A method for automatic debugging of shaft torque

Abstract

The present disclosure provides a method, device, electronic device, and storage medium for automated shaft torque debugging. The method includes: acquiring a first image via an image acquisition unit, and identifying a first test object based on pixel information in the first image; upon identifying the first test object in the first image, outputting a first drive instruction to a test device to drive a first component in the first test object to rotate at least a first angle relative to a second component; obtaining a first torque parameter measured by the test device for driving the first test object; determining a fastener rotation angle based on the first torque parameter, a preset second torque parameter, and part specification parameters, and generating a first torque adjustment instruction; and causing the adjustment device to control the fastener in the first test object to rotate by a second angle in response to the first torque adjustment instruction. The present disclosure implements automated shaft torque adjustment and improves shaft torque adjustment efficiency.

Description

Technical Field

[0001] The present disclosure relates to a notebook shaft, and in particular to a shaft torque debugging method. Background Art

[0002] Laptop computers have become popular as portable office tools. The hinge of the laptop is used to control the opening and closing angle of the computer screen, which is controlled by the torque of the hinge. Too little torque will lead to a loose structure, while too much torque will affect the user experience.

[0003] In the prior art, laptop hinges are manually fastened. The torque used during fastening is determined based on experience, resulting in significant torque variation after fastening. Adjusting the hinge torque relies on tightening or loosening nuts, requiring significant labor time. Furthermore, hinge torque adjustment is manual, and torque testers only display instantaneous torque values. Adjusting the torque within specifications is done by tightening or loosening the nuts with a wrench, relying on the operator's subjective judgment. Different operating techniques can significantly influence the results, resulting in poor product stability. Summary of the Invention

[0004] The present disclosure provides a method for automatic debugging of shaft torque to at least solve the aforementioned technical problems.

[0005] A method for automatic debugging of shaft torque, wherein the method comprises:

[0006] Acquire a first image by an image acquisition unit, and identify a first test object based on pixel information in the first image;

[0007] When the first test object is identified in the first image, outputting a first driving instruction to the testing device so that the testing device drives the first component of the first test object to rotate relative to the second component by at least a first angle in response to the first driving instruction;

[0008] obtaining a first torque parameter of a first test object driven by a testing device;

[0009] The fastener rotation angle is determined based on the first torque parameter and the preset second torque parameter and the part specification parameter, and a first torque adjustment instruction is generated based on the fastener rotation angle; the first torque adjustment instruction is output to the adjustment device, so that the adjustment device responds to the first torque adjustment instruction and controls the fastener in the first test object to rotate to the second angle.

[0010] In some embodiments, measuring a first torque parameter of a first test object driven by a testing device includes:

[0011] After determining that the first component rotates at least a first angle relative to the second component, a first measurement instruction is sent to a torque sensor disposed on the second component, so that the torque sensor measures the torque value generated by the shaft in the second component as a first torque parameter.

[0012] In some embodiments, controlling the fastener in the first test object to rotate to a second angle includes:

[0013] determining a difference between the second torque parameter and the first torque parameter, and determining a first angle to be adjusted of the fastener based on the difference;

[0014] When the difference is positive, the fastener is controlled to rotate in a first rotation direction for an angle to be adjusted; when the difference is negative, the fastener is controlled to rotate in a second rotation direction for an angle to be adjusted; wherein the first rotation direction and the second rotation direction are opposite.

[0015] In some embodiments, after controlling the fastener in the first test object to rotate by a second angle, the method further comprises:

[0016] After the fastener in the first test object is rotated by a second angle, a second test object is obtained;

[0017] Outputting a drive instruction to the test device so that the drive device responds to the second drive instruction and drives the first component of the second test object to rotate relative to the second component by at least a third angle;

[0018] After determining that the first component of the second test object is rotated at least by a third angle relative to the second component, sending a second measurement instruction to a torque sensor disposed on the second component, causing the torque sensor to measure a torque value generated by a shaft in the second component as a third torque parameter;

[0019] When it is determined that the third torque parameter exceeds the preset torque parameter range, information indicating that the second test object is unqualified is output.

[0020] In some embodiments, outputting information indicating that the second test object is unqualified includes:

[0021] determining a difference between the third torque parameter and the second torque parameter, determining a second angle to be adjusted of the fastener based on the difference, and generating a second torque adjustment instruction based on the second angle to be adjusted of the fastener;

[0022] outputting a second torque adjustment instruction to the adjustment device, so that the adjustment device controls the fastener in the first test object to rotate by a fourth angle in response to the second torque adjustment instruction;

[0023] When the difference is positive, the fastener is controlled to rotate in the first rotation direction for the second angle to be adjusted; when the difference is negative, the fastener is controlled to rotate in the second rotation direction for the second angle to be adjusted; wherein the first rotation direction and the second rotation direction are opposite.

[0024] In some embodiments, the method further comprises:

[0025] Calculating a change in the torque parameter based on the third torque parameter and the first torque parameter;

[0026] Calculate the preset part specification parameter change value based on the torque parameter change and the second angle;

[0027] Calculate the average value of the change values ​​of all part specification parameters within the preset test time period, and use the average value as the part specification parameter for the next test period.

[0028] A device for automatic torque debugging of a rotating shaft, wherein the device comprises:

[0029] an image acquisition unit, configured to acquire a first image and identify a first test object based on pixel information in the first image;

[0030] a first processing unit, configured to output a first driving instruction to a testing device when the first test object is recognized in the first image;

[0031] The first processing unit is further configured to obtain a first torque parameter measured by the testing device for driving the first test object;

[0032] The first processing unit is further configured to determine a fastener rotation angle based on the first torque parameter, a preset second torque parameter, and a part specification parameter, generate a first torque adjustment instruction based on the fastener rotation angle, and output the first torque adjustment instruction to the adjustment device;

[0033] a testing unit, configured to drive a first component in the first test object to rotate relative to a second component by at least a first angle in response to the first driving instruction;

[0034] The adjusting unit is configured to control the fastener in the first test object to rotate by a second angle in response to the first torque adjustment instruction to obtain a second test object.

[0035] In some embodiments, the device further comprises:

[0036] The first processing unit is further configured to send a first measurement instruction to a torque sensor disposed on the second component after determining that the first component has rotated at least a first angle relative to the second component;

[0037] The first processing unit is further configured to determine a difference between the second torque parameter and the first torque parameter, and determine a first angle to be adjusted of the fastener based on the difference;

[0038] The first processing unit is further configured to output a driving instruction to the testing device;

[0039] The first processing unit is further configured to send a second measurement instruction to a torque sensor disposed on the second component after determining that the first component of the second test object is rotated by at least a third angle relative to the second component;

[0040] The first processing unit is further configured to output information indicating that the second test object is unqualified if it is determined that the third torque parameter exceeds a preset torque parameter range;

[0041] The first processing unit is further configured to determine a difference between the third torque parameter and the second torque parameter, determine a second angle of the fastener to be adjusted based on the difference, and generate a second torque adjustment instruction based on the second angle of the fastener to be adjusted;

[0042] The first processing unit is further configured to output a second torque adjustment instruction to the regulating device;

[0043] The testing unit is further configured to enable the torque sensor to measure a torque value generated by the shaft in the second component as the first torque parameter;

[0044] The testing unit is further configured to drive the first component of the second test object to rotate relative to the second component by at least a third angle in response to the second driving instruction;

[0045] The testing unit is further configured to enable the torque sensor to measure a torque value generated by the shaft in the second component as the third torque parameter;

[0046] The adjustment unit is further configured to control the fastener in the first test object to rotate by a fourth angle in response to the second torque adjustment instruction;

[0047] The adjusting unit is further configured to control the fastener to rotate in a first rotation direction by the angle to be adjusted when the difference is positive; and to control the fastener to rotate in a second rotation direction by the angle to be adjusted when the difference is negative; wherein the first rotation direction and the second rotation direction are opposite;

[0048] The adjusting unit is further configured to control the fastener to rotate in a first rotation direction by the second angle to be adjusted when the difference is positive; and to control the fastener to rotate in a second rotation direction by the second angle to be adjusted when the difference is negative; wherein the first rotation direction and the second rotation direction are opposite;

[0049] The second processing unit is used to calculate the change of the torque parameter based on the third torque parameter and the first torque parameter, calculate the preset part specification parameter change value according to the change of the torque parameter and the second angle, calculate the average value of the change values ​​of all part specification parameters in the preset test time period, and use the average value as the part specification parameter for the next test period.

[0050] An electronic device, comprising:

[0051] at least one processor; and

[0052] a memory communicatively connected to at least one processor; wherein,

[0053] The memory stores instructions that can be executed by at least one processor. The instructions are executed by the at least one processor to enable the at least one processor to perform any one of the above methods.

[0054] A non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to execute any one of the above methods.

[0055] The present invention discloses a method for automated torque debugging of a rotating shaft, which replaces manual operation with automated equipment execution. Through computer algorithms, the adjustment mechanism and the test mechanism are controlled to adjust the torque to within the specification, so that the torque adjustment and testing are completed automatically. The manufacturing process is stable, and the test structure will not be affected by personnel changes. The test data can be automatically collected by the equipment and analyzed, so that the process capability and quality status can be monitored in real time.

[0056] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understood by reading the detailed description below with reference to the accompanying drawings, in which several embodiments of the present disclosure are shown by way of example and not limitation, wherein:

[0058] In the drawings, the same or corresponding reference numerals denote the same or corresponding parts.

[0059] Figure 1 A schematic diagram of the implementation flow of the method for automatic shaft torque debugging according to an embodiment of the present disclosure is shown;

[0060] Figure 2A schematic diagram of the implementation flow of the method for automatic shaft torque debugging according to an embodiment of the present disclosure is shown;

[0061] Figure 3 A schematic diagram of a shaft torque automatic adjustment device according to an embodiment of the present application;

[0062] Figure 4 A schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0063] To make the purposes, features, and advantages of the present disclosure more apparent and understandable, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present disclosure without creative work shall fall within the scope of protection of the present disclosure.

[0064] The essence of the technical solution of the embodiment of the present application is explained in detail below with reference to the accompanying drawings.

[0065] Figure 1 This is a flow chart of a method for automatic torque debugging of a rotating shaft according to an embodiment of the present application. Figure 1 As shown, the shaft torque automatic debugging method of the embodiment of the present application includes the following processing steps:

[0066] Step 101: Capture a first image through an image acquisition unit, and identify a first test object based on pixel information of the first image.

[0067] In an embodiment of the present application, a camera in an image acquisition unit is used to capture a workpiece at a predetermined fixed position, and the captured image is sent as a first image to an image processor for recognition. In an embodiment of the present application, recognition of the first image based on pixel information may include recognition of structural features of the workpiece in the first image and recognition of grayscale color elements in the first image to determine that the workpiece at the predetermined fixed position is the workpiece to be processed and to determine the relevant specifications and dimensions of the workpiece. The successfully recognized workpiece is then used as the first test object.

[0068] Step 102 : When the first image identifies the first test object, output a drive instruction to a test device, so that the test device drives a first component of the first test object to rotate relative to a second component by at least a first angle in response to the drive instruction.

[0069] In an embodiment of the present application, a testing device is used to measure the torque generated when a rotating shaft workpiece rotates. The testing device includes a torque sensor connected to the rotating shaft and a fixture connected to a servo motor to control the rotation of the rotating shaft. Preferably, the fixture can be a device such as a shift fork for fixing the rotating shaft arm. In an embodiment of the present application, the first component includes a first rotating shaft arm and a friction plate; the second component includes a second rotating shaft arm, a fastener, a shaft, a spring, and a washer; and the first angle is the maximum angle of opening and closing of the first rotating shaft arm relative to the second rotating shaft arm. Preferably, the first rotating shaft arm and the second rotating shaft arm can serve as workpieces connected to the screen and body of a laptop computer to drive the rotating shaft to rotate and control the angle of opening and closing of the laptop computer.

[0070] Step 103: Acquire a first torque parameter of the first test object driven by the test device.

[0071] In the embodiment of the present application, the first torque parameter is generated by the rotating shaft workpiece when the first rotating shaft arm rotates relative to the second rotating shaft arm, and is collected by a torque sensor connected to the rotating shaft.

[0072] Step 104: Determine a fastener rotation angle based on the first torque parameter, a preset second torque parameter, and a part specification parameter; generate a first torque adjustment instruction based on the fastener rotation angle; and output the first torque adjustment instruction to the adjustment device to control the fastener in the first test object to rotate to a second angle.

[0073] In an embodiment of the present application, an adjusting device is used to rotate the fastener in the first test object. Preferably, the adjusting device can be a floating lock connected to a servo motor, and the servo motor is controlled by a PLC control system to rotate forward or reverse a certain angle to achieve rotation of the fastener. In this embodiment, the fastener is a fixed nut.

[0074] In the embodiment of the present application, the shaft torque is generated by the rotational friction between the shaft assembly, namely the shaft, the first shaft arm, and the friction plate in the first and second assemblies. The spring plate is used to provide the pressure required to generate friction. Preferably, there can be multiple friction plates. In this embodiment, two friction plates are used. The two friction plates are simplified to two friction discs, where R is the outer diameter, r0 is the inner diameter, and F is the pressure on the friction surface.

[0075] Shrapnel elastic force F = KS;

[0076] K is the elastic coefficient of the shrapnel, and S is the compression distance of the shrapnel.

[0077] After the above components are assembled, they are fixed by fasteners, namely fixing nuts. L is the pitch of the nut, θ is the angle of rotation of the nut for compression, and μ is the coefficient of kinetic friction. Since this embodiment includes two friction plates, there are four pairs of friction surfaces, which are represented by μ1, μ2, μ3, and μ4 respectively due to different materials. There is a unit micro-circle with a radius of r and a width of d.r , then the torsion T in the smooth zone is:

[0078]

[0079] When the components of the rotating shaft are fixed in design, all the values ​​except θ in the above equation are constant, and it can be simplified to:

[0080] set up

[0081] T = X·θ;

[0082] In an embodiment of the present application, before starting the automated commissioning of the shaft, the nuts of a certain number of shafts must be rotated according to the algorithm. The difference ΔT from the specified torque is calculated based on the rotation angle, thereby obtaining the X values ​​of different shafts. These X values ​​are then averaged, and the obtained average of the X values ​​is used as a coefficient in the algorithm. This allows the algorithm to automatically calculate the angle θ at which the nut needs to be rotated when the torque sensor measures the difference between the torque and the specified torque.

[0083] Figure 2 This is a flow chart of a method for automatic shaft torque debugging according to an embodiment of the present application. Figure 2 As shown, the method for automatic shaft torque debugging in an embodiment of the present application includes the following processing steps:

[0084] Step 201: Loading and capturing images. The method for automated shaft torque adjustment of this embodiment requires loading at the initial stage. Preferably, an automatic loading device is used to clamp the assembled shaft onto a turntable station at a predetermined position, and the torque testing mechanism, mechanical adjustment mechanism, and shaft are fixed accordingly.

[0085] Preferably, the torque testing mechanism and the mechanical adjustment mechanism are respectively matched with the two ends of the rotating shaft, so that after the torque test of the rotating shaft, the rotating shaft workpiece does not need to be transferred to the adjustment mechanism, but the torque can be adjusted directly.

[0086] In the embodiment of the present application, an image acquisition device is used to capture and identify the image of the clamped rotating shaft, and the recognition result is sent to the processor. The processor calls a preset algorithm program in response to the recognition result.

[0087] Step 202: Test the shaft torque. A torque testing mechanism is used to test the shaft torque. Preferably, a servo motor drives a torque sensor connected to a shift fork. The shift fork rotates the shaft arm, automatically testing the shaft torque value during rotation and outputting it in real time via the torque sensor.

[0088] Step 203 compares the shaft torque obtained by the test to see if it meets the specified torque. In this embodiment, preferably, the PLC processor receives data output by the torque sensor and compares the measured torque value with the specified torque. If the comparison is within the specified torque range, the shaft workpiece is determined to be qualified. If the comparison is not within the specified torque range, the shaft workpiece is determined to be unqualified, and step 204 is executed.

[0089] Step 204: Adjust the shaft based on the test results. In this embodiment, since the specifications of each component have been determined after the shaft design is complete, when the difference between the shaft torque and the specified torque is measured, the angle required for the tightening nut to rotate can be directly determined according to a preset program algorithm. Therefore, the system controls the nut locking mechanism through a specific algorithm to control whether to rotate forward or reverse, as well as the rotation angle, to adjust the shaft torque to within the specification.

[0090] Step 205: re-measure the shaft torque.

[0091] In the embodiment of the present application, the torque of the rotating shaft adjusted in step 204 is remeasured to obtain an adjusted torque test result. The remeasured rotating shaft torque is also used to correct the X value. Specifically, the X value is recalculated based on the remeasured result and the rotation angle of the fixing nut calculated above. By collecting a certain number of X values, the initial X value is revised.

[0092] Preferably, since the processing flow and the specifications and dimensions of the parts are less affected by external factors, the X value is corrected by setting a processing time. For example, after each 1-hour rotation axis adjustment, the re-measured values ​​of the adjusted rotation axis within 1 hour are collected, and the X value corresponding to each rotation axis within 1 hour is re-calculated based on the computational relationship between the X value, the re-measured value, and the rotation angle in the above algorithm, and the average value is calculated. The calculated average value is used as the X value for the next period. Alternatively, the X value is corrected by setting a processing quantity. For example, after each 100 rotation axis adjustments are completed, the re-measured torques of the 100 rotation axis adjustments are collected, and the X values ​​corresponding to these 100 rotation axis adjustments are re-calculated based on the computational relationship between the X value, the re-measured value, and the rotation angle in the above algorithm, and the average value is calculated. The calculated average value is used as the X value for the subsequent 100 rotation axis adjustments.

[0093] Step 206 : Compare the re-measured shaft torque to see if it meets the specified torque.

[0094] In this embodiment of the present application, the torque value obtained by retesting is compared with the specified torque value to ensure that the final shaft is within the specification. If it is within the specification, the automatic torque adjustment process is terminated as a qualified product. If it is not within the specification, step 207 is performed.

[0095] Step 207: Adjust the shaft torque according to the retest result.

[0096] In this embodiment, when the re-measurement result does not meet the specification torque, the difference between the re-measurement result and the specification torque is determined to replace the difference between the shaft torque and the specification torque in step 204, and the algorithm program in step 204 is executed to adjust the shaft to ensure that the final torque meets the specification torque.

[0097] Figure 3 Schematic diagram of the automatic torque adjustment device for the shaft according to an embodiment of the present application, as shown in FIG. Figure 3 As shown, the automatic torque debugging device for the shaft according to the embodiment of the present application includes the following devices:

[0098] The image acquisition unit 301 is configured to acquire a first image and identify a first test object based on pixel information in the first image.

[0099] A first processing unit 302 is configured to output a first driving instruction to a testing device when the first test object is recognized in the first image;

[0100] The first processing unit 302 is further configured to obtain a first torque parameter measured by the testing device for driving the first test object;

[0101] The first processing unit 302 is further configured to determine a fastener rotation angle based on the first torque parameter, a preset second torque parameter, and a part specification parameter, generate a first torque adjustment instruction based on the fastener rotation angle, and output the first torque adjustment instruction to the adjustment device;

[0102] The first processing unit 302 is further configured to send a first measurement instruction to a torque sensor disposed on the second component after determining that the first component has rotated at least a first angle relative to the second component;

[0103] The first processing unit 302 is further configured to determine a difference between the second torque parameter and the first torque parameter, and determine a first angle to be adjusted of the fastener based on the difference;

[0104] The first processing unit 302 is further configured to output a driving instruction to the test device;

[0105] The first processing unit 302 is further configured to send a second measurement instruction to a torque sensor disposed on the second component after determining that the first component of the second test object is rotated by at least a third angle relative to the second component;

[0106] The first processing unit 302 is further configured to output information indicating that the second test object is unqualified if it is determined that the third torque parameter exceeds a preset torque parameter range;

[0107] The first processing unit 302 is further configured to determine a difference between the third torque parameter and the second torque parameter, determine a second angle to be adjusted of the fastener based on the difference, and generate a second torque adjustment instruction based on the second angle to be adjusted of the fastener;

[0108] The first processing unit 302 is further configured to output a second torque adjustment instruction to the regulating device.

[0109] The second processing unit 303 is used to calculate the change of the torque parameter based on the third torque parameter and the first torque parameter, calculate the preset part specification parameter change value according to the change of the torque parameter and the second angle, calculate the average value of the change values ​​of all part specification parameters in the preset test time period, and use the average value as the part specification parameter for the next test period.

[0110] A testing unit 304 is configured to drive a first component in the first test object to rotate relative to a second component by at least a first angle in response to the first driving instruction;

[0111] The testing unit 304 is further configured to enable the torque sensor to measure a torque value generated by the shaft in the second component as the first torque parameter;

[0112] The testing unit 304 is further configured to drive the first component in the second test object to rotate relative to the second component by at least a third angle in response to the second driving instruction;

[0113] The testing unit 304 is further configured to enable the torque sensor to measure the torque value generated by the shaft in the second component as the third torque parameter.

[0114] An adjusting unit 305 is configured to control the fastener in the first test object to rotate by a second angle in response to the first torque adjustment instruction to obtain a second test object;

[0115] The adjustment unit is further configured to control the fastener in the first test object to rotate by a fourth angle in response to the second torque adjustment instruction;

[0116] The adjustment unit 305 is further configured to control the fastener to rotate in a first rotation direction by the angle to be adjusted when the difference is positive; and to control the fastener to rotate in a second rotation direction by the angle to be adjusted when the difference is negative; wherein the first rotation direction and the second rotation direction are opposite;

[0117] The adjustment unit 305 is also used to control the fastener to rotate in a first rotation direction to the second angle to be adjusted when the difference is positive; and to control the fastener to rotate in a second rotation direction to the second angle to be adjusted when the difference is negative; wherein the first rotation direction and the second rotation direction are opposite.

[0118] In an exemplary embodiment, the image acquisition unit 301, the first processing unit 302, the second processing unit 303, the testing unit 304, and the adjustment unit 305 can be implemented by one or more central processing units (CPUs), graphics processing units (GPUs), application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers (MCUs), microprocessors, or other electronic components.

[0119] Regarding the device in the above embodiment, the specific manner in which each module and unit performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0120] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device and a readable storage medium.

[0121] Figure 4 A schematic block diagram of an example electronic device 800 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are provided as examples only and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0122] like Figure 4As shown, the device 800 includes a computing unit 801, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 into a random access memory (RAM) 803. Various programs and data required for the operation of the device 800 can also be stored in the RAM 803. The computing unit 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0123] Various components in device 800 are connected to I / O interface 805, including an input unit 806, such as a keyboard, mouse, etc.; an output unit 807, such as various types of displays, speakers, etc.; a storage unit 808, such as a magnetic disk, optical disk, etc.; and a communication unit 809, such as a network card, modem, wireless communication transceiver, etc. The communication unit 809 allows device 800 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0124] The computing unit 801 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 801 performs the various methods and processes described above, such as the automated shaft torque debugging method. For example, in some embodiments, the automated shaft torque debugging method can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 808. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device 800 via the ROM 802 and / or the communication unit 809. When the computer program is loaded into the RAM 803 and executed by the computing unit 801, one or more steps of the automated shaft torque debugging method described above can be performed. Alternatively, in other embodiments, the computing unit 801 can be configured to perform the automated shaft torque debugging method by any other suitable means (e.g., via firmware).

[0125] Various embodiments of the systems and techniques described above can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0126] The program code for implementing the method of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0127] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, device or equipment. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0128] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0129] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0130] A computer system may include a client and a server. The client and server are generally remote from each other and typically interact through a communication network. The client-server relationship arises through computer programs running on the respective computers and having a client-server relationship with each other. The server may be a cloud server, a server in a distributed system, or a server integrated with a blockchain.

[0131] Another aspect of an embodiment of the present invention provides a computer-readable storage medium, which includes a set of computer-executable instructions. When the instructions are executed, the computer-executable instructions are used to execute any of the above-mentioned methods for automatically debugging the shaft torque.

[0132] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not a limitation herein.

[0133] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the present disclosure, "plurality" means two or more, unless otherwise specifically defined.

[0134] The above description is merely a specific embodiment of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this disclosure should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection of the claims.

Claims

1. A method for automatic debugging of shaft torque, characterized in that: The method comprises: Acquire a first image by an image acquisition unit, and identify a first test object based on pixel information in the first image; When the first test object is identified in the first image, outputting a first driving instruction to a testing device, so that the testing device drives a first component in the first test object to rotate relative to a second component by at least a first angle in response to the first driving instruction; obtaining a first torque parameter of the first test object measured by the testing device; determining a fastener rotation angle based on the first torque parameter, a preset second torque parameter, and a part specification parameter, generating a first torque adjustment instruction based on the fastener rotation angle, and outputting the first torque adjustment instruction to an adjustment device so that the adjustment device controls the fastener in the first test object to rotate by a second angle in response to the first torque adjustment instruction; After controlling the fastener in the first test object to rotate by a second angle, the method further includes: After the fastener in the first test object is rotated by a second angle, a second test object is obtained; Outputting a second driving instruction to the testing device, so that the testing device drives the first component of the second test object to rotate relative to the second component by at least a third angle in response to the second driving instruction; After determining that the first component of the second test object is rotated at least by a third angle relative to the second component, sending a second measurement instruction to a torque sensor disposed on the second component, causing the torque sensor to measure a torque value generated by a shaft in the second component as a third torque parameter; If it is determined that the third torque parameter exceeds a preset torque parameter range, outputting information that the second test object is unqualified; The method further comprises: Calculating a change in a torque parameter based on the third torque parameter and the first torque parameter; Calculating a preset part specification parameter change value based on the torque parameter change and the second angle; Calculate the average value of the change values ​​of all part specification parameters within the preset test time period, and use the average value as the part specification parameter for the next test period.

2. The method according to claim 1, wherein measuring a first torque parameter of the test device driving the first test object comprises: After determining that the first component rotates at least a first angle relative to the second component, a first measurement instruction is sent to a torque sensor provided on the second component, so that the torque sensor measures the torque value generated by the shaft in the second component as the first torque parameter.

3. The method according to claim 1, characterized in that The controlling the fastener in the first test object to rotate to a second angle includes: determining a difference between the second torque parameter and the first torque parameter, and determining a first angle to be adjusted of the fastener based on the difference; When the difference is positive, the fastener is controlled to rotate in a first rotation direction by the angle to be adjusted; when the difference is negative, the fastener is controlled to rotate in a second rotation direction by the angle to be adjusted; wherein the first rotation direction and the second rotation direction are opposite.

4. The method according to claim 1, characterized in that Outputting information that the second test object is unqualified includes: determining a difference between the third torque parameter and the second torque parameter, determining a second angle of the fastener to be adjusted based on the difference, and generating a second torque adjustment instruction based on the second angle of the fastener to be adjusted; outputting a second torque adjustment instruction to the adjustment device, so that the adjustment device controls the fastener in the first test object to rotate by a fourth angle in response to the second torque adjustment instruction; When the difference is positive, the fastener is controlled to rotate in a first rotation direction by the second angle to be adjusted; when the difference is negative, the fastener is controlled to rotate in a second rotation direction by the second angle to be adjusted; wherein the first rotation direction and the second rotation direction are opposite.

5. A device for automatic adjustment of shaft torque, characterized in that: The device comprises: an image acquisition unit, configured to acquire a first image and identify a first test object based on pixel information in the first image; a first processing unit, configured to output a first driving instruction to a testing device when the first test object is recognized in the first image; The first processing unit is further configured to obtain a first torque parameter measured by the testing device for driving the first test object; The first processing unit is further configured to determine a fastener rotation angle based on the first torque parameter, a preset second torque parameter, and a part specification parameter, generate a first torque adjustment instruction based on the fastener rotation angle, and output the first torque adjustment instruction to the adjustment device; a testing unit, configured to drive a first component in the first test object to rotate relative to a second component by at least a first angle in response to the first driving instruction; an adjusting unit, configured to control the fastener in the first test object to rotate by a second angle in response to the first torque adjustment instruction to obtain a second test object; The first processing unit is further configured to output a second driving instruction to the testing device; The first processing unit is further configured to send a second measurement instruction to a torque sensor disposed on the second component after determining that the first component of the second test object is rotated by at least a third angle relative to the second component; The testing unit is further configured to drive the first component of the second test object to rotate relative to the second component by at least a third angle in response to the second driving instruction; The testing unit is further configured to enable the torque sensor to measure a torque value generated by the shaft in the second component as a third torque parameter; The first processing unit is further configured to output information indicating that the second test object is unqualified if it is determined that the third torque parameter exceeds a preset torque parameter range; The second processing unit is used to calculate the change of the torque parameter based on the third torque parameter and the first torque parameter, calculate the preset part specification parameter change value according to the change of the torque parameter and the second angle, calculate the average value of the change values ​​of all part specification parameters in the preset test time period, and use the average value as the part specification parameter for the next test period.

6. The device according to claim 5, characterized in that The device further comprises: The first processing unit is further configured to send a first measurement instruction to a torque sensor disposed on the second component after determining that the first component has rotated at least a first angle relative to the second component; The first processing unit is further configured to determine a difference between the second torque parameter and the first torque parameter, and determine a first angle to be adjusted of the fastener based on the difference; The first processing unit is further configured to determine a difference between the third torque parameter and the second torque parameter, determine a second angle of the fastener to be adjusted based on the difference, and generate a second torque adjustment instruction based on the second angle of the fastener to be adjusted; The first processing unit is further configured to output a second torque adjustment instruction to the regulating device; The testing unit is further configured to enable the torque sensor to measure a torque value generated by the shaft in the second component as the first torque parameter; The adjustment unit is further configured to control the fastener in the first test object to rotate by a fourth angle in response to the second torque adjustment instruction; The adjusting unit is further configured to control the fastener to rotate in a first rotation direction by the angle to be adjusted when the difference is positive; and to control the fastener to rotate in a second rotation direction by the angle to be adjusted when the difference is negative; wherein the first rotation direction and the second rotation direction are opposite; The adjustment unit is further configured to control the fastener to rotate in a first rotation direction by the second angle to be adjusted when the difference is positive; and to control the fastener to rotate in a second rotation direction by the second angle to be adjusted when the difference is negative; wherein the first rotation direction and the second rotation direction are opposite.

7. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 4.

8. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 4.

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