Threaded part screwing control method and device, electronic equipment and storage medium

Abstract

The invention provides a threaded part screwing control method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining the screwing direction of a to-be-screwed threaded part, carrying out the initial screwing control of the to-be-screwed threaded part according to the screwing direction, and continuously monitoring the current screwing angle and the current hydraulic sensing pressure; based on at least one of the current screwing angle and the current hydraulic sensing pressure and the screwing direction, multi-stage target screwing control is carried out on the to-be-screwed threaded part, and the target screwing control and the initial screwing control are used for representing screwing speeds and screwing pressures in different modes; according to the device, the to-be-screwed threaded part is screwed in a segmented mode, automatic disassembly and assembly of the to-be-screwed threaded part can be efficiently and stably completed, and therefore the efficiency and the operation level stability of heavy machinery in the installation and maintenance process are improved, and the labor intensity is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of automatic assembly and disassembly control of threaded parts, and in particular to a method, device, electronic device and storage medium for controlling the screwing of threaded parts. Background Art

[0002] With the development of intelligent production and maintenance, it is an inevitable trend for the development of intelligent manufacturing to realize large-scale automatic installation and replacement of equipment parts, improve equipment installation and maintenance efficiency, and shorten downtime. As an important connection method for equipment components, threaded connection is also increasingly introducing automated disassembly and assembly methods. At present, automatic thread tightening methods mostly use electric tightening methods, and are mostly oriented to the disassembly and assembly of small-load threaded parts. For example, robots with electric tightening shafts can quickly disassemble and assemble fan blade bolts of wind power generation equipment, and collaborative robots with screwdriver tools can quickly disassemble and assemble screws of electronic equipment. However, for the automatic disassembly and assembly of large-load threaded parts, the electric control disassembly and assembly method cannot provide sufficient driving torque and disassembly and assembly efficiency.

[0003] Due to their high load-bearing capacity and stability, large-load threaded parts are widely used in heavy equipment. For example, the locking nuts of the roll rings of steel mills have thread sizes of M90, tightening torques of 1300 / Nm, loosening torques of 1800Nm, and disassembly and assembly strokes of 20*360 degrees. Due to the lack of efficient and reliable automatic disassembly and assembly methods, they are currently mainly disassembled and assembled manually with hydraulic wrenches, which is labor-intensive and inefficient. Although there is a way to apply auxiliary pressure to the threaded parts by controlling the hydraulic equipment through the electronic control system, it is still not suitable for the disassembly and assembly of large-load threaded parts. Summary of the invention

[0004] The present invention provides a method, device, electronic equipment and storage medium for controlling the screwing of a threaded component, so as to solve the technical problem that the heavy-load threaded component to be screwed cannot be efficiently and reliably disassembled and assembled through electric control.

[0005] In one embodiment of the present application, the present application provides a method for controlling the tightening of a threaded component, comprising: obtaining the tightening direction of the threaded component to be tightened; performing initial tightening control on the threaded component to be tightened according to the tightening direction, and continuously monitoring the current tightening angle and the current hydraulic sensed pressure; performing multi-stage target tightening control on the threaded component to be tightened based on at least one of the current tightening angle and the current hydraulic sensed pressure, and the tightening direction, wherein the target tightening control and the initial tightening control are used to characterize screwing speeds and screwing pressures of different modes.

[0006] In one embodiment of the present application, the initial screwing control is performed on the threaded component to be screwed according to the screwing direction, including: if the screwing direction is the screwing-in direction, the threaded component to be screwed-in is controlled with low pressure and slow acceleration; if the screwing direction is the screwing-out direction, the threaded component to be screwed-in is controlled with high pressure and low speed and is loosened.

[0007] In one embodiment of the present application, based on at least one of the current screwing angle and the current hydraulic sensed pressure, and the screwing direction, the threaded member to be screwed is subjected to multi-stage target screwing control, including: if the screwing direction is the screwing direction, and the current screwing angle reaches the upper limit of a preset first angle interval, and the current hydraulic sensed pressure is less than or equal to the preset first pressure threshold, then the medium-pressure high-speed screwing control is determined as the current screwing control; if the current screwing control is the medium-pressure high-speed screwing control, and the new current screwing angle reaches the upper limit of a preset second angle interval, and the new current hydraulic sensed pressure is less than or equal to the preset second pressure threshold, then the medium-pressure deceleration screwing control is determined as the current screwing control; if the current screwing control is the medium-pressure high-speed screwing control, and the new current screwing angle does not reach the upper limit of the preset second angle interval, and the new current hydraulic sensed pressure is less than or equal to the preset second pressure threshold, then the medium-pressure deceleration screwing control is determined as the current screwing control. If the front hydraulic sensed pressure is greater than the preset second pressure threshold, the high-pressure and low-speed tightening control is determined as the current screw-in control; if the current screw-in control is the medium-pressure and deceleration screw-in control, and the new current hydraulic sensed pressure is greater than the preset third pressure threshold, the high-pressure and low-speed tightening control is determined as the current screw-in control; if the current screw-in control is the high-pressure and low-speed tightening control, and the new current hydraulic sensed pressure is greater than the preset fourth pressure threshold, the screw-in exit control is determined as the current screw-in control; the threaded member to be screwed is screwed according to the current screw-in control; wherein the new current screwing angle and the new current hydraulic sensed pressure are obtained based on continuing to monitor the current screwing angle and the current hydraulic sensed pressure in the target screwing control, and the target screwing control includes the medium-pressure and high-speed screwing control, the high-pressure and low-speed tightening control and the medium-pressure and deceleration screwing control.

[0008] In one embodiment of the present application, multi-stage target screwing control is performed on the threaded component to be screwed based on the current screwing angle, at least one of the current hydraulic sensed pressure, and the screwing direction, and also includes: if the screwing direction is a screwing-out direction, and the angle change corresponding to the current screwing angle is greater than a preset angle change threshold, then the medium-pressure and high-speed screwing-out control is determined as the current screwing-out control; if the current screwing-out control is the medium-pressure and high-speed screwing-out control, and the new current screwing angle reaches the lower limit of the preset third angle range, then the screwing-out exit control is determined as the current screwing-out control; the threaded component to be screwed is screwed out according to the current screwing-out control; wherein, the target screwing control also includes the medium-pressure and high-speed screwing-out control.

[0009] In one embodiment of the present application, after continuously monitoring the current screwing angle and the current hydraulic sensed pressure, the method also includes: if the initial screwing control is a low-pressure slow-acceleration screwing-in control, and the current screwing angle has not changed and / or the current hydraulic sensed pressure is greater than a preset first pressure threshold, then the screwing-in is stopped, and a screwing-in abnormality reminder message is generated; if the initial screwing control is a high-pressure and low-speed loosening control, and the angle change corresponding to the current screwing angle within a preset time threshold is less than or equal to a preset angle change threshold, then the screwing-out is stopped, and a screwing-out abnormality reminder message is generated.

[0010] In one embodiment of the present application, before the initial tightening control of the threaded component to be tightened according to the tightening direction, the method also includes: if the tightening direction is the screwing-in direction, the hydraulic tightening tool is fitted with the threaded component to be tightened, and the threaded component to be tightened is fitted with the assembly position thread, and the hydraulic motor in the hydraulic tightening tool is started to rotate forward; if the tightening direction is the screwing-out direction, the hydraulic tightening tool is fitted with the threaded component to be tightened, and the hydraulic motor in the hydraulic tightening tool is started to rotate reversely.

[0011] In one embodiment of the present application, the present application provides a threaded component screwing control device, including: an acquisition module, used to obtain the screwing direction of the threaded component to be screwed; an initial screwing module, used to perform initial screwing control on the threaded component to be screwed according to the screwing direction, and continuously monitor the current screwing angle and the current hydraulic sensed pressure; a segmented screwing module, used to perform multi-stage target screwing control on the threaded component to be screwed based on at least one of the current screwing angle and the current hydraulic sensed pressure, and the screwing direction, the target screwing control and the initial screwing control are used to characterize different modes of screwing speed and screwing pressure.

[0012] In one embodiment of the present application, the device also includes: a hydraulic screwing tool for screwing the threaded part to be screwed; the hydraulic screwing tool includes a threaded screwing tool for fitting the threaded part to be screwed, and a hydraulic motor for the initial screwing control and the target screwing control, and the threaded screwing tool is connected to the hydraulic motor; an angle sensing unit for monitoring the current screwing angle and installed on the threaded screwing tool; a pressure sensing unit for monitoring the current hydraulic sensing pressure and installed on the hydraulic motor.

[0013] In one embodiment of the present application, the present application provides an electronic device, which includes: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the electronic device implements the threaded part tightening control method as described in any of the above embodiments.

[0014] In one embodiment of the present application, the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor of a computer, the computer executes the method for controlling the tightening of a screw member described in any one of the above embodiments.

[0015] Beneficial effects of the embodiments of the present invention: The present application provides a method, device, electronic device and storage medium for controlling the tightening of a threaded part. The embodiments of the present invention monitor the current tightening angle and the current hydraulic sensing pressure, and select different modes of tightening speed and tightening pressure to tighten the threaded part to be tightened in sections. It can efficiently and stably realize the automatic disassembly and assembly of the threaded part to be tightened, thereby improving the efficiency of heavy machinery during the installation and maintenance process and the stability of the operating level, and reducing labor intensity.

[0016] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0018] Figure 1 A schematic diagram showing an exemplary system architecture to which the technical solution of the embodiments of the present application can be applied;

[0019] Figure 2 A schematic flow chart of a method for controlling the screwing of a screw member according to an embodiment of the present application is shown;

[0020] Figure 3 An example diagram showing different control stages corresponding to the thread travel range according to an embodiment of the present application is shown;

[0021] Figure 4 A schematic diagram showing steps of multiple screwing control stages according to an embodiment of the present application is shown;

[0022] Figure 5 A schematic diagram showing the steps of multiple screwing-out control stages according to an embodiment of the present application is shown;

[0023] Figure 6 A block diagram of a screw member screwing control device according to an embodiment of the present application is shown;

[0024] Figure 7A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown. DETAILED DESCRIPTION

[0025] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0026] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application, and thus the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0027] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present application difficult to understand.

[0028] See also Figure 1 , Figure 1 A schematic diagram of an exemplary system architecture to which the technical solution of the embodiment of the present application can be applied is shown. Figure 1 As shown, the system architecture may include a hydraulic screwing tool 101, a threaded member to be screwed 102, and an assembly thread 103. The hydraulic screwing tool 101 is used to screw the threaded member to be screwed 102 into or out of the assembly thread 103.

[0029] Exemplarily, the screwing direction of the threaded component to be screwed is obtained; initial screwing control is performed on the threaded component to be screwed according to the screwing direction, and the current screwing angle and the current hydraulic sensed pressure are continuously monitored; based on at least one of the current screwing angle and the current hydraulic sensed pressure, and the screwing direction, multi-stage target screwing control is performed on the threaded component to be screwed, and the target screwing control and the initial screwing control are used to characterize screwing speeds and screwing pressures in different modes.

[0030] In the related art, there is a technical problem that the threaded parts to be screwed cannot be efficiently and reliably disassembled and assembled through electric control.

[0031] In order to solve the above technical problems, the present application provides a method, device, electronic device and storage medium for controlling the tightening of a screw part. The implementation details of the technical solution of the embodiments of the present application are elaborated in detail below.

[0032] See also Figure 2 , Figure 2 FIG. 2 is a flow chart of a method for controlling the screwing of a screw member according to an embodiment of the present application. Figure 2 As shown, in an exemplary embodiment, the screw member screwing control method includes at least steps S210 to S240, which are described in detail as follows:

[0033] Step S210, obtaining the screwing direction of the threaded component to be screwed.

[0034] In one embodiment of the present application, the threaded member to be screwed includes a heavy-load threaded member.

[0035] Step S220 , performing initial screwing control on the threaded component to be screwed according to the screwing direction, and continuously monitoring the current screwing angle and the current hydraulic sensing pressure.

[0036] In one embodiment of the present application, before the initial tightening control of the threaded component to be tightened according to the tightening direction, the method also includes: if the tightening direction is the screwing-in direction, the hydraulic tightening tool is fitted with the threaded component to be tightened, and the threaded component to be tightened is fitted with the assembly position thread, and the hydraulic motor in the hydraulic tightening tool is started to rotate forward; if the tightening direction is the screwing-out direction, the hydraulic tightening tool is fitted with the threaded component to be tightened, and the hydraulic motor in the hydraulic tightening tool is started to rotate reversely.

[0037] In one embodiment of the present application, the hydraulic screwing tool comprises a thread screwing tool and a hydraulic motor, wherein the thread screwing tool can be fixedly connected to the output end of the hydraulic motor.

[0038] In one embodiment of the present application, the initial screwing control is performed on the screwed component according to the screwing direction, including: if the screwing direction is the screwing-in direction, the screwing-in control is performed at low pressure and slow acceleration; if the screwing direction is the screwing-out direction, the screwing-in control is performed at high pressure and low speed.

[0039] In one embodiment of the present application, during the threading process, the threaded part to be screwed is fitted and centered, and the hydraulic screwing tool is used to fit the threaded part to be screwed with the assembly position thread, and the hydraulic motor is started to rotate forward, entering the low-pressure slow acceleration screwing control stage. Among them, the fitting and centering accuracy of the threaded part to be screwed and the assembly position thread is relatively high, and poor centering will cause abnormal jamming during the screwing process, and in severe cases, damage to equipment components. Therefore, the centering process can be driven into place by a high-precision mechanical arm to drive the hydraulic screwing tool, and the initial screwing stage adopts an abnormal monitoring strategy of joint monitoring of angle and pressure, so that abnormal problems of thread jamming caused by poor centering are discovered in the early stage of screwing.

[0040] In one embodiment of the present application, the screwing speed is used to characterize the rotation speed of the hydraulic motor, and the screwing pressure is used to characterize the hydraulic driving pressure of the hydraulic motor.

[0041] In one embodiment of the present application, the current hydraulic sensed pressure is used to represent the actual hydraulic pressure.

[0042] In one embodiment of the present application, after continuously monitoring the current screwing angle and the current hydraulic sensed pressure, the method also includes: if the initial screwing control is a low-pressure slow-acceleration screwing-in control, and the current screwing angle has not changed and / or the current hydraulic sensed pressure is greater than a preset first pressure threshold, then the screwing-in is stopped, and a screwing-in abnormality reminder message is generated; if the initial screwing control is a high-pressure and low-speed loosening control, and the angle change corresponding to the current screwing angle within a preset time threshold is less than or equal to a preset angle change threshold, then the screwing-out is stopped, and a screwing-out abnormality reminder message is generated.

[0043] In one embodiment of the present application, in the low-pressure slow-acceleration screw-in control, since the initial assembly stroke between threads is small or even non-existent, excessive rotation speed and hydraulic drive pressure shock are likely to cause shaft hole centering deviation, affecting the subsequent smooth screw-in. Therefore, the rotation speed of the hydraulic motor is slowly accelerated from 0, and the hydraulic drive pressure is set to a low gear. In addition, the abnormal screw-in jam can be keenly sensed under low hydraulic drive pressure and rotation speed to avoid large driving force damaging the equipment thread when jammed. For example, in order to ensure the reliability of thread assembly, it should be screwed in at least three turns under low speed and low pressure conditions, so the preset first angle interval corresponding to this stage should be set to 3*360 degrees and above. After the normal screw-in of this low-pressure and low-speed section, the accuracy of the thread fitting and the normal subsequent screw-in have been basically guaranteed.

[0044] In one embodiment of the present application, in the high-pressure and low-speed loosening control, the tightened threaded parts can be loosened mainly by high-pressure impact. However, due to thermal expansion and contraction, there is an abnormal situation that the threaded parts to be screwed cannot be loosened under high-pressure impact. Therefore, the angle change can be monitored within a specific time. If the angle has not changed, an abnormality is reported, and the screwing is exited and handled manually.

[0045] Step S230 , performing multi-stage target tightening control on the threaded component to be tightened based on at least one of the current tightening angle and the current hydraulic pressure sensed pressure, and the tightening direction.

[0046] In one embodiment of the present application, a multi-stage target screwing control is performed on the screwed component based on at least one of the current screwing angle and the current hydraulic sensed pressure, and the screwing direction, including: if the screwing direction is the screwing direction, and the current screwing angle reaches the upper limit of the preset first angle interval, and the current hydraulic sensed pressure is less than or equal to the preset first pressure threshold, then the medium-pressure high-speed screwing control is determined as the current screwing control; if the current screwing control is the medium-pressure high-speed screwing control, and the new current screwing angle reaches the upper limit of the preset second angle interval, and the new current hydraulic sensed pressure is less than or equal to the preset second pressure threshold, then the medium-pressure deceleration screwing control is determined as the current screwing control; if the current screwing control is the medium-pressure high-speed screwing control, and the new current screwing angle does not reach the upper limit of the preset second angle interval, and If the new current hydraulic sensed pressure is greater than the preset second pressure threshold, the high-pressure and low-speed tightening control is determined as the current screw-in control; if the current screw-in control is the medium-pressure and deceleration screw-in control, and the new current hydraulic sensed pressure is greater than the preset third pressure threshold, the high-pressure and low-speed tightening control is determined as the current screw-in control; if the current screw-in control is the high-pressure and low-speed tightening control, and the new current hydraulic sensed pressure is greater than the preset fourth pressure threshold, the screw-in exit control is determined as the current screw-in control; the threaded part to be screwed is screwed according to the current screw-in control; wherein the new current screwing angle and the new current hydraulic sensed pressure are obtained based on continuing to monitor the current screwing angle and the current hydraulic sensed pressure in the target screwing control, and the target screwing control includes medium-pressure and high-speed screwing control, high-pressure and low-speed tightening control and medium-pressure and deceleration screwing control.

[0047] In one embodiment of the present application, the completion status of the current control phase is determined by comparing at least one of the current screwing angle and the current hydraulic pressure with a set threshold.

[0048] In one embodiment of the present application, if it is monitored that the current screwing angle reaches the upper limit of the corresponding preset first angle interval, the medium-pressure high-speed control stage is entered.

[0049] In one embodiment of the present application, in the medium-pressure high-speed screwing control, in order to ensure the overall efficiency of assembly, the hydraulic driving pressure and the rotation speed are both increased in this stage to achieve the effect of fast screwing in of the threaded part to be screwed. However, excessively high hydraulic driving pressure can easily cause abnormal vibration of the threaded part during the high-speed screwing process, so the medium-range pressure drive is used in this stage.

[0050] In one embodiment of the present application, the upper limit of the preset second angle interval is used to characterize the preset speed reduction position, and the preset second pressure threshold is used to characterize the physical tightening position.

[0051] In one embodiment of the present application, if the tightening position is reached at high speed throughout the entire process, the resistance at the tightening position will cause a large impact on the hydraulic screwing tool. Therefore, a preset speed reduction position is set in a short stroke before reaching the tightening position, and the medium-pressure deceleration screwing control stage is entered after reaching the preset speed reduction position. However, even for the same type of threaded parts, there will be differences in the screwing stroke due to manufacturing errors, and the preset speed reduction position cannot be accurately set. In some cases, it is very likely that the physical tightening position will be reached before the preset speed reduction position is reached. Therefore, it is necessary to monitor whether the actual hydraulic pressure exceeds the preset second pressure threshold set in this stage. If it exceeds, it indicates that the tightening position is reached ahead of schedule. At this time, the screwing speed has been automatically reduced due to the impact of resistance, and the medium-pressure deceleration screwing control can be skipped, and the final high-pressure and low-speed tightening control stage can be directly entered.

[0052] In one embodiment of the present application, in the medium-pressure deceleration screw-in control, the preset speed reduction position has been passed, and the speed in this stage gradually decreases, and the screwing is carried out slowly and steadily until the actual hydraulic pressure reaches the preset third pressure threshold corresponding to this stage, indicating that the tightening position has been reached and the speed approaches 0.

[0053] In one embodiment of the present application, in high-pressure and low-speed tightening control, the threaded component to be screwed is tightened by a short high-pressure pulse, and when the actual hydraulic pressure is monitored to reach a preset fourth pressure threshold, the screwing is stopped so that the connection of the threaded component to be screwed reaches the designed tightening torque.

[0054] In one embodiment of the present application, multi-stage target screwing control is performed on the threaded component to be screwed based on the current screwing angle, at least one of the current hydraulic sensed pressure, and the screwing direction, and also includes: if the screwing direction is the screwing-out direction, and the angle change corresponding to the current screwing angle is greater than a preset angle change threshold, then the medium-pressure and high-speed screwing-out control is determined as the current screwing-out control; if the current screwing-out control is the medium-pressure and high-speed screwing-out control, and the new current screwing angle reaches the lower limit of the preset third angle range, then the screwing-out exit control is determined as the current screwing-out control; the threaded component to be screwed is screwed out according to the current screwing-out control; wherein, the target screwing control also includes the medium-pressure and high-speed screwing-out control.

[0055] In one embodiment of the present application, in the high-pressure and low-speed loosening control, the threaded part to be screwed is tightened by a short high-pressure pulse at a low speed. If the angle change exceeds the preset angle threshold, indicating that the threaded part to be screwed is loose, the medium-pressure and high-speed loosening control stage is entered.

[0056] In one embodiment of the present application, the threaded part is screwed at high speed with medium pressure in a loose state to ensure working efficiency, and because there are no tightening resistance, fitting deviation and other factors, the end of the stroke can be screwed out directly at high speed.

[0057] In one embodiment of the present application, the target screwing control and the initial screwing control are used to characterize screwing speeds and screwing pressures in different modes.

[0058] In one embodiment of the present application, see Figure 3 , Figure 3 An example diagram showing different control stages corresponding to the thread travel range according to an embodiment of the present application is shown. Figure 3 As shown, the heavy-load threaded part is the locking nut of the rolling mill roller ring, with a size of M90, a tightening torque of 1300Nm, a loosening torque of 1800Nm, and a disassembly stroke of 20*360 degrees. Accordingly, the corresponding angle intervals of each control stage can be set as follows: the preset first angle interval corresponding to the low-pressure slow acceleration screw-in control is [0-3]*360 degrees, the preset second angle interval corresponding to the medium-pressure high-speed screw-in control is [3-18]*360 degrees, the angle corresponding to the speed reduction position of screw-in is 18*360 degrees, the preset angle change threshold corresponding to the high-pressure low-speed loosening control is 15 degrees, and the preset third angle interval corresponding to the medium-pressure high-speed screw-out control is [0-(tightening position-15)] degrees; the hydraulic driving pressure of each stage can be set as follows: low-pressure gear 5Mpa, medium-pressure gear 7Mpa, high-pressure tightening gear 15Mpa, and high-pressure screw-out gear 20Mpa.

[0059] In one embodiment of the present application, see Figure 4 , Figure 4 FIG. 2 shows a schematic diagram of the steps of multiple screwing control stages according to an embodiment of the present application. Figure 4As shown, step S410, threaded parts are fitted and centered: the hydraulic screwing tool is fitted with the threaded part to be screwed, and the threaded part to be screwed is fitted with the assembly position thread; step S420, low-pressure slow acceleration screwing: the pressure does not exceed the S420 stage threshold and the angle changes normally, reaching the upper limit of the angle interval: if the current screwing angle reaches the upper limit of the preset first angle interval, and the current hydraulic sensed pressure is less than or equal to the preset first pressure threshold, then enter step S430, if the pressure exceeds the S420 stage threshold or the angle does not change: that is, if the current screwing angle does not change and / or the current hydraulic sensed pressure is greater than the preset first pressure threshold, then stop screwing and report the abnormality; step S430 medium-pressure and high-speed screwing: the pressure does not exceed the S430 stage threshold and the angle reaches the upper limit of the interval: that is, if the new current screwing angle reaches the preset The upper limit of the second angle interval, and the new current hydraulic sensed pressure is less than or equal to the preset second pressure threshold, then enter step S440; if the pressure exceeds the S430 stage threshold and the angle does not reach the upper limit of the interval, that is, if the new current screwing angle has not reached the upper limit of the preset second angle interval, and the new current hydraulic sensed pressure is greater than the preset second pressure threshold, then directly enter step S450; step S440 medium pressure deceleration screwing: if the pressure exceeds the stage S440 stage threshold, that is, if the new current hydraulic sensed pressure is greater than the preset third pressure threshold, then enter step S450; step S450 high pressure and low speed tightening: if the pressure exceeds the S450 stage threshold, that is, if the new current hydraulic sensed pressure is greater than the preset fourth pressure threshold, then enter step S460; step S460, exit the hydraulic screwing tool.

[0060] In one embodiment of the present application, see Figure 5 , Figure 5 FIG. 2 shows a schematic diagram of steps of multiple screwing-out control stages according to an embodiment of the present application. Figure 5 As shown, step S510, the hydraulic screwing tool is fitted on the threaded part: the hydraulic screwing tool is fitted on the threaded part to be screwed; step S520, high-pressure and low-speed loosening step: if the angle change exceeds the preset difference, that is, if the angle change corresponding to the current screwing angle is greater than the preset angle change threshold, then enter step S530, if the angle has not changed and the time exceeds the preset time length, that is, if the angle change corresponding to the current screwing angle within the preset time threshold is less than or equal to the preset angle change threshold, then stop screwing and report the abnormality; step S530, medium-pressure and high-speed screwing: if the angle runs to the lower limit of the S530 stage, that is, if the new current screwing angle reaches the lower limit of the preset third angle interval, then enter step S540; step S540, exit the screwing tool.

[0061] In one embodiment of the present application, the present application uses a hydraulic motor to drive a threaded screwing tool to automatically disassemble and assemble heavy-load threaded parts. By performing a segmented screwing control on the rotation speed of the hydraulic motor and the hydraulic drive pressure, the automatic disassembly and assembly of heavy-load threaded parts can be completed efficiently and stably, thereby solving the problems of high manual labor intensity, low production efficiency and unstable operation level during the installation and maintenance of heavy machinery.

[0062] See also Figure 6 , Figure 6 A block diagram of a screw member screwing control device according to an embodiment of the present application is shown. The device can be applied to Figure 1 The implementation environment shown in the figure is specifically configured in the hydraulic screwing tool 101. The device can also be applied to other exemplary implementation environments and specifically configured in other devices. This embodiment does not limit the implementation environment to which the device is applied.

[0063] like Figure 6 As shown, a screw member screwing control device 600 according to an embodiment of the present application includes: an acquisition module 601 , an initial screwing module 602 and a segmented screwing module 603 .

[0064] Wherein, the acquisition module 601 is used to obtain the screwing direction of the threaded member to be screwed;

[0065] An initial screwing module 602 is used to perform initial screwing control on the threaded component to be screwed according to the screwing direction, and continuously monitor the current screwing angle and the current hydraulic sensing pressure;

[0066] The segmented screwing module 603 is used to perform multi-stage target screwing control on the screw member to be screwed based on at least one of the current screwing angle and the current hydraulic sensed pressure, and the screwing direction. The target screwing control and the initial screwing control are used to characterize screwing speeds and screwing pressures in different modes.

[0067] The screw-threaded component screwing control device further includes: a hydraulic screwing tool for screwing the screw-threaded component to be screwed;

[0068] The hydraulic screwing tool comprises a thread screwing tool for fitting a threaded member to be screwed, and a hydraulic motor for initial screwing control and target screwing control, wherein the thread screwing tool is connected to the hydraulic motor;

[0069] An angle sensing unit, used to monitor the current screwing angle and installed on the thread screwing tool;

[0070] The pressure sensing unit is used to monitor the current hydraulic sensing pressure and is installed on the hydraulic motor.

[0071] It should be noted that the screw-threaded component screwing control device provided in the above embodiment and the screw-threaded component screwing control method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment, and will not be repeated here. In practical applications, the screw-threaded component screwing control device provided in the above embodiment can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0072] An embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by one or more processors, the electronic device implements the screw tightening control method provided in the above-mentioned embodiments.

[0073] See also Figure 7 , Figure 7 The structure diagram of the computer system suitable for implementing the electronic device of the embodiment of the present application is shown. It should be noted that: Figure 7 The computer system 700 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0074] like Figure 7 As shown, the computer system 700 includes a central processing unit (CPU) 701, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 702 or the program loaded from the storage part 708 to the random access memory (RAM) 703, such as executing the method in the above embodiment. In the RAM 703, various programs and data required for system operation are also stored. The CPU 701, the ROM 702 and the RAM 703 are connected to each other through the bus 704. The input / output (I / O) interface 705 is also connected to the bus 704.

[0075] The following components are connected to the I / O interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 708 including a hard disk, etc.; and a communication section 709 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I / O interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as needed so that a computer program read therefrom is installed into the storage section 708 as needed.

[0076] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 709, and / or installed from a removable medium 711. When the computer program is executed by a central processing unit (CPU) 701, various functions defined in the system of the present application are executed.

[0077] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a 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 above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. This propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0078] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0079] The units involved in the embodiments described in the present application can be implemented by software or by hardware, and the units described can also be set in a processor. Among them, the names of these units do not constitute a limitation on the units themselves under certain circumstances. Therefore, the technical solution according to the implementation mode of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including a number of instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the implementation mode of the present application.

[0080] Another aspect of the present application further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor of a computer, the computer executes the screw-tightening control method provided in each of the above embodiments. The computer-readable storage medium may be included in the electronic device described in the above embodiments, or may exist independently without being assembled into the electronic device.

[0081] In the above embodiments, unless otherwise specified, by using serial numbers such as "first" and "second" to describe common objects, it only means that they refer to different instances of the same object, rather than indicating that the objects being described must adopt a given order, whether in time, space, sorting or any other way.

[0082] The above embodiments are merely illustrative of the principles and effects of the present application, and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A method for controlling the screwing of a screw, characterized in that: The method comprises: Obtaining the screwing direction of the threaded part to be screwed; Performing initial screwing control on the threaded member to be screwed according to the screwing direction, and continuously monitoring the current screwing angle and the current hydraulic sensing pressure; Based on at least one of the current screwing angle and the current hydraulic pressure, and the screwing direction, multi-stage target screwing control is performed on the threaded member to be screwed, and the target screwing control and the initial screwing control are used to characterize screwing speeds and screwing pressures in different modes.

2. The method for controlling the screwing of a screw member according to claim 1, characterized in that: The initial screwing control of the threaded component to be screwed is performed according to the screwing direction, including: If the screwing direction is the screwing direction, the screwing-in control is performed on the screwed part to be screwed with low pressure and slow acceleration; If the screwing direction is the screwing-out direction, the threaded component to be screwed is loosened with high pressure and low speed.

3. The method for controlling the screwing of a screw member according to claim 2, characterized in that: Based on at least one of the current screwing angle and the current hydraulic pressure, and the screwing direction, the threaded member to be screwed is subjected to multi-stage target screwing control, including: If the screwing direction is the screwing direction, and the current screwing angle reaches the upper limit of the preset first angle interval, and the current hydraulic sensed pressure is less than or equal to the preset first pressure threshold, the medium-pressure high-speed screwing control is determined as the current screwing control; If the current screwing control is the medium-pressure high-speed screwing control, and the new current screwing angle reaches the upper limit of the preset second angle interval, and the new current hydraulic sensed pressure is less than or equal to the preset second pressure threshold, the medium-pressure deceleration screwing control is determined as the current screwing control; If the current screwing control is the medium-pressure high-speed screwing control, and the new current screwing angle does not reach the upper limit of the preset second angle interval, and the new current hydraulic sensed pressure is greater than the preset second pressure threshold, the high-pressure low-speed tightening control is determined as the current screwing control; If the current screw-in control is the medium-pressure deceleration screw-in control, and the new current hydraulic pressure sensed pressure is greater than the preset third pressure threshold, the high-pressure and low-speed tightening control is determined as the current screw-in control; If the current screw-in control is the high-pressure and low-speed tightening control, and the new current hydraulic pressure is greater than the preset fourth pressure threshold, the screw-in exit control is determined as the current screw-in control; Screwing the threaded component to be screwed according to the current screwing control; Among them, the new current screwing angle and the new current hydraulic sensed pressure are obtained based on continuing to monitor the current screwing angle and the current hydraulic sensed pressure in the target screwing control, and the target screwing control includes the medium pressure high-speed screwing control, the high-pressure low-speed tightening control and the medium pressure deceleration screwing control.

4. The method for controlling the screwing of a screw member according to claim 2, characterized in that: Based on at least one of the current screwing angle and the current hydraulic pressure sensed pressure, and the screwing direction, the threaded member to be screwed is subjected to multi-stage target screwing control, further comprising: If the screwing direction is the screwing-out direction, and the angle change corresponding to the current screwing angle is greater than the preset angle change threshold, the medium-pressure high-speed screwing-out control is determined as the current screwing-out control; If the current screwing-out control is the medium-pressure high-speed screwing-out control, and the new current screwing angle reaches the lower limit of the preset third angle interval, the screwing-out exit control is determined as the current screwing-out control; unscrewing the threaded component to be screwed according to the current unscrewing control; Wherein, the target screwing control also includes the medium-pressure high-speed screwing control.

5. The method for controlling the screwing of a screw member according to any one of claims 1 to 4, characterized in that: After continuously monitoring the current screwing angle and the current hydraulic pressure, the method further includes: If the initial screwing control is low-pressure slow-acceleration screwing control, and the current screwing angle does not change and / or the current hydraulic pressure sensed pressure is greater than a preset first pressure threshold, screwing is stopped and screwing abnormality reminder information is generated; If the initial screwing control is a high-pressure and low-speed loosening control, and the angle change corresponding to the current screwing angle within the preset time threshold is less than or equal to the preset angle change threshold, the screwing is stopped and an abnormal screwing reminder message is generated.

6. The method for controlling the screwing of a screw member according to any one of claims 1 to 4, characterized in that: Before performing initial screwing control on the threaded member to be screwed according to the screwing direction, the method further includes: If the screwing direction is the screwing direction, the hydraulic screwing tool is fitted with the threaded part to be screwed, and the threaded part to be screwed is fitted with the assembly position thread, and the hydraulic motor in the hydraulic screwing tool is started to rotate forward; If the screwing direction is the screwing-out direction, the hydraulic screwing tool is fitted onto the threaded member to be screwed, and the hydraulic motor in the hydraulic screwing tool is started to reverse.

7. A screw-threaded component screwing control device, characterized in that: include: An acquisition module, used for acquiring a screwing direction of a screw member to be screwed; An initial screwing module, used for performing initial screwing control on the threaded member to be screwed according to the screwing direction, and continuously monitoring the current screwing angle and the current hydraulic sensing pressure; The segmented screwing module is used to perform multi-stage target screwing control on the threaded member to be screwed based on at least one of the current screwing angle and the current hydraulic sensed pressure, and the screwing direction. The target screwing control and the initial screwing control are used to characterize screwing speeds and screwing pressures in different modes.

8. The screw-threaded member tightening control device according to claim 7, characterized in that: The device further comprises: a hydraulic screwing tool for screwing the threaded member to be screwed; The hydraulic screwing tool comprises a thread screwing tool for fitting the threaded member to be screwed, and a hydraulic motor for the initial screwing control and the target screwing control, and the thread screwing tool is connected to the hydraulic motor; An angle sensing unit, used for monitoring the current screwing angle and installed on the thread screwing tool; The pressure sensing unit is used to monitor the current hydraulic sensing pressure and is installed on the hydraulic motor.

9. An electronic device, characterized in that: The electronic device comprises: one or more processors; A storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, enables the electronic device to implement the screw tightening control method as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor of a computer, the computer is caused to execute the screw tightening control method according to any one of claims 1 to 6.

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