Tightening device and tightening system

Abstract

The application provides a high-precision tightening device and a tightening system, wherein the tightening device comprises a motor, a speed reducer, a first shaft coupling, a torque sensor assembly, an angle sensor assembly, a second shaft coupling and an output terminal which are connected in sequence, and further comprises an adjusting bracket, and the torque sensor assembly and the angle sensor assembly are connected with the adjusting bracket; wherein the torque sensor assembly comprises a torque sensor, a torque sensor fixing bracket and a flexible spring, the torque sensor fixing bracket fixes the torque sensor on the adjusting bracket, the torque sensor is used for collecting torque data in the tightening process, and the flexible spring is located between the torque sensor and the torque sensor fixing bracket; the flexible spring can compensate the centring property of the torque sensor in the tightening process in real time, and the accuracy of torque data collection is ensured.

Description

Technical Field

[0001] This invention relates primarily to the field of mechanical equipment technology, and more particularly to a tightening device and tightening system. Background Technology

[0002] Currently, domestic tightening devices and systems are expensive and do not support functional module expansion. Once a tightening device malfunctions, repair time is long and repair costs are high. Furthermore, this tightening system cannot be expanded to meet the personalized needs of some customers. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a domestically produced and highly accurate tightening device and a tightening system that supports functional expansion.

[0004] To address the aforementioned technical problems, this invention provides a tightening device, comprising: a motor, a reducer, a first coupling, a torque sensor assembly, an angle sensor assembly, a second coupling, and an output terminal connected in sequence; and an adjusting bracket for fixing the torque sensor assembly and the angle sensor assembly. The torque sensor assembly includes a torque sensor, a torque sensor mounting bracket, and a flexible spring. The torque sensor mounting bracket fixes the torque sensor to the adjusting bracket. The torque sensor is used to collect torque data during the tightening process. The flexible spring is located between the torque sensor and the torque sensor mounting bracket, and can compensate for the alignment of the torque sensor in real time during tightening, ensuring the accuracy of torque data acquisition.

[0005] Optionally, the angle sensor assembly includes an angle sensor and a flexible bracket for the angle sensor. The flexible bracket for the angle sensor fixes the angle sensor on the adjustment bracket. The angle sensor is used to collect angle data during the tightening process. The flexible bracket for the angle sensor can compensate for the centering of the angle sensor in real time during the tightening process to ensure the accuracy of the angle data acquisition.

[0006] Optionally, the adjustment bracket includes a first set of slide grooves and a second set of slide grooves. The power fixing bracket can slide in the first set of slide grooves, and the torque sensor fixing bracket and the angle sensor flexible bracket can slide in the second set of slide grooves.

[0007] Optionally, it also includes a connecting bracket, which includes opposing first and second surfaces. The connecting bracket is bolted to the adjusting bracket via the first surface, and the second surface provides a standard connection port for connecting a robot.

[0008] Optionally, the torque output by the motor and the reducer is in the range of 0-500 Nm, and the speed is in the range of 0-300 rpm.

[0009] To address the aforementioned technical problems, the present invention provides a tightening system, comprising: a tightening device as described above, wherein a motor of the tightening device provides driving power according to control parameters sent by a control unit; a control unit connected to the motor, the torque sensor assembly, and the angle sensor assembly, the control unit being configured to send control parameters to the motor, acquire torque data and angle data of the tightening device during operation from the torque sensor assembly and the angle sensor assembly respectively, and determine a reference torque range based on the torque data, the angle data, and an analysis mode acquired from an interaction unit; and an interaction unit connected to the control unit, configured to receive the control parameters and analysis mode of the tightening device, and send the control parameters and analysis mode to the control unit, wherein the control parameters include torque control parameters or angle control parameters.

[0010] Optionally, the control unit determines the reference torque range based on the torque data, the angle data, and the analysis mode by: generating a torque-angle relationship curve based on the torque data and the angle data; when the analysis mode is a first analysis mode, determining a process torque value on the torque-angle relationship curve based on the control parameters, and using the process torque value as the reference torque range.

[0011] Optionally, it further includes: acquiring torque and angle data when the tightening device tightens multiple parts; generating a torque-angle relationship curve for each part, and determining the process torque value for each torque-angle relationship curve; calculating a torque tolerance zone based on multiple process torque values, and using the torque tolerance zone as the reference torque range.

[0012] Optionally, it further includes: when the analysis mode is the second analysis mode, determining the maximum torque value in the torque-angle relationship curve, and using the maximum torque value as the reference torque range.

[0013] Optionally, it further includes: when the analysis mode is the third analysis mode, determining the yield torque value according to the torque and angle relationship curve, using the yield torque value as the reference torque range, and the yield torque value is the torque value corresponding to the yielding of the part to be tightened.

[0014] Optionally, the control unit determines the yield torque value based on the torque-angle relationship curve by: calculating the slope of the linear segment in the torque-angle relationship curve and using the slope of the linear segment as a reference slope; determining whether the slope of each point after the linear segment is less than or equal to 50% of the reference slope, and if so, using the torque corresponding to the first point with a reference slope less than or equal to 50% as the yield torque value.

[0015] Optionally, during a tightening task in the workshop, the control unit is also used to determine whether the torque data is within the reference torque range, and if not, to send a warning signal to the interaction unit.

[0016] Compared with the prior art, the present invention has the following advantages:

[0017] The tightening device of the present invention, on the one hand, improves the tightening accuracy by simultaneously employing a torque sensor assembly and an angle sensor assembly for power transmission; on the other hand, the torque sensor assembly of the present invention includes a flexible spring, which can compensate for the alignment of the torque sensor in real time during the tightening process, ensuring the accuracy of torque data acquisition and further improving the tightening accuracy. Attached Figure Description

[0018] The accompanying drawings are included to provide a further understanding of this application; they are incorporated into and constitute a part of this application. The drawings illustrate embodiments of this application and, together with this specification, serve to explain the principles of the invention. In the drawings:

[0019] Figure 1 This is a schematic diagram of a tightening device according to an embodiment of the present invention;

[0020] Figure 2 yes Figure 1 A schematic diagram of the structure of a torque sensor assembly according to one embodiment;

[0021] Figure 3 yes Figure 1 A schematic diagram of the structure of an angle sensor assembly according to one embodiment;

[0022] Figure 4 yes Figure 1 A schematic diagram of the structure of the adjustment bracket and the connecting bracket according to one embodiment;

[0023] Figure 5 This is a schematic diagram of a tightening system according to an embodiment of the present invention;

[0024] Figure 6 This is a graph showing the torque-angle relationship of the first embodiment of the tightening system;

[0025] Figure 7 This is a graph showing the torque-angle relationship of the second embodiment of the tightening system;

[0026] Figure 8 This is a graph showing the relationship between torque and angle in the third embodiment of the tightening system. Detailed Implementation

[0027] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this application. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0028] Figure 1 This is a structural schematic diagram of a tightening device according to an embodiment of the present invention. Figure 1 As shown, the tightening device 100 includes: a motor 101, a reducer 102, a first coupling 105, a torque sensor assembly 106, an angle sensor assembly 107, a second coupling 108, an output terminal 109, and an adjusting bracket 110. One end of the reducer 102 is connected to the motor 101, and the other end is connected to the first coupling 105. The first coupling 105, torque sensor assembly 106, angle sensor assembly 107, second coupling 108, and output terminal 109 are connected sequentially. The torque sensor assembly 106 and angle sensor assembly 107 are bolted to the adjusting bracket 110. The tightening device operates as follows: the motor 101 provides driving power; the high speed and low torque output by the motor 101 are converted by the reducer 102 into the low speed and high torque required for tightening the parts. The first coupling 105 transmits the power (low speed and high torque) output by the reducer 102 to the torque sensor assembly 106. The torque sensor assembly 106 transmits power to the angle sensor assembly 107. The second coupling 108 transmits the power output from the angle sensor assembly 107 to the output terminal 109. The output terminal 109 then transmits the power to the parts that need to be tightened for tightening. The parts that need to be tightened include, but are not limited to, bolts and nuts.

[0029] Optionally, it also includes a power mounting base and a power mounting bracket, wherein the reducer is fixed on the power mounting bracket via the power mounting base, and the power mounting bracket is connected to the adjustment bracket.

[0030] Optionally, the torque output of the motor 101 and the reducer 102 is in the range of 0-500 Nm and the speed range is 0-300 rpm.

[0031] Optionally, the tightening device 100 also includes a power mounting base 103 and a power mounting bracket 104. The reducer 102 is fixed to the power mounting bracket 104 via the power mounting base 103. The power mounting bracket 104 is bolted to the adjusting bracket 110. Optionally, the power mounting base 103 and the power mounting bracket 104 are fixed with four bolts. After loosening, the power mounting base 103, reducer 102, and motor 101 can be removed, allowing for easy replacement of the motor 101.

[0032] Figure 2 yes Figure 1 A schematic diagram of the structure of a torque sensor assembly according to one embodiment. Figure 2 As shown, the torque sensor assembly 106 includes a torque sensor 106-1, a torque sensor mounting bracket 106-2, and a flexible spring 106-3. The torque sensor 106-1 is fixed to the adjusting bracket 110 via the torque sensor mounting bracket 106. The torque sensor 106-1 is used to collect torque data during the tightening process. The flexible spring 106-3 is located between the torque sensor 106-1 and the torque sensor mounting bracket 106-2. The flexible spring 106-3 can compensate for the alignment of the torque sensor 106-1 during the tightening process in real time, ensuring the accuracy of torque data acquisition. Alignment compensation refers to ensuring that the two rotating shafts of the rotating equipment are on the same axis to ensure smooth operation of the equipment, prevent vibration, and reduce wear from abnormal movement of the journals and bearings. In this embodiment, the flexible spring 106-3 ensures that the rotating shaft of the torque sensor 106-1 and the rotating shaft of the first coupling 105 are on the same axis, reducing interference vibration of the torque sensor 106-1 and thus improving the accuracy of the torque data.

[0033] Figure 3 yes Figure 1 A schematic diagram of the structure of an angle sensor assembly according to one embodiment. Figure 3 As shown, the angle sensor assembly 107 includes an angle sensor 107-1 and an angle sensor flexible bracket 107-2. The angle sensor 107-1 is fixed to the adjustment bracket 110 by the angle sensor flexible bracket 107-2. The angle sensor 107-1 is used to collect angle data during the tightening process, and the angle sensor flexible bracket 107-2 can compensate for the centering of the angle sensor 107-1 in real time during the tightening process, ensuring the accuracy of angle data acquisition.

[0034] Optionally, such as Figure 1 As shown, the tightening device 100 also includes a connecting bracket 111. The connecting bracket 111 is bolted to the adjusting bracket 110. Figure 4 yes Figure 1 A schematic diagram of the structure of an adjustment bracket and a connecting bracket according to one embodiment. Figure 4As shown, the adjusting bracket 110 includes a first set of slide grooves and a second set of slide grooves. The first set of slide grooves includes slide rails A1 and A2. The second set of slide grooves includes slide rails B1 and B2. Since users have different requirements for the torque and speed output of the motor and reducer, the tightening device 100 needs to be able to accommodate motors and reducers of different sizes. Because the sizes of the motor 101 and reducer 102 change, the connection position between the power fixing bracket 104 and the adjusting bracket 110 needs to be changed. In this embodiment, the power fixing bracket 104 can slide up and down along slide rails A1 and A2. Similarly, since users have different accuracy requirements for the torque sensor assembly 106 and the angle sensor assembly 107, the tightening device 100 needs to be able to accommodate torque sensor assemblies 106 and angle sensor assemblies 107 of different accuracies (the size of sensors of different accuracies generally changes). Because the volume of the torque sensor assembly 106 and the angle sensor assembly 107 changes, the connection position between the torque sensor fixed bracket 106-2 and the angle sensor flexible bracket 107-2 and the adjustment bracket 110 needs to be changed. In this embodiment, the torque sensor fixed bracket 106-2 and the angle sensor flexible bracket 107-2 can slide up and down on slide rails B1 and B2.

[0035] like Figure 4 As shown, the connecting bracket 111 includes a first surface and a second surface opposite to each other. The connecting bracket 111 is bolted to the adjusting bracket 110 via the first surface, and the second surface provides a standard connection port for connecting a robot. For example, the second surface can be fixed to a KUKA robot by bolts.

[0036] The tightening device of the present invention, on the one hand, improves the tightening accuracy by simultaneously employing a torque sensor assembly and an angle sensor assembly for power transmission; on the other hand, the torque sensor assembly of the present invention includes a flexible spring, which can compensate for the alignment of the torque sensor in real time during the tightening process, ensuring the accuracy of torque data acquisition and further improving the tightening accuracy.

[0037] Figure 5 This is a schematic diagram of a tightening system according to an embodiment of the present invention. Figure 5As shown, the tightening system 500 includes a tightening device 100, a control unit 51, and an interaction unit 52. The interaction unit 52 is connected to the control unit 51. The interaction unit 52 is used to receive control parameters and analysis modes of the tightening device input by the user, and send the control parameters and analysis modes to the control unit 51. The control parameters include torque control parameters or angle control parameters. The analysis modes include, but are not limited to, a first analysis mode, a second analysis mode, and a third analysis mode. The control unit 51 is connected to the motor 101, the torque sensor assembly 106, and the angle sensor assembly 107, respectively. The control unit 51 is used to send control parameters to the motor 101, obtain torque data and angle data during the operation of the tightening device from the torque sensor assembly 106 and the angle sensor assembly 107, respectively, and determine a reference torque range based on the torque data, angle data, and analysis mode.

[0038] First embodiment of the tightening system:

[0039] The control unit 51 receives the first analysis mode and the control parameters are as follows: (1) pre-tighten to 5Nm, with a speed of 200 revolutions per minute; (2) pause for 1 second; (3) tighten to 50Nm, with a speed of 20 revolutions per minute; (4) tighten 180 degrees, with a speed of 20 revolutions per minute.

[0040] The control unit 51 sends the aforementioned control parameters to the motor 101 of the tightening device 100. The motor 101, after being reduced in speed by the reducer 102, drives the entire tightening device 100 to perform the tightening operation. The torque sensor assembly 106 collects torque data in real time during the tightening process, and the angle sensor assembly 107 collects angle data in real time during the tightening process. The control unit 51 obtains the torque and angle data from the torque sensor assembly 106 and the angle sensor assembly 107, and generates a torque-angle relationship curve based on the torque and angle data. First, the control unit 51 sends the torque control parameter "pre-tighten to 5 Nm, speed 200 rpm" to the motor 101. When the torque data obtained from the torque sensor assembly 106 reaches 5 Nm, the control unit 51 pauses for 1 second and then sends the torque control parameter "tighten to 50 Nm, speed 20 rpm" to the motor 101. When the torque data obtained from the torque sensor assembly 106 reaches 50 Nm, the control unit 51 sends the angle control parameter "tighten 180 degrees, speed 20 rpm" to the motor 101. The tightening system of this invention can control the angle of the tightening device in addition to controlling the torque, resulting in higher control precision.

[0041] Optionally, when the analysis mode is the first analysis mode, the control unit 51 determines the process torque value based on the torque-angle relationship curve and uses the process torque value as a reference torque range. Figure 6 This is a graph showing the relationship between torque and angle in the first embodiment. (Example) Figure 6As shown, according to the control parameter "tighten to 50Nm", the angle corresponding to 50Nm is found from the torque-angle relationship curve S1. In this embodiment, the angle corresponding to 50Nm is approximately 180°. Then, according to the control parameter "tighten to 180 degrees", adding 180° to 180° yields the angle corresponding to the process point as 360°. The torque corresponding to 360° is taken as the process torque value, which can be used as a reference torque for the actual batch assembly of parts. Figure 6 It is known that the torque corresponding to 330° is approximately 145 Nm. Optionally, during a tightening task in the workshop, the control unit 51 is also used to determine in real time whether the torque data is within the reference torque range. If not, it sends a warning signal to the interaction unit 52. For example, the control unit 51 determines whether the torque data exceeds 145 Nm. If so, it indicates that the part to be tightened may have a defect or that there may be an operational error during the tightening process. The control unit 51 then issues a warning to the user through the interaction unit 52.

[0042] Using a single process torque value as a reference torque range may lead to false alarms. In some embodiments, the control unit 51 acquires torque and angle data when the tightening device tightens multiple parts; generates a torque-angle relationship curve for each part, and determines the process torque value for each torque-angle relationship curve; calculates a torque tolerance zone based on multiple process torque values, and uses the torque tolerance zone as a reference torque range. In other words, by testing a certain number of parts, multiple process torque values ​​can be statistically analyzed to form a torque tolerance zone. This tolerance zone can serve as a torque monitoring window for tightening the part in the workshop, effectively identifying tightening curves and corresponding assembled parts whose torque is not within this monitoring window, thereby providing early warnings for abnormal assembled parts.

[0043] Second embodiment of the tightening system:

[0044] The control unit 51 receives the second analysis mode and the control parameters are as follows: (1) pre-tighten to 3Nm, with a speed of 200 revolutions per minute; (2) pause for 1 second; (3) tighten to 8Nm, with a speed of 20 revolutions per minute; (4) tighten to 270 degrees, with a speed of 20 revolutions per minute; (5) tighten until the bolt breaks, with a speed of 20 revolutions per minute.

[0045] Optionally, when the analysis mode is the second analysis mode, the control unit 51 determines the maximum torque value in the torque-angle relationship curve and uses the maximum torque value as the reference torque range. Figure 7 This is a graph showing the relationship between torque and angle in the second embodiment. (Example) Figure 7As shown, the torque-angle relationship curve S2 represents the complete assembly curve from the start of fastener tightening to bolt fracture failure. This curve determines the tightening failure torque (the highest point of the curve), which provides a reference for designing the tightening process torque; exceeding this torque value will cause the bolt to fracture. In this embodiment, the maximum torque value in the torque-angle relationship curve S2 is 16.5 Nm.

[0046] Third embodiment of the tightening system:

[0047] The control unit 51 receives the third analysis mode and the control parameters are as follows: (1) pre-tighten to 16 Nm, with a rotation speed of 200 rpm; (2) tighten until the bolt yields, with a rotation speed of 20 rpm;

[0048] Optionally, when the analysis mode is the third analysis mode, the yield torque value is determined based on the torque-angle relationship curve, and the yield torque value is used as the reference torque range. Figure 8 This is a graph showing the relationship between torque and angle in the third embodiment. Figure 8 As shown, optionally, the control unit determines the yield torque value based on the torque-angle relationship curve by: calculating the slope of the linear segment S31 in the torque-angle relationship curve S3, and using the slope of the linear segment S31 as a reference slope; determining whether the slope of each point after the linear segment S31 is less than or equal to 50% of the reference slope; if so, taking the torque corresponding to the first point with a reference slope less than or equal to 50% as the yield torque value. If the tightening curve yields, it indicates that the part has undergone irreversible plastic deformation; if the tightening curve does not yield, it indicates that the part has undergone recoverable elastic deformation. By obtaining the yield torque value, when over-yielding tightening is not required in the design, the designed tightening torque should be lower than the yield torque value.

[0049] The tightening system of this invention can control the angle of the tightening device in addition to controlling the torque of the tightening device, thus achieving higher control precision. The control logic of the control unit of the tightening system is completely independently developed, supports the expansion of new functions, and can meet the personalized needs of users. The control unit automatically formulates a reference torque based on torque data, angle data, and analysis mode. This reference torque can be used as a reference for the actual assembly of batch parts, which helps to identify abnormal tightening scenarios.

[0050] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application, and therefore remain within the spirit and scope of the exemplary embodiments of this application.

[0051] Furthermore, this application uses specific terms to describe embodiments of the application. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic related to at least one embodiment of the application. Therefore, it should be emphasized and noted that "an embodiment," "one embodiment," or "an alternative embodiment" mentioned twice or more in different locations in this specification do not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0052] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not specifically singular and may include plural forms. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0053] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0054] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0055] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0056] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. In addition, although the terminology used in this application is selected from commonly known and used terms, some terms mentioned in this application's specification may have been chosen by the applicant according to his or her judgment, and their detailed meanings are explained in the relevant sections of this description. Moreover, this application should be understood not only through the actual terms used, but also through the meaning implied by each term.

[0057] Similarly, it should be noted that, in order to simplify the description of the present application and thus aid in the understanding of one or more embodiments of the invention, the foregoing description of the embodiments of the present application sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the subject matter of the application requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of the single embodiments disclosed above.

[0058] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of scope in some embodiments of this application are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0059] Although this application has been described with reference to specific embodiments, those skilled in the art should recognize that the above embodiments are only used to illustrate this application, and various equivalent changes or substitutions can be made without departing from the spirit of this application. Therefore, any changes or modifications to the above embodiments within the essential spirit of this application will fall within the scope of the claims of this application.

Claims

1. A tightening device, characterized in that, The device includes a motor, a reducer, a first coupling, a torque sensor assembly, an angle sensor assembly, a second coupling, and an output terminal connected in sequence, and also includes an adjustment bracket for fixing the torque sensor assembly and the angle sensor assembly. The torque sensor assembly includes a torque sensor, a torque sensor mounting bracket, and a flexible spring. The torque sensor mounting bracket fixes the torque sensor on the adjustment bracket. The torque sensor is used to collect torque data during the tightening process. The flexible spring is located between the torque sensor and the torque sensor mounting bracket and is used to compensate for the alignment of the torque sensor in real time during the tightening process. The angle sensor assembly includes an angle sensor and an angle sensor flexible bracket. The angle sensor flexible bracket fixes the angle sensor on the adjustment bracket. The adjustment bracket includes a second set of sliding grooves. The torque sensor fixing bracket and the angle sensor flexible bracket can slide in the second set of sliding grooves.

2. The tightening device as described in claim 1, characterized in that, The angle sensor is used to collect angle data during the tightening process, and the flexible bracket of the angle sensor compensates for the centering of the angle sensor in real time during the tightening process.

3. The tightening device as described in claim 2, characterized in that, It also includes a power mounting base and a power mounting bracket, wherein the reducer is fixed on the power mounting bracket via the power mounting base, and the power mounting bracket is connected to the adjustment bracket.

4. The tightening device as described in claim 3, characterized in that, The adjustment bracket also includes a first set of sliding grooves, in which the power-fixed bracket can slide.

5. The tightening device as described in claim 1, characterized in that, It also includes a connecting bracket, which has a first side and a second side facing each other. The connecting bracket is bolted to the adjusting bracket via the first side, and the second side provides a standard connection port for connecting a robot.

6. The tightening device as described in claim 1, characterized in that, The motor and the reducer work together to output a torque range of 0-500 Nm and a speed range of 0-300 rpm.

7. A tightening system, characterized in that, include: The tightening device according to any one of claims 1 to 5, wherein the motor of the tightening device is used to provide driving power according to control parameters sent by the control unit; The control unit is connected to the motor, the torque sensor assembly, and the angle sensor assembly respectively. The control unit is used to send control parameters to the motor, obtain torque data and angle data of the tightening device during operation from the torque sensor assembly and the angle sensor assembly respectively, and formulate a reference torque range based on the torque data, the angle data, and the analysis mode obtained from the interaction unit. An interactive unit, connected to the control unit, is used to receive the input analysis mode and the control parameters of the tightening device, and to send the analysis mode and control parameters to the control unit. The control parameters include torque control parameters and angle control parameters. The control unit determines the reference torque range based on the torque data, the angle data, and the analysis mode, including: Generate a torque-angle relationship curve based on the torque data and the angle data; When the analysis mode is the first analysis mode, the process torque value is determined on the torque and angle relationship curve according to the control parameters, and the process torque value is used as the reference torque range. When the analysis mode is the second analysis mode, the maximum torque value is determined in the torque and angle relationship curve, and the maximum torque value is used as the reference torque range. When the maximum torque value is exceeded, the bolt will break and fail. When the analysis mode is the third analysis mode, the yield torque value is determined according to the torque and angle relationship curve, and the yield torque value is used as the reference torque range. The yield torque value is the torque value corresponding to the yielding of the part to be tightened.

8. The tightening system as described in claim 7, characterized in that, Determining the process torque value based on the control parameters on the torque-angle relationship curve includes: Obtain the angle corresponding to the torque control parameter on the torque-angle relationship curve, and use the torque corresponding to the sum of the angle and the angle control parameter on the torque-angle relationship curve as the process torque value.

9. The tightening system as described in claim 7, characterized in that, Also includes: Obtain torque and angle data when the tightening device tightens multiple parts; A torque-angle relationship curve is generated for each part, and the process torque value for each torque-angle relationship curve is determined. The torque tolerance zone is calculated based on multiple process torque values, and the torque tolerance zone is used as the reference torque range.

10. The tightening system as described in claim 7, characterized in that, The control unit determines the yield torque value based on the torque-angle relationship curve, including: Calculate the slope of the linear segment in the torque-angle relationship curve, and use the slope of the linear segment as the reference slope; Determine whether the slope of the point after the linear segment is less than or equal to a reference slope of 50%. If so, take the torque corresponding to the first point with a reference slope less than or equal to 50% as the yield torque value.

11. The tightening system as claimed in claim 7, characterized in that, During the tightening task in the workshop, the control unit is also used to determine whether the torque data is within the reference torque range. If not, it sends a warning signal to the interaction unit.

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