A threaded part screwing control method and device, electronic equipment and storage medium

Abstract

The application provides a threaded part screwing control method and device, electronic equipment and storage medium. The method comprises the following steps: acquiring a screwing direction of a threaded part to be screwed; performing initial screwing control on the threaded part to be screwed according to the screwing direction; constantly monitoring a current screwing angle and a current hydraulic sensing pressure; and performing multi-stage target screwing control on the threaded part to be screwed based on at least one of the current screwing angle and the current hydraulic sensing pressure and the screwing direction. The target screwing control and the initial screwing control are used to represent different modes of screwing speed and screwing pressure. The application can efficiently and stably complete the automatic disassembly of the threaded part to be screwed through segmented screwing, thereby improving the efficiency and operation level stability of heavy machinery in the installation and maintenance process and reducing the labor intensity.

Description

Technical Field

[0001] This application relates to the field of automatic disassembly and assembly control technology for threaded parts, and in particular to a method, device, electronic equipment and storage medium for controlling the screwing of threaded parts. Background Technology

[0002] With the intelligent development of production and maintenance, the large-scale automatic installation and replacement of equipment parts, improving equipment installation and maintenance efficiency, and reducing downtime are inevitable trends in intelligent manufacturing. Threaded connections, as an important connection method for equipment components, are increasingly incorporating automated assembly and disassembly methods. Currently, most automatic thread tightening methods use electric tightening and are primarily geared towards the assembly and disassembly of lightly loaded threaded parts. For example, robots with electric tightening shafts are used for the rapid assembly and disassembly of bolts on wind turbine blades, and collaborative robots with screwdrivers are used for the rapid assembly and disassembly of screws in electronic devices. However, for the automatic assembly and disassembly of heavy-load threaded parts, electrically controlled methods cannot provide sufficient driving torque and efficiency.

[0003] High-load threaded components are widely used in heavy equipment due to their high load-bearing capacity and stability. For example, the locking nuts of rolling mill roll rings in steel plants have a thread size of M90, a tightening torque of 1300 Nm, a loosening torque of 1800 Nm, and a disassembly / assembly stroke of 20*360 degrees. Due to the lack of efficient and reliable automatic disassembly / assembly methods, they are currently mainly disassembled and assembled manually using hydraulic wrenches. This is labor-intensive and inefficient. Although there are methods that use electronic control systems to control hydraulic equipment to apply auxiliary pressure to tighten threaded components, these methods are still not suitable for disassembling and assembling high-load threaded components. Summary of the Invention

[0004] This invention provides a method, device, electronic device, and storage medium for controlling the tightening of threaded parts, in order to solve the technical problem that the threaded parts with large loads to be tightened cannot be disassembled and assembled efficiently and reliably through electric control.

[0005] In one embodiment of this application, a threaded component tightening control method is provided, 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 sensing 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 sensing pressure, and the tightening direction, wherein the target tightening control and the initial tightening control are used to characterize the tightening speed and tightening pressure of different modes.

[0006] In one embodiment of this application, the initial tightening control of the threaded component to be tightened according to the tightening direction includes: if the tightening direction is the screwing-in direction, then the threaded component to be tightened is subjected to low-pressure slow-acceleration screwing-in control; if the tightening direction is the screwing-out direction, then the threaded component to be tightened is subjected to high-pressure low-speed loosening control.

[0007] In one embodiment of this application, multi-stage target tightening control is performed on the threaded part to be tightened based on at least one of the current tightening angle and the current hydraulic sensing pressure, and the tightening direction, including: if the tightening direction is the screwing-in direction, and the current tightening angle reaches the upper limit of a preset first angle range, and the current hydraulic sensing pressure is less than or equal to a preset first pressure threshold, then medium-pressure high-speed screwing-in control is determined as the current screwing-in control; if the current screwing-in control is medium-pressure high-speed screwing-in control, and the new current tightening angle reaches the upper limit of a preset second angle range, and the new current hydraulic sensing pressure is less than or equal to a preset second pressure threshold, then medium-pressure deceleration screwing-in control is determined as the current screwing-in control; if the current screwing-in control is medium-pressure high-speed screwing-in control, and the new current tightening angle does not reach the upper limit of the preset second angle range, and the new current... If the current hydraulic sensing pressure is greater than a preset second pressure threshold, then the high-pressure low-speed tightening control is determined as the current tightening control; if the current tightening control is a medium-pressure deceleration tightening control, and the new current hydraulic sensing pressure is greater than a preset third pressure threshold, then the high-pressure low-speed tightening control is determined as the current tightening control; if the current tightening control is a high-pressure low-speed tightening control, and the new current hydraulic sensing pressure is greater than a preset fourth pressure threshold, then the tightening exit control is determined as the current tightening control; the threaded part to be tightened is tightened according to the current tightening control; wherein, the new current tightening angle and the new current hydraulic sensing pressure are obtained based on the continued monitoring of the current tightening angle and current hydraulic sensing pressure in the target tightening control, and the target tightening control includes the medium-pressure high-speed tightening control, the high-pressure low-speed tightening control, and the medium-pressure deceleration tightening control.

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

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

[0010] In one embodiment of this application, before performing initial tightening control on the threaded part to be tightened according to the tightening direction, the method further includes: if the tightening direction is the screw-in direction, then fitting the hydraulic tightening tool with the threaded part to be tightened, fitting the threaded part to be tightened with the assembly thread, and starting the hydraulic motor in the hydraulic tightening tool to rotate forward; if the tightening direction is the screw-out direction, then fitting the hydraulic tightening tool with the threaded part to be tightened, and starting the hydraulic motor in the hydraulic tightening tool to rotate in reverse.

[0011] In one embodiment of this application, a threaded component tightening control device is provided, comprising: an acquisition module for acquiring the tightening direction of the threaded component to be tightened; an initial tightening module for 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 sensing pressure; and a segmented tightening module for 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 sensing pressure, and the tightening direction, wherein the target tightening control and the initial tightening control are used to characterize the tightening speed and tightening pressure of different modes.

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

[0013] In one embodiment of this application, an electronic device is provided, the electronic device comprising: one or more processors; and a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device enables the threaded part tightening control method as described in any of the above embodiments.

[0014] In one embodiment of this application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a computer processor, the computer performs the threaded part tightening control method described in any of the above embodiments.

[0015] The beneficial effects of the embodiments of the present invention are as follows: This application provides a threaded part tightening control method, device, electronic device and storage medium. 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 segments. This can achieve efficient and stable automatic disassembly and assembly of the threaded part to be tightened, thereby improving the efficiency and stability of the operation level of heavy machinery in the installation and maintenance process, and reducing labor intensity.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0018] Figure 1 A schematic diagram of an exemplary system architecture to which the technical solutions of the embodiments of this application can be applied is shown;

[0019] Figure 2 A schematic flowchart of a threaded component tightening control method according to an embodiment of this application is shown;

[0020] Figure 3 Example diagrams are shown showing different control stages and thread travel ranges according to one embodiment of this application;

[0021] Figure 4 A schematic diagram illustrating the steps of a plurality of screw-in control stages according to an embodiment of the present application is shown;

[0022] Figure 5 A schematic diagram illustrating the steps of a plurality of unscrewing control stages according to an embodiment of the present application is shown;

[0023] Figure 6 A block diagram of a threaded component tightening control device according to an embodiment of this application is shown;

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

[0025] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, unless otherwise specified, the following embodiments and features in the embodiments can be combined with each other.

[0026] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0027] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the present application. However, it will be apparent to those skilled in the art that embodiments of the present application may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the present application.

[0028] Please see Figure 1 , Figure 1 A schematic diagram of an exemplary system architecture to which the technical solutions of the embodiments of this application can be applied is shown. For example... Figure 1 As shown, the system architecture may include a hydraulic screw-on tool 101, a threaded part 102 to be screwed in, and an assembly thread 103. The hydraulic screw-on tool 101 is used to screw the threaded part 102 into or out of the assembly thread 103.

[0029] For example, the screwing direction of the threaded part to be screwed is obtained; initial screwing control is performed on the threaded part to be screwed according to the screwing direction, and the current screwing angle and current hydraulic sensing pressure are continuously monitored; multi-stage target screwing control is performed on the threaded part to be screwed based on at least one of the current screwing angle and current hydraulic sensing pressure, and the screwing direction. The target screwing control and initial screwing control are used to characterize the screwing speed and screwing pressure of different modes.

[0030] In related technologies, there is a technical problem that threaded parts cannot be efficiently and reliably disassembled and assembled using electric control.

[0031] To address the aforementioned technical problems, this application provides a method, apparatus, electronic device, and storage medium for controlling the tightening of threaded parts. The implementation details of the technical solutions in the embodiments of this application are described in detail below.

[0032] Please see Figure 2 , Figure 2 A schematic flowchart of a threaded component tightening control method according to an embodiment of this application is shown. Figure 2 As shown, in an exemplary embodiment, the threaded component tightening control method includes at least steps S210 to S240, which are described in detail below:

[0033] Step S210: Obtain the turning direction of the threaded part to be turned.

[0034] In one embodiment of this application, the threaded part to be screwed includes a high-load threaded part.

[0035] Step S220: Perform initial tightening control on the threaded part to be tightened according to the tightening direction, and continuously monitor the current tightening angle and the current hydraulic sensing pressure.

[0036] In one embodiment of this application, before performing initial tightening control on the threaded part to be tightened according to the tightening direction, the method further includes: if the tightening direction is the screw-in direction, then fitting the hydraulic tightening tool with the threaded part to be tightened, fitting the threaded part to be tightened with the assembly thread, and starting the hydraulic motor in the hydraulic tightening tool to rotate forward; if the tightening direction is the screw-out direction, then fitting the hydraulic tightening tool with the threaded part to be tightened, and starting the hydraulic motor in the hydraulic tightening tool to rotate in reverse.

[0037] In one embodiment of this application, the hydraulic screw-turning tool includes a thread-turning tool and a hydraulic motor. The thread-turning tool may be fixedly connected to the output end of the hydraulic motor.

[0038] In one embodiment of this application, the initial tightening control of the threaded part to be tightened is performed according to the tightening direction, including: if the tightening direction is the screwing-in direction, then the threaded part to be tightened is subjected to low-pressure slow-acceleration screwing-in control; if the tightening direction is the screwing-out direction, then the threaded part to be tightened is subjected to high-pressure low-speed loosening control.

[0039] In one embodiment of this application, during the thread tightening process, the threaded part to be tightened is aligned with the assembly thread by a hydraulic tightening tool. The hydraulic motor is then activated to rotate forward, entering a low-pressure, slow-acceleration tightening control phase. The alignment accuracy between the threaded part and the assembly thread is critical; misalignment can lead to abnormal jamming during tightening, and in severe cases, damage to equipment components. Therefore, the alignment process can be achieved by a high-precision robotic arm driving the hydraulic tightening tool to its position. Furthermore, an anomaly monitoring strategy combining angle and pressure monitoring is employed during the initial tightening phase to detect thread jamming caused by misalignment at the early stages of tightening.

[0040] In one embodiment of this application, the turning speed is used to characterize the rotational speed of the hydraulic motor, and the turning pressure is used to characterize the hydraulic drive pressure of the hydraulic motor.

[0041] In one embodiment of this application, the current hydraulic sensing pressure is used to characterize the actual hydraulic pressure.

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

[0043] In one embodiment of this application, during low-pressure, slow-acceleration screwing control, because the initial thread assembly stroke is small or even nonexistent, excessive rotational speed and hydraulic drive pressure can easily cause misalignment of the shaft and hole, affecting subsequent smooth screwing. Therefore, the rotational speed of the hydraulic motor is slowly accelerated from 0, and the hydraulic drive pressure is set to a low level. Furthermore, at lower hydraulic drive pressure and rotational speed, screwing jamming abnormalities can be sensitively detected, preventing damage to the machine's threads from excessive driving force during jamming. For example, to ensure reliable thread assembly, at least three turns should be screwed in at low speed and low pressure; therefore, the preset first angle range corresponding to this stage should be set to 3*360 degrees or higher. After normal screwing in this low-pressure, low-speed section, accurate thread engagement and normal subsequent screwing are basically guaranteed.

[0044] In one embodiment of this application, in the high-pressure low-speed loosening control, the threaded parts in the tightened state are loosened mainly by high-pressure impact. However, due to thermal expansion and contraction, there is an abnormal situation where the threaded parts to be tightened cannot be loosened under high-pressure impact. Therefore, the angle change can be monitored within a specific time. If the angle does not change, an abnormality is reported, and the tightening is stopped for manual handling.

[0045] Step S230: Perform multi-stage target turning control on the threaded part to be turned based on at least one of the current turning angle and the current hydraulic sensing pressure, as well as the turning direction.

[0046] In one embodiment of this application, multi-stage target tightening control is performed on the threaded part to be tightened based on at least one of the current tightening angle and the current hydraulic sensing pressure, and the tightening direction. This includes: if the tightening direction is the screw-in direction, and the current tightening angle reaches the upper limit of a preset first angle range, and the current hydraulic sensing pressure is less than or equal to a preset first pressure threshold, then medium-pressure high-speed screw-in control is determined as the current screw-in control; if the current screw-in control is medium-pressure high-speed screw-in control, and the new current tightening angle reaches the upper limit of a preset second angle range, and the new current hydraulic sensing pressure is less than or equal to a preset second pressure threshold, then medium-pressure deceleration screw-in control is determined as the current screw-in control; if the current screw-in control is medium-pressure high-speed screw-in control, and the new current tightening angle has not reached the upper limit of the preset second angle range, and... If the new current hydraulic sensing pressure is greater than the preset second pressure threshold, then the high-pressure low-speed tightening control is determined as the current screw-in control; if the current screw-in control is the medium-pressure deceleration screw-in control, and the new current hydraulic sensing pressure is greater than the preset third pressure threshold, then the high-pressure low-speed tightening control is determined as the current screw-in control; if the current screw-in control is the high-pressure low-speed tightening control, and the new current hydraulic sensing pressure is greater than the preset fourth pressure threshold, then 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 sensing pressure are obtained by continuing to monitor the current screwing angle and the current hydraulic sensing pressure in the target screwing control, and the target screwing control includes medium-pressure high-speed screw-in control, high-pressure low-speed tightening control, and medium-pressure deceleration screw-in control.

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

[0048] In one embodiment of this application, if the current turning angle is detected to have reached the upper limit of the corresponding preset first angle range, the medium-pressure high-speed control stage is entered.

[0049] In one embodiment of this application, in the medium-pressure high-speed screwing control, to ensure the overall assembly efficiency, both the hydraulic drive pressure and rotation speed are increased in this stage to achieve the effect of rapid screwing into the threaded part. However, excessively high hydraulic drive pressure can easily cause abnormal vibration of the threaded part during high-speed screwing; therefore, a medium-pressure drive is used in this stage.

[0050] In one embodiment of this application, the upper limit of the preset second angle range is used to characterize the preset deceleration position, and the preset second pressure threshold is used to characterize the physical tightening position.

[0051] In one embodiment of this application, if the entire subsequent tightening is performed at high speed to reach the tightening position, the resistance at the tightening position will cause a significant impact on the hydraulic tightening tool. Therefore, a preset speed reduction position is set for a short stroke before reaching the tightening position, and after reaching the preset speed reduction position, the medium-pressure deceleration tightening control stage is entered. However, even for the same type of threaded parts, there will be differences in the tightening stroke due to manufacturing errors, making it impossible to accurately set the preset speed reduction position. In some cases, the physical tightening position may be reached before reaching the preset speed reduction position. Therefore, it is necessary to monitor whether the actual hydraulic pressure exceeds the preset second pressure threshold set in this stage. If it does, it indicates that the tightening position has been reached prematurely. At this time, because the tightening speed is automatically reduced due to the resistance impact, the medium-pressure deceleration tightening control can be skipped, and the final high-pressure low-speed tightening control stage can be directly entered.

[0052] In one embodiment of this application, in the medium-pressure deceleration screwing control, after passing the preset deceleration position, the speed gradually decreases in this stage, and the screwing is slow and stable until the actual hydraulic pressure reaches the preset third pressure threshold corresponding to this stage, which indicates that the tightening position has been reached and the speed approaches 0.

[0053] In one embodiment of this application, in the high-pressure low-speed tightening control, the threaded part to be tightened is tightened by a short high-pressure pulse. When the actual hydraulic pressure is detected to reach a preset fourth pressure threshold, the tightening is stopped, so that the threaded part to be tightened reaches the designed tightening torque.

[0054] In one embodiment of this application, multi-stage target turning control is performed on the threaded part to be turned based on at least one of the current turning angle and the current hydraulic sensing pressure, and the turning direction. This further includes: if the turning direction is the unscrewing direction, and the angle change corresponding to the current turning angle is greater than a preset angle change threshold, then the medium-pressure high-speed unscrewing control is determined as the current unscrewing control; if the current unscrewing control is the medium-pressure high-speed unscrewing control, and the new current turning angle reaches the lower limit of a preset third angle range, then the unscrewing exit control is determined as the current unscrewing control; the threaded part to be turned is unscrewed according to the current unscrewing control; wherein, the target turning control also includes medium-pressure high-speed unscrewing control.

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

[0056] In one embodiment of this application, the threaded part is tightened at high speed under medium pressure in a loose state to ensure work efficiency. Since there are no tightening resistance, fitting deviation and other factors, the end of the stroke can be directly tightened at high speed.

[0057] In one embodiment of this application, target screwing control and initial screwing control are used to characterize screwing speed and screwing pressure in different modes.

[0058] In one embodiment of this application, please refer to Figure 3 , Figure 3 An example diagram is shown illustrating the different control stages and thread travel ranges according to one embodiment of this application. (See diagram below.) Figure 3 As shown, the high-load threaded component is the locking nut of the rolling mill roll ring, with a size of M90, a tightening torque of 1300 Nm, a loosening torque of 1800 Nm, and a disassembly / assembly stroke of 20*360 degrees. Accordingly, the corresponding angle ranges for each control stage can be set as follows: the preset first angle range for low-pressure slow acceleration tightening control is [0-3]*360 degrees; the preset second angle range for medium-pressure high-speed tightening control is [3-18]*360 degrees; the angle corresponding to the deceleration position of tightening is 18*360 degrees; the preset angle change threshold for high-pressure low-speed loosening control is 15 degrees; and the preset third angle range for medium-pressure high-speed untightening control is [0-(tightening position-15)] degrees. The hydraulic drive pressure for each stage can be set as follows: low pressure 5 MPa, medium pressure 7 MPa, high pressure tightening 15 MPa, and high pressure untightening 20 MPa.

[0059] In one embodiment of this application, please refer to Figure 4 , Figure 4 A schematic diagram illustrating the steps of multiple screw-in control stages according to an embodiment of this application is shown. Figure 4As shown, step S410, threaded part alignment: Align the hydraulic tightening tool with the threaded part to be tightened, and align the threaded part to be tightened with the assembly thread; Step S420, low-pressure slow-acceleration tightening: The pressure does not exceed the threshold of stage S420 and the angle change is normal, reaching the upper limit of the angle range: If the current tightening angle reaches the upper limit of the preset first angle range, and the current hydraulic sensing pressure is less than or equal to the preset first pressure threshold, then proceed to step S430, if the pressure exceeds the threshold of stage S420 or the angle does not change: that is, if the current tightening angle does not change and / or the current hydraulic sensing pressure is greater than the preset first pressure threshold, then stop tightening and report an abnormality; Step S430, medium-pressure high-speed tightening: The pressure does not exceed the threshold of stage S430 and the angle reaches the upper limit of the range: that is, if the new current tightening angle reaches the upper limit of the preset first angle range ... reaches the upper limit of the preset first angle range, then proceed to step S430, if the pressure exceeds the threshold of stage S420 or the angle does not change: that is, if the current tightening angle reaches the upper limit of the preset first angle range, then proceed to step S430, if the pressure exceeds the threshold of stage S420 or the angle does not change: that is, if If the pressure exceeds the upper limit of the second angle range and the new current hydraulic sensing pressure is less than or equal to the preset second pressure threshold, proceed to step S440. If the pressure exceeds the threshold of stage S430 and the angle does not reach the upper limit of the range, i.e., if the new current twisting angle does not reach the upper limit of the preset second angle range and the new current hydraulic sensing pressure is greater than the preset second pressure threshold, proceed directly to step S450. Step S440: Medium-pressure deceleration screwing in. If the pressure exceeds the threshold of stage S440, i.e., if the new current hydraulic sensing pressure is greater than the preset third pressure threshold, proceed to step S450. Step S450: High-pressure low-speed tightening. If the pressure exceeds the threshold of stage S450, i.e., if the new current hydraulic sensing pressure is greater than the preset fourth pressure threshold, proceed to step S460. Step S460: Exit the hydraulic screwing tool.

[0060] In one embodiment of this application, please refer to Figure 5 , Figure 5 A schematic diagram illustrating the steps of multiple unscrewing control stages according to an embodiment of this application is shown. Figure 5 As shown, step S510, hydraulic tightening tool and threaded part fitting: fit the hydraulic tightening tool with the threaded part to be tightened; step S520, high pressure low speed loosening step: if the angle change exceeds the preset difference, that is, if the angle change corresponding to the current tightening angle is greater than the preset angle change threshold, then proceed to step S530; if the angle does not change and the time exceeds the preset duration, that is, if the angle change corresponding to the current tightening angle is less than or equal to the preset angle change threshold within the time limit, then stop tightening and report an abnormality; step S530, medium pressure high speed tightening: if the angle reaches the lower limit of stage S530, that is, if the new current tightening angle reaches the lower limit of the preset third angle interval, then proceed to step S540; step S540, exit the tightening tool.

[0061] In one embodiment of this application, a hydraulic motor drives a thread-tightening tool to automatically disassemble and assemble heavy-load threaded parts. By using a segmented tightening control method to control the rotation speed and hydraulic drive pressure of the hydraulic motor, the automatic disassembly and assembly of heavy-load threaded parts can be completed efficiently and stably, solving the problems of high manual labor intensity, low production efficiency and unstable operation level in the installation and maintenance of heavy machinery.

[0062] Please see Figure 6 , Figure 6 A block diagram of a threaded component tightening control device according to an embodiment of this application is shown. This device can be applied to… Figure 1 The implementation environment shown is specifically configured in the hydraulic tightening tool 101. This 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 applicable.

[0063] like Figure 6 As shown, a threaded component tightening control device 600 according to an embodiment of this application includes: an acquisition module 601, an initial tightening module 602, and a segmented tightening module 603.

[0064] The acquisition module 601 is used to acquire the screwing direction of the threaded part to be screwed.

[0065] The initial tightening module 602 is used to perform initial tightening control on the threaded part to be tightened according to the tightening direction, and continuously monitor the current tightening angle and the current hydraulic sensing pressure.

[0066] The segmented turning module 603 is used to perform multi-stage target turning control on the threaded part to be turned based on at least one of the current turning angle and the current hydraulic sensing pressure, as well as the turning direction. The target turning control and the initial turning control are used to characterize the turning speed and turning pressure of different modes.

[0067] The threaded part tightening control device also includes: a hydraulic tightening tool, used to tighten the threaded part to be tightened;

[0068] The hydraulic screw-tightening tool includes a screw-tightening tool for fitting a threaded part to be screwed, and a hydraulic motor for initial screw-tightening control and target screw-tightening control, with the screw-tightening tool connected to the hydraulic motor.

[0069] An angle sensing unit is used to monitor the current turning angle and is installed on the thread-tightening tool;

[0070] A 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 threaded component tightening control device and the threaded component tightening control method provided in the above embodiments belong to the same concept. The specific operation methods of each module and unit have been described in detail in the method embodiments and will not be repeated here. In practical applications, the threaded component tightening control device provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. This is not a limitation here.

[0072] Embodiments of this application also provide an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by one or more processors, cause the electronic device to implement the threaded component tightening control method provided in the above embodiments.

[0073] Please see Figure 7 , Figure 7 A schematic diagram of a computer system suitable for implementing the embodiments of this application is shown. It should be noted that... Figure 7 The computer system 700 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this 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, such as executing the methods described in the above embodiments, based on programs stored in Read-Only Memory (ROM) 702 or programs loaded from storage portion 708 into Random Access Memory (RAM) 703. The RAM 703 also stores various programs and data required for system operation. The CPU 701, ROM 702, and RAM 703 are interconnected via a bus 704. An 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, mouse, etc.; an output section 707 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, 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, 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 disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 710 as needed so that computer programs read from it can be installed into the storage section 708 as needed.

[0076] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 709, and / or installed from removable medium 711. When the computer program is executed by central processing unit (CPU) 701, it performs various functions defined in the system of this application.

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

[0078] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0079] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself. Therefore, the technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, touch terminal, or network device, etc.) to execute the methods according to the embodiments of this application.

[0080] Another aspect of this application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a computer's processor, causes the computer to perform the threaded component tightening control method provided in the various embodiments described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not assembled into the electronic device.

[0081] In the above embodiments, unless otherwise specified, the use of ordinal numbers such as "first" and "second" to describe common objects only indicates that they refer to different instances of the same object, rather than indicating that the objects being described must be in a given order, whether temporally, spatially, sequentially, or in any other way.

[0082] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A method for controlling the tightening of threaded parts, characterized in that, The method includes: Obtain the turning direction of the threaded part to be turned; The threaded part to be screwed is initially screwed in according to the screwing direction. If the screwing direction is the screwing in direction, the threaded part to be screwed in is controlled by low pressure and slow acceleration. If the screwing direction is the screwing out direction, the threaded part to be screwed in is controlled by high pressure and low speed. The current screwing angle and the current hydraulic sensing pressure are continuously monitored. Based on at least one of the current turning angle and the current hydraulic sensing pressure, and the turning direction, the threaded part to be turned is subjected to multi-stage target turning control. The target turning control and the initial turning control are used to characterize the turning speed and turning pressure of different modes. The multi-stage target tightening control of the threaded component to be tightened, based on at least one of the current tightening angle and the current hydraulic sensing pressure, and the tightening direction, includes: If the twisting direction is the screwing-in direction, and the current twisting angle reaches the upper limit of the preset first angle range, and the current hydraulic sensing pressure is less than or equal to the preset first pressure threshold, then the medium-pressure high-speed screwing-in control is determined as the current screwing-in control. If the current screwing control is medium-pressure high-speed screwing control, and the new current screwing angle reaches the upper limit of the preset second angle range, and the new current hydraulic sensing 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 medium-pressure high-speed screwing control, and the new current screwing angle has not reached the upper limit of the preset second angle range, and the new current hydraulic sensing pressure is greater than the preset second pressure threshold, then the high-pressure low-speed tightening control is determined as the current screwing control. If the current tightening control is medium-pressure deceleration tightening control, and the new current hydraulic sensing pressure is greater than the preset third pressure threshold, then the high-pressure low-speed tightening control will be determined as the current tightening control. If the current tightening control is high-pressure low-speed tightening control, and the new current hydraulic sensing pressure is greater than the preset fourth pressure threshold, then the tightening exit control will be determined as the current tightening control. The threaded part to be tightened is tightened according to the current tightening control; The new current screwing angle and the new current hydraulic sensing pressure are obtained by continuously monitoring the current screwing angle and the current hydraulic sensing pressure in the target screwing control. 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.

2. The threaded component tightening control method according to claim 1, characterized in that, Multi-stage target tightening control of the threaded part to be tightened, based on at least one of the current tightening angle and the current hydraulic sensing pressure, and the tightening direction, further includes: If the twisting direction is the untightening direction, and the angle change corresponding to the current twisting angle is greater than the preset angle change threshold, then the medium-pressure high-speed untightening control is determined as the current untightening control. If the current unscrewing control is medium-pressure high-speed unscrewing control, and the new current screwing angle reaches the lower limit of the preset third angle range, then the unscrewing exit control will be determined as the current unscrewing control. The threaded part to be screwed out is screwed out according to the current screw-out control; The target screwing control also includes the medium-pressure high-speed screwing control.

3. The threaded component tightening control method according to any one of claims 1-2, characterized in that, After continuously monitoring the current turning angle and the current hydraulic sensing pressure, the method further includes: If the initial screwing control is a low-pressure slow-acceleration screwing control, and the current screwing angle has not changed and / or the current hydraulic sensing pressure is greater than a preset first pressure threshold, then screwing stops and a screwing abnormality reminder message is generated. If the initial tightening control is a high-pressure, low-speed loosening control, and the angle change corresponding to the current tightening angle is less than or equal to the preset angle change threshold within a preset time threshold, then tightening stops, and an abnormal tightening reminder message is generated.

4. The threaded component tightening control method according to any one of claims 1-2, characterized in that, Before performing initial tightening control on the threaded part to be tightened according to the tightening direction, the method further includes: If the screwing direction is the screwing-in direction, then 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 thread, and the hydraulic motor in the hydraulic screwing tool is started to rotate forward. If the turning direction is the unscrewing direction, then the hydraulic turning tool is fitted with the threaded part to be turned, and the hydraulic motor in the hydraulic turning tool is started to reverse.

5. A threaded component tightening control device, characterized in that, include: The acquisition module is used to acquire the screwing direction of the threaded part to be screwed; The initial tightening module is used to perform initial tightening control on the threaded part to be tightened according to the tightening direction. If the tightening direction is the tightening direction, the threaded part to be tightened is tightened with low pressure and slow acceleration; if the tightening direction is the tightening direction, the threaded part to be tightened is loosened with high pressure and low speed; and the current tightening angle and the current hydraulic sensing pressure are continuously monitored. A segmented turning module is used to perform multi-stage target turning control on the threaded part to be turned based on at least one of the current turning angle and the current hydraulic sensing pressure, and the turning direction. The target turning control and the initial turning control are used to characterize the turning speed and turning pressure in different modes. The multi-stage target turning control on the threaded part to be turned based on at least one of the current turning angle and the current hydraulic sensing pressure, and the turning direction, includes: If the twisting direction is the screwing-in direction, and the current twisting angle reaches the upper limit of the preset first angle range, and the current hydraulic sensing pressure is less than or equal to the preset first pressure threshold, then the medium-pressure high-speed screwing-in control is determined as the current screwing-in control. If the current screwing control is medium-pressure high-speed screwing control, and the new current screwing angle reaches the upper limit of the preset second angle range, and the new current hydraulic sensing 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 medium-pressure high-speed screwing control, and the new current screwing angle has not reached the upper limit of the preset second angle range, and the new current hydraulic sensing pressure is greater than the preset second pressure threshold, then the high-pressure low-speed tightening control is determined as the current screwing control. If the current tightening control is medium-pressure deceleration tightening control, and the new current hydraulic sensing pressure is greater than the preset third pressure threshold, then the high-pressure low-speed tightening control will be determined as the current tightening control. If the current tightening control is high-pressure low-speed tightening control, and the new current hydraulic sensing pressure is greater than the preset fourth pressure threshold, then the tightening exit control will be determined as the current tightening control. The threaded part to be tightened is tightened according to the current tightening control; The new current screwing angle and the new current hydraulic sensing pressure are obtained by continuously monitoring the current screwing angle and the current hydraulic sensing pressure in the target screwing control. 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.

6. The threaded component tightening control device according to claim 5, characterized in that, The device further includes: a hydraulic screwing tool for screwing the threaded part to be screwed; The hydraulic screwing tool includes a thread screwing tool for fitting the threaded part to be screwed, and a hydraulic motor for the initial screwing control and the target screwing control, wherein the thread screwing tool is connected to the hydraulic motor. An angle sensing unit is used to monitor the current turning angle and is installed on the thread turning tool; A pressure sensing unit is used to monitor the current hydraulic sensing pressure and is installed on the hydraulic motor.

7. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, cause the electronic device to implement the threaded part tightening control method as described in any one of claims 1 to 4.

8. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by the computer's processor, causes the computer to perform the threaded part tightening control method according to any one of claims 1 to 4.

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