Plate self-adaptive correction system of plate detection equipment and control method

Abstract

The invention discloses a plate self-adaptive correction system of plate detection equipment, which comprises a conveyor belt bracket (1), a conveyor belt (4) fixedly connected to the top of the conveyor belt bracket (1), a linear module mounting rack (5) fixedly connected to the side part of the conveyor belt bracket (1), and a linear module (6) and a motor (7) fixedly connected to the linear module mounting rack (5), the guide part (3) is fixedly arranged on one side of a belt body of the conveying belt (4) in the plate conveying direction, the push rod assembly (2) is fixedly connected to a moving part of the linear module (6) and arranged above the belt body of the conveying belt (4), and a pair of photoelectric sensors is arranged on fixing parts on the two sides of the conveying belt (4). The photoelectric sensor is used for sensing the position of the plate and sending a sensing signal to the computer driving control equipment, and the computer driving control equipment drives the motor (7) to output torque. The assembly is high in precision, low in cost, high in plate aligning efficiency and small in plate bumping and scratching risk.

Description

Technical Field

[0001] The present invention belongs to the technical field of plate detection, and in particular relates to a plate detection device, specifically a plate self-adaptive straightening system and a control method of the plate detection device. Background Art

[0002] Currently, the existing plate inspection equipment is mostly suitable for inspecting the size of plates. Generally, the plate to be tested is placed on a conveyor belt, and the conveyor belt sends the plate to the plate inspection equipment for inspection. The existing plate inspection equipment does not have a structure for scanning the plate identification code; because the inspection position of the plate will randomly change due to the different initial conveying positions of the plate, the equipment needs to be adjusted for plates with different inspection positions when the plate is inspected. The plate inspection is more difficult and has a low accuracy rate. The plate inspection equipment is more complex and has a higher cost. Therefore, a matching plate straightening system is needed to overcome the technical defects of the existing inspection equipment. Summary of the invention

[0003] The purpose of the present invention is to provide a plate adaptive straightening system for plate detection equipment to solve the technical problem that the detection orientation of the plate will randomly change due to the different initial conveying positions of the plate, resulting in the need for the equipment to be adjusted for plates with different detection orientations when the plate is detected, making the plate detection more difficult, the accuracy low, and the plate detection equipment more complex and more costly.

[0004] In order to achieve the above-mentioned purpose, the specific scheme of the present invention is: a plate adaptive straightening system of a plate detection equipment, including a conveyor belt bracket, a conveyor belt for conveying plates is fixedly connected to the top of the conveyor belt bracket, including a push rod assembly, a guide member and a computer drive control device, a linear module mounting frame is fixedly connected to the side of the conveyor belt bracket, a linear module and a motor driving the linear module to move linearly are fixedly connected to the linear module mounting frame, the guide member is fixedly arranged on one side of the conveyor belt body along the plate conveying direction and its side facing the middle of the conveyor belt body is used to straighten the plate, the push rod assembly is fixedly connected to the linear module moving part and is arranged above the conveyor belt body, a pair of photoelectric sensors are provided on the fixed parts on both sides of the conveyor belt, the photoelectric sensors are used to sense the position of the plate and send the sensing signal to the transmission computer drive control device, the computer drive control device is electrically connected to the motor to drive the motor to output torque.

[0005] Furthermore, it also includes a plate parameter identification and acquisition device for acquiring the parameters of the plate, and the plate parameter identification and acquisition device is electrically connected to the computer drive control device. The plate parameter identification and acquisition device is used to scan the plate identification code and send it to the computer drive control device for analysis to acquire the parameters of the plate, laying the foundation for the realization of adaptive regulation control.

[0006] Furthermore, the push rod assembly includes an adapter, a push rod and a rotating part. The push rod is fixedly connected to the moving part of the linear module through the adapter. Several rotating parts are installed on the lower side of the push rod along the length direction of the push rod. The rotating part can rotate around the central axis in the vertical direction. The rotating part is used to push the plate. This structure can reduce the risk of scratches and bumps on the plate by the component.

[0007] Furthermore, a bearing and a matching rotating shaft are fixed in the middle of the rotating member, and the rotating shaft is installed on the lower side of the push rod through a fastener. The structure is simple and easy to install.

[0008] Furthermore, the rotating member is made of plastic or rubber material to further reduce the risk of the component damaging the plate.

[0009] Furthermore, a brush assembly is provided at the entrance of the conveyor belt, the brush assembly is located above the conveyor belt, the brush assembly includes a brush fixing frame and a brush, the brush fixing frame is installed on the fixed part of the conveyor belt, and the brush is installed on the brush fixing frame to achieve cleaning of the upper surface of the plate.

[0010] A plate self-adaptive straightening control method for a plate detection device comprises the following steps: Step 1: Obtaining the parameters of the plate, wherein the parameters of the plate include at least length, width and weight, and different types of plates have different parameters; Step 2: According to the preset friction coefficient and the weight parameters of the plate, the friction force of the plate on the conveyor belt is estimated according to the friction force calculation formula, and the preset torque required to be output by the motor is calculated according to the friction force; Step 3: The computer-driven control device calculates the initialization position of the push rod assembly according to the width of the plate. The calculation method of the initialization position of the push rod assembly is: the sum of the width of the plate and the width redundancy, and the width redundancy is a system setting parameter; Step 4: The computer-driven control device calculates the delay time T of the regular start according to the length L of the plate and the speed S of the conveyor belt, and completes the system setting; the formula is as follows: ,in, is the adjustment coefficient, ranging from 0.6 to 0.96. is the distance between the photoelectric sensor and the conveyor belt entrance; Step 5: The computer control device controls the motor to drive the linear module according to the calculated initialization position of the push rod assembly, thereby driving the push rod assembly to move to the initialization position; Step 6: From the moment of receiving the position signal of the photoelectric sensor, the computer control device controls the motor according to the delay time T of the regular start, and drives the push rod assembly to move toward the plate; Step 7. The computer-driven control device controls the motor output torque according to the preset torque, and determines whether the push rod assembly pushes the plate according to the change in motor power; if it does, the plate is straightened; if it does not, the motor output torque is controlled according to the product of the preset multiple and the preset torque until the plate is pushed to lightly touch the guide part, and when the photoelectric sensor is not received, the push rod assembly is driven back to the initialization position.

[0011] Compared with the prior art, the beneficial effects of the present invention are: calibrating and correcting the orientation of the plate so that the plate enters the plate detection equipment in a standard orientation, thereby reducing the difficulty of plate detection and the complexity of the detection equipment, reducing the detection cost, and improving the detection accuracy. The correction system of the present invention calculates the output torque through the plate parameters, and applies force to the plate according to a multi-speed torque output mode, which can reduce the damage to the plate and enhance the control over the plate. The initialization position of the push rod assembly is calculated by the plate parameters. The system can adapt to plates of different sizes, has strong adaptability and high stability. Instruction Manual

[0012] Figure 1 Shown is a schematic structural diagram of the regulation component of the present invention.

[0013] Figure 2 Shown is a partial exploded view of the regulating assembly of the present invention.

[0014] Figure 3 Shown is a diagram of the plate straightening components of the straightening assembly of the present invention.

[0015] Figure 4 Shown is a diagram of the brush assembly of the regulating assembly of the present invention.

[0016] Among them, 1, conveyor belt bracket 2, push rod assembly 2-1, adapter 2-2, push rod 2-3, rotating part 3, guide part 4, conveyor belt 5, linear module mounting frame 6, linear module 7, motor 8, brush fixing frame 9, brush. DETAILED DESCRIPTION

[0017] The following will combine the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. It should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In this embodiment, the directions such as "up", "down", "left", "right", "front", and "back" are mentioned to explain their specific meanings in the present invention with the drawings in the specification or the actual working posture of the equipment.

[0018] Currently, the existing plate inspection equipment is mostly used to detect the size of the plate. Generally, the plate to be tested is placed on a conveyor belt, and the conveyor belt sends the plate to the plate inspection equipment for inspection. During the inspection process, the inspection position of the plate will randomly change due to factors such as the initial conveying position of the plate and the position offset caused by the vibration of the conveyor belt. As a result, when the plate is inspected, the equipment needs to be adjusted for plates with different inspection positions. The plate inspection is more difficult and has a low accuracy rate. The plate inspection equipment is more complex and has a higher cost.

[0019] In order to overcome the changes in the plate detection orientation caused by the random changes in the initial transmission position of the plate, the following process is adopted: after the plate is placed on the conveyor belt, the orientation of the plate is calibrated and corrected so that the plate enters the plate detection equipment in a standard orientation, thereby reducing the difficulty of plate detection and the complexity of the detection equipment, reducing the detection cost and improving the detection accuracy.

[0020] Example 1, reference Figure 1-Figure 2The present embodiment provides a plate self-adaptive straightening system of a plate detection device, comprising a conveyor belt bracket 1, a push rod assembly 2, a guide member 3 and a computer drive control device. The top of the conveyor belt bracket 1 is fixedly connected to a conveyor belt 4 for conveying plates. The conveyor belt bracket 1 is used to stably support the conveyor belt 4 so that the position of the conveyor belt 4 does not change during operation. The two sides of the conveyor belt bracket 1 are fixedly connected to a linear module mounting frame 5, and the linear module 6 and the motor 7 for driving the linear module 6 to move linearly are fixedly connected to the linear module mounting frame 5; preferably, the linear module 6 mounting frame 5 is fixedly constructed by vertical support parts installed on the left and right sides of the conveyor belt bracket 1 and a crossbeam part arranged along the left and right directions. The two ends of the crossbeam part are fixedly connected to the upper part of the vertical support part by fasteners. The fasteners are conventionally selected, and screws can be used here. The crossbeam part is suspended and arranged directly above the conveyor belt 4 and fixedly connected to the linear module 6, playing the role of suspending the linear module 6. The motor 7 is fixedly mounted on the vertical support portion, and the vertical support portion and the crossbeam portion of the linear module mounting frame 5 should ensure sufficient mechanical strength in terms of frame structure and material so that the linear module 6 and the motor 7 can operate stably during operation.

[0021] The guide member 3 is fixedly arranged on one side of the conveyor belt body toward the conveying direction of the plate, and a guide surface for calibrating and straightening the movement of the plate toward the conveying direction is provided on the side of the guide member 3 toward the middle of the conveyor belt body (perpendicular to the conveying direction). Preferably, the guide member 3 is a guide plate, and the guide member 3 is fixedly connected to the fixed part on one side of the conveyor belt 4 or the conveyor belt bracket 1 through a fixed frame and is located above one side of the conveyor belt 4 to ensure that the plate can contact the guide member 3 without hindrance when straightening. The fixed frame is a conventional setting, connected at different positions, and different fixed frames can be selected.

[0022] The push rod assembly 2 is fixedly connected to the moving part of the linear module 6 and is arranged above the conveyor belt 4. The moving part of the linear module 6 is downwardly connected to the push rod assembly 2. The push rod assembly 2 can move left and right above the conveyor belt 4. The push rod assembly 2 pushes the plate to move on the conveyor belt 4 under the force applied by the moving part of the linear module 6 so that one side of the plate is close to the guide surface of the guide member 3.

[0023] A pair of photoelectric sensors are provided on the fixed parts on both sides of the conveyor belt 4. The photoelectric sensors are used to sense the position of the plate and send the sensing signal to the conveying computer drive control device. The computer drive control device is electrically connected to the motor 7 to control the output torque of the motor 7 to drive the linear module 6.

[0024] The linear module 6 is also called a linear module, a rectangular coordinate robot, a linear slide, etc. It is an automation upgrade unit following the linear guide rail, the linear motion module, and the ball screw linear transmission mechanism. The linear motion of the load can be achieved through the combination of various units, making the automation of light loads more flexible and the positioning more precise. The linear module is a well-known technology and will not be elaborated here.

[0025] The push rod assembly 2 has multiple implementation modes as needed. The first implementation mode is as follows: the push rod assembly 2 is composed of an adapter 2-1 and a push rod 2-2. The push rod 2-2 is fixedly connected to the moving part of the linear module 6 through the adapter 2-1. The vertical distance between the push rod 2-2 and the conveyor belt 4 is less than the thickness of the plate. This structure is simple, and the push rod is in direct contact with the plate. When the plate is moving, the push rod may hit or scratch the plate.

[0026] Second implementation: The push rod assembly 2 is composed of an adapter 2-2 and a push rod 2-2. The push rod 2-2 is fixedly connected to the moving part of the linear module 6 through the adapter 2-1. The vertical distance between the push rod 2-2 and the conveyor belt 4 is less than the thickness of the plate. A buffer belt is provided on the side of the push rod 2-2 facing the guide member. The buffer belt is preferably made of rubber material and can be fixed to the push rod 2-2 by screws. During the movement of the plate, the push rod is in direct contact with the plate, and the push rod may damage or scratch the plate. The buffer belt can reduce the force of the collision, thereby avoiding the plate from being damaged. However, this structure still has the risk of scratching the plate.

[0027] The third implementation method: Figure 3 The push rod assembly 2 includes an adapter 2-1, a push rod 2-2 and a rotating member 2-3. The push rod 2-2 is fixedly connected to the moving part of the linear module 6 through the adapter 2-3. The lower side of the push rod 2-3 is fixedly installed with multiple rotating members 2-3 along the length direction of the push rod 2-3. The rotating member 2-3 can rotate around the central axis in the vertical direction. The vertical distance between the rotating member 2-3 and the conveyor belt 4 is less than the thickness of the plate to ensure that the plate can be pushed. Preferably, the rotating member 2-3 is cylindrical and a bearing and a matching rotating shaft are fixed in the middle. The rotating shaft is installed on the lower side of the push rod 2-2 through a firmware. The firmware can be a nut or a bearing nesting member, which is a conventional technology.

[0028] In this structure, the rotating member 2-3 of the push rod assembly 2 contacts the plate, and the plate moves with the conveyor belt, and the plate drives the rotating member 2-3 to rotate, and the rotating member 2-3 converts the friction force into a rotational force, thereby reducing the scratches on the plate by the rotating member 2-3. Preferably, the rotating member 2-3 is made of rubber material or plastic, which can reduce the scratches on the plate.

[0029] On the basis of the above embodiments, in the plate regularization component, it is more preferred that Figure 1 and Figure 4 A brush assembly is provided at the entrance of the conveyor belt 4. The brush assembly is located above the conveyor belt 4. The brush assembly includes a brush holder 8 and a brush 9. The brush holder 8 is installed on the fixed part of the conveyor belt 4. The brush 9 is installed on the brush holder 8. The brush holder 8 is a conventional technology. When the board is transported to the conveyor belt, it first enters the brush assembly, and the brush cleans the wood chips from the board.

[0030] In this embodiment, the conveyor belt 4 is mainly composed of a belt body, rollers, a motor and a fixed frame. The rollers are fixed in the fixed frame. The motor drives the rollers to rotate, and the rollers drive the belt body to move. The conveyor belt is a prior art and will not be elaborated in detail here.

[0031] Embodiment 2: Based on Embodiment 1, a plate self-adaptive straightening system for plate detection equipment further includes a plate parameter identification and acquisition device for acquiring plate parameters, and the plate parameter identification and acquisition device is electrically connected to the computer drive control device. The plate parameter identification and acquisition device is used to scan the plate identification code and send it to the computer drive control device for parsing to acquire the plate parameters, without the need to manually set the plate parameters, and has higher automation intensity. The plate parameter identification and acquisition device can use a barcode scanning gun.

[0032] Based on the first and second embodiments, this embodiment describes a plate self-adaptive straightening control method of a plate detection device, comprising the following steps: Step 1: Obtain the parameters of the plate, which include at least length L, width and weight. Plates of different models have different parameters. The parameters of the plate can be manually input into the system for system settings, or the plate parameters can be obtained and the system settings can be performed through the plate parameter identification and acquisition device in Example 2. It should be noted that the length L, width and weight in the plate parameters are not the actual size of the plate. The purpose of plate detection is to verify whether the actual size of the plate is consistent with the preset parameters.

[0033] Step 2. According to the preset friction coefficient μ and the weight parameter N of the plate, the friction force of the plate on the conveyor belt is estimated according to the friction calculation formula F = μNg, where g is the gravity coefficient. The preset torque required to be output by the motor is calculated based on the friction force. Here, the torque output by the motor is estimated by the torque transmission principle. This technology is prior art and will not be elaborated here.

[0034] Step 3: The computer-driven control device calculates the initialization position of the push rod assembly according to the width of the plate. The calculation method of the initialization position of the push rod assembly is: the sum of the width of the plate and the width redundancy, and the width redundancy is a system setting parameter.

[0035] Step 4: The computer-driven control device calculates the delay time T of the regular start according to the length L of the plate and the speed S of the conveyor belt, and completes the system setting; the formula is as follows: ,in, is the adjustment coefficient, ranging from 0.6 to 0.96. is the distance between the photoelectric sensor and the conveyor belt entrance; The theoretical value of can be 1, but the width redundancy causes the push rod assembly to take a certain amount of time to move from the initialization position to the side of the plate, while the speed of the conveyor belt is constant, which will cause the plates to be straightened only after all of them enter the conveyor belt, which is not conducive to the next step of the process. Therefore, the present invention needs to control the straightening of all the plates before they enter the conveyor belt. The straightening has high stability and does not interfere with the next step.

[0036] Step 5: The computer control device controls the motor to drive the linear module according to the calculated initialization position of the push rod assembly, thereby driving the push rod assembly to move to the initialization position; Step 6: From the moment of receiving the position signal of the photoelectric sensor, the computer control device controls the motor according to the delay time T of the regular start, and drives the push rod assembly to move toward the plate; Step 7. The computer-driven control device controls the motor output torque according to the preset torque, and determines whether the push rod assembly pushes the plate according to the change in motor power; if it does, the plate is straightened; if it does not, the motor output torque is controlled according to the product of the preset multiple and the preset torque until the plate is pushed to lightly touch the guide part, and when the photoelectric sensor is not received, the push rod assembly is driven back to the initialization position.

[0037] The preset torque multiples are 1.2 times, 1.5 times and 1.8 times, and the output torque increases step by step. First, use one times the torque to tentatively push the plate, and then increase the output torque step by step until the plate can be pushed. This reduces the risk of damage to the plate and improves the working stability of the equipment.

[0038] The working principle of the straightening system of the present invention is as follows: before the plate enters the straightening component, the motor drives the linear device to return to the initial position according to the system setting; when the plate enters the straightening component, the brush assembly first cleans the upper surface of the plate; when the plate enters the straightening area, the photoelectric sensor responds and delays driving the linear module; the linear module drives the push rod assembly to apply force to the plate, so that the plate moves toward the guide member; under the action of the push rod assembly and the guide member, the orientation of the plate is calibrated, so that the plate enters the plate detection equipment for detection in a standard orientation, thereby reducing the difficulty of plate detection and the complexity of the detection equipment, reducing the detection cost, and improving the detection accuracy.

[0039] The above is only a preferred embodiment of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of this template.

[0040] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A sheet metal self-adaptive straightening system for sheet metal inspection equipment, comprising a conveyor belt bracket (1), a conveyor belt (4) for conveying sheets metal being fixedly connected to the top of the conveyor belt bracket (1), characterized in that: The invention comprises a push rod assembly (2), a guide member (3) and a computer-driven control device. The side of the conveyor belt bracket (1) is fixedly connected to a linear module mounting frame (5). The linear module mounting frame (5) is fixedly connected to a linear module (6) and a motor (7) for driving the linear module to move linearly. The guide member (3) is fixedly arranged on one side of a conveyor belt (4) along the direction of sheet conveying and its side facing the middle of the conveyor belt (4) is used to straighten the sheet. The push rod assembly (2) is fixedly connected to the moving part of the linear module (6) and is arranged above the conveyor belt (4). A pair of photoelectric sensors are arranged on the fixed parts on both sides of the conveyor belt (4). The photoelectric sensors are used to sense the position of the sheet and send the sensing signal to the conveying computer-driven control device. The computer-driven control device is electrically connected to the motor (7) to drive the motor (7) to output torque.

2. A sheet material self-adaptive straightening system for sheet material detection equipment according to claim 1, characterized in that: It also includes a plate parameter identification and acquisition device for acquiring the parameters of the plate, and the plate parameter identification and acquisition device is electrically connected to the computer drive control device.

3. A sheet material self-adaptive straightening system for sheet material detection equipment according to claim 1 or 2, characterized in that: The push rod assembly (2) comprises an adapter (2-1), a push rod (2-2) and a rotating member (2-3); the push rod (2-2) is fixedly connected to the moving part of the linear module (6) via the adapter (2-1); a plurality of rotating members (2-3) are installed on the lower side of the push rod (2-2) along the length direction of the push rod (2-2); the rotating member (2-3) can rotate around a central axis in a vertical direction; and the rotating member (2-3) is used to push a plate.

4. The sheet metal self-adaptive straightening system of sheet metal inspection equipment according to claim 3, characterized in that: A bearing and a matching rotating shaft are fixed in the middle of the rotating member (2-3); the rotating shaft is mounted on the lower side of the push rod (2-2) via a fixing member; the rotating member (2-3) is made of plastic or rubber.

5. A sheet material self-adaptive straightening system for sheet material detection equipment according to claim 1 or 2, characterized in that: The push rod assembly (2) is composed of an adapter (2-1) and a push rod (2-2); the push rod (2-2) is fixedly connected to the moving part of the linear module (6) via the adapter (2-1); and a buffer belt is provided on a side surface of the push rod (2-2) facing the guide member.

6. A sheet material self-adaptive straightening system for sheet material detection equipment according to claim 1 or 2, characterized in that: The guide member (3) is connected to a fixed portion on one side of the conveyor belt (4) or a conveyor belt bracket (1) via a fixed frame.

7. A sheet material self-adaptive straightening system for sheet material detection equipment according to claim 1 or 2, characterized in that: A brush assembly is provided at the entrance of the conveyor belt (4), the brush assembly being located above the conveyor belt (4), the brush assembly comprising a brush fixing frame (8) and a brush (9), the brush (9) fixing frame being mounted on a fixed portion of the conveyor belt (4), and the brush (9) being mounted on the brush fixing frame (8).

8. A plate self-adaptive straightening control method for a plate detection device, based on a plate self-adaptive straightening system for a plate detection device according to any one of claims 1 to 7, characterized in that: The steps include: Step 1: Obtaining the parameters of the plate, wherein the parameters of the plate include at least length, width and weight, and different types of plates have different parameters; Step 2: According to the preset friction coefficient and the weight parameters of the plate, the friction force of the plate on the conveyor belt is estimated according to the friction force calculation formula, and the preset torque required to be output by the motor is calculated according to the friction force; Step 3: The computer-driven control device calculates the initialization position of the push rod assembly according to the width of the plate. The calculation method of the initialization position of the push rod assembly is: the sum of the width of the plate and the width redundancy, and the width redundancy is a system setting parameter; Step 4: The computer-driven control device calculates the delay time T of the regular start according to the length L of the plate and the speed S of the conveyor belt, and completes the system setting; the formula is as follows: ,in, is the adjustment coefficient, ranging from 0.6 to 0.

96. is the distance between the photoelectric sensor and the conveyor belt entrance; Step 5: The computer control device controls the motor to drive the linear module according to the calculated initialization position of the push rod assembly, thereby driving the push rod assembly to move to the initialization position; Step 6: From the moment of receiving the position signal of the photoelectric sensor, the computer control device controls the motor according to the delay time T of the regular start, and drives the push rod assembly to move toward the plate; Step 7. The computer-driven control device controls the motor output torque according to the preset torque, and determines whether the push rod assembly pushes the plate according to the change in motor power; if it pushes, the plate is straightened; if it does not push, the motor output torque is controlled according to the product of the set torque multiple and the preset torque until the plate is pushed to lightly touch the guide part. When the photoelectric sensor is not received, the push rod assembly is driven back to the initialization position.

9. A plate self-adaptive straightening control method for plate detection equipment according to claim 8, characterized in that: In step seven, the preset torque multiples are 1.2 times, 1.5 times and 1.8 times, and the output torque increases step by step.

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