CN110488632A - A kind of new-energy automobile assembling fittings analogue simulation system - Google Patents
A kind of new-energy automobile assembling fittings analogue simulation system Download PDFInfo
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- CN110488632A CN110488632A CN201910805033.6A CN201910805033A CN110488632A CN 110488632 A CN110488632 A CN 110488632A CN 201910805033 A CN201910805033 A CN 201910805033A CN 110488632 A CN110488632 A CN 110488632A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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Abstract
The invention discloses a kind of new-energy automobile assembling fittings analogue simulation systems, including PC host, user interface, modeling and simulating editing system, Assembly Control System, error optimization system and model database, the PC host is connected by user interface with modeling and simulating editing system, and the modeling and simulating editing system is connect with Assembly Control System, error optimization system and model database；User enters user interface by computer and inputs related data or selected relevant item, and controls simulation run, realizes the simulation analysis of facing to manufacture line；In addition, helping further increase digitlization variance analysis work and cooperation efficiency, positive effect and meaning are all had to the automatic assembling production etc. for pushing new-energy automobile.
Description
Technical field
The present invention relates to automobile producing line applied technical field, specially a kind of new-energy automobile assembling fittings analogue simulation system
System.
Background technique
Require appearance, human cost soaring and production friendship in the increase of automobile main frame maker's platform vehicle type, multi-vehicle-type Flexible production
Under the pressure that delivery date shortens, auto assembly factory greatly improves the sensibility of advanced package technique and automation equipment.Each vapour
Depot is all promoting total coating process equipment technology level, improves product quality using more advanced assembling equipment, new to meet
Emerging market and the requirement for improving product competitiveness in the market.
The indispensable tool that automobile is gone on a journey as people increasingly attracts people's attention for the consumption of the energy, new energy
Automobile comes into being, and largely alleviates energy resources problem, plays an important role to modern social development；New energy
It is that new-energy automobile is more environmentally friendly that automobile, which compares advantage with orthodox car,.It changes dependence of the automobile for fossil fuel,
Be conducive to alleviate oil crisis, while will also change the energy resource structure of society, it at work will not outwardly discharge of noxious gases.
With being growing more intense for automobile market competition, shortens the production cycle, improves complete vehicle quality and reduce manufacturing cost
Common objective as each automaker.The accessories such as automobile luggage racks usually are fitted in new-energy automobile molding, with
And include that the components such as bolt, gasket carry out that group is vertical to be installed on entire automobile luggage racks, existing mode is all to take biography
The vertical mode of the artificial group of system, operator group is immediately easy to operate by mistake, leads to assembling fittings mistake, and entire product group immediately between
It is longer, affect working efficiency.
Therefore, it is necessary to be directed to the assembling of new-energy automobile accessory, a set of assembling analogue simulation system is developed, is mentioned with this
The working efficiency and quality of the assembling of high new-energy automobile accessory.
Summary of the invention
The present invention provides a kind of new-energy automobile assembling fittings analogue simulation system, so as to improve new-energy automobile accessory
The working efficiency and quality of assembling.
To achieve the above object, the invention provides the following technical scheme:
A kind of new-energy automobile assembling fittings analogue simulation system, including PC host, user interface, modeling and simulating editor system
System, Assembly Control System, error optimization system and model database, the PC host pass through user interface and modeling and simulating editor
System connection, the modeling and simulating editing system are connect with Assembly Control System, error optimization system and model database.
As the further improvement of this programme, the Assembly Control System, comprising:
Vision guide module, the object pose information for being used to acquire on assembling table and mechanical arm present bit confidence
Breath, and it is accordingly sent to power sensing module and impedance control module respectively；
Power sensing module, be used for collection machinery arm with assemble the contact information of target, and with by received object pose
Information is matched and is corrected, and to increase the dimension of contact information, and then is obtained contact condition and is fed back to vision guide module
Using the guide data as assembling next time；The power sensing module is also used to the wrist of collection machinery arm by force information and is sent to
Impedance control module；
Impedance control module, being used for mechanical arm current location information based on the received and wrist by force information is respectively to regard
Feel that guiding module and power sensing module provide mechanical arm position update information and control moment.
As the further improvement of this programme, in the vision guide module, the object pose on assembling table is acquired
The process of information includes: that the relative position of vision guide module is determined in known environment, realizes calibration；Vision guide module note
Image information is recorded, subscribes to vision guide Module nodes message in a program, obtains picture material；The image of acquisition is filtered
Processing；Index enhancing function is called to enhance the useful information of filtered image information and inhibit garbage；According to certain
Similarity criterion enhanced image is divided into different zones；Calculate the gradient direction histogram with statistical picture regional area
Figure carrys out constitutive characteristic, and the presentation of localized target and shape are described by the direction Density Distribution at gradient or edge；By letter
Number solver () is completed pose and is resolved, and the spatial position of image object is obtained；Coordinate is executed using function transform () to become
It changes, obtains assembling target in the parameter value of world coordinate system.
As the further improvement of this programme, the power sensing module is used for: initialization mechanical arm pose and each joint turn
Angle, the relevant parameter of statement packing algorithm and tactful network；Mechanical arm posture is adjusted, Assembly Action is executed；Receive known environment
Six-dimensional force or posture information when the breaker upper and lower covers contact that the contact sensor of setting is sent, obtain data when contact,
Realize force sensing function.
As the further improvement of this programme, in the impedance control module, the mistake of mechanical arm position update information is obtained
Journey includes: setting mechanical arm desired locations；According to each joint control torque of Inverse Dynamics of Manipulators program solution mechanical arm；By power
Square passes to mechanical arm through prescription controller, obtains wrist stress；Wrist stress inputs end contact force conversion letter after processing
Number exports contact force；Contact force makes the difference with desired contact force, obtains position correction amount through impedance control module, and then modify the phase
Hope position.
As the further improvement of this programme, the PC host includes keyboard and display, the clothes that the PC host uses
Business device is to completely disengage Windows system, plug and play can carry out any subsystem using embedded pure hardware configuration
Control and management realize that whole system is highly integrated and interconnect the product platform of cross complaint, have powerful control and management capability.
As the further improvement of this programme, the PC machine of the operation analogue simulation is the desktop interaction PC host or institute
State client virtual machine.
As the further improvement of this programme, the user interface is RS485 communication interface, is transmitted using Shielded Twisted Pair
With master-slave communication mode, RS485 interface connector uses the 9 core plug seats of DB-9, and terminal RS485 interface uses DB-9 and keyboard
The keyboard interface RS485 of connection is docked using DB-9.
As the further improvement of this programme, the model database includes physical object class libraries, aggregation model library, movement
Model library, simulation model library and simulation result.
As the further improvement of this programme, error optimization system, including emulation assembling design and input step, emulation are surveyed
Measure design and input step and calculating and process optimization step, wherein participate in the part to be assembled assembled and assembled body includes
Mutually matched multiple groups hole pin, emulating assembling design with input step includes:
Step 1: being determined therein at least one set of for location hole from the multiple groups hole pin of part to be assembled and assembled body
Pin, for the cooperation of the positioning hole pin, according to the technological ability and Geometry Product Specification for implementing assembling, it is described fixed to determine
The initial scheme of the dimensional tolerance of position hole pin, the product are assembled and are formed by part to be assembled and assembled body；
Step 2: the initial scheme of reference characteristic and dimensional tolerance on part to be assembled and assembled body is input to
In variance analysis software；
Simulated measurement is designed with input step
Step 3: determining its in addition to the positioning hole pin from the multiple groups hole pin of part to be assembled and assembled body
He organizes hole pin as measurement target, and reference product geometric techniques specification, designing other group of hole pin can allow by most
The calculation method of king-bolt diameter, and determine measurement feature relevant to the measurement target to be entered in the calculation method
And the initial scheme of dimensional tolerance；
Step 4: the initial scheme of measurement feature and dimensional tolerance on part to be assembled and assembled body is input to
In variance analysis software；
It calculates with process optimization step and includes:
Step 5: the assembling that parts and assembled body are treated in the variance analysis software carries out analogue simulation,
According to assembling demand and implement the technological ability assembled, the parameter being related to assembling optimizes.
Compared with prior art, beneficial effects of the present invention: user of the present invention enters user interface by computer and inputs
Related data or selected relevant item, and simulation run is controlled, realize the simulation analysis of facing to manufacture line；In addition, helping into one
Step improves digitlization variance analysis work and cooperation efficiency, all has to the automatic assembling production etc. for pushing new-energy automobile
Positive effect and meaning.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.
In the accompanying drawings:
Fig. 1 is system block diagram of the invention；
Fig. 2 is Assembly Control System structural schematic diagram of the invention；
Fig. 3 is error optimization system flow chart of the invention.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
Embodiment: as shown in Figure 1-3, the present invention provides technical solution:
A kind of new-energy automobile assembling fittings analogue simulation system, PC host, user interface, modeling and simulating editing system,
Assembly Control System, error optimization system and model database, the PC host are by user interface and modeling and simulating editor
System connection, the modeling and simulating editing system are connect with Assembly Control System, error optimization system and model database.
As the further improvement of this programme, the Assembly Control System, comprising:
Vision guide module, the object pose information for being used to acquire on assembling table and mechanical arm present bit confidence
Breath, and it is accordingly sent to power sensing module and impedance control module respectively；
Power sensing module, be used for collection machinery arm with assemble the contact information of target, and with by received object pose
Information is matched and is corrected, and to increase the dimension of contact information, and then is obtained contact condition and is fed back to vision guide module
Using the guide data as assembling next time；The power sensing module is also used to the wrist of collection machinery arm by force information and is sent to
Impedance control module；
Impedance control module, being used for mechanical arm current location information based on the received and wrist by force information is respectively to regard
Feel that guiding module and power sensing module provide mechanical arm position update information and control moment.
As the further improvement of this programme, in the vision guide module, the object pose on assembling table is acquired
The process of information includes: that the relative position of vision guide module is determined in known environment, realizes calibration；
Vision guide module records image information, subscribes to vision guide Module nodes message in a program, obtains in image
Hold；The image of acquisition is filtered；Index enhancing function is called to enhance the useful information of filtered image information
And inhibit garbage；Enhanced image is divided into different zones according to certain similarity criterion；Calculating and statistical chart
As the gradient orientation histogram of regional area carrys out constitutive characteristic, by the presentation of localized target and shape by gradient or the direction at edge
Density Distribution is described；
Pose is completed by function solver () to resolve, and obtains the spatial position of image object；
Coordinate transform is executed using function transform (), obtains assembling target in the parameter value of world coordinate system.
As the further improvement of this programme, the power sensing module is used for:
Initialize mechanical arm pose and each joint rotation angle, the relevant parameter of statement packing algorithm and tactful network；
Mechanical arm posture is adjusted, Assembly Action is executed；
Receive the six-dimensional force or pose letter when the breaker upper and lower covers contact of the contact sensor transmission of known environment setting
Breath obtains data when contact, realizes force sensing function.
As the further improvement of this programme, in the impedance control module, the mistake of mechanical arm position update information is obtained
Journey includes:
Set mechanical arm desired locations；
According to each joint control torque of Inverse Dynamics of Manipulators program solution mechanical arm；
Torque is passed into mechanical arm through prescription controller, obtains wrist stress；
Wrist stress inputs end contact force conversion function after processing, exports contact force；
Contact force makes the difference with desired contact force, obtains position correction amount through impedance control module, and then modify desired locations.
As the further improvement of this programme, the PC host includes keyboard and display, the clothes that the PC host uses
Business device is to completely disengage Windows system, plug and play can carry out any subsystem using embedded pure hardware configuration
Control and management realize that whole system is highly integrated and interconnect the product platform of cross complaint, have powerful control and management capability.
As the further improvement of this programme, the PC machine of the operation analogue simulation is the desktop interaction PC host or institute
State client virtual machine.
As the further improvement of this programme, the user interface is RS485 communication interface, is transmitted using Shielded Twisted Pair
With master-slave communication mode, RS485 interface connector uses the 9 core plug seats of DB-9, and terminal RS485 interface uses DB-9 and keyboard
The keyboard interface RS485 of connection is docked using DB-9.
As the further improvement of this programme, the model database includes physical object class libraries, aggregation model library, movement
Model library, simulation model library and simulation result.
As the further improvement of this programme, error optimization system, including emulation assembling design and input step, emulation are surveyed
Measure design and input step and calculating and process optimization step, wherein participate in the part to be assembled assembled and assembled body includes
Mutually matched multiple groups hole pin, emulating assembling design with input step includes:
Step 1: being determined therein at least one set of for location hole from the multiple groups hole pin of part to be assembled and assembled body
Pin, for the cooperation of the positioning hole pin, according to the technological ability and Geometry Product Specification for implementing assembling, it is described fixed to determine
The initial scheme of the dimensional tolerance of position hole pin, the product are assembled and are formed by part to be assembled and assembled body；
Step 2: the initial scheme of reference characteristic and dimensional tolerance on part to be assembled and assembled body is input to
In variance analysis software；
Simulated measurement is designed with input step
Step 3: determining its in addition to the positioning hole pin from the multiple groups hole pin of part to be assembled and assembled body
He organizes hole pin as measurement target, and reference product geometric techniques specification, designing other group of hole pin can allow by most
The calculation method of king-bolt diameter, and determine measurement feature relevant to the measurement target to be entered in the calculation method
And the initial scheme of dimensional tolerance；
Step 4: the initial scheme of measurement feature and dimensional tolerance on part to be assembled and assembled body is input to
In variance analysis software；
It calculates with process optimization step and includes:
Step 5: the assembling that parts and assembled body are treated in the variance analysis software carries out analogue simulation,
According to assembling demand and implement the technological ability assembled, the parameter being related to assembling optimizes.
Compared with prior art, beneficial effects of the present invention: user of the present invention enters user interface by computer and inputs
Related data or selected relevant item, and simulation run is controlled, realize the simulation analysis of facing to manufacture line；In addition, helping into one
Step improves digitlization variance analysis work and cooperation efficiency, all has to the automatic assembling production etc. for pushing new-energy automobile
Positive effect and meaning.
Finally, it should be noted that being not intended to restrict the invention the foregoing is merely preferred embodiment of the invention, to the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, for those skilled in the art, still can be with
It modifies the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.It is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in guarantor of the invention
Within the scope of shield.
Claims (10)
1. a kind of new-energy automobile assembling fittings analogue simulation system, it is characterised in that: including PC host, user interface, modeling
Editing system, Assembly Control System, error optimization system and model database are emulated, the PC host is by user interface and builds
Imitate true editing system connection, the modeling and simulating editing system and Assembly Control System, error optimization system and modeling data
Library connection.
2. a kind of new-energy automobile assembling fittings analogue simulation system according to claim 1, which is characterized in that described group
Fill control system, comprising:
Vision guide module, the object pose information for being used to acquire on assembling table and mechanical arm current location information, and
It is accordingly sent to power sensing module and impedance control module respectively；
Power sensing module, be used for collection machinery arm with assemble the contact information of target, and with by received object pose information
It is matched and is corrected, to increase the dimension of contact information, and then obtained contact condition and feed back to vision guide module to make
For the guide data of assembling next time；The power sensing module is also used to the wrist of collection machinery arm by force information and is sent to impedance
Control module；
Impedance control module, being used for mechanical arm current location information based on the received and wrist by force information is respectively that vision is drawn
Guide module and power sensing module provide mechanical arm position update information and control moment.
3. a kind of new-energy automobile assembling fittings analogue simulation system according to claim 2, which is characterized in that the view
Feel in guiding module, the process for acquiring the object pose information on assembling table includes: to determine that vision is drawn in known environment
Calibration is realized in the relative position of guide module；Vision guide module records image information, subscribes to vision guide module section in a program
Point message, obtains picture material；The image of acquisition is filtered；Index enhancing function is called to enhance filtered figure
As the useful information and inhibition garbage of information；Enhanced image is divided into not same district according to certain similarity criterion
Domain；Calculate and the gradient orientation histogram of statistical picture regional area carry out constitutive characteristic, by the presentation of localized target and shape by
Gradient or the direction Density Distribution at edge are described；Pose is completed by function solver () to resolve, and obtains image object
Spatial position；Coordinate transform is executed using function transform (), obtains assembling target in the parameter value of world coordinate system.
4. a kind of new-energy automobile assembling fittings analogue simulation system according to claim 2, which is characterized in that the power
Sensing module is used for: initialization mechanical arm pose and each joint rotation angle, the relevant parameter of statement packing algorithm and tactful network；It adjusts
Whole mechanical arm posture executes Assembly Action；Receive the breaker upper and lower covers contact that the contact sensor of known environment setting is sent
When six-dimensional force or posture information, obtain contact when data, realize force sensing function.
5. a kind of new-energy automobile assembling fittings analogue simulation system according to claim 2, which is characterized in that the resistance
In anti-control module, the process for obtaining mechanical arm position update information includes: setting mechanical arm desired locations；It is inverse according to mechanical arm
Kinetic procedure solves each joint control torque of mechanical arm；Torque is passed into mechanical arm through prescription controller, obtain wrist by
Power；Wrist stress inputs end contact force conversion function after processing, exports contact force；Contact force makes the difference with desired contact force,
Position correction amount is obtained through impedance control module, and then modifies desired locations.
6. a kind of new-energy automobile assembling fittings analogue simulation system according to any one of claims 1 to 5, feature exist
In the PC host includes keyboard and display, and the server that the PC host uses is to use embedded pure hardware configuration, complete
Total detachment Windows system, plug and play can be controlled and be managed to any subsystem, realize whole system height collection
At the product platform with interconnection cross complaint, there is powerful control and management capability.
7. a kind of new-energy automobile assembling fittings analogue simulation system according to claim 6, which is characterized in that the fortune
The PC machine of row analogue simulation is the desktop interaction PC host or the client virtual machine.
8. a kind of new-energy automobile assembling fittings analogue simulation system according to any one of claims 1 to 5, feature exist
In the user interface is RS485 communication interface, using Shielded Twisted Pair transmission and master-slave communication mode, the connection of RS485 interface
Device uses the 9 core plug seats of DB-9, and the keyboard interface RS485 that terminal RS485 interface is connect using DB-9 with keyboard is using DB-9
Docking.
9. a kind of new-energy automobile assembling fittings analogue simulation system according to any one of claims 1 to 5, feature exist
In the model database includes physical object class libraries, aggregation model library, motion model library, simulation model library and simulation result.
10. any a kind of new-energy automobile assembling fittings analogue simulation system according to claim 1, which is characterized in that
Error optimization system, including emulate assembling design and input step, simulated measurement design and input step and calculate excellent with technique
Change step, wherein the part to be assembled and assembled body for participating in assembling include mutually matched multiple groups hole pin, emulate assembling design
Include: with input step
Step 1: being determined therein at least one set of for positioning hole pin, needle from the multiple groups hole pin of part to be assembled and assembled body
The location hole is determined according to the technological ability and Geometry Product Specification for implementing assembling to the cooperation of the positioning hole pin
The initial scheme of the dimensional tolerance of pin, the product are assembled and are formed by part to be assembled and assembled body；
Step 2: the initial scheme of reference characteristic and dimensional tolerance on part to be assembled and assembled body is input to deviation
It analyzes in software；
Simulated measurement is designed with input step
Step 3: determining other groups in addition to the positioning hole pin from the multiple groups hole pin of part to be assembled and assembled body
Hole pin is as measurement target, reference product geometric techniques specification, design other group of hole pin can allow by maximum spiral shell
The calculation method of bolt diameter, and determine measurement feature relevant to the measurement target to be entered and ruler in the calculation method
The initial scheme of very little tolerance；
Step 4: the initial scheme of measurement feature and dimensional tolerance on part to be assembled and assembled body is input to deviation
It analyzes in software；
It calculates with process optimization step and includes:
Step 5: the assembling that parts and assembled body are treated in the variance analysis software carries out analogue simulation, according to
Assembling demand and the technological ability for implementing assembling, the parameter being related to assembling optimize.
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| CN201910805033.6A CN110488632A (en) | 2019-08-29 | 2019-08-29 | A kind of new-energy automobile assembling fittings analogue simulation system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111367840A (en) * | 2020-03-02 | 2020-07-03 | 宁波和利时智能科技有限公司 | Method and device for realizing plug and play |
| CN113392467A (en) * | 2021-06-15 | 2021-09-14 | 广东洪裕智能制造研究院有限公司 | Automobile part complex product collaborative simulation platform based on HLATH _ RTI |
-
2019
- 2019-08-29 CN CN201910805033.6A patent/CN110488632A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111367840A (en) * | 2020-03-02 | 2020-07-03 | 宁波和利时智能科技有限公司 | Method and device for realizing plug and play |
| CN111367840B (en) * | 2020-03-02 | 2021-06-25 | 宁波和利时智能科技有限公司 | Method and device for realizing plug and play |
| CN113392467A (en) * | 2021-06-15 | 2021-09-14 | 广东洪裕智能制造研究院有限公司 | Automobile part complex product collaborative simulation platform based on HLATH _ RTI |
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Application publication date: 20191122 |