Wireless controlled intelligent torque wrench

Abstract

An embodiment of the present invention provides a wirelessly controlled intelligent torque wrench, which belongs to the technical field of remote control of intelligent wrenches. The torque wrench includes: a wireless communication module, which is used to establish wireless communication with the outside to obtain external tightening or loosening instructions; a wrench body, which is used to perform tightening or loosening operations on nuts on the device; and a controller, which is connected to the wireless communication module and the wrench body, and is used to perform corresponding tightening or loosening operations according to the tightening or loosening instructions. Through the above technical solution, the wirelessly controlled intelligent torque wrench provided by the present invention achieves a reduction in the size of the torque wrench device by replacing the wired connection in the prior art with a wireless connection, thereby reducing the difficulty of carrying out tightening operations on precision mechanical equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of remote control of intelligent wrenches, and in particular to a wirelessly controlled intelligent torque wrench. Background Art

[0002] With the development of intelligent manufacturing, the requirements for industrial automated assembly technology are becoming increasingly higher. When assembling precision machinery and equipment, the tightening requirements of torque accuracy are particularly important.

[0003] The tightening equipment in the prior art has the following defects:

[0004] (1) Tightening equipment mainly relies on wired control, which is mainly due to the stability of wired control. However, due to the large number of communication lines of the tightening equipment, the size of the equipment itself increases, which is not conducive to the implementation of the operation;

[0005] (2) Due to the strict dimensional requirements of precision mechanical equipment, if the tightening wrench moves too fast, it will collide with the equipment, which may affect the accuracy of the precision mechanical equipment itself. In severe cases, it will cause the measurement data of the precision mechanical equipment to be unbalanced, requiring rework and correction. Summary of the Invention

[0006] The purpose of the embodiment of the present invention is to provide a wirelessly controlled intelligent torque wrench, which can save the volume of the device and reduce the difficulty of device operation.

[0007] To achieve the above objectives, an embodiment of the present invention provides a wirelessly controlled intelligent torque wrench, comprising:

[0008] A wireless communication module is used to establish wireless communication with the outside to obtain external tightening or loosening instructions;

[0009] The wrench body is used to tighten or loosen nuts on the equipment;

[0010] The controller is connected to the wireless communication module and the wrench body, and is used to perform corresponding tightening or loosening operations according to the tightening or loosening instructions.

[0011] Optionally, the controller is configured to:

[0012] Acquire an image of a bolt or nut to be tightened or loosened;

[0013] determining a positional relationship between the wrench body and the bolt or nut according to the image;

[0014] Controlling the movement of the wrench body according to the positional relationship so that the wrench body faces the bolt or nut and the centers of the two coincide with each other;

[0015] The wrench body is controlled to move toward the bolt or nut.

[0016] Optionally, controlling the wrench body to move toward the bolt or nut includes:

[0017] generating a corresponding three-dimensional model according to the image;

[0018] generating boundary points on the three-dimensional model;

[0019] generating a three-dimensional curve according to the boundary points by curve fitting to form a device pre-contact area;

[0020] With respect to the equipment pre-contact area, the wrench body is controlled to move toward the bolt or nut at a preset speed.

[0021] Optionally, the device pre-contact area is divided into a first area and a second area, and generating boundary points on the three-dimensional model includes:

[0022] The boundary points are generated according to formula (1) and formula (2),

[0023] , (1)

[0024] , (2)

[0025] in, is a preset distance for generating boundary points of the first area, is the minimum distance value associated with the minimum travel speed of the wrench body, is the preset distance for generating the boundary points of the second area, The preset interval distance.

[0026] Optionally, controlling the wrench body to move at a preset speed comprises:

[0027] The speed of the wrench body is controlled according to formula (3),

[0028] , (3)

[0029] in, is the speed of the wrench body, is the maximum travel speed of the wrench body, is the speed change of the wrench body during the deceleration stage, is the current distance between the wrench body and the three-dimensional model, is the predetermined minimum speed of the wrench body.

[0030] Optionally, generating boundary points on the three-dimensional model includes:

[0031] The distance between the wrench body and the 3D model is determined by taking the line connecting the center of the 3D model and the center of the wrench body as the horizontal axis and the closest point of the projection of the 3D model on the horizontal axis to the wrench body as the origin.

[0032] Optionally, determining the positional relationship between the wrench body and the bolt or nut according to the image includes:

[0033] Determining the three-dimensional position of the center of the bolt or nut using a fully connected network;

[0034] The positional relationship is determined based on the three-dimensional point and the center of the wrench body.

[0035] Through the above technical solution, the wirelessly controlled intelligent torque wrench provided by the present invention replaces the wired connection in the existing technology with a wireless connection, thereby reducing the size of the torque wrench device and reducing the difficulty of tightening operations on precision mechanical equipment.

[0036] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. In the accompanying drawings:

[0038] Figure 1 is a structural block diagram of a wirelessly controlled intelligent torque wrench according to one embodiment of the present invention;

[0039] Figure 2 is a flow chart of a controller execution method according to one embodiment of the present invention;

[0040] Figure 3 is a flowchart of the method of step S13 according to one embodiment of the present invention. DETAILED DESCRIPTION

[0041] The following describes the specific implementation of the embodiment of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the embodiment of the present invention and is not used to limit the embodiment of the present invention.

[0042] like Figure 1 The figure shows a block diagram of a wireless controlled intelligent torque wrench according to an embodiment of the present invention. Figure 1The torque wrench may include a wireless communication module 1, a wrench body 2, and a controller 3. The wireless communication module 1 may be used to establish wireless communication with an external device to obtain external tightening or loosening instructions. The wrench body 2 may be used to tighten or loosen a nut on a device. The controller 3 may be connected to the wireless communication module 1 and the wrench body 2 to perform corresponding tightening or loosening operations based on the tightening or loosening instructions.

[0043] Through this Figure 1 In the torque wrench shown, the main controller can directly send instructions to the controller 3 via the wireless communication module 1. The controller 3 then controls the wrench body 2 to perform tightening or loosening operations according to a predetermined program. Because the main controller communicates with the controller 3 via the wireless communication module 1, the torque wrench does not require additional wiring, significantly reducing the equipment's footprint and making tightening operations easier.

[0044] In one embodiment of the present invention, the controller 3 may control the wrench body 2 to perform tightening or loosening operations in various forms known to those skilled in the art. However, considering that the size requirements of precision mechanical equipment are relatively strict, if the tightening wrench moves too fast, it will collide with the equipment, which may affect the accuracy of the precision mechanical equipment itself, and in severe cases, it may cause the measurement data of the precision mechanical equipment to be unbalanced, requiring rework and correction. In one example of the present invention, the method executed by the controller 3 may include: Figure 2 The steps shown. Figure 2 In, the method may include:

[0045] In step S10 , an image of a bolt or nut to be tightened or loosened is acquired.

[0046] In step S11 , the positional relationship between the wrench body and the bolt or nut is determined based on the image.

[0047] In step S12, the wrench body is controlled to move according to the positional relationship so that the wrench body faces the bolt or nut and the centers of the two coincide.

[0048] In step S13 , the wrench body is controlled to move toward the bolt or nut.

[0049] In this Figure 2 In the method shown, step S11 can be to use a fully connected network to determine the three-dimensional point position of the center of the bolt or nut, and then determine the position relationship based on the three-dimensional point position and the center of the wrench body. In order to accurately control the travel speed of the wrench body 2 to avoid collision with the equipment, the step S13 can further include the following steps: Figure 3 Specifically, step S13 may include:

[0050] In step S20, a corresponding three-dimensional model is generated according to the image;

[0051] In step S21, boundary points are generated on the three-dimensional model;

[0052] In step S22, a three-dimensional curve is generated according to the boundary points by curve fitting, so as to constitute a device pre-contact area;

[0053] In step S23, the wrench body is controlled to move towards the bolt or nut at a preset speed for the device pre-contact area.

[0054] The device pre-contact area is mainly used for the wrench body 2 to decelerate, so as to reduce the risk of collision with the device. In an example of the present application, in order to avoid the long device docking time caused by the too long deceleration stroke, the device pre-contact area can be further divided into a first area and a second area. Correspondingly, the boundary points can also be divided into boundary points for generating the first area and boundary points for generating the second area, that is, the above step S21 can be to generate the boundary points according to formulas (1) and (2),

[0055] , (1)

[0056] , (2)

[0057] wherein, is a preset distance of the boundary points for generating the first area, is a minimum distance value associated with the minimum travel speed of the wrench body, is a preset distance of the boundary points for generating the second area, is a preset interval distance. Corresponding to the boundary points, the travel speed of the wrench body 2 can also be determined according to formula (3),

[0058] , (3)

[0059] wherein, is the speed of the wrench body, is the maximum travel speed of the wrench body, is the speed change amount of the wrench body in the deceleration stage, is the distance of the wrench body from the three-dimensional model, is the predetermined minimum speed of the wrench body.

[0060] In addition, considering that the wrench body 2 and the bolt or nut to be tightened are arranged opposite each other, the above distance calculation can be performed by using the line connecting the center of the three-dimensional model and the center of the wrench body as the horizontal axis, and the closest point of the projection of the three-dimensional model on the horizontal axis to the wrench body as the origin to determine the distance between the wrench body and the three-dimensional model.

[0061] Through the above technical solution, the wirelessly controlled intelligent torque wrench provided by the present invention replaces the wired connection in the existing technology with a wireless connection, thereby reducing the size of the torque wrench device and reducing the difficulty of carrying out tightening operations on precision mechanical equipment.

[0062] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0063] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0064] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0065] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0066] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0067] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0068] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can be implemented using any method or technology to store information. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change RAM (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media such as modulated data signals and carrier waves.

[0069] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0070] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A wireless controlled intelligent torque wrench, characterized in that: The torque wrench comprises: A wireless communication module is used to establish wireless communication with the outside to obtain external tightening or loosening instructions; The wrench body is used to tighten or loosen nuts on the equipment; a controller connected to the wireless communication module and the wrench body, and configured to perform corresponding tightening or loosening operations according to the tightening or loosening instructions; The controller is used to: Acquire an image of a bolt or nut to be tightened or loosened; determining a positional relationship between the wrench body and the bolt or nut according to the image; Controlling the movement of the wrench body according to the positional relationship so that the wrench body faces the bolt or nut and the centers of the two coincide with each other; Controlling the wrench body to move toward the bolt or nut; Controlling the wrench body to move toward the bolt or nut includes: generating a corresponding three-dimensional model according to the image; generating boundary points on the three-dimensional model; generating a three-dimensional curve according to the boundary points by curve fitting to form a device pre-contact area; Controlling the wrench body to move toward the bolt or nut at a preset speed in the pre-contact area of ​​the device; The device pre-contact area is divided into a first area and a second area, and generating boundary points on the three-dimensional model includes: The boundary points are generated according to formula (1) and formula (2), ，（1） ，（2） in, is a preset distance for generating boundary points of the first area, is the minimum distance value associated with the minimum travel speed of the wrench body, is the preset distance for generating the boundary points of the second area, is the preset interval distance; Controlling the wrench body at a preset speed includes: The speed of the wrench body is controlled according to formula (3), ，（3） in, is the speed of the wrench body, is the maximum travel speed of the wrench body, is the speed change of the wrench body during the deceleration stage, is the current distance between the wrench body and the three-dimensional model, is the predetermined minimum speed of the wrench body.

2. The torque wrench according to claim 1, characterized in that Generating boundary points on the three-dimensional model includes: The distance between the wrench body and the 3D model is determined by taking the line connecting the center of the 3D model and the center of the wrench body as the horizontal axis and the closest point of the projection of the 3D model on the horizontal axis to the wrench body as the origin.

3. The torque wrench according to claim 1, wherein: Determining the positional relationship between the wrench body and the bolt or nut according to the image includes: Determining the three-dimensional position of the center of the bolt or nut using a fully connected network; The positional relationship is determined based on the three-dimensional point and the center of the wrench body.

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