A kind of assembly beat monitoring method for multi-station pin assembly equipment

Abstract

The application discloses a kind of assembly beat monitoring methods for multi-station pin assembly equipment, it is related to assembly monitoring technical field, comprising: S1, obtains multi-station assembly information and pin mechanical handover parameter table, the position data of pin head, needle body, connector shell and carrier is collected, and pin bearing sampling record is generated;S2, calculate three kinds of change amount, determine needle body bearing transfer sampling point;S3, calculate carrier common springback residual value and carrier deflection springback residual value, determine carrier stress recovery sampling point and pin head avoidance sampling point, generate pin station mechanical handover sampling point;S4, determine the whole machine mechanical handover sampling point and whole machine control handover sampling point;S5, determine pin beat limit source set, generate actual assembly beat value and assembly beat monitoring record.The problems that it is difficult to locate pin mechanical handover limit source in existing multi-station pin assembly, which leads to the problem that assembly beat bottleneck is difficult to accurately identify.

Description

Technical Field

[0001] This invention relates to the field of assembly monitoring technology, and in particular to a method for monitoring the assembly cycle time of multi-station pin assembly equipment. Background Technology

[0002] As automated assembly lines evolve towards multi-station collaboration and high-cycle continuous operation, production equipment typically needs to sequentially complete actions such as feeding, positioning, insertion, pressing, inspection, and release within the same indexing cycle. To ensure stable coordination between workstation actions, industrial monitoring technology has gradually evolved from collecting single equipment start-up and shutdown status data to multi-source operational status monitoring combining displacement, pressure, vision, and control signals. This allows for real-time analysis of the assembly process using production cycle time, workstation status, and equipment operating parameters, providing a data foundation for judging production line operational status and equipment maintenance.

[0003] For example, application CN121857619A discloses a fault diagnosis system for a nitrogen spring assembly line, including pressing equipment, positioning equipment, marking equipment, and control devices connected to each piece of equipment deployed on the production line. The sensor acquisition module collects real-time multimodal time-series data through pressure sensors, displacement sensors, and industrial cameras; the twin mapping module uses a digital twin model to dynamically correct physical parameters and generate a health status image of the equipment; the status diagnosis module extracts feature vectors and combines them with historical fault mode maps and a federated learning framework to output diagnostic results; the dynamic early warning module initiates multi-level early warnings based on confidence levels and locates the root cause of the fault through reverse simulation; and the decision optimization module analyzes knowledge base records to generate predictive maintenance work orders verified by simulation. The system achieves closed-loop optimization through bidirectional data flow between modules, solving the problem of missing real-time monitoring and intelligent early warning on the production line, reducing unplanned downtime, and improving production efficiency.

[0004] However, existing assembly line monitoring methods typically focus on equipment operating status, station completion signals, or overall cycle time. They lack joint judgment on the mechanical handover processes during multi-station pin assembly, such as the transfer of the pin body from the pin head to the connector, the recovery of the carrier force, and the removal of the pin head from the indexing avoidance position. It is difficult to determine the actual time point when the pin insertion station reaches the mechanical handover conditions, and it is also difficult to further distinguish the waiting process between the whole machine mechanical handover, control release, and indexing start.

[0005] Therefore, in order to address the above problems, there is an urgent need to provide a method for monitoring the assembly cycle time of multi-station pin assembly equipment. Summary of the Invention

[0006] To address the difficulty in locating the source of mechanical handover constraints in existing multi-station pin assembly processes, which leads to inaccurate identification of assembly cycle bottlenecks, this invention provides an assembly cycle monitoring method for multi-station pin assembly equipment. The technical solution is as follows: A method for monitoring assembly cycle time in multi-station pin assembly equipment is provided, the method comprising: S1, acquire multi-station assembly information and pin mechanical handover parameter table, establish pin axis coordinate system based on target socket, and collect position data of pin head, pin body, connector housing and carrier and pin head action signal, determine the initial reference position values ​​on both sides of the carrier, and generate pin receiving sampling record; S2, based on the pin receiving sampling record, calculate the change in the pin head stroke position, the change in the pin body position relative to the pin head, and the change in the pin body position relative to the connector, and determine the pin receiving transfer sampling point when the pin body changes from moving with the pin head to being stationary relative to the connector based on the three types of changes; S3, based on the needle body receiving transfer sampling point, calculate the common rebound residual value and the deflection rebound residual value of the carrier, determine the carrier force recovery sampling point, and combine the needle insertion mechanical handover parameter table to determine the needle head avoidance sampling point. The sampling point with the latest sampling timestamp among the three types of sampling points is determined as the needle insertion station mechanical handover sampling point. S4. Based on the mechanical handover sampling points of each pin insertion station and the mechanical completion signals of each non-pin insertion station, determine the mechanical handover sampling points of the whole machine, and based on the release signals of each station, determine the control handover sampling points of the whole machine. S5, when there is a mechanical handover sampling point at the pin insertion station whose sampling timestamp is equal to the sampling timestamp of the whole machine mechanical handover sampling point, the set of pin insertion cycle limit sources is determined based on the pin body receiving and transfer sampling point, the carrier force recovery sampling point and the pin head avoidance sampling point of the corresponding pin insertion station, and the actual assembly cycle value and assembly cycle monitoring record are generated by combining the whole machine control handover sampling point and the indexing start signal.

[0007] Further, the specific steps for acquiring multi-station assembly information and pin mechanical handover parameter tables, establishing a pin axis coordinate system based on the target socket, and collecting position data and pin head action signals of the pin head, pin body, connector housing, and carrier are as follows: Multi-station assembly information includes assembly task number, indexing cycle number, station number, and station type code value corresponding to each station. The station type code value includes pin station code value and non-pin station code value. The station number whose station type code value is the pin station code value is determined as the pin station number. The pin mechanical handover parameter table includes the pin station number and the corresponding pin head position detection resolution value, pin... The system includes the body position detection resolution value, connector position detection resolution value, first carrier position detection resolution value, second carrier position detection resolution value, and pin head indexing avoidance position value. A pin axis coordinate system is established with the center point of the target socket inlet in front of the pin as the origin, the target socket axis as the coordinate axis, and the direction of pin insertion into the connector as the positive direction. Within the same indexing cycle, the pin head travel position value, pin exposed end position value, connector housing reference position value, first carrier reference position value, and second carrier reference position value are synchronously acquired according to a unified equipment clock within the pin axis coordinate system. The pin head feed start signal and pin head retraction start signal are also synchronously acquired.

[0008] Further, the specific steps for determining the initial reference position values ​​on both sides of the carrier and generating the pin receiving sampling record are as follows: The last sampling point before the pin head feed start signal switches from an invalid state to an effective state is determined as the pin pre-reference sampling point. The first carrier reference position value and the second carrier reference position value corresponding to the pin pre-reference sampling point are determined as the first carrier initial reference position value and the second carrier initial reference position value, respectively. The synchronous sampling data of the current indexing cycle is retained starting from the sampling point where the pin head feed start signal switches from an invalid state to an effective state. The assembly task number, indexing cycle number, pin station number, each sampling timestamp, pin head stroke position value, pin exposed end position value, connector housing reference position value, first carrier initial reference position value, second carrier initial reference position value, first carrier reference position value, second carrier reference position value, and pin head retraction start signal are written into the pin receiving sampling record.

[0009] Furthermore, the specific steps for calculating the change in pin head travel position, the change in pin body position relative to the pin head, and the change in pin body position relative to the connector based on the pin reception sampling records are as follows: Read the pin reception sampling records, calculate for each pair of adjacent sampling points according to the sampling timestamp order, determine the change in pin head travel position as the difference between the pin head travel position value of the later sampling point and the previous sampling point, subtract the difference in pin head travel position value from the difference in the exposed end position value of the pin from the difference in the later sampling point and the previous sampling point to generate the change in pin body position relative to the pin head, and subtract the difference in connector housing reference position value from the difference in the exposed end position value of the pin from the difference in the later sampling point and the previous sampling point to generate the change in pin body position relative to the connector.

[0010] Furthermore, the specific steps for determining the pin body transfer sampling point from moving with the insertion head to being stationary relative to the connector based on the three types of changes are as follows: Read the adjacent sampling points before the insertion head retraction start signal switches from an invalid state to an active state according to the sampling timestamp sequence. When the change in the insertion head stroke position is along the positive direction of the insertion head axis and its absolute value is greater than the insertion head position detection resolution value, the absolute value of the change in the pin body position relative to the insertion head is not greater than the sum of the insertion head position detection resolution value and the pin body position detection resolution value, and the absolute value of the change in the pin body position relative to the connector is greater than the sum of the pin body position detection resolution value and the connector position detection resolution value, the corresponding two adjacent sampling points are determined as a pin head-pin co-movement sampling pair; read the insertion head retraction start signal from an invalid state to an active state according to the sampling timestamp sequence. After switching to the effective state, for each adjacent sampling point, when the change in the probe tip travel position is along the negative direction of the probe tip axis and the absolute value is greater than the probe tip position detection resolution value, the absolute value of the change in the position of the needle body relative to the connector is not greater than the sum of the needle body position detection resolution value and the connector position detection resolution value, and the absolute value of the change in the position of the needle body relative to the probe tip is greater than the sum of the probe tip position detection resolution value and the needle body position detection resolution value, the corresponding two adjacent sampling points are determined as connector needle retention sampling pairs. According to the sampling timestamp sequence, the last needle-with-needle joint movement sampling pair before the probe tip retraction start signal and the first connector needle retention sampling pair after the probe tip retraction start signal are read. When both types of sampling pairs are formed, the first sampling point in the first connector needle retention sampling pair is determined as the needle body receiving and transfer sampling point.

[0011] Further, the specific steps for calculating the common rebound residual value and the vehicle deflection rebound residual value, and determining the vehicle force recovery sampling point are as follows: Starting from the needle body receiving transfer sampling point, for each sampling timestamp, sum the difference between the first vehicle reference position value and the first vehicle initial reference position value, and the difference between the second vehicle reference position value and the second vehicle initial reference position value, take the absolute value, and divide by two to generate the common rebound residual value of the vehicle; subtract the difference between the second vehicle reference position value and the second vehicle initial reference position value from the difference between the first vehicle reference position value and the first vehicle initial reference position value. The difference between the reference position values ​​is taken as the absolute value to generate the vehicle deflection rebound residual value. The vehicle common rebound residual value and the vehicle deflection rebound residual value are read in the order of sampling timestamp. When the vehicle common rebound residual value of two consecutive sampling points is not greater than half of the sum of the first vehicle position detection resolution value and the second vehicle position detection resolution value, and the vehicle deflection rebound residual value is not greater than the sum of the first vehicle position detection resolution value and the second vehicle position detection resolution value, the first sampling point of the two consecutive sampling points is determined as the vehicle force recovery sampling point.

[0012] Furthermore, based on the pin insertion mechanical handover parameter table, the pin head avoidance sampling point is determined. The specific steps for determining the sampling point with the latest sampling timestamp among the three types of sampling points as the pin insertion station mechanical handover sampling point are as follows: Starting from the sampling point where the pin head retraction start signal switches from an invalid state to an effective state, the pin head stroke position value is read in the order of sampling timestamps. When the pin head stroke position value of the next sampling point is not greater than the pin head indexing avoidance position value and the pin head stroke position value of the previous sampling point is greater than the pin head indexing avoidance position value, the next sampling point is determined as the pin head avoidance sampling point. When the pin body receiving and transfer sampling point, the carrier force recovery sampling point, and the pin head avoidance sampling point are all formed, the sampling timestamps of the three sampling points are compared, and the sampling point with the latest sampling timestamp is determined as the pin insertion station mechanical handover sampling point.

[0013] Furthermore, the specific steps for determining the overall machine mechanical handover sampling point based on the mechanical handover sampling points of each pin insertion station and the mechanical completion signals of each non-pin insertion station, and for determining the overall machine control handover sampling point based on the release signals of each station, are as follows: For the same indexing cycle, when each pin insertion station has formed a pin insertion station mechanical handover sampling point, read the mechanical handover sampling points of each pin insertion station, and determine the sampling point where the mechanical completion signal of each non-pin insertion station first switches from an invalid state to an effective state as the non-pin insertion station mechanical handover sampling point. Compare all the pin insertion station mechanical handover sampling points and the non-pin insertion station mechanical handover sampling points. The sampling timestamp of the sampling point is used to determine the sampling point with the latest sampling timestamp as the whole machine mechanical handover sampling point. All station numbers whose sampling timestamps are equal to the sampling timestamps of the whole machine mechanical handover sampling point are written into the mechanical cycle limit station number set. The station release signal corresponding to each station within the same indexing cycle is read. The sampling point where the release signal of each station first switches from an invalid state to an effective state is determined as the station control handover sampling point. The sampling timestamps of all station control handover sampling points are compared, and the station control handover sampling point with the latest sampling timestamp is determined as the whole machine control handover sampling point.

[0014] Further, the specific steps for determining the pin cycle time limit source set are as follows: Read the indexing start signal of the same indexing cycle from the programmable logic controller, and determine the sampling point where the indexing start signal first switches from an invalid state to an effective state as the actual indexing start sampling point; when the whole machine control handover sampling point is later than the whole machine mechanical handover sampling point, determine the sampling interval between the two sampling points as the control waiting interval after mechanical handover; when the actual indexing start sampling point is later than the whole machine control handover sampling point, determine the sampling interval between the two sampling points as the indexing waiting interval after control handover; when the mechanical cycle time limit station number set contains the pin station number, write the sampling point type in the pin body receiving transfer sampling point, the carrier force recovery sampling point, and the pin head avoidance sampling point whose sampling timestamp is equal to the sampling timestamp of the pin station mechanical handover sampling point into the pin cycle time limit source set. The sampling point type includes the pin body receiving transfer type, the carrier force recovery type, and the pin head avoidance type.

[0015] Further, the specific steps for generating the actual assembly cycle time value and assembly cycle time monitoring record are as follows: Read the sampling timestamps corresponding to the actual indexing start sampling points for two consecutive indexing cycles, subtract the sampling timestamps corresponding to the actual indexing start sampling points of the previous indexing cycle from the sampling timestamps corresponding to the actual indexing start sampling points of the subsequent indexing cycle to generate the actual assembly cycle time value, and write the assembly task number, indexing cycle number, actual assembly cycle time value, mechanical handover sampling points of each pin insertion station, mechanical cycle time limit station number set, pin insertion cycle time limit source set, control waiting interval after mechanical handover, and indexing waiting interval after control handover into the assembly cycle time monitoring record.

[0016] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following: (1) By jointly analyzing the change in the position of the insertion head, the change in the position of the needle body relative to the insertion head, and the change in the position of the needle body relative to the connector, it is possible to identify the receiving and transfer process of the needle body from moving with the insertion head to being stationary relative to the connector. This transforms the mechanical state judgment of the insertion stage from a single action signal judgment to the actual receiving state recognition based on the relative motion relationship of the three bodies, thereby improving the accuracy of determining the timing of the needle body receiving and transfer.

[0017] (2) By determining the mechanical handover sampling point and the control handover sampling point of the whole machine respectively, and combining the indexing start signal for time correlation, the mechanical completion stage, control release stage and actual indexing start stage in the multi-station assembly cycle can be distinguished, thereby separating the mechanical constraints and control waiting in the assembly cycle and improving the pertinence of multi-station cycle bottleneck positioning.

[0018] (3) By simultaneously calculating the common rebound residual value and the deflection rebound residual value of the carrier after the needle body is transferred, and combining the needle head avoidance sampling point to determine the mechanical handover sampling point of the needle insertion station, it can simultaneously reflect the three types of mechanical conditions: overall carrier rebound, carrier deflection recovery, and needle head exiting the indexing interference area. This avoids judging that the station has met the mechanical handover conditions based solely on the completion of the needle head retraction or the displacement of a single carrier.

[0019] (4) When there is a mechanical handover sampling point at the pin insertion station where the sampling timestamp is equal to the sampling timestamp of the whole machine mechanical handover sampling point, the pin body receiving transfer sampling point, the carrier force recovery sampling point and the pin head avoidance sampling point are further used to determine the set of pin insertion cycle limit sources. Combined with the continuous indexing cycle, the actual assembly cycle value is generated, so that the assembly cycle monitoring can not only give the whole machine cycle result, but also trace the specific mechanical links that form cycle limit inside the pin insertion station, providing a clear basis for the cycle adjustment of multi-station pin insertion assembly equipment. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart of an assembly cycle monitoring method for multi-station pin insertion assembly equipment; Figure 2 This is a diagram showing the relationship between the needle body receiving and transferring sampling points; Figure 3 It is a phase diagram of the mechanical junction of the pins. Detailed Implementation

[0022] The technical solution of the present invention will now be described with reference to the accompanying drawings.

[0023] In embodiments of the present invention, words such as "exemplarily," "for example," etc., are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" in the present invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present the concept in a concrete manner. Furthermore, in embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one.

[0024] In the embodiments of this invention, the terms "image" and "picture" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning. Similarly, the terms "of," "corresponding (relevant)," and "corresponding" may sometimes be used interchangeably. It should be noted that, without emphasizing the distinction between them, they convey the same meaning.

[0025] In this embodiment of the invention, sometimes a subscript such as W1 may be written in a non-subscript form such as W1. When the difference is not emphasized, the meaning they express is the same.

[0026] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0027] like Figure 1 As shown, this embodiment of the invention provides a method for monitoring assembly cycle time in multi-station pin assembly equipment. The processing flow of this method may include the following steps: S1, acquire multi-station assembly information and pin mechanical handover parameter table, establish pin axis coordinate system based on target socket, and collect position data of pin head, pin body, connector housing and carrier and pin head action signal, determine the initial reference position values ​​on both sides of the carrier, and generate pin receiving sampling record; S2, based on the pin receiving sampling record, calculate the change in the pin head stroke position, the change in the pin body position relative to the pin head, and the change in the pin body position relative to the connector, and determine the pin receiving transfer sampling point when the pin body changes from moving with the pin head to being stationary relative to the connector based on the three types of changes; S3, based on the needle body receiving transfer sampling point, calculate the common rebound residual value and the deflection rebound residual value of the carrier, determine the carrier force recovery sampling point, and combine the needle insertion mechanical handover parameter table to determine the needle head avoidance sampling point. The sampling point with the latest sampling timestamp among the three types of sampling points is determined as the needle insertion station mechanical handover sampling point. S4. Based on the mechanical handover sampling points of each pin insertion station and the mechanical completion signals of each non-pin insertion station, determine the mechanical handover sampling points of the whole machine, and based on the release signals of each station, determine the control handover sampling points of the whole machine. S5, when there is a mechanical handover sampling point at the pin insertion station whose sampling timestamp is equal to the sampling timestamp of the whole machine mechanical handover sampling point, the set of pin insertion cycle limit sources is determined based on the pin body receiving and transfer sampling point, the carrier force recovery sampling point and the pin head avoidance sampling point of the corresponding pin insertion station, and the actual assembly cycle value and assembly cycle monitoring record are generated by combining the whole machine control handover sampling point and the indexing start signal.

[0028] Optionally, the specific steps for acquiring multi-station assembly information and pin mechanical handover parameter tables, establishing a pin axis coordinate system based on the target socket, and collecting position data of the pin head, pin body, connector housing, and carrier, as well as pin head motion signals, are as follows: Multi-station assembly information includes assembly task number, indexing cycle number, station number, and station type code value corresponding to each station. The station type code value includes pin station code value and non-pin station code value. The station number whose station type code value is the pin station code value is determined as the pin station number. In specific implementation, the assembly task number is obtained from the production... The assembly task record currently issued by the execution terminal is read. The indexing cycle number is generated by sequentially incrementing the sampling points from the indexing start signal switching from an invalid state to an active state. The assembly process between two adjacent active edges of the indexing start signal is associated with the indexing cycle number generated by the previous active edge. The next active edge serves as the end boundary of the current indexing cycle and simultaneously as the start boundary of the next indexing cycle. The workstation number and workstation type code value are read from the equipment workstation configuration table. A data association key for the current indexing cycle is established according to the assembly task number, indexing cycle number, and workstation number, enabling... The acquired position values ​​and motion signals can be written back to a unique workstation and a unique indexing cycle; the pin insertion mechanical handover parameter table includes the pin insertion workstation number and the corresponding pin head position detection resolution value, pin body position detection resolution value, connector position detection resolution value, first carrier position detection resolution value, second carrier position detection resolution value, and pin head indexing avoidance position value; the pin head position detection resolution value is determined based on the linear displacement corresponding to a single pulse from the pin head servo driver encoder, and the pin body position detection resolution value is determined based on the calibration ruler pixel size of the pin body position acquisition image and the pin... The sub-pixel positioning accuracy of the body edge is determined. The connector position detection resolution value is determined based on the image calibration results of the connector housing reference features. The first carrier position detection resolution value and the second carrier position detection resolution value are determined based on the minimum resolvable displacement of the displacement detectors on both sides of the carrier, respectively. The pin head indexing avoidance position value and the corresponding pin head stroke position value of the pin station use the same coordinate origin, coordinate axis direction and length unit. The axial coordinate boundary of the pin head stroke position in the pin axis coordinate system is represented by millimeters as the length unit, and calibration and storage are completed according to the pin station number.The pin head indexing avoidance position value is determined by controlling the carrier to perform indexing motion during the equipment debugging phase, and successively changing the pin head retraction position. The corresponding pin head stroke position value is recorded when there is no mechanical overlap between the pin head outer contour and the carrier, connector housing, and indexing motion envelope. During debugging, it is simultaneously verified that the minimum distance between the pin head outer contour and the carrier, connector housing, and indexing motion envelope is greater than the upper limit of the total error formed by the equipment mechanical assembly tolerance and the corresponding position detection error. The maximum pin head stroke position value that meets the conditions of no mechanical overlap and minimum distance in at least 20 consecutive debugging cycles is recorded. The values ​​are written into the pin mechanical handover parameter table to ensure that the pin head indexing avoidance position value corresponds to the mechanical avoidance boundary at which the carrier can begin indexing movement. A pin axis coordinate system is established with the target socket inlet center point as the origin, the target socket axis as the coordinate axis, and the direction of pin insertion into the connector as the positive direction. The target socket inlet center point is obtained by coordinate transformation based on the nominal position of the target socket in the connector product drawing and the current connector housing reference position value. The target socket axis is determined by the line connecting the center of the target socket inlet contour and the center of the reference section inside the target socket. This is established when the pin head feed starts. Before the signal switches from an invalid state to an valid state, the pin axis coordinate system calibration for the current indexing cycle is completed, and the origin and axis direction of the pin axis coordinate system remain unchanged within the current indexing cycle. The displacement of the connector housing and carrier during subsequent pin insertion processes is not used to reposition the origin of the pin axis coordinate system. Instead, the original positions subsequently acquired by each position detector are continuously transformed to this fixed pin axis coordinate system according to the corresponding installation calibration matrix, so that the reference position values ​​of the connector housing, the first carrier, and the second carrier respectively represent the real position relative to the fixed coordinate origin of the current indexing cycle. The position changes over time; the original positions collected by each position detector are uniformly projected onto the pin axis coordinate system. The projected scalar position is used for subsequent calculation of the difference between adjacent sampling points, so that the position changes of the pin head, pin body, connector housing, and carrier have the same directional reference and the same length unit. Within the same indexing cycle, the pin head travel position value, pin exposed end position value, connector housing reference position value, first carrier reference position value, and second carrier reference position value are synchronously collected in the pin axis coordinate system according to a unified equipment clock, and the pin head feed start signal and pin head retraction start signal are also collected synchronously. In specific implementation, the unified equipment clock is provided by the high-precision periodic clock of the programmable logic controller, and the sampling period is set to 1ms to 2ms. The sampling period is determined by the pin head's maximum retraction speed, the detection resolution value of each position, and the scanning cycle of the programmable logic controller, so that the theoretical displacement of the pin head between two adjacent sampling points does not exceed the minimum displacement range that can be resolved during the pin body receiving state switching process.The upper limit of the synchronization allowable error is set at half of the current sampling period. When the sampling period is 1ms to 2ms, the upper limit of the synchronization allowable error is 0.5ms to 1ms. The detection data of each position are matched with the most recent timestamp according to the unified equipment clock timestamp. Only when the absolute value of the difference between corresponding timestamps is not greater than the upper limit of the synchronization allowable error are they included in the same sampling point. The pin head travel position value is read from the encoder feedback register of the pin head servo driver. The pin exposed end position value is obtained by acquiring the image of the pin exposed end by a high-speed industrial camera set on the side of the pin station, and converting it into the pixel coordinates of the calibrated pin axis direction. The connector housing reference position value is obtained by projecting the fixed reference edge of the connector housing into the pin axis coordinate system after being identified by the same high-speed industrial camera. The first carrier reference position value and the second carrier reference position value are acquired by laser displacement detectors arranged on both sides of the carrier and converted into the pin axis coordinate system according to the installation calibration matrix. The pin head feed start signal and the pin head retraction start signal are also included. The status status register of each action signal is read from the pin insertion action register of the programmable logic controller. The status switching timestamp of each action signal is directly recorded using a unified device clock without interpolation. When a single position sampling timestamp is missing a corresponding position value, piecewise linear interpolation is performed based on the position values ​​and timestamps of adjacent valid sampling points before and after that sampling timestamp to generate the position value of the corresponding sampling timestamp. When two consecutive sampling timestamps are missing data at the same position, the construction of adjacent sampling points using the missing interval is stopped. After a complete synchronous sampling point is re-formed from each position value, the adjacent sampling point judgment continues to be performed to prevent the estimated position formed by continuous sampling loss from participating in the pin body receiving status switching judgment. After the position values ​​and action signals are aligned by timestamp, a synchronous sampling sequence with the same indexing period is formed in ascending order of sampling timestamp. This ensures that the subsequent changes in the pin head stroke position, the changes in the pin body position relative to the pin head, the changes in the pin body position relative to the connector, and the carrier springback related data all come from the corresponding sampling points under the same time base.

[0029] In this implementation plan, by uniformly numbering and associating multi-station assembly information, pin mechanical handover parameter tables, pin axis coordinate systems, position values, and pin head action signals, uniformly converting spatial references, and uniformly aligning equipment clocks, the pin head stroke position values, pin exposed end position values, connector housing reference position values, first carrier reference position values, and second carrier reference position values ​​from different data sources have consistent time references, direction references, and length scales. This provides a stable and traceable data foundation for the continuous determination of subsequent pin body receiving and transfer sampling points, carrier force recovery sampling points, and pin head avoidance sampling points, improving the industrial monitoring's ability to distinguish changes in mechanical handover status during multi-station pin assembly, and reducing the deviation in cycle judgment caused by time misalignment, inconsistent coordinate references, and differences in sampling accuracy.

[0030] Optionally, the specific steps for determining the initial reference position values ​​on both sides of the carrier and generating the pin receiving sampling record are as follows: The last sampling point before the pin head feed start signal switches from an invalid state to an active state is determined as the pin pre-feeding reference sampling point. The first carrier reference position value and the second carrier reference position value corresponding to the pin pre-feeding reference sampling point are determined as the first carrier initial reference position value and the second carrier initial reference position value, respectively. Synchronous sampling data for the current indexing cycle is retained starting from the sampling point where the pin head feed start signal switches from an invalid state to an active state. In specific implementation, the synchronous sampling data corresponding to the current pin station is read in ascending order according to the sampling timestamp, and the pin head feed start signal is... The sampling timestamp of the transition from an invalid to an valid state of the motion signal is determined as the pin feed start timestamp. The sampling point with the smallest time interval from the pin feed start timestamp is read forward as the pre-pin reference sampling point. When the sampling period is 1ms to 2ms, the time interval between the pre-pin reference sampling point and the pin feed start timestamp is no greater than one sampling period. The sampling point used as the pre-pin reference sampling point must be a synchronized sampling point that has completed timestamp alignment according to the unified equipment clock and passed the data integrity verification of the current indexing cycle. The pre-pin reference sampling point must have at least the corresponding sampling timestamp, the first carrier reference position value, and the second carrier reference position value. The setpoint and the reference position value of the second carrier are both verified for validity through the data collected at the corresponding positions. If the previous sampling point with the smallest time interval from the pin feed start timestamp does not meet the data integrity condition, the system continues to read the most recent synchronous sampling point that meets the data integrity condition according to the sampling timestamp. Only when the time interval between the corresponding sampling timestamp and the pin feed start timestamp is still no greater than one sampling cycle, the synchronous sampling point is determined as the pin pre-reference sampling point. If a synchronous sampling point that meets the data integrity condition cannot be obtained within one sampling cycle, the pin pre-reference sampling point for the current indexing cycle is not generated, and the generation of the pin receiving sampling record corresponding to the current pin station is stopped to prevent... The position of the vehicle that is too far from the start of the needle insertion action is used as the position reference for the current indexing cycle. The reference sampling point before the needle insertion is located before the needle head starts to feed, and the needle body has not yet entered the axial force process caused by the needle head feed. Therefore, the initial reference position values ​​of the first vehicle and the second vehicle are used to record the position references on both sides of the vehicle before the start of the needle insertion action in the current indexing cycle, and keep the values ​​unchanged in the current indexing cycle. This allows the first and second vehicle reference position values ​​corresponding to each subsequent sampling timestamp to be calculated with the same reference before the needle insertion action, thus avoiding the inclusion of the residual position deviation from the previous indexing cycle in the vehicle rebound judgment of the current indexing cycle.Starting from the pin feed start timestamp, synchronous sampling data is continuously retained using the assembly task number, indexing cycle number, and pin station number as a joint index. During the retention process, sampling points are arranged in ascending order according to the sampling timestamps generated by the unified equipment clock. The temporal continuity of synchronous sampling data is verified according to the current sampling cycle and timestamp alignment rules, ensuring that the pin head travel position value, pin exposed end position value, connector housing reference position value, first carrier reference position value, second carrier reference position value, and pin head retraction start signal maintain a one-to-one correspondence under the same sampling timestamp. Synchronous sampling data is continuously retained until the pin body receiving transfer sampling point, carrier force recovery sampling point, and pin head avoidance sampling point of the current pin station are all formed. The sampling point with the latest sampling timestamp among the three types of sampling points is written into the pin receiving sampling record, and then the writing of synchronous sampling data for the current indexing cycle stops. In the next If any of the following sampling points—the pin body acceptance transfer sampling point, the carrier force recovery sampling point, and the pin head avoidance sampling point—is missing before the indexing start signal switches from an invalid to an valid state, the last complete synchronous sampling point before the indexing start signal switches is taken as the recording endpoint of the current pin acceptance sampling record. Furthermore, the use of subsequent data from the current indexing cycle to determine missing sampling points is stopped to prevent the pin head position, pin body position, and carrier position across indexing cycles from participating in the mechanical handover judgment of the current indexing cycle. The assembly task number, indexing cycle number, pin station number, each sampling timestamp, pin head stroke position value, pin exposed end position value, connector housing reference position value, first carrier initial reference position value, second carrier initial reference position value, first carrier reference position value, second carrier reference position value, and pin head retraction start signal are written into the pin acceptance sampling record. During the writing process, the primary key for the pin receiving sampling record is established using the assembly task number, indexing cycle number, and pin station number. The initial reference position values ​​of the first and second carriers are used as fixed reference fields shared by all sampling points within the current indexing cycle. The pin head travel position value, exposed pin end position value, connector housing reference position value, first carrier reference position value, second carrier reference position value, and pin head retraction start signal corresponding to each sampling timestamp are written sequentially as timing fields. By jointly storing the fixed reference fields and timing fields, the subsequent common carrier springback residual value and carrier deflection springback residual value can respectively reflect the same-direction displacement components and differential displacement components of both sides of the carrier relative to the pin's pre-action position reference. This also allows for continuous tracking of the carrier's force recovery process after the pin receiving transfer sampling point, within the same indexing cycle, the same pin station, and the same time reference.

[0031] In this implementation scheme, a stable correspondence is established between the first and second initial reference position values ​​of the carrier formed by the reference sampling point before the insertion of the pin, and the first and second reference position values ​​of the carrier continuously collected in the current indexing cycle, as well as the pin receiving sampling record. This ensures that the carrier position change in each indexing cycle is uniformly referenced to the state before the start of the pin action in this cycle. This reduces the interference of tooling clamping offset, cycle residual displacement, and sampling timing misalignment on subsequent judgments, thereby improving the consistency of the carrier common rebound residual value and the carrier deflection rebound residual value in representing the actual force recovery process. It also provides a continuous and traceable data foundation for identifying the carrier force recovery sampling point after the pin receiving transfer sampling point.

[0032] Optionally, the specific steps for calculating the change in pin head stroke position, the change in pin body position relative to the pin head, and the change in pin body position relative to the connector based on the pin receiving sampling records are as follows: Read the pin receiving sampling records, filter the current calculation object according to the assembly task number, indexing cycle number, and pin station number, and arrange the sampling points in ascending order according to the sampling timestamp. Confirm that the pin head stroke position value, pin exposed end position value, and connector housing reference position value participating in the calculation of the same adjacent sampling point all correspond to the same pin station and the same indexing cycle. Take the positive direction of the pin axis coordinate system as the unified sign direction of each position change, along the pin body... An increase in position due to the insertion direction of the connector is recorded as a positive value, while a change in position along the negative direction of the pin axis coordinate system is recorded as a negative value. The pin head travel position value, the exposed pin end position value, and the connector housing reference position value, along with these three types of changes, are all measured in millimeters as the unit of length. The connector housing reference feature corresponding to the connector housing reference position value is set on the rigid body surface of the connector housing where the target socket is located. The axial positional relationship between the connector housing reference feature and the center point of the target socket entrance is determined based on the connector product drawings and the calibration results of the pin insertion station image. During the current indexing cycle, the connector housing is held in a clamped state by the carrier. The axial distance between the connector housing reference feature and the center point of the target socket inlet remains constant. Therefore, the displacement increment of the connector housing reference feature along the pin axis can characterize the overall displacement increment of the target socket along the pin axis. The connector housing reference feature is preferentially selected from fixed contour edges that are close to the target socket and remain visible throughout the entire pin travel. This ensures that the image extraction of the connector housing reference position value is not affected by pin occlusion. When determining the connector position detection resolution value, the image calibration residual, the connector housing reference feature positioning error, and the pin axis projection error are comprehensively considered, thus enabling the connector housing reference position value to serve as a relative position of the pin. The connector axial movement reference in the calculation of connector position change; read the pin receiving sampling record, calculate for each pair of adjacent sampling points according to the sampling timestamp order, determine the pin head travel position change by the difference between the pin head travel position value of the next sampling point and the previous sampling point, subtract the difference between the pin body exposed end position value of the next sampling point and the previous sampling point to generate the pin body position change relative to the pin head, and subtract the difference between the pin body exposed end position value of the next sampling point and the previous sampling point connector housing reference position value to generate the pin body position change relative to the connector.In the specific calculation, the previous sampling point in the sampling timestamp sequence is recorded as the k-th sampling point, and the next sampling point is recorded as the (k+1)-th sampling point. The pin travel position values ​​corresponding to the k-th and (k+1)-th sampling points are recorded as xH(k) and xH(k+1), respectively; the exposed end position values ​​of the pin are recorded as xN(k) and xN(k+1), respectively; the connector housing reference position values ​​are recorded as xC(k) and xC(k+1), respectively; the change in pin travel position is recorded as ΔxH(k) = xH(k+1) - xH(k); the change in pin body position relative to the pin head is recorded as ΔxNH(k) = [xN(k+1) - xN(k)] - [xH(k+1) - xH(k)]; and the change in pin body position relative to the connector is recorded as ΔxNC(k) = [xN(k+1)] - [xN(k+1)] - [xH ... -xN(k)]-[xC(k+1)-xC(k)], so that the three types of changes strictly correspond to the same sampling time interval consisting of the k-th sampling point to the (k+1)-th sampling point; for adjacent sampling points, the incremental value of the exposed end position of the pin and the incremental value of the reference position of the connector housing are formed respectively. The change in the position of the pin body relative to the pin head is obtained by subtracting the change in the stroke position of the pin head from the incremental value of the exposed end position of the pin. The difference in the axial displacement increments of the two within the same time interval is used to eliminate the influence of the overall feed displacement of the pin head on the pin body movement judgment; the change in the position of the pin body relative to the connector is obtained by subtracting the incremental value of the reference position of the connector housing from the incremental value of the exposed end position of the pin. The difference in the axial displacement between the pin body and the connector housing within the same time interval is used to eliminate the influence of the overall displacement of the connector caused by the carrier. Taking an adjacent sampling interval during a connector pin retention phase as an example, the pin travel position values ​​corresponding to the k-th and k+1-th sampling points are 1.000mm and 0.870mm respectively, the exposed pin end position values ​​are 5.000mm and 5.010mm respectively, the connector housing reference position values ​​are 10.000mm and 10.000mm respectively, the calculated pin travel position change is -0.130mm, the calculated pin body position change relative to the pin head is 0.140mm, and the pin body position change relative to the connector... The calculated change in position is 0.010 mm. A negative change in the probe tip's travel position indicates that the probe tip is retracting along the negative direction of the probe axis. The change in the position of the needle body relative to the probe tip is significantly greater than the change in the position of the needle body relative to the connector, indicating that the needle body has broken away from the motion relationship of retracting with the probe tip and remains approximately stationary relative to the connector. This calculation result is consistent with the mechanical state of the connector during the needle retention stage, thus verifying that the two differential calculations can distinguish the motion relationship of the needle body relative to the probe tip and the connector within a unified coordinate direction and a unified sampling interval. When the change in the position of the needle body relative to the probe tip is close to zero, it indicates that the needle body and the probe tip have approximately common axial displacement within the current adjacent sampling point interval; when the change in the position of the needle body relative to the connector is close to zero, it indicates that the needle body and the connector have approximately common axial displacement within the current adjacent sampling point interval.According to the sampling timestamp order, the change in the probe travel position, the change in the needle body position relative to the probe, and the change in the needle body position relative to the connector corresponding to each pair of adjacent sampling points are associated with the timestamp of the previous sampling point and the timestamp of the next sampling point. This allows the three types of changes to be jointly judged within the same adjacent sampling interval, providing continuous three-body relative motion data for subsequent differentiation between the sampling pairs of probes moving together with the needle and the sampling pairs of the connector with the needle remaining.

[0033] In this implementation scheme, the motion relationship between the insertion head, the needle body, and the connector within a unified insertion axis coordinate system and adjacent sampling intervals is transformed into three types of changes with clear directional meanings. This allows the needle body motion to be independently characterized from the overall feed displacement of the insertion head and the overall displacement of the connector with the carrier. This reduces the interference of common displacement, carrier micro-motion, and changes in the sampling reference on the determination of the needle body state, thereby improving the distinguishability between the sampling pairs of needle head and needle-carrying motion and the sampling pairs of connector needle retention. This enables subsequent needle body transfer sampling points to be accurately formed based on the relative motion relationship of the continuous three bodies, and provides a data foundation with a consistent time reference and clear physical meaning for further determination of the mechanical handover state of the insertion station.

[0034] Optionally, the specific steps for determining the pin body receiving and transfer sampling point from moving with the insertion head to being stationary relative to the connector based on the three types of changes are as follows: First, read the corresponding insertion head receiving sampling record according to the assembly task number, indexing cycle number, and insertion station number, and arrange adjacent sampling points in ascending order of sampling timestamp. The sampling timestamp at which the insertion head retraction start signal switches from an invalid state to an effective state is used as the time boundary between the preceding and following movement stages. Before the time boundary, it is used to identify the common motion relationship between the pin body and the insertion head during the insertion head feeding process; after the time boundary, it is used to identify the relative stationary relationship between the pin body and the connector during the insertion head retraction process. The sampling point corresponding to the insertion head retraction start signal switching from an invalid state to an effective state is determined as the retraction start boundary sampling point. Adjacent sampling points before the time boundary refer only to adjacent sampling points where the sampling timestamps of the previous and subsequent sampling points are both less than the sampling timestamp of the retraction start boundary sampling point. Adjacent sampling points after the time boundary refer only to adjacent sampling points where the sampling timestamps of the previous and subsequent sampling points are both less than the sampling timestamp of the retraction start boundary sampling point. The sampling timestamps of the points are all adjacent sampling points whose sampling timestamps are greater than those of the back-off start boundary sampling points. The adjacent sampling points whose previous sampling point is before the time boundary and whose next sampling point is the back-off start boundary sampling point, and the adjacent sampling points whose previous sampling point is the back-off start boundary sampling point and whose next sampling point is after the time boundary, do not participate in the determination of the needle-head and needle-carrying common movement sampling pairs and the connector needle-residing sampling pairs. This avoids the situation where the same adjacent sampling interval crosses the needle head movement direction switching boundary, causing the three types of changes to simultaneously include the displacement components of the feeding stage and the back-off stage. The sum of the needle head position detection resolution value and the needle body position detection resolution value is used as the resolution boundary for the change in the needle body position relative to the needle head. The sum of the needle body position detection resolution value and the connector position detection resolution value is used as the resolution boundary for the change in the needle body position relative to the connector. Both resolution boundaries are obtained by adding the corresponding detection resolution values ​​of the two position detection results involved in the difference calculation, so that the small quantitative fluctuations generated between the two compared objects between adjacent sampling points will not be misjudged as true relative displacement.According to the sampling timestamp sequence, the adjacent sampling points before the pin retraction start signal switches from an invalid state to an active state are read. When the change in pin travel position is along the positive direction of the pin axis and its absolute value is greater than the pin position detection resolution value, the absolute value of the change in pin body position relative to the pin head is not greater than the sum of the pin head position detection resolution value and the pin body position detection resolution value, and the absolute value of the change in pin body position relative to the connector is greater than the sum of the pin body position detection resolution value and the connector position detection resolution value, the corresponding two adjacent sampling points are determined as a pin-pin joint movement sampling pair; among them, the change in pin travel position... The absolute value of the amount along the positive direction of the pin axis exceeds the pin head position detection resolution value, which is used to confirm that the pin head has generated a distinguishable feed motion within the adjacent sampling point interval; the change in the position of the pin body relative to the pin head remains within the corresponding resolution boundary, indicating that the exposed end of the pin and the pin head have approximately the same axial displacement within the same adjacent sampling point interval; the change in the position of the pin body relative to the connector exceeds the corresponding resolution boundary, indicating that the pin body has not yet formed a relatively static relationship with the connector. Therefore, when all three conditions are met, the actual motion state of the pin body feeding together with the pin head can be distinguished from the overall micro-motion generated by the connector with the carrier. Read the adjacent sampling points after the pin head retraction start signal switches from an invalid state to an effective state according to the sampling timestamp sequence. For each pair of adjacent sampling points participating in the connector pin retention sampling pair judgment, the previous and next sampling timestamps are both greater than the sampling timestamp of the retraction start boundary sampling point. When the change in pin head stroke position is along the negative direction of the pin axis and its absolute value is greater than the pin head position detection resolution value, the absolute value of the change in pin body position relative to the connector is not greater than the sum of the pin body position detection resolution value and the connector position detection resolution value, and the absolute value of the change in pin body position relative to the pin head is greater than the sum of the pin head position detection resolution value and the pin body position detection resolution value, the pin head stroke position change is greater than the sum of the pin head position detection resolution value and the connector position detection resolution value. When the sum of the rate values ​​is reached, the two adjacent sampling points are determined as the connector pin retention sampling pair. Specifically, the change in the pin head's travel position along the negative direction of the pin axis and its absolute value exceeding the pin head position detection resolution value confirms that the pin head has undergone a recognizable retraction movement. The change in the pin body's position relative to the connector remains within the corresponding resolution boundary, indicating that the pin body and connector maintain approximately the same positional relationship within the adjacent sampling point interval. The change in the pin body's position relative to the pin head exceeds the corresponding resolution boundary, indicating that the pin head has undergone a separation displacement relative to the pin body. Therefore, when all three conditions are met simultaneously, it can be confirmed that the pin body has transitioned from the state of moving with the pin head to the connector pin retention state. The last pin-with-pin-movement sampling pair before the pin head retraction start signal and the first connector pin retention sampling pair after the pin head retraction start signal are read in the order of sampling timestamps. When both types of sampling pairs are formed, the first sampling point in the first connector pin retention sampling pair is determined as the pin body receiving and transfer sampling point.In practice, the process begins by searching backward from the rollback start boundary sampling point. The adjacent sampling point whose sampling timestamp is closest to the rollback start boundary sampling point and meets all the criteria for the needle-and-needle co-movement sampling pair is retained as the last needle-and-needle co-movement sampling pair. Then, the process continues backward from the rollback start boundary sampling point, retaining the adjacent sampling point that first meets all the criteria for the connector-retained needle sampling pair as the first connector-retained needle sampling pair. Therefore, when multiple needle-and-needle co-movement sampling pairs and multiple connector-retained needle sampling pairs are formed within the same indexing cycle, only the last needle-and-needle co-movement sampling pair closest to the state transition time boundary and the first connector-retained needle sampling pair are retained to participate in the determination of the needle body receiving and transfer sampling point. The preceding sampling point in the first connector-retained needle sampling pair is located in the adjacent sampling area where the connector-retained needle state is first observed. Therefore, this sampling point is used as the needle body receiving and transfer sampling point. This allows the state transition of the needle body from the insertion head movement receiving relationship to the connector position receiving relationship to be positioned under a unified sampling time reference. It also provides a clear time starting point for calculating the common rebound residual value and the deflection rebound residual value of the carrier starting from the needle body receiving and transfer sampling point. If no needle head and needle common movement sampling pair is formed within the effective data range of the current insertion head receiving sampling record, no connector needle retention sampling pair is formed, or the synchronous sampling data is interrupted, causing any type of sampling pair to be unable to complete the judgment, the needle body receiving and transfer sampling point for the corresponding insertion station in the current indexing cycle will not be generated, and the determination of the carrier force recovery sampling point and the mechanical handover sampling point of the insertion station based on the current indexing cycle data will be stopped. This avoids data lacking the basis for the needle body state transition time from entering the subsequent mechanical handover judgment.

[0035] In this implementation scheme, by placing the sampling pairs of needles moving together with the sampling pairs of connectors with needles remaining under a unified sampling time reference for the determination of the connection between the needle and the connector, the change in the state of the needle body from moving with the insertion needle to being stationary relative to the connector can form a clear time boundary based on three types of changes. This reduces the interference caused by fluctuations in detection resolution, the micro-movement of the connector with the carrier, and the retraction process of the insertion needle on the state identification, thereby improving the positioning stability and physical interpretability of the needle body connection transfer sampling point, and providing a reliable time anchor point for the continuous determination of the carrier common springback residual value, the carrier deflection springback residual value, and the subsequent mechanical handover sampling point of the insertion station.

[0036] In Example 1, the pin position detection resolution is 0.01mm, the pin body position detection resolution is 0.015mm, and the connector position detection resolution is 0.015mm. Therefore, the sum of the pin position detection resolution and the pin body position detection resolution is 0.025mm, and the sum of the pin body position detection resolution and the connector position detection resolution is 0.030mm. Before the probe tip retraction is initiated, the absolute values ​​of the changes in the position of the needle body relative to the probe tip for the three adjacent sampling pairs from 172ms to 174ms, 174ms to 176ms, and 176ms to 178ms are 0.007mm, 0.006mm, and 0.005mm, respectively, and the absolute values ​​of the changes in the position of the needle body relative to the connector are 0.082mm, 0.089mm, and 0.095mm, respectively. When the changes in the corresponding probe tip stroke position are along the positive direction of the probe tip axis and the absolute value is greater than the probe tip position detection resolution value, all three sampling pairs meet the determination conditions for the sampling pairs of needle tip and needle moving together. The sampling pair corresponding to 176ms to 178ms is determined as the last sampling pair of needle tip and needle moving together before the probe tip retraction is initiated. After the pin retraction is initiated, the absolute values ​​of the pin body position changes relative to the pin head for the three adjacent sampling pairs (182ms to 184ms, 184ms to 186ms, and 186ms to 188ms) are 0.140mm, 0.132mm, and 0.121mm, respectively, and the absolute values ​​of the pin body position changes relative to the connector are 0.010mm, 0.009mm, and 0.007mm, respectively. When the corresponding pin head stroke position change is along the negative direction of the pin axis and the absolute value is greater than the pin head position detection resolution value, all three sampling pairs meet the determination conditions for connector pin retention sampling pairs. The sampling pair corresponding to 182ms to 184ms is determined as the first connector pin retention sampling pair after the pin retraction is initiated. Based on the last pin-with-pin joint movement sampling pair before the pin retraction is initiated and the first connector pin retention sampling pair after the pin retraction is initiated, the previous sampling point in the first connector pin retention sampling pair is determined as the pin body receiving and transfer sampling point.

[0037] like Figure 2As shown, the horizontal axis represents the absolute value of the change in position of the pin body relative to the probe tip, and the vertical axis represents the absolute value of the change in position of the pin body relative to the connector. The vertical boundary of 0.025mm corresponds to the sum of the probe tip position detection resolution value and the pin body position detection resolution value, and the horizontal boundary of 0.030mm corresponds to the sum of the pin body position detection resolution value and the connector position detection resolution value. The upper left area represents the area corresponding to the pin-and-pin joint motion sampling pairs. These sampling pairs are distributed sequentially along the sampling time within a range where the horizontal axis is no greater than 0.025mm and the vertical axis is greater than 0.030mm. The diamond mark indicates the last pin-and-pin joint motion sampling pair before the probe tip retraction is initiated. The lower right area represents the area corresponding to the connector pin retention sampling pairs. These pairs are distributed within a range where the horizontal axis is greater than 0.025mm and the vertical axis is no greater than 0.030mm. The triangle mark indicates the first connector pin retention sampling pair after the probe tip retraction is initiated. The dashed arrows indicate the connection relationship from the last pin-and-pin joint motion sampling pair to the first connector pin retention sampling pair. Figure 2 The data relationship used to characterize the motion relationship between the needle body and the probe head and connector, from the state of motion with the probe head to the state of being stationary relative to the connector; the final determination of the two types of sampling pairs is combined with the direction and absolute value conditions of the corresponding probe head stroke position change.

[0038] Optionally, the specific steps for calculating the common rebound residual value and the deflection rebound residual value of the vehicle, and determining the sampling point for the force recovery of the vehicle, are as follows: Read the pin receiving sampling record according to the assembly task number, indexing cycle number, and pin station number. Use the sampling timestamp corresponding to the pin receiving transfer sampling point as the starting timestamp for the vehicle rebound analysis. Read the first vehicle reference position value, the second vehicle reference position value, the first vehicle initial reference position value, and the second vehicle initial reference position value in ascending order of sampling timestamp. Since the first and second vehicle reference position values ​​have been converted to the pin axis coordinate system, and the position changes on both sides adopt the same positive direction, first subtract the first vehicle reference position value corresponding to the current sampling timestamp from... The initial reference position value of the first vehicle is used to obtain the position offset of the first vehicle. Then, the initial reference position value of the second vehicle is subtracted from the initial reference position value of the second vehicle to obtain the position offset of the second vehicle. This allows the actual displacement of both vehicles before and after the pin insertion action to be compared based on their initial positions in the current indexing cycle. The first and second vehicle reference position values ​​correspond to the projected positions of the two fixed reference positions on both sides of the vehicle along the pin axis. The fixed reference positions on both sides move together with the rigid body of the vehicle. The detection results of each position are expressed in millimeters after conversion using the installation calibration matrix. Therefore, the position offsets on both sides of the vehicle have the same coordinate direction and the same dimension. The difference in the detection resolution values ​​of each position is reflected by the subsequent corresponding resolution boundary. The uncalibrated raw detection output is directly summed. Starting from the needle body receiving and transfer sampling point, for each sampling timestamp, the difference between the first carrier reference position value and the first carrier initial reference position value, and the difference between the second carrier reference position value and the second carrier initial reference position value are summed, and the absolute value is divided by two to generate the common rebound residual value of the carrier. In specific calculation, the first carrier reference position value corresponding to the current k-th sampling point is recorded as xL1(k), the second carrier reference position value is recorded as xL2(k), the first carrier initial reference position value is recorded as xL10, and the second carrier initial reference position value is recorded as xL20. The first carrier position offset is recorded as ΔxL1(k) = xL1(k) - xL10, and the second carrier position offset is recorded as ΔxL1(k) = xL1(k) - xL10. The offset is denoted as ΔxL2(k) = xL2(k) - xL20, and the common rebound residual value of the vehicles is |ΔxL1(k) + ΔxL2(k)| / 2. The sum of the position offsets of the two vehicles and the result is divided by two to extract the overall position deviation of the two vehicles along the pin axis coordinate system. When the rigid body of the vehicle is simultaneously subjected to the axial force of the pin, the fixed reference positions on both sides usually produce axial displacements in the same direction. The half of the position offsets of the two sides can retain the common displacement component and weaken the reverse difference component on both sides. When the two vehicles return to the vicinity of the pin's previous position synchronously after the pin is released from the force, the common component of the position offsets of the two vehicles gradually decreases with the rebound process, and the common rebound residual value of the vehicles approaches zero accordingly.The vehicle deflection rebound residual value is generated by subtracting the difference between the first vehicle reference position value and the first vehicle initial reference position value from the difference between the second vehicle reference position value and the second vehicle initial reference position value, and taking the absolute value. According to the aforementioned variable relationship, the vehicle deflection rebound residual value is |ΔxL1(k)-ΔxL2(k)|, where the subtraction of the position offsets of the two vehicles can retain the inconsistent components between the displacements of the two sides. When the action of the pin causes uneven force on both sides of the vehicle, a difference is formed between the position offsets of the first vehicle and the second vehicle. As the pin head withdraws and releases the mechanical force, the position difference between the two sides gradually decreases. Therefore, the vehicle deflection rebound residual value is used to characterize the recovery of the position consistency of the two sides of the vehicle relative to the reference state before the pin insertion. The degree of recovery; the vehicle common rebound residual value and the vehicle deflection rebound residual value reflect the overall position recovery and the consistent position recovery of the two sides of the vehicle, respectively. Therefore, the sampling state in which only the overall position is restored but there is still deflection on both sides cannot be directly identified as the vehicle force recovery state. The vehicle common rebound residual value and the vehicle deflection rebound residual value are read in the order of sampling timestamp. When the vehicle common rebound residual value of two consecutive sampling points is not greater than half of the sum of the first vehicle position detection resolution value and the second vehicle position detection resolution value, and the vehicle deflection rebound residual value is not greater than the sum of the first vehicle position detection resolution value and the second vehicle position detection resolution value, the first of the two consecutive sampling points is determined as the vehicle force recovery sampling point. In specific implementation, half of the sum of the first vehicle position detection resolution value and the second vehicle position detection resolution value is used as the resolution boundary of the common rebound residual value of the vehicle. This resolution boundary is consistent with the calculation scale of the common rebound residual value of the vehicle by summing the position offsets on both sides and dividing by two. The sum of the first vehicle position detection resolution value and the second vehicle position detection resolution value is used as the resolution boundary of the vehicle deflection rebound residual value. This resolution boundary is consistent with the calculation scale of directly subtracting the position offsets on both sides, so that the judgment of vehicle force recovery is based on the actual position detection capability. When two consecutive sampling points simultaneously meet the two resolution boundaries, the second sampling point is used to confirm that the low residual state that began to appear at the previous sampling point is not a single-point instantaneous fluctuation. After the second sampling point completes the continuous confirmation, the starting sampling point that continuously meets the conditions is backtracked and determined as the vehicle force recovery sampling point. The vehicle force recovery sampling point represents the time position when the common rebound residual value and the vehicle deflection rebound residual value first enter and remain within the corresponding resolution boundary, rather than the time position when the low residual state is detected for the second time.This backtracking is only used for mechanical state time calibration in assembly cycle monitoring and is not directly used as the trigger condition for the indexing action of the carrier. Subsequent mechanical handover sampling points at the pin insertion station are still determined by the latest sampling point among the pin body receiving and transfer sampling points, the carrier force recovery sampling points, and the pin head avoidance sampling points. Therefore, recording the first of two consecutive sampling points as the carrier force recovery sampling point will not prematurely trigger the actual indexing action. It also avoids systematically shifting the carrier force recovery time by adding a fixed sampling period, allowing the carrier force recovery sampling point to more accurately characterize the starting time boundary of the carrier transitioning from the pin-forced state to the continuous recovery state.

[0039] In this implementation plan, the overall return state and the consistency state of both sides of the vehicle after the force is released are characterized by the common rebound residual value and the deflection rebound residual value of the vehicle. This makes the force recovery process of the vehicle no longer dependent on the position change of one side. It can reduce the risk of premature judgment caused by the overall rebound of the vehicle being completed but the local deflection has not been eliminated. Combined with continuous sampling confirmation, the stability of the force recovery sampling points of the vehicle is improved, so that the force recovery sampling points of the vehicle can more accurately reflect the true mechanical recovery boundary after the force of the needle is released. This provides a reliable mechanical state basis for subsequent time comparison with the needle body receiving transfer sampling points and the needle head avoidance sampling points to determine the mechanical handover sampling points of the needle station.

[0040] Optionally, the pin head avoidance sampling point is determined by combining the pin mechanical handover parameter table. The specific steps for determining the sampling point with the latest sampling timestamp among the three types of sampling points as the pin station mechanical handover sampling point are as follows: Read the corresponding pin acceptance sampling record according to the assembly task number, indexing cycle number and pin station number, and read the pin head indexing avoidance position value from the pin mechanical handover parameter table according to the pin station number. Confirm that the pin head indexing avoidance position value and the pin head stroke position value both adopt the axial position scale in the pin axis coordinate system, so that the pin head retraction process can be directly judged based on the position value boundary relationship. Since the positive direction of the pin axis coordinate system is the direction of the pin body inserting into the connector, when the pin head performs the retraction action, the pin head stroke position value decreases along the negative direction of the pin axis. Therefore, the pin head stroke position value changes from being greater than the pin head indexing avoidance position value to not being greater than the pin head indexing avoidance position value, indicating that the pin head has exited from the axial position range affecting the indexing movement of the carrier and entered the indexing avoidance position range. Starting from the sampling point where the pin retraction start signal switches from an invalid to an valid state, the pin travel position value is read sequentially according to the sampling timestamp. If the pin travel position value at the next sampling point is not greater than the pin indexing avoidance position value and the pin travel position value at the previous sampling point is greater than the pin indexing avoidance position value, the next sampling point is determined as the pin avoidance sampling point. In practice, the relationship between the pin travel position value and the pin indexing avoidance position value is checked pairwise for adjacent sampling points. Only when the relationship between the pin travel position value and the pin indexing avoidance position value is met for the first time within the current indexing cycle is established is the pin travel position point selected. The sampling point whose value is not greater than the pin head indexing avoidance position value is determined as the pin head avoidance sampling point. After the pin head avoidance sampling point is formed, it will not be repeatedly generated based on the subsequent pin head stroke position value of the current indexing cycle, thereby avoiding repeated generation of pin head avoidance sampling points due to position signal fluctuations after the pin head enters the indexing avoidance position range. The pin head avoidance sampling point reflects the earliest discrete sampling position when the pin head completes the indexing space release. Together with the pin body acceptance transfer sampling point reflecting the pin body acceptance state switch and the carrier force recovery sampling point reflecting the carrier mechanical force recovery, they constitute the three time conditions that the pin station needs to meet to enter the mechanical handover state. When the pin body acceptance transfer sampling point, the carrier force recovery sampling point, and the pin head avoidance sampling point are all formed, the sampling timestamps of the three sampling points are compared, and the sampling point with the latest sampling timestamp is determined as the mechanical handover sampling point of the pin station.In practice, the sampling timestamps of the three sampling points are used as the comparison objects. The three sampling points are arranged in ascending order of sampling timestamp, and the last sampling point in the sorted list is directly written into the mechanical handover sampling point of the pin insertion station corresponding to the current indexing cycle. The latest sampling timestamp means that the three mechanical conditions of pin body acceptance and transfer, carrier force recovery, and pin head avoidance have all been completed within the current indexing cycle. Therefore, the mechanical handover sampling point of the pin insertion station corresponds to the time boundary when the pin insertion station first has complete mechanical handover conditions. When any of the three sampling points has not yet been formed, the mechanical handover sampling point of the current pin insertion station is not generated, and the subsequent pin acceptance sampling records are read according to the sampling timestamp until all three mechanical conditions are formed. If, before the next indexing start signal switches from an invalid to an valid state, any of the following sampling points—needle body receiving transfer sampling point, carrier force recovery sampling point, and needle head avoidance sampling point—remains unformed, the continued retrieval of mechanical handover sampling points for the corresponding needle insertion station in the current indexing cycle is stopped. Sampling data from the next indexing cycle is not used to supplement the missing sampling points of the current indexing cycle, and the needle receiving sampling records already obtained in the current indexing cycle are retained for subsequent verification. If no mechanical handover sampling point is formed at any needle insertion station, no whole-machine mechanical handover sampling point is generated for the current indexing cycle to prevent cross-indexing cycle data and data with incomplete mechanical handover conditions from participating in the whole-machine mechanical cycle time limit judgment.

[0041] In this implementation scheme, the sampling points for needle body acceptance and transfer, the sampling points for carrier force recovery, and the sampling points for needle head avoidance are used together as time constraints for the mechanical handover state of the needle insertion station. This allows the mechanical handover determination of the needle insertion station to simultaneously cover the three key states: needle body acceptance completion, carrier force recovery, and needle head exiting the indexing interference range. This avoids premature confirmation of the mechanical handover moment caused by a single action completion signal, thereby improving the accuracy of the mechanical handover sampling points of the needle insertion station in representing the true indexing executable boundary. It also provides a stable time reference with physical constraints for the subsequent determination of the whole machine mechanical handover sampling points, the set of mechanical cycle time limit station numbers, and the set of needle cycle time limit sources.

[0042] Optionally, the specific steps for determining the overall machine mechanical handover sampling point based on the mechanical handover sampling points of each pin insertion station and the mechanical completion signals of each non-pin insertion station, and for determining the overall machine control handover sampling point based on the release signals of each station, are as follows: Collect the station number, station type code value, mechanical handover sampling point of the pin insertion station, mechanical completion signal of the non-pin insertion station, and station release signal of all stations within the current indexing cycle according to the assembly task number and indexing cycle number. Use the aforementioned unified equipment clock to write the sampling timestamp for each signal state change, so that the mechanical action completion state and control release state of different stations can be compared under the same time reference. For the pin insertion station, directly read the data based on the pin body receiving and transfer... The sampling points, including the sampling points for carrier force recovery and the sampling points for pin insertion head avoidance, determine the mechanical handover sampling points for the pin insertion station. For non-pin insertion stations, the mechanical completion status bit bound to the corresponding station number is read from the programmable logic controller. The mechanical completion status bit switches from an invalid state to an valid state when the corresponding mechanical action in the current indexing cycle reaches the process termination position and maintains the completed state. The mechanical completion status bit is used as the mechanical completion signal for the non-pin insertion station, and the unified equipment clock sampling timestamp corresponding to the mechanical completion signal state transition is written into the corresponding station record. Thus, the pin insertion station uses the mechanical handover condition formation time, and the non-pin insertion station uses the completion time of its own mechanical action, together constituting the mechanical handover condition formation time. The current indexing cycle's station mechanical handover time benchmark; after the start of the current indexing cycle, check the mechanical completion status position corresponding to each non-pin insertion station according to the station number. Before the current station begins executing the mechanical action of this indexing cycle, keep the corresponding mechanical completion status position in an invalid state, so that the first state change from invalid to valid in the current indexing cycle can be distinguished from the valid state left over from the previous indexing cycle; if the mechanical completion status position is still valid at the start of the current indexing cycle, do not directly determine the valid state as the non-pin insertion station mechanical handover sampling point of the current indexing cycle. Wait until the mechanical completion status position is restored to an invalid state and the mechanical action of the current indexing cycle is completed. When switching back to the valid state, the valid edge determination of the current indexing cycle is performed again. For the same indexing cycle, when each pin insertion station forms a pin insertion station mechanical handover sampling point, the mechanical handover sampling points of each pin insertion station are read. The sampling point where the mechanical completion signal of each non-pin insertion station first switches from the invalid state to the valid state is determined as the non-pin insertion station mechanical handover sampling point. The sampling timestamps of all pin insertion station mechanical handover sampling points and non-pin insertion station mechanical handover sampling points are compared. The sampling point with the latest sampling timestamp is determined as the whole machine mechanical handover sampling point. All station numbers whose sampling timestamps are equal to the sampling timestamps of the whole machine mechanical handover sampling points are written into the mechanical cycle limit station number set.In practice, the mechanical completion signal is continuously read according to a unified equipment clock. After detecting a mechanical completion signal switching from an invalid to an valid state, the next sampling point is read. If the mechanical completion signal at the next sampling point remains valid, the current valid edge is confirmed, and the sampling point that first switches from an invalid to a valid state is designated as the non-pin insertion station mechanical handover sampling point. When the next sampling point becomes invalid again, the current state transition is treated as signal jitter, and no non-pin insertion station mechanical handover sampling point is generated. Subsequent mechanical completion signals are then read, thus avoiding short-term state flips at a single sampling point that could lead to incorrect mechanical handover times. The current indexing cycle is checked item by item according to the station number to verify whether a corresponding mechanical handover sampling point has been formed. If no pin insertion station mechanical handover sampling point has been formed, or no non-pin insertion station mechanical handover sampling point has been formed, no complete machine mechanical handover sampling point is generated, and subsequent sampling records are read. If the non-pin insertion station mechanical completion signal has not been formed within the current indexing cycle, it is confirmed through continuous sampling. During the effective time of the indexing cycle, no corresponding non-pin insertion station mechanical handover sampling point is generated, nor is a whole machine mechanical handover sampling point generated for the current indexing cycle. After all stations have formed corresponding mechanical handover sampling points, the mechanical handover sampling points are arranged in ascending order of sampling timestamp. The last sampling point in the sorting represents the time boundary of the station that last reached the mechanical handover condition within the current indexing cycle. Therefore, the last sampling point in the sorting is determined as the whole machine mechanical handover sampling point. When two or more stations reach the time boundary at the same sampling timestamp, all corresponding station numbers are written into the mechanical cycle limit station number set, so that the mechanical cycle limit station number set can retain the station source that commonly limits the whole machine mechanical handover time within the same indexing cycle. The station release signal corresponding to each station within the same indexing cycle is read, and the sampling point where the station release signal first switches from an invalid state to an effective state is determined as the station control handover sampling point. The sampling timestamps of all station control handover sampling points are compared, and the station control handover sampling point with the latest sampling timestamp is determined as the whole machine control handover sampling point. In practice, the station release signal is read from the release status bit bound to each station number in the programmable logic controller. The release status bit is used to indicate that the corresponding station has met the control permission conditions for entering the subsequent indexing stage of the current indexing cycle. The validity of the release status bit only indicates that the current station has the control release conditions, and does not indicate that the carrier has actually started indexing movement. After the start of the current indexing cycle, the release status bit is kept in an invalid state before the corresponding station enters the action execution stage of this cycle. The release status bit switches from an invalid state to an valid state after the corresponding station meets the control release conditions of the current indexing cycle. The sampling timestamp of the first state transition is recorded according to the unified equipment clock, and the sampling point corresponding to the sampling timestamp is written into the station control handover sampling point.If the release status bit remains valid at the start of the current indexing cycle, this valid state will not be used as the station control handover sampling point for the current indexing cycle. The valid edge determination for the current indexing cycle will only be performed when the release status bit first returns to an invalid state and then switches back to a valid state after the control release conditions are met again in this cycle. After detecting that the release status bit has switched from an invalid state to a valid state, the next sampling point will continue to be read. If the next sampling point remains valid, the current valid edge will be confirmed, and the first state transition sampling point will be determined as the station control handover sampling point. If the next sampling point becomes invalid again, no station control handover sampling point will be generated, and subsequent release status bits will continue to be read. If any station release signal remains invalid throughout the current indexing cycle... When a valid edge is formed after continuous sampling confirmation, no corresponding workstation control handover sampling point is generated, nor is a whole-machine control handover sampling point for the current indexing cycle generated. After all workstations have generated workstation control handover sampling points, these points are sorted according to their sampling timestamps. The last sampling point in the sort corresponds to the earliest common time boundary at which all workstations complete control release. Therefore, the last workstation control handover sampling point is determined as the whole-machine control handover sampling point. This ensures that the whole-machine mechanical handover sampling point reflects the completion boundary of mechanical conditions at all workstations, and the whole-machine control handover sampling point reflects the completion boundary of control release at all workstations. It also provides a unified time basis for subsequently distinguishing between the control waiting interval after mechanical handover and the indexing waiting interval after control handover, based on the actual indexing start sampling points.

[0043] In this implementation plan, by unifying the mechanical handover sampling points of each pin insertion station, the mechanical handover sampling points of each non-pin insertion station, and the control handover sampling points of each station under the same indexing cycle and a unified equipment clock, the mechanical handover sampling points and the control handover sampling points of the whole machine can respectively reflect the common time boundaries of the completion of mechanical handover conditions and control release conditions of all stations. Furthermore, by using the mechanical cycle time limit station number set to retain the station source that actually constrains the mechanical handover time of the whole machine, the cycle time judgment deviation caused by the completion state of a single station representing the completion state of the whole machine is avoided. This improves the accuracy of mechanical constraint source identification and control waiting distinction in multi-station assembly process, and provides a consistent and traceable time basis for subsequently determining the control waiting interval after mechanical handover, the indexing waiting interval after control handover, and the actual assembly cycle time value.

[0044] Optionally, the specific steps for determining the set of pin insertion cycle time limit sources are as follows: Read the machine mechanical handover sampling points, machine control handover sampling points, mechanical cycle time limit station number set, and pin body receiving and transfer sampling points, carrier force recovery sampling points, and pin head avoidance sampling points corresponding to each pin insertion station, according to the assembly task number and indexing cycle number. Record the state changes of subsequent indexing start signals using a unified equipment clock, ensuring that mechanical handover, control handover, and actual indexing start all use the same time base for sequential comparison. Read the indexing start signals for the same indexing cycle from the programmable logic controller, and determine the sampling point where the indexing start signal first switches from an invalid state to a valid state as the actual indexing start sampling point. In specific implementation, the indexing start signal is read from the indexing action status bit bound to the current indexing cycle in the programmable logic controller. After the formation of the whole machine mechanical handover sampling point, the indexing start signal is continuously checked according to the sampling timestamp sequence. Only the sampling point that switches from an invalid state to an effective state for the first time in the current indexing cycle is recorded, and the corresponding sampling timestamp is used as the sampling timestamp of the actual indexing start sampling point. This ensures that the actual indexing start sampling point reflects the actual time boundary when the vehicle begins to execute the current indexing action, and is not affected by repeated sampling caused by the subsequent indexing start signal remaining in an effective state. When the whole machine control handover sampling point is later than the whole machine mechanical handover sampling point, the sampling interval between the two sampling points is determined as the control waiting interval after mechanical handover. In specific implementation, the sampling timestamp of the whole machine mechanical handover sampling point is used as the starting point of the control waiting interval after mechanical handover, and the sampling timestamp of the whole machine control handover sampling point is used as the ending point of the control waiting interval after mechanical handover. All sampling timestamps within the interval are retained according to the unified equipment clock. This interval represents the time range during which all workstations must wait for each workstation to complete control release after all workstations have met the mechanical handover conditions. When the sampling timestamps of the whole machine control handover sampling point and the whole machine mechanical handover sampling point are the same, the common sampling timestamp is used simultaneously as the starting and ending points of the control waiting interval after mechanical handover, making the control waiting interval after mechanical handover a zero-duration interval, indicating that all workstations have completed control release when the mechanical handover conditions are formed; the whole machine control handover... When the sampling point is earlier than the mechanical handover sampling point of the whole machine, it means that the control release conditions of all stations have been met before the mechanical handover conditions of the whole machine are formed. There is no control wait after the mechanical handover is completed. The control wait interval after the mechanical handover is written as an empty interval. The sampling timestamps of the mechanical handover sampling point and the control handover sampling point of the whole machine are retained. The reverse difference between the two sampling timestamps is not used to generate the waiting time. This ensures that the control wait interval after the mechanical handover has a definite recording form under the three time relationships of the control handover sampling point being later than, synchronized with, and earlier than the mechanical handover sampling point of the whole machine. When the actual indexing start sampling point is later than the control handover sampling point of the whole machine, the sampling interval between the two sampling points is determined as the indexing wait interval after the control handover.In specific implementation, the sampling timestamp of the whole machine control handover sampling point is used as the starting point of the indexing waiting interval after control handover, and the sampling timestamp of the actual indexing start sampling point is used as the ending point of the indexing waiting interval after control handover. The corresponding sampling timestamps within the interval are retained. This interval represents the time range from when all workstations have completed control release to when the actual indexing action is executed. When the sampling timestamps of the actual indexing start sampling point and the whole machine control handover sampling point are the same, the common sampling timestamp is used simultaneously as the starting and ending points of the indexing waiting interval after control handover, ensuring that the indexing waiting interval after control handover is... If the interval is recorded as a zero-duration interval, it indicates that no additional indexing wait has been formed after the overall machine control handover is completed. If the actual indexing start sampling point is earlier than the overall machine control handover sampling point, it indicates that the indexing start action occurred before the completion of all workstation control release conditions. This time relationship does not belong to the normal waiting process after the control handover is completed. The indexing wait interval after the control handover is written as an empty interval. The sampling timestamps of the actual indexing start sampling point and the overall machine control handover sampling point are retained. The reverse difference between the two sampling timestamps is not used to form the indexing wait time after the control handover. In the current assembly task... Within the corresponding continuous sampling data range, if no indexing start signal is detected switching from an invalid to an effective state after the formation of the whole machine control handover sampling point, no corresponding actual indexing start sampling point is generated. The indexing waiting interval after control handover is written as an empty interval, and the current indexing cycle is not included in the calculation of the actual assembly cycle time value of the subsequent two consecutive indexing cycles. This prevents the formation of unfounded actual assembly cycle time values ​​based on data lacking indexing start time boundaries. The zero-duration interval and the empty interval respectively represent the waiting time being zero and the absence of a corresponding normal waiting relationship, thus ensuring the smooth mechanical handover. The post-control waiting interval and the post-control handover indexing waiting interval both have definite data states under various time relationships, and negative time intervals are avoided from entering the subsequent assembly cycle monitoring record; when the mechanical cycle limit station number set contains the pin insertion station number, the sampling point types in the pin body receiving transfer sampling point, the carrier force recovery sampling point, and the pin head avoidance sampling point with the same sampling timestamp as the mechanical handover sampling point of the pin insertion station are written into the pin insertion cycle limit source set. The sampling point types include pin body receiving transfer type, carrier force recovery type, and pin head avoidance type. In practice, for each pin insertion station number in the set of mechanical cycle time limit station numbers, the sampling timestamp of the corresponding mechanical handover sampling point of the pin insertion station is read, and the sampling timestamps of the pin body receiving and transferring sampling point, the carrier force recovery sampling point, and the pin head avoidance sampling point are compared with the sampling timestamps of the mechanical handover sampling points of the pin insertion station. If the sampling timestamps of the pin body receiving and transferring sampling point are consistent, the pin body receiving and transferring type is written; if the sampling timestamps of the carrier force recovery sampling point are consistent, the carrier force recovery type is written; if the sampling timestamps of the pin head avoidance sampling point are consistent, the pin head avoidance type is written.When the sampling timestamps of two or more sampling points coincide with the sampling timestamp of the mechanical handover sampling point at the pin insertion station, the corresponding multiple sampling point types are jointly written into the pin insertion cycle time constraint source set. This preserves the actual constraint sources that collectively form the mechanical handover time boundary within the same pin insertion station, enabling the pin insertion cycle time constraint source set to directly correspond to the final time constraints in the three mechanical processes within the pin insertion station: pin body acceptance, carrier force recovery, and pin head avoidance.

[0045] In this implementation plan, the whole machine mechanical handover sampling points, whole machine control handover sampling points, and actual indexing start sampling points are divided into stages under a unified time reference. By combining the set of mechanical cycle time limit station numbers, the final source of the limit within the pin insertion station is further traced. This allows the mechanical limitations, control waiting, and indexing execution delays in the actual assembly cycle time to be clearly distinguished. At the same time, the cycle time constraints at the whole machine level can be traced back to the pin body receiving and transfer type, the carrier force recovery type, and the pin head avoidance type. This improves the interpretability of the pin insertion cycle time limit source set for the real cycle time bottleneck and provides a diagnostic basis with clear source relationships and time boundaries for subsequent assembly cycle time monitoring and recording.

[0046] In Example 2, the multi-station pin assembly equipment adopts a four-station indexing structure. Station 1 is the material loading and positioning station, stations 2 and 3 are pin insertion stations, and station 4 is the inspection and release station. The sampling data and control signals of each station use a unified equipment clock with a sampling period of 2ms. Taking station 2 as the current pin monitoring station, the pin head position detection resolution is 0.01mm, the pin body position detection resolution is 0.015mm, the connector position detection resolution is 0.015mm, the first carrier position detection resolution and the second carrier position detection resolution are both 0.01mm, and the pin head indexing avoidance position is 0.80mm. According to the pin acceptance sampling record, the last pin-with-pin common movement sampling pair before the pin head retraction start is located between 176ms and 178ms, and the first connector pin-residing sampling pair after the pin head retraction start is located between 182ms and 184ms. Therefore, the sampling point corresponding to 182ms is determined as the pin body acceptance transfer sampling point. The carrier common springback residual value and carrier deflection springback residual value of the two consecutive sampling points at 214ms and 216ms both meet the corresponding detection resolution conditions. Therefore, the sampling point corresponding to 214ms is determined as the carrier force recovery sampling point. The pin head stroke position value decreases from 0.86mm at 226ms to 0.78mm at 228ms, crossing the pin head indexing avoidance position value. Therefore, the sampling point corresponding to 228ms is determined as the pin head avoidance sampling point. Among 182ms, 214ms, and 228ms, 228ms is the latest. Therefore, 228ms is determined as the mechanical handover sampling point of the pin station at station 2. The mechanical handover sampling points for non-pin insertion stations at workstations 1 and 4 are 205ms and 221ms respectively, while the mechanical handover sampling point for pin insertion station at workstation 3 is 219ms. Therefore, 228ms is determined as the overall machine mechanical handover sampling point, and workstation 2 is added to the mechanical cycle time limit workstation number set. The pin head avoidance sampling point at workstation 2 has the same sampling timestamp as the mechanical handover sampling point for pin insertion stations, so the pin head avoidance type is added to the pin cycle time limit source set. The station control handover sampling points for workstations 1 to 4 are 232ms, 236ms, 241ms, and 234ms respectively. Therefore, 241ms is determined as the overall machine control handover sampling point, forming a control waiting interval from 228ms to 241ms after mechanical handover. The indexing start signal switches to an active state at 252ms, so the sampling point corresponding to 252ms is determined as the actual indexing start sampling point, forming a control handover indexing waiting interval from 241ms to 252ms after control handover. When the actual indexing start sampling point time interval between two consecutive indexing cycles is 252ms, the actual assembly cycle value of 252ms is generated.

[0047] like Figure 3As shown, the mechanical handover phase diagram of the inserter uses the start timestamp of the current indexing cycle as the time reference and the relative time within the current indexing cycle as the circumferential coordinate. Different radial levels are used to represent the needle body receiving and transfer sampling points, the carrier force recovery sampling points, the inserter head avoidance sampling points, the mechanical handover sampling points of the inserter station, the mechanical handover sampling points of the whole machine, the control handover sampling points of the whole machine, and the actual indexing start sampling points. Each concentric reference ring is only used to distinguish the sampling point type and does not participate in the assembly cycle calculation. Figure 3 In the diagram, the sampling points for needle head avoidance, needle insertion station mechanical handover, and whole machine mechanical handover, located in the same time direction, indicate that the three types of sampling points have the same sampling timestamp. The solid arc segment between the whole machine mechanical handover sampling point and the whole machine control handover sampling point represents the control waiting interval after mechanical handover, and the dashed arc segment between the whole machine control handover sampling point and the actual indexing start sampling point represents the indexing waiting interval after control handover. This characterizes the timing relationship between mechanical handover within the needle insertion station, whole machine mechanical handover, whole machine control handover, and actual indexing start.

[0048] Optionally, the specific steps for generating actual assembly cycle time values ​​and assembly cycle time monitoring records are as follows: Read two consecutive and adjacent indexing cycles according to the assembly task number; obtain the actual indexing start sampling points corresponding to the two indexing cycles respectively; and verify that both actual indexing start sampling points use a unified equipment clock to generate sampling timestamps, so that the two sampling timestamps can be directly used for time difference calculation. Here, consecutive time and adjacent indexing cycle numbers mean that the two indexing cycles belong to the same assembly task number, the number of the later indexing cycle is the number of the previous indexing cycle number incremented by one, and both indexing cycles generate valid actual indexing start sampling points, without any intermediate indexing cycles. Two valid indexing cycles with missing period numbers are paired across periods; the first valid indexing cycle after the start of the current assembly task only retains the actual indexing start sampling point and the corresponding sampling timestamp. If there is no previous adjacent indexing cycle, the actual assembly cycle value is not generated. The time difference calculation is performed after the next indexing cycle number is adjacent and an actual indexing start sampling point is formed; if no actual indexing start sampling point is formed in any indexing cycle, the actual assembly cycle value is not generated using this indexing cycle and the previous indexing cycle, nor is the actual assembly cycle value directly generated using two non-adjacent valid indexing cycles before and after this indexing cycle. This ensures that each actual assembly cycle value comes from two consecutive actual indexing starts with consecutive numbers. The actual assembly cycle time value is generated by subtracting the sampling timestamp of the actual indexing start sampling point from the sampling timestamp of the actual indexing start sampling point of the previous indexing cycle from the sampling timestamp of the actual indexing start sampling point of the next indexing cycle. The assembly task number, indexing cycle number, actual assembly cycle time value, mechanical handover sampling point of each pin insertion station, mechanical cycle time limit station number set, pin insertion cycle time limit source set, control waiting interval after mechanical handover and indexing waiting interval after control handover are written into the assembly cycle time monitoring record. In practice, the actual assembly cycle time is calculated only when the multi-station pin insertion assembly equipment is in automatic continuous indexing operation mode. The automatic continuous indexing operation mode is confirmed based on the current operating state of the programmable logic controller (PLC). When the PLC exits the automatic operation mode and forms a downtime cycle, the indexing cycle before and after the downtime is not used to calculate the actual assembly cycle time. When the production execution terminal issues a new assembly task number to form a changeover boundary, the two indexing cycles before and after the changeover belong to different assembly task numbers, and no actual indexing start sampling point pairing is performed. During the effective period of the PLC alarm state, the corresponding indexing cycle does not participate in the calculation of the actual assembly cycle time. After the alarm is cleared, the calculation of the actual assembly cycle time resumes from the newly formed adjacent effective indexing cycle, so that downtime, changeover time, and alarm processing time are not mixed into the actual assembly cycle time under continuous production mode.The actual indexing start sampling point of the previous indexing cycle is taken as the time boundary for the start of one indexing action, and the actual indexing start sampling point of the next indexing cycle is taken as the time boundary for the start of the next indexing action. The time boundary between the two time boundaries covers the complete cycle of each station executing the current assembly action after the completion of the previous indexing action, forming mechanical handover conditions, completing control handover, and entering the next indexing start. Therefore, the difference between the sampling timestamps corresponding to the two actual indexing start sampling points can reflect the actual assembly cycle time under the automatic continuous indexing operation state of the equipment. For example, if the unified equipment clock timestamp corresponding to the actual indexing start sampling point of the previous indexing cycle is 1000ms, and the unified equipment clock timestamp corresponding to the actual indexing start sampling point of the next adjacent indexing cycle is 1252ms, then the actual assembly cycle time value is 1252ms minus 1000ms, which equals 252ms. This actual assembly cycle time value indicates that the actual time occupied for completing one assembly cycle between two consecutive actual indexing starts is 252ms. When calculating the actual assembly cycle time value, the unified equipment clock timestamp is converted to a millisecond time scale, and the next indexing cycle number is used as the indexing cycle number corresponding to the current actual assembly cycle time value, so that each actual assembly cycle time value can be traced back to the next indexing cycle that formed the cycle time boundary. When writing the assembly cycle time monitoring record, a record index is established using the assembly task number and the indexing cycle number. The actual assembly cycle time value is used as the whole machine cycle time result of the current indexing cycle. The mechanical handover sampling points of each pin insertion station are associated and written according to the pin insertion station number. The set of mechanical cycle time limit station numbers and the set of pin insertion cycle time limit sources are written into the assembly cycle time monitoring record of the current indexing cycle, respectively. The control waiting interval after mechanical handover and the indexing waiting interval after control handover are written into the corresponding record fields. When the control waiting interval after mechanical handover and the indexing waiting interval after control handover have actual waiting time, the corresponding starting time is written into the record. When the waiting interval is a zero-duration interval, the same sampling timestamp is simultaneously written to the corresponding start and end sampling timestamps. When the waiting interval is empty, the corresponding start and end sampling timestamps remain empty. This ensures that both waiting intervals have a definite recording format under different time relationships, preventing uncertainty in the meaning of assembly cycle monitoring record fields due to the absence of a normal waiting process. After continuously writing to the assembly cycle monitoring record according to the indexing cycle number, continuous indexing cycles can be tracked cycle by cycle without changing the calculation benchmark of the actual assembly cycle value. This allows for tracing the specific time position of cycle changes occurring in the mechanical handover stage, control handover stage, and indexing start stage when the actual assembly cycle changes. This can be achieved by using the corresponding mechanical cycle limit station number set, pin insertion cycle limit source set, control waiting interval after mechanical handover, and indexing waiting interval after control handover.

[0049] In this implementation plan, the actual assembly cycle time value is formed by starting sampling points with the actual indexing cycle of continuous indexing periods. The actual assembly cycle time value is then linked with the sampling points of the mechanical handover at the pin insertion station, the set of mechanical cycle time limit station numbers, the set of pin insertion cycle time limit sources, the control waiting interval after mechanical handover, and the indexing waiting interval after control handover. This allows the assembly cycle time monitoring results to not only reflect the true cycle time level in the continuous production process, but also retain the station source, pin insertion limit type, and waiting stage information corresponding to the cycle time changes. This enhances the ability of the assembly cycle time monitoring records to trace and diagnose the causes of cycle time fluctuations, providing complete and continuous data for the cycle time optimization of multi-station pin insertion assembly equipment.

[0050] The following points need to be explained: (1) The accompanying drawings of the embodiments of the present invention only involve the structures involved in the embodiments of the present invention. Other structures can refer to the general design.

[0051] (2) For clarity, the thickness of layers or regions is enlarged or reduced in the drawings used to describe embodiments of the invention, i.e., these drawings are not drawn to scale. It is understood that when an element such as a layer, film, region or substrate is referred to as being “above” or “below” another element, the element may be “directly” located “above” or “below” the other element or there may be intermediate elements.

[0052] (3) Where there is no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other to obtain new embodiments.

[0053] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. The scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for monitoring assembly cycle time in multi-station pin assembly equipment, characterized in that, The method includes: S1, acquire multi-station assembly information and pin mechanical handover parameter table, establish pin axis coordinate system based on target socket, and collect position data of pin head, pin body, connector housing and carrier and pin head action signal, determine the initial reference position values ​​on both sides of the carrier, and generate pin receiving sampling record; S2, based on the pin receiving sampling record, calculate the change in the pin head stroke position, the change in the pin body position relative to the pin head, and the change in the pin body position relative to the connector, and determine the pin receiving transfer sampling point when the pin body changes from moving with the pin head to being stationary relative to the connector based on the three types of changes; S3, based on the needle body receiving transfer sampling point, calculate the common rebound residual value and the deflection rebound residual value of the carrier, determine the carrier force recovery sampling point, and combine the needle insertion mechanical handover parameter table to determine the needle head avoidance sampling point. The sampling point with the latest sampling timestamp among the three types of sampling points is determined as the needle insertion station mechanical handover sampling point. S4. Based on the mechanical handover sampling points of each pin insertion station and the mechanical completion signals of each non-pin insertion station, determine the mechanical handover sampling points of the whole machine, and based on the release signals of each station, determine the control handover sampling points of the whole machine. S5, when there is a mechanical handover sampling point at the pin insertion station whose sampling timestamp is equal to the sampling timestamp of the whole machine mechanical handover sampling point, the set of pin insertion cycle limit sources is determined based on the pin body receiving and transfer sampling point, the carrier force recovery sampling point and the pin head avoidance sampling point of the corresponding pin insertion station, and the actual assembly cycle value and assembly cycle monitoring record are generated by combining the whole machine control handover sampling point and the indexing start signal.

2. The assembly cycle monitoring method for multi-station pin assembly equipment according to claim 1, characterized in that, The specific steps for acquiring multi-station assembly information and pin mechanical handover parameter tables, establishing a pin axis coordinate system based on the target socket, and collecting position data of the pin head, pin body, connector housing, and carrier, as well as pin head motion signals, are as follows: Multi-station assembly information includes assembly task number, indexing cycle number, station number and station type code value corresponding to each station. The station type code value includes pin insertion station code value and non-pin insertion station code value. The station number with the station type code value of pin insertion station code value is determined as the pin insertion station number. The pin insertion mechanical handover parameter table includes the pin insertion station number and the corresponding pin head position detection resolution value, pin body position detection resolution value, connector position detection resolution value, first carrier position detection resolution value, second carrier position detection resolution value, and pin head indexing avoidance position value. Establish a pin axis coordinate system with the center point of the target socket inlet before the pin insertion as the origin, the axis of the target socket as the coordinate axis, and the direction of the pin insertion into the connector as the positive direction; Within the same indexing cycle, the pin head travel position value, pin body exposed end position value, connector housing reference position value, first carrier reference position value, and second carrier reference position value are synchronously acquired in the pin axis coordinate system according to a unified equipment clock. The pin head feed start signal and pin head retraction start signal are also synchronously acquired.

3. The assembly cycle monitoring method for multi-station pin assembly equipment according to claim 2, characterized in that, The specific steps for determining the initial reference position values ​​on both sides of the vehicle and generating the pin receiving sampling record are as follows: The last sampling point before the pin head feed start signal switches from an invalid state to an effective state is determined as the pin pre-pin reference sampling point. The first vehicle reference position value and the second vehicle reference position value corresponding to the pin pre-pin reference sampling point are determined as the first vehicle initial reference position value and the second vehicle initial reference position value, respectively. The synchronous sampling data of the current indexing cycle is retained starting from the sampling point where the pin head feed start signal switches from an invalid state to an effective state. The assembly task number, indexing cycle number, pin station number, sampling timestamps, pin head stroke position value, pin exposed end position value, connector housing reference position value, first carrier initial reference position value, second carrier initial reference position value, first carrier reference position value, second carrier reference position value, and pin head retraction start signal are written into the pin receiving sampling record.

4. The assembly cycle monitoring method for multi-station pin assembly equipment according to claim 3, characterized in that, The specific steps for calculating the change in pin tip travel position, the change in pin body position relative to the pin tip, and the change in pin body position relative to the connector based on the pin receiving sampling records are as follows: Read the pin reception sampling record, calculate for each pair of adjacent sampling points according to the sampling timestamp order, determine the pin head travel position change by the difference between the pin travel position value of the next sampling point and the previous sampling point, subtract the difference between the pin travel position value of the exposed end of the pin from the difference between the next sampling point and the previous sampling point to generate the pin body position change relative to the pin head, and subtract the difference between the exposed end of the pin from the difference between the next sampling point and the previous sampling point to generate the pin body position change relative to the connector.

5. The assembly cycle monitoring method for multi-station pin assembly equipment according to claim 4, characterized in that, The specific steps for determining the transfer sampling point of the needle body from moving with the insertion needle tip to being stationary relative to the connector based on the three types of changes are as follows: Read the adjacent sampling points before the pin retraction start signal switches from an invalid state to an effective state according to the sampling timestamp sequence. When the change in the pin travel position is along the positive direction of the pin axis and the absolute value is greater than the pin position detection resolution value, the absolute value of the change in the pin body position relative to the pin head is not greater than the sum of the pin position detection resolution value and the pin body position detection resolution value, and the absolute value of the change in the pin body position relative to the connector is greater than the sum of the pin body position detection resolution value and the connector position detection resolution value, the corresponding two adjacent sampling points are determined as a pin-pin joint movement sampling pair. Read the adjacent sampling points after the pin retraction start signal changes from invalid to valid according to the sampling timestamp sequence. When the change in the pin travel position is along the negative direction of the pin axis and the absolute value is greater than the pin position detection resolution value, the absolute value of the change in the pin body position relative to the connector is not greater than the sum of the pin body position detection resolution value and the connector position detection resolution value, and the absolute value of the change in the pin body position relative to the pin head is greater than the sum of the pin position detection resolution value and the pin body position detection resolution value, the corresponding two adjacent sampling points are determined as the connector pin retention sampling pair. Read the last needle-with-needle joint movement sampling pair before the needle head retraction start signal and the first connector needle retention sampling pair after the needle head retraction start signal in the sampling timestamp order. When both types of sampling pairs are formed, determine the first sampling point in the first connector needle retention sampling pair as the needle body receiving and transfer sampling point.

6. The assembly cycle monitoring method for multi-station pin assembly equipment according to claim 5, characterized in that, The specific steps for calculating the common rebound residual value and the deflection rebound residual value of the vehicle, and determining the sampling point for the force recovery of the vehicle, are as follows: Starting from the needle body receiving and transferring sampling point, for each sampling timestamp, the sum of the difference between the first vehicle reference position value and the first vehicle initial reference position value and the difference between the second vehicle reference position value and the second vehicle initial reference position value is taken, and the absolute value is divided by two to generate the vehicle common rebound residual value; the difference between the first vehicle reference position value and the first vehicle initial reference position value is subtracted from the difference between the second vehicle reference position value and the second vehicle initial reference position value, and the absolute value is taken to generate the vehicle deflection rebound residual value; Read the vehicle common rebound residual value and vehicle deflection rebound residual value in the order of sampling timestamp. When the vehicle common rebound residual value of two consecutive sampling points is not greater than half of the sum of the first vehicle position detection resolution value and the second vehicle position detection resolution value, and the vehicle deflection rebound residual value is not greater than the sum of the first vehicle position detection resolution value and the second vehicle position detection resolution value, the first of the two consecutive sampling points is determined as the vehicle force recovery sampling point.

7. The assembly cycle monitoring method for multi-station pin assembly equipment according to claim 6, characterized in that, The specific steps for determining the pin head avoidance sampling point by combining the pin mechanical handover parameter table, and determining the sampling point with the latest sampling timestamp among the three types of sampling points as the pin station mechanical handover sampling point are as follows: Starting from the sampling point where the pin retraction start signal changes from an invalid state to an valid state, the pin travel position value is read in the order of the sampling timestamp. When the pin travel position value of the next sampling point is not greater than the pin indexing avoidance position value and the pin travel position value of the previous sampling point is greater than the pin indexing avoidance position value, the next sampling point is determined as the pin avoidance sampling point. When the needle body receiving and transfer sampling point, the carrier force recovery sampling point, and the needle head avoidance sampling point are all formed, the sampling timestamps of the three sampling points are compared, and the sampling point with the latest sampling timestamp is determined as the mechanical handover sampling point of the needle insertion station.

8. The assembly cycle monitoring method for multi-station pin assembly equipment according to claim 7, characterized in that, The specific steps for determining the overall machine mechanical handover sampling point based on the mechanical handover sampling points of each pin insertion station and the mechanical completion signals of each non-pin insertion station, and for determining the overall machine control handover sampling point based on the release signals of each station, are as follows: For the same indexing cycle, when mechanical handover sampling points are formed at each pin insertion station, the mechanical handover sampling points of each pin insertion station are read. The sampling point where the mechanical completion signal of each non-pin insertion station first switches from an invalid state to an effective state is determined as the non-pin insertion station mechanical handover sampling point. The sampling timestamps of all pin insertion station mechanical handover sampling points and non-pin insertion station mechanical handover sampling points are compared. The sampling point with the latest sampling timestamp is determined as the whole machine mechanical handover sampling point. All station numbers whose sampling timestamps are equal to the sampling timestamps of the whole machine mechanical handover sampling points are written into the mechanical cycle time limit station number set. Read the station release signal corresponding to each station within the same indexing cycle, and determine the sampling point where the release signal of each station first switches from an invalid state to an effective state as the station control handover sampling point. Compare the sampling timestamps of all station control handover sampling points, and determine the station control handover sampling point with the latest sampling timestamp as the whole machine control handover sampling point.

9. The assembly cycle monitoring method for multi-station pin assembly equipment according to claim 8, characterized in that, The specific steps for determining the set of sources of pin insertion beat constraints are as follows: Read the indexing start signal of the same indexing cycle from the programmable logic controller, and determine the sampling point where the indexing start signal first switches from an invalid state to an effective state as the actual indexing start sampling point; When the whole machine control handover sampling point is later than the whole machine mechanical handover sampling point, the sampling interval between the two sampling points is determined as the control waiting interval after mechanical handover; when the actual indexing start sampling point is later than the whole machine control handover sampling point, the sampling interval between the two sampling points is determined as the indexing waiting interval after control handover; when the mechanical cycle time limit station number set contains the pin insertion station number, the sampling point types in the pin body receiving transfer sampling point, the carrier force recovery sampling point, and the pin head avoidance sampling point whose sampling timestamp is equal to the sampling timestamp of the mechanical handover sampling point of the pin insertion station are written into the pin cycle time limit source set. The sampling point types include pin body receiving transfer type, carrier force recovery type, and pin head avoidance type.

10. A method for monitoring assembly cycle time in a multi-station pin assembly equipment according to claim 9, characterized in that, The specific steps for generating the actual assembly cycle time value and assembly cycle time monitoring record are as follows: The actual assembly cycle time value is generated by subtracting the sampling timestamp of the actual indexing start sampling point from the sampling timestamp of the actual indexing start sampling point of the previous indexing cycle from the sampling timestamp of the actual indexing start sampling point of the next indexing cycle. The assembly task number, indexing cycle number, actual assembly cycle time value, mechanical handover sampling point of each pin insertion station, mechanical cycle time limit station number set, pin insertion cycle time limit source set, control waiting interval after mechanical handover and indexing waiting interval after control handover are written into the assembly cycle time monitoring record.

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