the second region, measure the common reference component at two measurement positions using an articulated arm, and solve the rigid coordinate transformation relationship based on the SVD algorithm. This can unify the substation measurement data into the same coordinate system, providing a unified coordinate reference basis for subsequent cross-regional adjustment measurement and re-measurement comparison.

[0054] In some embodiments, during the adjustment process of the first region and / or the second region, the workpiece adjustment method further includes: S301. According to the preset triggering conditions, the current measurement value is obtained by using the articulated arm to measure the common reference component.

[0055] In the embodiments of this application, during the adjustment process of the first region and / or the second region, monitoring and measurement of the common reference component can be initiated according to preset trigger conditions. When the preset trigger conditions are met, the operator is guided to use the probe of the articulated arm to touch each feature point on the common reference component, and collect the current three-dimensional spatial coordinates of each feature point, thereby obtaining the current measurement value. The current measurement value reflects the actual spatial position state of the common reference component at the current moment.

[0056] S302. Determine the reference drift amount based on the current measured value and the initial reference value.

[0057] In the embodiments of this application, the initial reference value can be the coordinate values ​​of each feature point of the common reference component recorded when establishing the rigid coordinate transformation relationship during the system initialization phase. By comparing the current measured value with the initial reference value, the reference drift can be obtained. The reference drift characterizes the change in position of the common reference component relative to the initial reference state. This change may be caused by factors such as environmental vibration, mechanical vibration transmission, or loosening of the common reference component itself during the assembly process.

[0058] S303. Determine whether the common reference component has failed based on the reference drift amount and the reference drift threshold.

[0059] In embodiments of this application, the reference drift threshold can be a pre-set maximum allowable positional change of a common reference component. In some embodiments, the reference drift amount can be compared with the reference drift threshold: if the reference drift amount is less than or equal to the reference drift threshold, the common reference component is determined to be in a valid state, its reliability as a coordinate transformation reference is unaffected, and the adjustment operation can continue. If the reference drift amount is greater than the reference drift threshold, the common reference component is determined to be faulty, that is, the common reference component has undergone displacement beyond the allowable range, and the rigid coordinate transformation relationship established based on the common reference component is no longer reliable.

[0060] S304. When the common reference component fails, redetermine the rigid coordinate transformation relationship.

[0061] In the embodiments of this application, when the common reference component is determined to be faulty, the current assembly task can be suspended, and the operator will be notified that the common reference component is in an abnormal state. After the operator checks and re-fixes the common reference component, the coordinate system construction process is re-executed. That is, the articulated arm re-measures the common reference component at the first measurement position and the second measurement position, and recalculates the rigid coordinate transformation relationship to ensure that subsequent measurement data can still be accurately transformed to a unified global coordinate system.

[0062] In this embodiment, the common reference component is monitored and measured in real time according to preset trigger conditions during the assembly process. The current measurement value is compared with the initial reference value to determine the reference drift amount, and compared with the reference drift threshold to determine whether the common reference component has failed. When the common reference component fails, the rigid coordinate transformation relationship is re-determined in a timely manner, which prevents invalid assembly under the failed reference and ensures the continuous reliability of coordinate transformation during long-cycle assembly.

[0063] In some implementations, the preset triggering conditions include at least one of the following conditions: (1) The articulated arm moves from the first measurement position to the second measurement position.

[0064] In the embodiments of this application, when the articulated arm moves from the first measurement position to the second measurement position, the articulated arm undergoes a change in spatial position. During the handling process, it may cause vibration to the surrounding environment or come into contact with the tooling structure where the common reference component is located, posing a risk of displacement of the common reference component. Therefore, the movement of the articulated arm from the first measurement position to the second measurement position can be used as a condition to trigger the reference monitoring measurement. After the articulated arm reaches the second measurement position, the measurement of the common reference component is performed to confirm that the common reference component has not been displaced during the transfer process.

[0065] (2) The articulated arm moves from the second measurement position to the first measurement position.

[0066] In the embodiments of this application, similar to the previous case, when the articulated arm returns from the second measurement position to the first measurement position, there is also a risk of displacement of the common reference component due to the handling action. This movement event can be used as a trigger condition to perform the measurement of the common reference component after the articulated arm reaches the first measurement position in order to verify the reference state.

[0067] (3) The duration of the adjustment and assembly operation reaches the preset time interval.

[0068] In the embodiments of this application, considering that during continuous assembly operations, factors such as thermal expansion and contraction caused by changes in ambient temperature and continuous vibration generated by the operation of other equipment in the workshop may cause slow positional drift of the common reference component, a preset time interval can be set as a trigger condition. Whenever the duration of the assembly operation reaches the preset time interval, a monitoring measurement of the common reference component is triggered to periodically check the reference status.

[0069] It should be noted that the preset trigger conditions may include any one or more combinations of the above conditions, and the benchmark monitoring measurement will be triggered when any condition is met.

[0070] The implementation method of this application uses the position movement event of the articulated arm and the duration of the adjustment operation as preset trigger conditions, covering two typical reference failure scenarios: transfer handling impact and slow environmental drift. This ensures that the state of the common reference component can be verified in a timely manner at key time nodes and within fixed periods.

[0071] In some embodiments, the workpiece assembly method further includes: S501. Obtain the environmental status and adjust the baseline drift threshold according to the environmental status; The more stable the environmental conditions, the smaller the baseline drift threshold.

[0072] In the embodiments of this application, the environmental conditions include, but are not limited to, the vibration level and temperature changes within the workshop.

[0073] In some embodiments, the environmental conditions at the assembly site can be acquired using sensors. Specifically, environmental data can be collected in real time using vibration sensors and temperature sensors deployed near common reference parts or at the assembly site. Vibration sensors are used to monitor the vibration amplitude and frequency of the workshop floor or tooling structure, while temperature sensors are used to monitor the rate and magnitude of change in ambient temperature.

[0074] The reference drift threshold can be dynamically adjusted based on the acquired environmental conditions. Specifically, the more stable the environmental conditions, the smaller the reference drift threshold; the more unstable the environmental conditions, the larger the reference drift threshold.

[0075] For example, when the sensor detects that the workshop vibration level is below the lower limit of vibration and the temperature change level is below the lower limit of temperature change, the environmental state is determined to be stable. At this time, the reference drift threshold can be automatically tightened to a smaller value. A smaller reference drift threshold means a lower tolerance for the displacement of common reference components, and it can capture smaller changes in the reference position, making it suitable for high-precision assembly stages.

[0076] When sensors detect continuous high-frequency vibrations or drastic temperature changes in the workshop, the environment is determined to be unstable. In this case, the reference drift threshold can be automatically increased to a larger value. A larger reference drift threshold means a higher tolerance for the displacement of common reference components. The purpose is to prevent frequent misjudgments of common reference component failure and interruptions in the assembly process due to an excessively small reference drift threshold in an unstable environment, thereby ensuring the continuity of the assembly process.

[0077] In other embodiments, the environmental state can also be determined based on the fluctuations of current measurements from multiple consecutive samplings. Specifically, the dispersion of current measurements within a preset number of sampling periods can be statistically analyzed. This dispersion can be characterized by statistical measures such as standard deviation, variance, range, or fluctuation amplitude. When the dispersion is less than a preset dispersion threshold, the environmental state can be considered stable; when the dispersion is greater than or equal to the preset dispersion threshold, the environmental state can be considered unstable. This method allows for direct inference of environmental stability based on the fluctuation characteristics of existing measurement data, enabling dynamic adjustment of the reference drift threshold without relying on external sensors.

[0078] The implementation method of this application obtains the environmental status and dynamically adjusts the reference drift threshold accordingly, so that the sensitivity of the reference monitoring can adaptively match the current environmental conditions, improve the monitoring accuracy when the environment is stable, and avoid frequent false alarms and interruptions when the environment is unstable, thus balancing the adjustment accuracy and the continuity of operation.

[0079] In some implementations, determining whether a common reference component has failed based on the reference drift amount and the reference drift threshold includes: S601. When the reference drift is greater than the reference drift threshold in multiple consecutive samplings, the common reference component is determined to be faulty.

[0080] In the embodiments of this application, when determining whether a common reference component has failed, a trend determination logic based on the time dimension is introduced, rather than making a judgment based solely on a single sampling result.

[0081] Specifically, multiple consecutive sampling measurements can be performed on a common reference component to obtain multiple reference drift values. The reference drift value obtained in each sampling is compared with a reference drift threshold. The common reference component is determined to be faulty only if the reference drift value is greater than the reference drift threshold in all consecutive samplings. Alternatively, if the reference drift threshold can be dynamically adjusted according to environmental conditions, the common reference component can be determined to be faulty only if the reference drift value is greater than the dynamically adjusted upper limit of the reference drift threshold in all consecutive samplings.

[0082] If the reference drift exceeds the reference drift threshold in a certain sampling, but quickly falls back below the reference drift threshold in subsequent sampling, the deviation is determined to be an instantaneous fluctuation, such as transient vibration caused by a momentary impact from nearby equipment. In this case, the fluctuation is automatically ignored and the current adjustment operation continues without triggering the determination of failure of the common reference component.

[0083] The implementation method of this application requires that the reference drift amount exceeds the reference drift threshold in multiple consecutive samplings before the common reference component is determined to be faulty. This distinguishes between instantaneous disturbances and continuous displacements, avoids frequent misjudgments and unnecessary work interruptions caused by transient vibrations, and improves the accuracy of reference failure determination and the continuity of adjustment operations.

[0084] In some implementations, adjusting the first region based on the first current coordinates and the first target coordinates includes: S701. Determine the first adjustment deviation based on the first current coordinate and the first target coordinate, and adjust the first area based on the first adjustment deviation.

[0085] In the embodiments of this application, the first current coordinates and the first target coordinates can be compared and calculated to obtain the first adjustment deviation. The first adjustment deviation represents the difference between the current actual position and the theoretical target position of the first region, and can be expressed as a position deviation vector or an attitude angle deviation. The operator can adjust the support mechanism corresponding to the first region according to the direction and magnitude of the first adjustment deviation, so that the actual position of the first region approaches the first target coordinates.

[0086] The first area's assembly is complete, including: S702, the first adjustment deviation is less than the first adjustment tolerance.

[0087] In the embodiments of this application, the first adjustment tolerance is the maximum allowable adjustment deviation of the first region, and its value can be determined by the assembly process requirements of the workpiece. After each adjustment of the first region, the first region can be remeasured and the first adjustment deviation updated. When the first adjustment deviation is less than the first adjustment tolerance, the adjustment of the first region is determined to be complete, that is, the actual position of the first region has met the accuracy requirements. At this time, the first region can be marked as the adjustment completed state, and the subsequent locking coordinate acquisition step can be entered.

[0088] Adjusting the second region based on the second current coordinates and the second target coordinates includes: S703. Determine the second adjustment deviation based on the second current coordinates and the second target coordinates, and adjust the second region based on the second adjustment deviation.

[0089] In the embodiments of this application, the second current coordinates and the second target coordinates can be compared and calculated to obtain the second adjustment deviation. The second adjustment deviation represents the difference between the current actual position and the theoretical target position of the second region. The operator can adjust the support mechanism corresponding to the second region according to the direction and magnitude of the second adjustment deviation, so that the actual position of the second region approaches the second target coordinates.

[0090] The second area assembly is complete, including: S704, the second adjustment deviation is less than the second adjustment tolerance.

[0091] In the embodiments of this application, the second adjustment tolerance is the maximum allowable adjustment deviation of the second region, and its value can be determined by the assembly process requirements of the workpiece. After each adjustment of the second region, the second region can be remeasured and the second adjustment deviation updated. When the second adjustment deviation is less than the second adjustment tolerance, the adjustment of the second region is determined to be complete, that is, the actual position of the first region has met the accuracy requirements. The first adjustment tolerance and the second adjustment tolerance can be the same or different, and their specific values ​​can be set separately according to the assembly accuracy requirements of each region of the workpiece.

[0092] The implementation method of this application compares the adjustment deviation with the corresponding adjustment tolerance as a criterion for determining the completion of adjustment, providing a clear quantitative acceptance standard for the adjustment process of the first and second regions, and ensuring that the adjustment results of each region meet the process accuracy requirements before proceeding to the subsequent process.

[0093] In some implementations, the compensation amount is determined based on the retest deviation, including: S801. When the re-measurement deviation is greater than the re-measurement tolerance, determine the compensation amount based on the re-measurement deviation and the stress coupling parameters of the workpiece. The direction of the compensation amount is used to offset the positional change of the first region caused by the adjustment of the second region.

[0094] In the embodiments of this application, the retest tolerance is the maximum allowable positional change of the first region during retesting, used to determine whether the first region has experienced a displacement exceeding the allowable range due to the adjustment of the second region.

[0095] In some embodiments, the remeasurement deviation can be compared with the remeasurement tolerance: if the remeasurement deviation is less than or equal to the remeasurement tolerance, it is determined that the positional change of the first region is within the allowable range, and no compensation correction is required for the second target coordinates. If the remeasurement deviation is greater than the remeasurement tolerance, it is determined that the positional change of the first region has exceeded the allowable range due to the adjustment process of the second region, and compensation needs to be calculated to correct the second target coordinates.

[0096] When the remeasurement deviation exceeds the remeasurement tolerance, the compensation amount can be determined based on the remeasurement deviation and the stress coupling parameters of the workpiece. The stress coupling parameters characterize the degree of coupling between the workpiece and the local external force, which propagates along the workpiece structure and causes displacement in other areas. The stress coupling parameters are related to the workpiece's material elastic modulus, cross-sectional geometry, length dimensions, and support constraints.

[0097] In some embodiments, the formula for calculating the compensation amount can be: δ=-K×ΔEA Where δ is the compensation amount, K is the stress coupling parameter of the workpiece, and ΔEA is the remeasurement deviation. The direction of the compensation amount is opposite to the direction of the remeasurement deviation (indicated by the negative sign), and it is used to offset the positional change of the first region caused by the adjustment of the second region.

[0098] After determining the above compensation amount, when correcting the second target coordinates, the target position of the second region can be artificially offset by a compensation amount, so that during the subsequent readjustment of the second region to approach the corrected target, the displacement transmitted to the first region by stress coupling can just pull the first region back to the vicinity of the locked coordinates, thereby achieving simultaneous convergence of the poses of the first region and the second region.

[0099] In some embodiments, the corrected second target coordinates can be expressed as: P_B_new=P_B_target+δ Where P_B_new is the corrected coordinates of the second target, P_B_target is the original coordinates of the second target, and δ is the compensation amount.

[0100] In this embodiment, when the remeasurement deviation is greater than the remeasurement tolerance, a compensation amount with opposite directions is calculated by combining the remeasurement deviation and the stress coupling parameters of the workpiece. This allows the correction of the second target coordinates to be directionally offset against the positional influence of the second region adjustment on the first region, thus achieving precise compensation based on the physical characteristics of the workpiece.

[0101] In some embodiments, after correcting the second target coordinates according to the compensation amount and re-adjusting the second region based on the second current coordinates and the second target coordinates, the workpiece adjustment method further includes: S901. After the second region is adjusted and assembled, return to the step of measuring the first region again using the articulated arm to obtain the remeasured coordinates, until the remeasured deviation is less than the remeasured tolerance, the second adjustment deviation is less than the second adjustment tolerance, and the common reference component is not invalid.

[0102] In the embodiments of this application, after correcting the second target coordinates according to the compensation amount and re-adjusting the second region, the adjustment process is not directly determined to be over. Instead, the process returns to the step of re-measuring the first region using the articulated arm to obtain the re-measured coordinates, thus starting a new round of iterative loop.

[0103] Specifically, each iteration cycle may include: after the second region is re-adjusted, the articulated arm returns to the first measurement position to re-measure the first region to obtain new re-measurement coordinates, determines the new re-measurement deviation based on the new re-measurement coordinates and the locked coordinates, and determines whether it is necessary to recalculate the compensation amount to correct the second target coordinates, and then re-adjusts the second region.

[0104] The following convergence termination conditions are defined: First, the remeasurement deviation is less than the remeasurement tolerance, meaning that the positional change of the first region after the second region adjustment in this round is within the allowable range, and the positional status of the first region meets the accuracy requirements.

[0105] Second, the second adjustment deviation is less than the second adjustment tolerance, that is, the deviation between the actual position of the second region after this round of adjustment and the coordinates of the second target is within the allowable range, and the position status of the second region meets the accuracy requirements.

[0106] Third, the common reference component has not failed, meaning that the reference drift of the common reference component has not exceeded the reference drift threshold during this iteration (or has not exceeded the reference drift threshold in multiple consecutive samplings), the rigid coordinate transformation relationship remains valid, and the coordinate uniformity of the measurement data is guaranteed.

[0107] When all three conditions are met, the assembly process is considered complete, the assembly result is output as qualified, and the final pose of the workpiece is locked. If any condition is not met, the iterative loop continues.

[0108] As the compensation is applied in each iteration, the residual stress inside the workpiece is gradually released and tends to reach equilibrium. The stress coupling effect between the first and second regions decreases with each iteration, and the remeasurement deviation and the second assembly deviation will gradually decrease and tend to converge during the iteration process. Usually, after two to three iterations, the deviations of each region of the workpiece can converge to their respective tolerance ranges simultaneously.

[0109] The implementation method of this application establishes a complete iteration termination judgment criterion by setting three convergence conditions: retest deviation, second adjustment deviation, and common reference component status. This ensures that the workpiece adjustment process only terminates when the accuracy of the first region, the accuracy of the second region, and the validity of the coordinate reference are all met simultaneously, thus guaranteeing the reliability and integrity of the overall workpiece adjustment result.

[0110] In summary, the workpiece assembly method of the embodiments of this application has at least the following advantages: On the one hand, during the adjustment process, the common reference component is retested according to the preset trigger conditions, and the failure of the common reference component is judged in real time by comparing the reference drift amount with the reference drift threshold. Unlike the method of using it throughout the entire process after one calibration, it can capture the coordinate reference change caused by environmental vibration or displacement of the common reference component in a timely manner, and reduce the error risk caused by unreliable reference in long-cycle adjustment. On the other hand, after the second region is assembled, the first region is backtested, and the compensation amount is determined based on the retest deviation to correct the target coordinates of the second region. By iteratively executing the second region assembly and the first region retest, unlike the serial method of completing the assembly of each region sequentially without backtesting the previous region state, it can identify and compensate for the mutual influence between regions caused by the flexibility of the workpiece or stress transmission, so that the deviation of each region converges to the tolerance range during the iteration process, thereby improving the overall assembly accuracy and assembly efficiency of flexible workpieces or long structural parts.

[0111] Please see Figure 2 The workpiece loading device 100 of this application includes: The first adjustment module 110 is used to measure the first area of ​​the workpiece using an articulated arm to obtain the first current coordinates, and to adjust the first area based on the first current coordinates and the first target coordinates. The locking module 120 is used to obtain the first current coordinates as the locking coordinates after the first area is adjusted; The second adjustment module 130 is used to measure the second region of the workpiece using the articulated arm to obtain the second current coordinates, and to adjust the second region based on the second current coordinates and the second target coordinates. The remeasurement module 140 is used to remeasure the coordinates of the first region after the second region has been adjusted and installed. The determination module 150 is used to determine the remeasurement deviation based on the remeasurement coordinates and the locked coordinates, and to determine the compensation amount based on the remeasurement deviation; The correction module 160 is used to correct the second target coordinates according to the compensation amount, and to re-adjust the second region based on the second current coordinates and the second target coordinates.

[0112] In some embodiments, the articulated arm is used to measure a first region at a first measurement position and a second region at a second measurement position. A common reference element is provided within the overlapping measurable area of ​​the articulated arm between the first and second regions. The workpiece mounting device 100 also includes a setup module, which is used to: obtain a first current coordinate by measuring the first region of the workpiece using the articulated arm before the first mounting module 110 uses the articulated arm to measure the first region of the workpiece. When the articulated arm is in the first measurement position, the articulated arm is used to measure the first region and the common reference piece to establish the first local coordinate system; When the articulated arm is in the second measurement position, the second region and common reference piece are measured using the articulated arm to establish a second local coordinate system; Determine the rigid coordinate transformation relationship based on the first local coordinate system and the second local coordinate system; Among them, the rigid coordinate transformation relationship is used to transform the measurement data of the first region and the second region to the same coordinate system.

[0113] In some embodiments, the workpiece assembly apparatus 100 further includes a monitoring module, which, during the assembly process of the first region and / or the second region, is used to: According to the preset trigger conditions, the current measurement value is obtained by using the articulated arm to measure the common reference component; Determine the reference drift amount based on the current measured value and the initial reference value; Determine whether the common reference component has failed based on the reference drift amount and the reference drift threshold; When the common reference component fails, the rigid coordinate transformation relationship is redefined.

[0114] In some implementations, the preset triggering conditions include at least one of the following conditions: The articulated arm moves from the first measurement position to the second measurement position; The articulated arm moves from the second measurement position to the first measurement position; The assembly and adjustment operation lasted for the preset time interval.

[0115] In some implementations, the monitoring module is also used for: Acquire the environmental status and adjust the baseline drift threshold accordingly; The more stable the environmental conditions, the smaller the baseline drift threshold.

[0116] In some implementations, the monitoring module is specifically used for: When the reference drift exceeds the reference drift threshold in multiple consecutive samplings, the common reference component is determined to be faulty.

[0117] In some embodiments, the first assembly module 110 is specifically used for: The first adjustment deviation is determined based on the first current coordinates and the first target coordinates, and the first area is adjusted based on the first adjustment deviation; The first area's assembly is complete, including: The first adjustment deviation is less than the first adjustment tolerance; and / or The second adjustment module 130 is specifically used for: The second adjustment deviation is determined based on the second current coordinates and the second target coordinates, and the second region is adjusted based on the second adjustment deviation; The second area assembly is complete, including: The second adjustment deviation is less than the second adjustment tolerance.

[0118] In some implementations, the determining module 150 is specifically used for: When the remeasurement deviation is greater than the remeasurement tolerance, the compensation amount is determined based on the remeasurement deviation and the stress coupling parameters of the workpiece. The direction of the compensation amount is used to offset the positional change of the first region caused by the adjustment of the second region.

[0119] In some embodiments, after the correction module 160 corrects the second target coordinates according to the compensation amount and re-adjusts the second region based on the second current coordinates and the second target coordinates, the retest module 140 is further configured to: After the second region is adjusted and assembled, the process of re-measuring the first region using the articulated arm to obtain the re-measured coordinates continues until the re-measurement deviation is less than the re-measurement tolerance, the second adjustment deviation is less than the second adjustment tolerance, and the common reference component is not invalid.

[0120] The workpiece adjustment device 100 of this application, after adjusting the second region, retrospectively remeasures the first region, compares the remeasured coordinates with the locked coordinates to determine the remeasurement deviation, calculates the compensation amount to correct the second target coordinates, and then re-adjusts, thereby forming a closed-loop iterative adjustment strategy. This effectively solves the problem of "adjusting one end and shifting the other end" caused by workpiece flexible deformation and stress coupling, enabling the adjustment accuracy of each region of the workpiece to converge to the tolerance range simultaneously, significantly improving the adjustment accuracy and reliability of the workpiece within a confined space.

[0121] It should be noted that the explanation of the workpiece loading method in the foregoing embodiments also applies to the workpiece loading device 100 in the embodiments of this application, and will not be elaborated here.

[0122] Please see Figure 3 The workpiece loading system 200 of this application includes one or more processors 210 and a memory 220, the memory 220 storing a computer program. When the computer program is executed by the processor 210, the workpiece loading method of any of the above embodiments is implemented.

[0123] For example, when the computer program is executed by the processor 210, the following workpiece assembly method is implemented: S101. Measure the first area of ​​the workpiece using the articulated arm to obtain the first current coordinate, and adjust the first area based on the first current coordinate and the first target coordinate; S102. After the first area is adjusted, obtain the first current coordinate as the locking coordinate; S103. Use the articulated arm to measure the second region of the workpiece to obtain the second current coordinates, and adjust the second region based on the second current coordinates and the second target coordinates; S104. After the second region is adjusted, the first region is remeasured using the articulated arm to obtain the remeasured coordinates. S105. Determine the remeasurement deviation based on the remeasured coordinates and the locked coordinates, and determine the compensation amount based on the remeasurement deviation; S106. Correct the second target coordinates according to the compensation amount, and re-adjust the second region based on the second current coordinates and the second target coordinates.

[0124] It should be noted that the explanation of the workpiece assembly method in the foregoing embodiments also applies to the workpiece assembly system 200 of the embodiments of this application, and will not be elaborated here.

[0125] Please see Figure 4 The computer-readable storage medium 300 of this application embodiment stores a computer program 310 thereon. When the program is executed by the processor 320, the workpiece loading method of any of the above embodiments is implemented.

[0126] For example, when the program is executed by processor 320, the following workpiece assembly method is implemented: S101. Measure the first area of ​​the workpiece using the articulated arm to obtain the first current coordinate, and adjust the first area based on the first current coordinate and the first target coordinate; S102. After the first area is adjusted, obtain the first current coordinate as the locking coordinate; S103. Use the articulated arm to measure the second region of the workpiece to obtain the second current coordinates, and adjust the second region based on the second current coordinates and the second target coordinates; S104. After the second region is adjusted, the first region is remeasured using the articulated arm to obtain the remeasured coordinates. S105. Determine the remeasurement deviation based on the remeasured coordinates and the locked coordinates, and determine the compensation amount based on the remeasurement deviation; S106. Correct the second target coordinates according to the compensation amount, and re-adjust the second region based on the second current coordinates and the second target coordinates.

[0127] It should be noted that the explanation of the workpiece assembly method in the foregoing embodiments also applies to the computer-readable storage medium 300 of the embodiments of this application, and will not be elaborated here.

[0128] In summary, the workpiece assembly method, workpiece assembly device 100, workpiece assembly system 200, and computer-readable storage medium 300 of this application form a closed-loop iterative assembly strategy by retrospectively re-measuring the first region after the second region is assembled, comparing the re-measured coordinates with the locked coordinates to determine the re-measurement deviation, and calculating the compensation amount to correct the second target coordinates before reassembling. This effectively solves the problem of "adjusting one end and shifting the other end" caused by workpiece flexible deformation and stress coupling, enabling the assembly accuracy of each region of the workpiece to converge simultaneously within the tolerance range, significantly improving the assembly accuracy and reliability of the workpiece in a confined space.

[0129] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0130] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this application pertain.

[0131] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable storage medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, a computer-readable storage medium can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable storage medium could be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0132] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0133] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it includes one or a combination of the steps of the method embodiments. Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc.

[0134] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for adjusting and assembling a workpiece, characterized in that, include: The first current coordinates of the workpiece are obtained by measuring the first area of ​​the workpiece using an articulated arm, and the first area is adjusted based on the first current coordinates and the first target coordinates. After the first area is adjusted, the first current coordinates are obtained as the locking coordinates; The second current coordinates of the workpiece are obtained by measuring the second region of the workpiece using the articulated arm, and the second region is adjusted based on the second current coordinates and the second target coordinates; After the second region is adjusted, the articulated arm is used again to measure the first region to obtain the remeasured coordinates; The remeasurement deviation is determined based on the remeasurement coordinates and the locked coordinates, and the compensation amount is determined based on the remeasurement deviation; The second target coordinates are corrected according to the compensation amount, and the second region is re-adjusted based on the second current coordinates and the second target coordinates.

2. The workpiece assembly method according to claim 1, characterized in that, The articulated arm is used to measure the first region at a first measurement position and to measure the second region at a second measurement position. A common reference element is provided in the overlapping measurable area of ​​the articulated arm between the first region and the second region. Before obtaining the first current coordinates by measuring the first region of the workpiece using the articulated arm, the workpiece assembly method further includes: When the articulated arm is in the first measurement position, the first region and the common reference piece are measured using the articulated arm to establish a first local coordinate system; When the articulated arm is in the second measurement position, the second region and the common reference piece are measured using the articulated arm to establish a second local coordinate system; Based on the first local coordinate system and the second local coordinate system, the rigid coordinate transformation relationship is determined; The rigid coordinate transformation relationship is used to transform the measurement data of the first region and the second region to the same coordinate system.

3. The workpiece assembly method according to claim 2, characterized in that, During the adjustment process of the first region and / or the second region, the workpiece adjustment method further includes: According to preset triggering conditions, the articulated arm is used to measure the common reference component to obtain the current measurement value; Based on the current measured value and the initial reference value, determine the reference drift amount; Based on the reference drift amount and the reference drift threshold, determine whether the common reference component has failed; When the common reference component fails, the rigid coordinate transformation relationship is redefined.

4. The workpiece assembly method according to claim 3, characterized in that, The preset triggering condition includes at least one of the following conditions: The articulated arm moves from the first measurement position to the second measurement position; The articulated arm moves from the second measurement position to the first measurement position; The assembly and adjustment operation lasted for the preset time interval.

5. The workpiece assembly method according to claim 3, characterized in that, The workpiece assembly method further includes: Obtain the environmental state and adjust the baseline drift threshold according to the environmental state; The more stable the environmental state, the smaller the reference drift threshold.

6. The workpiece assembly method according to claim 3, characterized in that, The step of determining whether the common reference component has failed based on the reference drift amount and the reference drift threshold includes: When the reference drift is greater than the reference drift threshold in multiple consecutive samplings, the common reference component is determined to be faulty.

7. The workpiece assembly method according to claim 1, characterized in that, The adjustment of the first region based on the first current coordinates and the first target coordinates includes: A first adjustment deviation is determined based on the first current coordinates and the first target coordinates, and the first area is adjusted based on the first adjustment deviation; The first area has been assembled, including: The first adjustment deviation is less than the first adjustment tolerance; and / or The adjustment of the second region based on the second current coordinates and the second target coordinates includes: The second adjustment deviation is determined based on the second current coordinates and the second target coordinates, and the second area is adjusted based on the second adjustment deviation; The second area has been assembled, including: The second adjustment deviation is less than the second adjustment tolerance.

8. The workpiece assembly method according to claim 1, characterized in that, The determination of the compensation amount based on the retest deviation includes: When the remeasurement deviation is greater than the remeasurement tolerance, the compensation amount is determined based on the remeasurement deviation and the stress coupling parameters of the workpiece; The direction of the compensation amount is used to counteract the positional change of the first region caused by the adjustment of the second region.

9. The workpiece assembly method according to claim 1, characterized in that, After correcting the second target coordinates according to the compensation amount and re-adjusting the second region based on the second current coordinates and the second target coordinates, the workpiece adjustment method further includes: Returning to the step of re-measuring the first region to obtain the re-measured coordinates after the second region has been adjusted, the re-measurement deviation is less than the re-measurement tolerance, the second adjustment deviation is less than the second adjustment tolerance, and the common reference component has not failed.

10. A workpiece adjustment device, characterized in that, include: The first adjustment module is used to measure the first area of ​​the workpiece using an articulated arm to obtain the first current coordinates, and to adjust the first area based on the first current coordinates and the first target coordinates. The locking module is used to obtain the first current coordinates as the locking coordinates after the first area is adjusted; The second adjustment module is used to measure the second region of the workpiece using the articulated arm to obtain the second current coordinates, and to adjust the second region based on the second current coordinates and the second target coordinates; The retest module is used to remeasure the coordinates of the first region after the second region has been adjusted; The determination module is used to determine the remeasurement deviation based on the remeasurement coordinates and the locked coordinates, and to determine the compensation amount based on the remeasurement deviation; The correction module is used to correct the second target coordinates according to the compensation amount, and to re-adjust the second region based on the second current coordinates and the second target coordinates.

11. A workpiece assembly system, characterized in that, The workpiece assembly system includes one or more processors and a memory, the memory storing a computer program, which, when executed by the processor, implements the workpiece assembly method according to any one of claims 1-9.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the workpiece assembly method according to any one of claims 1-9.

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