CN109443723B - A kind of assembling quality online test method, apparatus and system - Google Patents
A kind of assembling quality online test method, apparatus and system Download PDFInfo
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- CN109443723B CN109443723B CN201811408859.0A CN201811408859A CN109443723B CN 109443723 B CN109443723 B CN 109443723B CN 201811408859 A CN201811408859 A CN 201811408859A CN 109443723 B CN109443723 B CN 109443723B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
Abstract
Present disclose provides a kind of assembling quality online test method, apparatus and system, this method acquires internal vibration assembly period signal, internal vibration assembly period signal is divided into several segments, the vibration signal as per pass assembly process in assembly period；The auto-correlation function that the vibration signal of per pass assembly process is calculated using auto-correlation or cross-correlation method, constructs the allowable range of error of per pass assembly process；Vibration signal of the per pass assembly process after the assembly time of setting is acquired, and calculates the auto-correlation or cross-correlation function of vibration signal, records the corresponding time interval of peak value and peak point of auto-correlation or cross-correlation function；Judge whether the auto-correlation of per pass assembly process or the peak value of cross-correlation function and the corresponding time interval of peak point meet corresponding allowable range of error；If satisfied, then assembly process satisfactory quality, otherwise undesirable.The present invention carries out assembling quality on-line checking using correlation technique, can greatly reduce part mistakes and omissions rate.
Description
Technical field
This disclosure relates to product assembly quality detection field, and in particular to a kind of to be existed using the assembling quality of correlation technique
Line detecting method, apparatus and system.
Background technique
Detection is an important leverage of product assembly quality, and carrying out analysis according to testing result can be assembled with feedback guidance
Process, effective quality testing are greatly improved assembly product qualification rate, and some assembling process have even detected assembling quality
As a link of assembly, directly participation assembling process.
Existing some small-sized manufacturers, mainly artificial detection, it is low that there is also detection efficiencies, inaccurate deficiency.
For sophisticated manufacturing plants man, also few assembling quality on-line detecting systems, but gradually paid attention at present, mainly root
Rigid standard is arranged according to part feature to be detected, and there is no detected according to the correlation of vibration signal.Therefore, how
A kind of production piece assembling quality online test method is designed, is still technical problem to be solved.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, present disclose provides a kind of assembling quality online test methods, device
And system, assembling quality on-line checking is carried out using correlation technique, part mistakes and omissions rate can be greatly reduced.
Technical solution used by the disclosure is:
A kind of assembling quality online test method, method includes the following steps:
Acquire internal vibration assembly period signal；
According to assembly time used in per pass assembly process in assembly period, internal vibration assembly period signal is divided into several
Section, the vibration signal as per pass assembly process in assembly period；
The auto-correlation function of the vibration signal of per pass assembly process is calculated using autocorrelation method；
Calculate the peak average value and time-interval averaging value of the auto-correlation function of per pass assembly process, building per pass assembly
The allowable range of error of process；
Vibration signal of the per pass assembly process after the assembly time of setting is acquired, and calculates the auto-correlation of vibration signal
Function records the peak value and the corresponding time interval of peak point of auto-correlation function；
Judge the peak value of the auto-correlation function of per pass assembly process and whether the corresponding time interval of peak point meets and it
Corresponding allowable range of error；
If satisfied, then assembly process satisfactory quality, otherwise undesirable.
Through the above technical solutions, carrying out assembling quality on-line checking using autocorrelation technology, part can be greatly reduced
Mistakes and omissions rate, judges whether assembly technology quality meets the requirements by allowable range of error, only when assembly technology meets the requirements
When, next process assembly is just carried out, the assembly time of part is reduced, improves product first-time qualification rate.
Further, the step of the auto-correlation function of the vibration signal that per pass assembly process is calculated using autocorrelation method
Suddenly include:
Establish the auto-correlation degree expression formula R of vibration signal xX(τ)；
To auto-correlation degree expression formula RX(τ) carries out sliding-model control, obtains auto-correlation degree discretization formula Rx(m)；
Utilize auto-correlation degree discretization formula Rx(m) auto-correlation function of the vibration signal of per pass assembly process is calculated,
And record the peak value and the corresponding time interval of peak point of auto-correlation function.
Further, the construction method of the allowable range of error of the vibration signal of the per pass assembly process are as follows:
The auto-correlation function for repeatedly calculating the vibration signal of per pass assembly process, obtains the vibration of per pass assembly process
Several auto-correlation functions of signal, and record the peak value and the corresponding time interval of peak point of several auto-correlation functions；
The peak point of the average value and several auto-correlation functions that calculate the peak value of several auto-correlation functions is corresponding
The average value of time interval；
Peak threshold and time interval threshold value are set, by the difference of the peak average value of per pass assembly process and peak threshold
As the peak error allowed band lower limit of per pass assembly process, by the peak average value of per pass assembly process and peak threshold
With the peak error allowed band upper limit as per pass assembly process；By the corresponding time interval of the peak point of per pass assembly process
Time interval error allowed band lower limit of the difference of average value and time interval threshold value as per pass assembly process, per pass is filled
Between time of the sum of the corresponding time-interval averaging value of peak point with process and time interval threshold value as per pass assembly process
Every the allowable range of error upper limit.
A kind of assembling quality online test method, method includes the following steps:
Acquire internal vibration assembly period signal；
According to assembly time used in per pass assembly process in assembly period, internal vibration assembly period signal is divided into several
Section, the vibration signal as per pass assembly process in assembly period；
The cross-correlation function of the vibration signal of per pass assembly process is calculated using cross-correlation method；
Calculate the peak average value and time-interval averaging value of the cross-correlation function of per pass assembly process, building per pass assembly
The allowable range of error of process；
Multi-channel Vibration Signals of the per pass assembly process after the assembly time of setting are acquired, and calculate the assembly process
The cross-correlation function of any two-way vibration signal, records the peak value and the corresponding time interval of peak point of cross-correlation function；
Judge whether peak value and the corresponding time interval of peak point of all cross-correlation functions of per pass assembly process are all full
The corresponding allowable range of error of foot；
If all meeting, assembly process satisfactory quality is otherwise undesirable.
Through the above technical solutions, carrying out assembling quality on-line checking using cross correlation technology, part can be greatly reduced
Mistakes and omissions rate, judges whether assembly technology quality meets the requirements by allowable range of error, only when assembly technology meets the requirements
When, next process assembly is just carried out, the assembly time of part is reduced, improves product first-time qualification rate.
Further, the step of the cross-correlation function of the vibration signal that per pass assembly process is calculated using cross-correlation method
Suddenly include:
Establish the cross-correlation degree expression formula R of any two-way vibration signal x, yxy(τ)；
To cross-correlation degree expression formula Rxy(τ) carries out sliding-model control, obtains cross-correlation degree discretization formula Rxy(m)；
Utilize cross-correlation degree discretization formula Rxy(m) cross-correlation function of the vibration signal of per pass assembly process is calculated,
And record the peak value and the corresponding time interval of peak point of cross-correlation function.
Further, the construction method of the allowable range of error of the vibration signal of the per pass assembly process are as follows:
The cross-correlation function for repeatedly calculating the vibration signal of per pass assembly process, records several cross-correlation functions
Peak value and the corresponding time interval of peak point；
The peak point of the average value and several cross-correlation functions that calculate the peak value of several cross-correlation functions is corresponding
The average value of time interval；
Peak threshold and time interval threshold value are set, by the difference of the peak average value of per pass assembly process and peak threshold
As the peak error allowed band lower limit of per pass assembly process, by the peak average value of per pass assembly process and peak threshold
With the peak error allowed band upper limit as per pass assembly process；By the corresponding time interval of the peak point of per pass assembly process
Time interval error allowed band lower limit of the difference of average value and time interval threshold value as per pass assembly process, per pass is filled
Between time of the sum of the corresponding time-interval averaging value of peak point with process and time interval threshold value as per pass assembly process
Every the allowable range of error upper limit.
A kind of assembling quality on-line measuring device, the device include processor, memory and communication interface, the processing
Device, the memory are connected with the communication interface communication bus；
The communication interface, for receiving vibration signals collecting value；
The memory, for storing program code；
The processor for reading the program code stored in the memory, and executes assembly matter as described above
Measure online test method.
A kind of assembling quality on-line detecting system, the system include assembling quality on-line measuring device, further include micro process
Device and the vibrating sensor being mounted on each manipulator；
The microprocessor is connect with the vibrating sensor and assembling quality on-line measuring device respectively；
The microprocessor is used to receive the vibration signal of the per pass assembly process of vibrating sensor acquisition, and is sent to dress
With quality on-line detecting device.
The beneficial effect of the disclosure is:
(1) disclosure carries out assembling quality on-line checking using auto-correlation and cross correlation technology, can greatly reduce part
Mistakes and omissions rate, judges whether assembly technology quality meets the requirements by allowable range of error, only when assembly technology meets the requirements
When, next process assembly is just carried out, the assembly time of part is reduced, improves product first-time qualification rate；
(2) disclosure is improved using the allowable range of error of per pass assembly process as the quality criteria of per pass assembly process
The qualification rate of single part, reduces the average assembly time of part.
Detailed description of the invention
The Figure of description for constituting a part of this disclosure is used to provide further understanding of the disclosure, and the disclosure is shown
Meaning property embodiment and its explanation do not constitute the improper restriction to the disclosure for explaining the application.
Fig. 1 is the assembling quality online test method flow chart one according to one or more embodiments；
Fig. 2 is the assembling quality online test method flowchart 2 according to one or more embodiments.
Specific embodiment
The disclosure is described further with embodiment with reference to the accompanying drawing.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the disclosure.Unless another
It indicates, all technical and scientific terms that the disclosure uses have logical with disclosure person of an ordinary skill in the technical field
The identical meanings understood.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
One or more embodiments provide a kind of assembling quality online test method, and this method is carried out using autocorrelation technique
Assembling quality on-line checking.As shown in Figure 1, method includes the following steps:
S101 acquires the vibration signal in assembling process in an assembly period.
In this example, it is assumed that have the road n assembly process a certain complex parts assembly period, per pass assembly process institute's used time
Between be denoted as t1,t2,……tn.In safety without making an uproar, parts standard carries out a complexity zero under the ecotopia that fixture works normally
The assembly of part.
Per pass assembly process has a manipulator to be assembled, and in each manipulator front end, a high sensitivity is fixed in installation
Vibrating sensor by global vibration signal in assembly period in vibrating sensor real-time detection assembling process, and is sent to upper
Machine.
Global vibration signal in assembly period is divided into several segments, and is filtered, amplifies to every section of vibration signal by S102.
According to the time used in per pass assembly process, by all vibrating sensors institutes it is collected within an assembly period it is total
Vibration signal is divided into n sections respectively, and the number of segment of vibration signal and the quantity of assembly process are identical, and every section of vibration signal and per pass fill
It is corresponding with process.
Signal filtering, amplification are carried out to the vibration signal of per pass assembly process in the softwares such as matlab or labview.
S103, the auto-correlation function of every section of vibration signal is calculated using autocorrelation technique, and records the peak of auto-correlation function
The time interval of value and corresponding peak point.
Correlation technique includes autocorrelation technique and cross-correlation technique, autocorrelation technique is used in the present embodiment, from phase
It closes, is exactly correlation degree of the signal in different time intervals, between signal all the way.For every one of assembly process from dress
All it is related between vibration signal with different time points in the process, the degree R of this connectionX(τ) is indicated, independent variable τ
For time interval:
Rx(τ)=E [x (t) * x (t+ τ)] (1)
In formula, x (t), x (t+ τ) are the vibration signal detected in t, t+ τ moment respectively.
In the present embodiment, by Rx(τ) sliding-model control, can be obtained discretization formula:
In formula, x (n), x (n+m) are parameter x (t), the discrete expression of x (t+ τ).
The auto-correlation function of every section of vibration signal is calculated according to discretization formula (2), and records every section of vibration signal from phase
Close the peak value and the corresponding time interval of peak point of function.
S104 repeats step 101-103, calculates the average peak h of the vibration signal auto-correlation function of per pass assembly process
And the corresponding average time interval m of peak point, form allowable range of error.
Repeat step 101-103 several times, records several auto-correlation letters of the vibration signal of per pass assembly process
Several corresponding time intervals of peak value and peak point.
By the peak value phase adduction of several auto-correlation functions of per pass assembly process divided by number of repetition, road assembly is obtained
The average peak h of the vibration signal auto-correlation function of process1。
Several corresponding time interval phase adductions of the peak point of the vibration signal of per pass assembly process are secondary divided by repeating
Number, obtains the corresponding average time interval m of peak point of the vibration signal of the road assembly process1。
Setting peak threshold is △ h=0.01h, and time interval threshold value is △ m=0.01m, then this section of assembly process from
It is respectively (h in the allowable range of error of correlation function peak value time interval corresponding with peak point1-△h,h1+ △ is h) and (m1-△
m,m1+△m)。
S105 acquires an assembly process in the vibration signal after certain assembly time, and the vibration to the assembly process
Dynamic signal is filtered, amplifies.
In the i-th assembly process, a complex parts are assembled, it is every to pass through ti(i=0,1,2 ... n) after the time, leads to
It crosses vibrating sensor and acquires the vibration signal of the assembly process, and be transmitted to host computer, by host computer to the assembly process
Vibration signal is filtered, amplifies,
S106, the auto-correlation function of the vibration signal of the assembly process is calculated using autocorrelation technique, and records the vibration
The corresponding time interval M of the peak value H and peak point of signal auto-correlation function.
In the present embodiment, the auto-correlation function of the vibration signal of the assembly process is calculated according to discretization formula (2), and
Record the peak value H and the corresponding time interval M of peak point of the vibration signal auto-correlation function.
S107 judges the peak value H of the vibration signal auto-correlation function of the assembly process and the corresponding time interval M of peak point
Whether allowable range of error is met.
S108, if h1-△h<H1<h1+△h,m1-△m<M1<m1+ △ m then meets allowable range of error, then slave computer control
Assembling process processed carries out subsequent processing assembly, until the road n assembly process is completed, shows the component assembly cost, can carry out next
Component assembly.
S109, if H1≤h1- △ h or H1≥h1+ △ h, M1≤m1- △ m or M1≥m1+ △ m is then unsatisfactory for poor allowed band,
There is extra peak or mistakes and omissions peak in the assembly process, then PC control assembling process re-starts the assembly of the process.
The assembling quality online test method that the present embodiment proposes carries out assembling quality using autocorrelation technology and examines online
It surveys, part mistakes and omissions rate can be greatly reduced, judge whether assembly technology quality meets the requirements by allowable range of error, work as assembly
When technique meets the requirements, next process assembly is just carried out, the assembly time of part is reduced, it is once qualified to improve product
Rate.
One or more embodiments also provide a kind of assembling quality online test method, this method using cross-correlation technique into
Row assembling quality on-line checking.As shown in Fig. 2, method includes the following steps:
S201 acquires an internal vibration assembly period signal in assembling process.
In this example, it is assumed that there is the road n assembly process in a certain component assembly period, per pass assembly process has multiple machinery
Hand carries out assembly work simultaneously, and the time used in per pass assembly process is denoted as ti(i=1,2 ... n).In safety without making an uproar, parts standard,
The assembly of a complex parts is carried out under the ecotopia that fixture works normally.
Per pass assembly process has si(i=1,2 ... n) a manipulator simultaneously carry out assembly work, before each manipulator
A high-sensitivity vibration sensor is fixed in end installation, passes through internal vibration assembly period in vibrating sensor real-time detection assembling process
Signal, and it is sent to host computer.
Internal vibration assembly period signal is divided into several segments, and is filtered, amplifies to every section of vibration signal by S202.
According to the time used in per pass assembly process, shaken within an assembly period by all vibrating sensors institutes are collected
Dynamic signal is divided into n sections, and every section of vibration signal is corresponding with per pass assembly process, using every section of obtained vibration signal as per pass
The vibration signal of assembly process.
Signal filtering, amplification are carried out to every section of vibration signal using softwares such as matlab or labview in host computer.
S203 calculates the cross-correlation function of the vibration signal of per pass assembly process using cross-correlation technique, and records mutual
Close the peak value and the corresponding time interval of peak point of function.
Correlation technique includes autocorrelation technique and cross-correlation technique, uses cross-correlation technique in the present embodiment.
The correlation degree that cross-correlation is exactly two paths of signals in different time intervals, between signal.For per assembly together
Process the road assembling process Zhong Ge vibration signal in different time points between be all related, the degree R of this connectionxy(τ) comes
It indicates, x, y represent any two-way vibration signal in assembly process, and independent variable τ is time interval:
Rxy(τ)=E [x (t) * y (t+ τ)] (3)
By Rxy(τ) carries out sliding-model control, and discretization formula can be obtained:
The cross-correlation function of the vibration signal of per pass assembly process is calculated according to discretization formula (4), and records per pass dress
The peak value and the corresponding time interval of peak point of vibration signal cross-correlation function with process.
S204 repeats step 201-203, calculates the average peak h of the vibration signal cross-correlation function of per pass assembly process2
And the corresponding average time interval m of peak point2, form allowable range of error.
Repeat step 201-203 several times, records several cross-correlation functions of the vibration signal of per pass assembly process
Peak value and the corresponding time interval of peak point.
By the peak value phase adduction of several cross-correlation functions of the vibration signal of per pass assembly process divided by number of repetition, obtain
To the average peak h of the vibration signal auto-correlation function of per pass assembly process2。
The corresponding time interval of the peak point of several cross-correlation functions of the vibration signal of per pass assembly process is added
And divided by number of repetition, the corresponding average time interval of peak point of the vibration signal cross-correlation function of per pass assembly process is obtained
m2。
Setting peak threshold is △ h=0.01h, and time interval threshold value is △ m=0.01m, the then vibration of per pass assembly process
It is respectively (h in the allowable range of error of dynamic signal cross-correlation function peak value time interval corresponding with peak point2- △ h, h2+△h)
(m2- △ m, m2+△m)。
S205 acquires an assembly process in the Multi-channel Vibration Signals after certain assembly time, and to the assembly process
Multi-channel Vibration Signals be filtered, amplify.
In the i-th assembly process, a complex parts are assembled, it is every to pass through ti(i=0,1,2 ... n) after the time, leads to
Cross siVibrating sensor on a manipulator acquires the s of the assembly processiRoad vibration signal, and it is transmitted to host computer, by upper
S of the machine to the assembly processiRoad vibration signal is filtered, amplifies.
S206, the cross-correlation function of any two-way vibration signal of the assembly process is calculated using cross-correlation technique, and is remembered
Record the peak value H of cross-correlation function2Time interval M corresponding with peak point2。
The discretization formula (4) obtained according to step 203 calculates the mutual of any two-way vibration signal of the assembly process
Function is closed, per pass assembly process needs to calculateA cross-correlation function, and record the peak value H of each cross-correlation function2And peak point
Corresponding time interval M2。
Whether S207 judges the peak value H of all cross-correlation functions of the assembly process and corresponding time interval M of peak point
Meet all allowable range of error.
S208, if h2-△h<H2<h2+△h,m2-△m<M2<m2+ △ m then meets allowable range of error, then slave computer control
Assembling process processed carries out subsequent processing assembly, until the road n assembly process is completed, shows the component assembly cost, can carry out next
Component assembly.
S209, if H2≤h2- △ h or H2≥h2+ △ h, M2≤m2- △ m or M2≥m2+ △ m is then unsatisfactory for poor allowed band,
There is extra peak or mistakes and omissions peak in the assembly process, then PC control assembling process re-starts the assembly of the process.
The assembling quality online test method that the present embodiment proposes carries out assembling quality using cross correlation technology and examines online
It surveys, part mistakes and omissions rate can be greatly reduced, judge whether assembly technology quality meets the requirements by allowable range of error, work as assembly
When technique meets the requirements, next process assembly is just carried out, the assembly time of part is reduced, it is once qualified to improve product
Rate.
One or more embodiments also provide a kind of assembling quality on-line measuring device, which includes processor, storage
Device and communication interface, the processor, the memory are connected with the communication interface communication bus；
The communication interface, for receiving vibration signals collecting value；
The memory, for storing program code；
The processor for reading the program code stored in the memory, and executes assembly matter as described above
Measure online test method.
Also a kind of assembling quality on-line detecting system of one or more embodiments, which includes assembling quality on-line checking
The vibrating sensor that device further includes microprocessor and is mounted on each manipulator；
The microprocessor is connect with the vibrating sensor and assembling quality on-line measuring device respectively；
The microprocessor is used to receive the vibration signal of the per pass assembly process of vibrating sensor acquisition, and is sent to dress
With quality on-line detecting device.
It can be seen from the above description that above-mentioned one or more embodiments realize following technical effect:
(1) disclosure carries out assembling quality on-line checking using auto-correlation and cross correlation technology, can greatly reduce part
Mistakes and omissions rate, judges whether assembly technology quality meets the requirements by allowable range of error, when assembly technology meets the requirements,
Next process assembly is carried out, the assembly time of part is reduced, improves product first-time qualification rate；
(2) disclosure is improved using the allowable range of error of per pass assembly process as the quality criteria of per pass assembly process
The qualification rate of single part, reduces the average assembly time of part.
Although above-mentioned be described in conjunction with specific embodiment of the attached drawing to the disclosure, model not is protected to the disclosure
The limitation enclosed, those skilled in the art should understand that, on the basis of the technical solution of the disclosure, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within the protection scope of the disclosure.
Claims (10)
1. a kind of assembling quality online test method, characterized in that the following steps are included:
Acquire internal vibration assembly period signal；
According to assembly time used in per pass assembly process in assembly period, internal vibration assembly period signal is divided into several segments,
Vibration signal as per pass assembly process in assembly period；
The auto-correlation function of the vibration signal of per pass assembly process is calculated using autocorrelation method；
The peak average value and time-interval averaging value of the auto-correlation function of per pass assembly process are calculated, per pass assembly process is constructed
Allowable range of error；
Vibration signal of the per pass assembly process after the assembly time of setting is acquired, and calculates the auto-correlation letter of vibration signal
Number, records the peak value and the corresponding time interval of peak point of auto-correlation function；
It is corresponding to judge whether the peak value of the auto-correlation function of per pass assembly process and the corresponding time interval of peak point meet
Allowable range of error；
If satisfied, then assembly process satisfactory quality, otherwise undesirable.
2. assembling quality online test method according to claim 1, characterized in that described to be calculated using autocorrelation method
The step of auto-correlation function of the vibration signal of per pass assembly process includes:
Establish the auto-correlation degree expression formula R of vibration signal xX(τ)；
To auto-correlation degree expression formula RX(τ) carries out sliding-model control, obtains auto-correlation degree discretization formula Rx(m)；
Utilize auto-correlation degree discretization formula Rx(m) auto-correlation function of the vibration signal of per pass assembly process is calculated, and is recorded
The corresponding time interval of peak value and peak point of auto-correlation function.
3. assembling quality online test method according to claim 1, characterized in that the vibration of the per pass assembly process
The construction method of the allowable range of error of signal are as follows:
The auto-correlation function for repeatedly calculating the vibration signal of per pass assembly process, obtains the vibration signal of per pass assembly process
Several auto-correlation functions, and record the peak value and the corresponding time interval of peak point of several auto-correlation functions；
The peak point of the average value and several auto-correlation functions that calculate the peak value of several auto-correlation functions corresponding time
The average value at interval；
Peak threshold and time interval threshold value are set, using the difference of the peak average value of per pass assembly process and peak threshold as
The peak error allowed band lower limit of per pass assembly process, by the peak average value of per pass assembly process and peak threshold and make
For the peak error allowed band upper limit of per pass assembly process；By the corresponding time-interval averaging of the peak point of per pass assembly process
Time interval error allowed band lower limit of the difference of value and time interval threshold value as per pass assembly process, by per pass assembler
The sum of the corresponding time-interval averaging value of the peak point of sequence and time interval threshold value is missed as the time interval of per pass assembly process
The poor allowed band upper limit.
4. a kind of assembling quality online test method, characterized in that the following steps are included:
Acquire internal vibration assembly period signal；
According to assembly time used in per pass assembly process in assembly period, internal vibration assembly period signal is divided into several segments,
Vibration signal as per pass assembly process in assembly period；
The cross-correlation function of the vibration signal of per pass assembly process is calculated using cross-correlation method；
The peak average value and time-interval averaging value of the cross-correlation function of per pass assembly process are calculated, per pass assembly process is constructed
Allowable range of error；
Multi-channel Vibration Signals of the per pass assembly process after the assembly time of setting are acquired, and calculate any of the assembly process
The cross-correlation function of two-way vibration signal records the peak value and the corresponding time interval of peak point of cross-correlation function；
Judge all cross-correlation functions of per pass assembly process peak value and the corresponding time interval of peak point whether all meet with
Its corresponding allowable range of error；
If all meeting, assembly process satisfactory quality is otherwise undesirable.
5. assembling quality online test method according to claim 4, characterized in that described to be calculated using cross-correlation method
The step of cross-correlation function of the vibration signal of per pass assembly process includes:
Establish the cross-correlation degree expression formula R of any two-way vibration signal x, yxy(τ)；
To cross-correlation degree expression formula Rxy(τ) carries out sliding-model control, obtains cross-correlation degree discretization formula Rxy(m)；
Utilize cross-correlation degree discretization formula Rxy(m) cross-correlation function of the vibration signal of per pass assembly process is calculated, and is remembered
Record the peak value and the corresponding time interval of peak point of cross-correlation function.
6. assembling quality online test method according to claim 4, characterized in that the vibration of the per pass assembly process
The construction method of the allowable range of error of signal are as follows:
The cross-correlation function for repeatedly calculating the vibration signal of per pass assembly process, records the peak value of several cross-correlation functions
And the corresponding time interval of peak point；
The peak point of the average value and several cross-correlation functions that calculate the peak value of several cross-correlation functions corresponding time
The average value at interval；
Peak threshold and time interval threshold value are set, using the difference of the peak average value of per pass assembly process and peak threshold as
The peak error allowed band lower limit of per pass assembly process, by the peak average value of per pass assembly process and peak threshold and make
For the peak error allowed band upper limit of per pass assembly process；By the corresponding time-interval averaging of the peak point of per pass assembly process
Time interval error allowed band lower limit of the difference of value and time interval threshold value as per pass assembly process, by per pass assembler
The sum of the corresponding time-interval averaging value of the peak point of sequence and time interval threshold value is missed as the time interval of per pass assembly process
The poor allowed band upper limit.
7. assembling quality online test method according to claim 1 or 4, characterized in that obtaining per pass assembly process
Vibration signal after, also the vibration signal of per pass assembly process is filtered and enhanced processing.
8. assembling quality online test method according to claim 1 or 4, characterized in that believe internal vibration assembly period
Number divide after, the number of segment of vibration signal and the quantity of assembly process are identical, and every section of vibration signal is corresponding with per pass assembly process.
9. a kind of assembling quality on-line measuring device, characterized in that including processor, memory and communication interface, the processing
Device, the memory are connected with the communication interface communication bus；
The communication interface, for receiving vibration signals collecting value；
The memory, for storing program code；
The processor for reading the program code stored in the memory, and executes as claimed in claim 1 or 3
Assembling quality online test method.
10. a kind of assembling quality on-line detecting system, characterized in that further include micro process including device as claimed in claim 9
Device and the vibrating sensor being mounted on each manipulator；
The microprocessor is connect with the vibrating sensor and device as claimed in claim 9 respectively；
The microprocessor is used to receive the vibration signal of the per pass assembly process of vibrating sensor acquisition, and is sent to right and wants
Device described in asking 9.
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