Electric tightening tool control system and method

Abstract

The invention relates to the technical field of electric tightening tools, in particular to an electric tightening tool control system and method. The control system comprises an encoder installed on the motor and used for obtaining the rotation angle of the motor and feeding the rotation angle back to the main controller; the torque sensor is mounted on the speed reducer and used for acquiring the torque in the tightening process in real time and feeding back the torque to the main controller; the control terminal performs data interaction with the main controller and is used for remote control and data receiving; the main controller generates a control instruction according to an instruction of the control terminal and data fed back by the encoder and the torque sensor and sends the control instruction to the motor driver; and the motor driver is used for controlling the operation of the motor under the instruction of the main controller. High-precision torque control, intelligent bolt switching and real-time state monitoring in the tightening process are achieved, the requirements of the modern manufacturing industry for automation and precision control are met, an external controller is omitted, wireless charging can be achieved, and the convenience of the electric tool is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of electric tightening tools, and in particular to a control system and method for an electric tightening tool. Background Art

[0002] With the continuous improvement of industrial automation, electric tightening tools, as an indispensable part of modern manufacturing, are widely used in various industrial fields, such as automobile manufacturing, aerospace, and electronic product assembly, to improve production efficiency and product quality.

[0003] Existing electric tightening tool control systems mostly use basic motor control and position feedback mechanisms. Although these systems can complete basic tightening tasks, they have limitations in precision control and the implementation of complex tightening strategies. For example, they may lack the ability to collect and analyze real-time data during the tightening process, as well as a rapid response and processing mechanism for abnormal situations. In addition, the stability of the motor performance of these tools is also a factor that limits their scope of application. Another limitation of existing technologies is that they usually do not have intelligent functions, such as the writing of tightening programs, data recording and tracing, and the ability to interact with control terminals. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the embodiments of the present invention is to provide an electric tightening tool control system to achieve high-precision control and real-time status monitoring of the tightening process. In addition, the system can also realize data communication with the control terminal, improve the accuracy, efficiency and reliability of the tightening operation, and meet the needs of modern manufacturing industry for automation and precision control.

[0005] In order to achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0006] An embodiment of the present invention also provides an electric tightening tool control system, including: an encoder installed on the motor, used to obtain the rotation angle of the motor and feed it back to the main controller; a torque sensor installed at the front end of the multiplier, used to accurately obtain the torque in the tightening process in real time and feed it back to the main controller; a control terminal, which interacts with the main controller for remote control and data reception; the main controller, which generates control instructions according to the instructions of the control terminal and the data fed back by the encoder and the torque sensor, and sends them to the motor drive; the motor drive controls the operation of the motor under the instructions of the main controller.

[0007] Optionally, the main controller includes a microcontroller unit, a power module, a signal conditioning module, a display screen, buttons, indicator lights, a serial communication module and a wireless communication module; the microcontroller unit includes a CPU, a memory and input and output ports, and executes control logic and data processing tasks; the power module converts the battery pack voltage into a control voltage suitable for the power tool control board and the driver board, provides a stable power supply for the power tool, and ensures that each component can work normally; the signal conditioning module amplifies, filters, and converts the input and output signals; the display screen, buttons, and indicator lights are installed on the outside of the tool housing for human-computer interaction and status display, conveniently displaying the current status of the intelligent electric tightening tool, tightening data, selecting a preset tightening program, and alarming the tightening results, which facilitates human-computer interaction. The serial communication module and the wireless communication module realize data exchange between the tool and the control terminal.

[0008] Optionally, the main controller also includes a storage module and a clock module; the storage module is used to store data during the tightening process to facilitate traceability and analysis; the clock module provides a time reference to ensure that the tightening completion time of the power tool is consistent with the current time, ensuring that the time record of the tightening operation is accurate.

[0009] Optionally, the main controller also includes a UWB spatial positioning module. The spatial positioning module can send position data to each positioning base station via ultrasound or radio frequency, and obtain the spatial position of the electric tightening tool through a spatial positioning algorithm to achieve three-dimensional spatial positioning of the tool. In the fixed workstation mode, the spatial positioning module can be used to identify the specifications of the bolts and automatically adjust the tightening torque. At the same time, it has the functions of unlocking the electric tightening tool in place, locking it out of range, and recording the operation position, thereby improving operation efficiency and accuracy.

[0010] Optionally, the main controller also includes a code scanning module, which is used to scan information such as a workstation QR code, barcode, etc., and automatically switch the working process to achieve intelligent operation.

[0011] Optionally, the control terminal includes an operation terminal and a service terminal, the operation terminal includes a PC, a tablet, or a PDA (personal data computer), and the service terminal includes an MES system and an intelligent assembly management and control system.

[0012] Optionally, the control system includes a battery pack, which is installed at the bottom of the tool handle for power supply; the battery pack is designed with large capacity to ensure long-term continuous operation requirements. The control system also includes a charging box or a wireless charging module, and the battery pack is inserted into the charging box for charging. The charging box cooperates with the battery pack to provide a convenient charging solution to ensure the continuous use of the tightening tool. Alternatively, the battery pack can be charged through a wireless charging module, which allows charging without removing the battery pack, thereby improving the user experience.

[0013] Optionally, the control system also includes the motor, reducer, multiplier and output head; the motor is connected to the reducer to provide power; the reducer is connected to the multiplier to reduce the speed and increase the torque; the multiplier is connected to the output head to reduce the speed and increase the torque. The multiplier can be selected in a variety of specifications to achieve the spectrum of electric tightening tools; the output head, combined with the sleeve, is used to contact the fastener and apply the tightening force. The motor, reducer, multiplier and output head work together to convert the high-speed rotation of the motor into high-torque output to achieve efficient and high-precision tightening operations. The main controller display, buttons, and indicator lights are installed on the outside of the intelligent electric tightening tool housing and embedded in the tool housing. The other modules of the main controller, the motor drive, encoder, motor, reducer, multiplier, and torque sensor are installed inside the intelligent electric tightening tool housing. The battery pack is installed outside the intelligent electric tightening tool housing and can be plugged in and out.

[0014] The embodiment of the present invention further provides a control method of the electric tightening tool control system as described above:

[0015] The speed and current signals of the motor are acquired in real time, and the output torque is obtained according to the speed and current signals. The specific control algorithm is as follows:

[0016] The motor of the present invention adopts a permanent magnet DC brushless motor, and its kinematic equation during stable operation is expressed as:

[0017]

[0018] Where, T em is the electromagnetic torque of the motor, T2 is the load torque, T0 is the no-load torque of the motor, n is the motor speed, GD 2 is the flywheel inertia. Once entering the steady state, the dynamic equation becomes:

[0019] T em =T2+T0

[0020] DC motor electromagnetic torque T em It is expressed as:

[0021] T em =C T ΦI a

[0022] Among them C T is the torque constant, Φ is the motor armature flux, I a is the motor armature current. According to the dynamic equation, the DC motor electromagnetic torque T em , the load torque T2 is expressed as:

[0023] T2=f(I a, ,n)

[0024] Load torque T2 is the armature current I a and the motor speed n.

[0025] When the motor is running at no load, the armature current is I a =I a0 , DC motor electromagnetic no-load torque T em0 It is expressed as:

[0026] T em0 =T0=C T ΦI a0

[0027] When the load is driven, the armature current becomes △I a =I a -I a0 Then we can get the load torque T2 and the armature current increment △I when the motor is running under load. a The relationship equation between the motor speed n is expressed as:

[0028] T2=f(△I a ,n)

[0029] Combined with the reducer and multiplier torque amplification, the actual output torque value T of the electric tightening tool o The armature current I can be converted by collecting a And motor speed n is obtained:

[0030] T o =K DD f(△I a ,n)

[0031] K DD It is the conversion factor between the output torque of the electric tightening tool and the motor load torque.

[0032] On the other hand, the measured torque value of the torque sensor is collected in real time to determine whether the measured torque value reaches the preset value. If so, the motor stops; if not, the motor speed and current are controlled to adjust the output torque until the measured torque value reaches the preset value and the motor stops. On the one hand, the electric tightening tool in this article collects the motor armature current and motor speed signals to control the motor speed and output torque in real time; on the other hand, the torque value of the motor sensor is collected in real time to calibrate the torque accuracy, thereby achieving higher control accuracy and torque accuracy of the electric tightening tool.

[0033] Optional, including manual mode and automatic mode:

[0034] The manual mode includes: operating the buttons to select preset parameters and operation modes; operating the buttons to unlock the tool; and performing tightening after configuration is completed;

[0035] The automatic mode includes: the control terminal edits the process; selects the process; sends tasks and instructions to the tool; the tool receives the instructions; the tool automatically switches to the preset parameters and operation mode configured by the control terminal; the tool automatically unlocks; the tool automatically subscribes to data; the tool works normally and uploads the tightening data during the work process to the control terminal.

[0036] One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

[0037] 1. The system uses torque sensors, encoders, main controllers and other components to achieve high-precision torque control, real-time status monitoring and data storage and tracing of electric tightening tools. It has the advantages of compact structure, simple operation, safety and reliability, and can significantly improve the accuracy, efficiency and reliability of tightening operations, and has broad market application prospects.

[0038] 2. The main controller integrates microcontroller unit, power module, signal conditioning module, etc., and has the ability to record and trace data and interact with control terminals and servers. The control terminal interacts with the main controller to achieve remote control and data reception, improving the flexibility and convenience of operation.

[0039] 3. The main controller has built-in storage module and clock module to ensure the accuracy of storage and time recording of tightening data, and supports uploading data to the control terminal to achieve double data protection. The battery pack design meets the needs of long-term continuous operation, and optional charging box or wireless charging module can provide a convenient charging solution. The spatial positioning module and code scanning module improve the efficiency and accuracy of the operation and realize intelligent operation. The coordinated work of the motor, reducer, multiplier and output head converts the high-speed rotation of the motor into high-torque output, realizing efficient and high-precision tightening operations.

[0040] 4. Obtain the motor speed and current signals in real time, and collect the measured torque value of the torque sensor at the same time, adjust the motor speed and current according to the measured value, and achieve higher control accuracy and torque accuracy of the electric tightening tool. By reasonably adjusting the motor speed and current, combined with torque measurement and control, it can adapt to various application scenarios such as "hard connection" and "soft connection" of threaded connection parts.

[0041] 5. The system supports manual mode and automatic mode to meet different operation requirements and improve the flexibility of operation. The system has high integration and simple operation interface. It realizes human-computer interaction through display screen, buttons, indicator lights, etc., and simplifies the operation process.

[0042] Advantages of additional aspects of the present invention will be given in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In addition, the spacing or size between each other is exaggerated to show the position of each part, and the schematic diagram is only used for illustration.

[0044] Figure 1 is a schematic diagram of a control system provided by an embodiment of the present invention;

[0045] Figure 2 is a schematic diagram of a control terminal provided by an embodiment of the present invention;

[0046] Figure 3 is a manual operation flow chart provided by an embodiment of the present invention;

[0047] Figure 4 is an automatic operation flow chart provided by an embodiment of the present invention;

[0048] Figure 5 is a flow chart of a torque control program provided by an embodiment of the present invention;

[0049] In the figure: 1-main controller, 101-MCU, 102-display screen, 103-serial communication module, 104-storage module, 105-power module, 106-button, 107-wireless communication module, 108-clock module, 109-signal conditioning module, 110-indicator light, 111-spatial positioning module, 112-code scanning module, 2-control terminal, 21-server, 211-MES system, 212-intelligent assembly control system, 22-operation terminal, 221-PC, 222-tablet, 223-PDA, 3-motor drive, 4-encoder, 5-motor, 6-reducer, 7-multiplier, 8-torque sensor, 9-output head, 10-battery pack, 11-wireless charging module, 12-charging box. DETAILED DESCRIPTION

[0050] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0051] As introduced in the background technology, the existing electric tightening tool control system usually adopts a simple motor control and position feedback mechanism, which makes it difficult to achieve high-precision tightening torque control and complex tightening strategies. The traditional control system needs to be equipped with a separate controller, which can only be used at a fixed workstation and is inconvenient to carry. At the same time, the traditional control system lacks real-time status monitoring and fault diagnosis functions, and cannot promptly detect and handle abnormal situations during the tightening process. In addition, problems such as insufficient battery life and unstable motor performance also limit the scope of use and performance of electric tightening tools. In addition, traditional threaded tightening tools lack intelligent functions such as spatial positioning, wireless charging, and code scanning control. It is impossible to write tightening programs, record and trace tightening data, and cannot promptly detect and handle abnormal situations during the tightening process. It is impossible to interact with the control terminal and the server.

[0052] Therefore, traditional tightening tools have many deficiencies in terms of accuracy, efficiency and reliability, and lack the recording and traceability of tightening data, and cannot meet the needs of modern manufacturing for high-precision and high-efficiency tightening operations.

[0053] In order to solve the above technical problems, this embodiment proposes an electric tightening tool control system, including: an encoder 4, installed on the motor, used to obtain the rotation angle of the motor and feed it back to the main controller 1;

[0054] The torque sensor 8 is installed at the front end of the multiplier 7, and is used to accurately obtain the torque during the tightening process and feed it back to the main controller 1; the control terminal 2 interacts with the main controller 1 for data remote control and data reception; the main controller 1 generates control instructions based on the instructions of the control terminal 2 and the data fed back by the encoder 4 and the torque sensor 8, and sends them to the motor drive 3; the motor drive 3 controls the operation of the motor 5 under the instructions of the main controller 1.

[0055] The motor control includes control logic and instructions for the motor drive circuit, and the motor drive 3 is responsible for converting these control instructions into actual drive signals to drive the motor 5 to operate.

[0056] The system achieves high-precision control and real-time status monitoring of the tightening process by integrating key components such as a high-precision torque sensor 8, an integrated high-performance main controller 1, and a large-capacity battery pack 10, and realizes data communication with the control terminal 2.

[0057] Specifically, Figure 1 As shown, an intelligent electric tightening tool control system includes a main controller 1, a control terminal 2, a server 21, an operating terminal 22, a motor drive 3, an encoder 4, a motor 5, a reducer 6, a multiplier 7, a torque sensor 8, an output head 9, a battery pack 10, a wireless charging module 11, a charging box 12, etc.

[0058] The main controller 1 includes the following submodules: microcontroller unit (MCU 101), display screen 102, serial communication module 103, storage module 104, power module 105, button 106, wireless communication module 107, clock module 108, signal conditioning module 109, indicator light 110, spatial positioning module 111, code scanning module 112, etc. As a core component, the main controller 1 can execute complex control logic and data processing, realizes the design without external controller, is easy to carry, and has precise control.

[0059] The MCU 101 includes a central processing unit (CPU), memory (RAM, ROM), input and output ports, etc., for executing control logic and data processing.

[0060] The signal conditioning module 109 performs amplification, filtering, conversion and other processing on the input or output signal to ensure the quality and stability of the signal.

[0061] The display screen 102 can display the working step (torque program number), forward and reverse status, lock and unlock status, WiFi logo, set torque, set angle, feedback torque, and feedback angle of the intelligent electric tightening tool. The operator can observe the status of the tool and the real-time torque value and angle value through the display screen 102.

[0062] The button 106 can select a working step (torque program number) for the tool, and lock and unlock operations, making it convenient for the operator to switch the working state of the tool.

[0063] The indicator light 110 can provide feedback on the status of the tightening result of the tool. If the tightening is qualified, the indicator light turns green, and if the tightening is unqualified, the indicator light turns red, which is convenient for the operator to observe.

[0064] The main controller 1 has a wireless communication module 107 and a serial communication module 103 that communicate with the control terminal 2 through wireless transmission and serial port. The wireless communication module 107 includes but is not limited to WIFI, Bluetooth, 4G, 5G and other communication methods. The serial communication module 103 includes but is not limited to 232 serial communication and 485 serial communication methods. Through the serial communication module 103, the torque parameters (set torque, torque upper limit, torque lower limit, set angle, angle lower limit, angle lower limit, program number, job number) and wireless communication connection parameters (WiFi name, WiFi password, IP address, Bluetooth name) of the electric tightening tool can be edited through the control terminal.

[0065] like Figure 2As shown, the control terminal 2 includes a service terminal 21 and an operation terminal 22. The operation terminal 22 includes a PC 221, a tablet 222, and a PDA 223. Appropriate control terminal tools can be reasonably selected according to different usage scenarios. According to user needs, a service terminal can be arranged on the upper layer of the operation terminal, including an MES system 211 and an intelligent assembly control system 212, to achieve unified deployment and management of tools, processes, personnel, and data.

[0066] Through the wireless communication module 107, the control terminal 2 can issue torque parameter instructions, lock and unlock instructions, data subscription upload instructions, and curve upload instructions to the tool. The tool tightening data can be uploaded to the control terminal 2 through the wireless communication module 107 for data recording and storage. In addition, the main controller 1 of the tool itself has a storage module 104, which can store more than 5,000 storage data and more than 10 curve data. It can be disconnected and reconnected to prevent data loss. Therefore, the tightening data has dual storage and dual protection.

[0067] After the main controller 1 receives the button 106 selection or the command issued by the control terminal 2, it is issued to the motor driver 3, and the motor driver 3 is responsible for converting these control instructions into actual drive signals to drive the motor 5 to operate. The motor 5 rotates at high speed, and the high-speed rotation of the motor 5 is converted into a large torque through the reducer 6 and the multiplier 7. The torque sensor 8 monitors the torque value in real time, and the encoder 4 monitors the angle value in real time, and feeds back to the main controller 1 in real time, so as to control the speed and start and stop of the motor 5. According to the rotation angle detected by the encoder, the torque and angle tightening curve can be obtained, and the tool can be controlled to rotate a predetermined angle to meet the needs of different scenarios. In addition, the electric tool will be strong after tightening the bolt, and the electric tool can be taken down by reversing a certain angle. And the display screen 102 and the indicator light 110 give the operator intuitive feedback. After the tightening is completed, the data is stored in the storage module 104, and the data is uploaded to the control terminal 2 through the wireless communication module 17.

[0068] The battery pack 10 is installed at the bottom of the tool handle and can be plugged in and out. Different models of battery packs 10 are equipped according to the torque of the tool. For small torque power tools, 12V / 4Ah capacity battery packs 10 are equipped, and for large torque power tools, 18V / 5Ah capacity battery packs 10 are equipped. The battery pack 10 is equipped with a charging box 12. When the battery pack 10 is low on power, the display screen 102 will prompt, and the battery pack 10 can be unplugged and inserted into the charging box 12 for fast charging.

[0069] In addition, the battery pack 10 is equipped with a wireless charging module 11, and the electric tightening tool can be placed on the wireless charging seat to achieve wireless charging without disassembling the battery pack.

[0070] The main controller 1 may be integrated with a spatial positioning module 111 to provide the tool with a spatial positioning function, through which the position of each bolt may be accurately located, the size and specification of each bolt may be identified, and the corresponding program may be automatically switched.

[0071] The main controller 1 may be integrated with a barcode scanning module 112. If there is a barcode on the part to be tightened, the tool can scan the barcode to automatically identify the part, thereby automatically switching to the corresponding program.

[0072] The system has a variety of intelligent functions, such as real-time monitoring and feedback of torque and angle values ​​during the tightening process, intuitive display of tool status and tightening results through display screen 102 and indicator light 110, support for wireless and wired communication methods, large-capacity data storage capabilities, and optional UWB space positioning module 111 to achieve space positioning, code scanning module 112 to achieve automatic identification of components, and wireless charging module 11 to provide a convenient charging method. In addition, the system also focuses on user experience and safety design, such as large-capacity lithium battery pack 10 and charging box 12 to ensure long-term continuous operation requirements. In summary, the intelligent electric tightening tool control system has broad application prospects in rail transit, automobiles, aerospace, wind power, military industry and other fields with its high efficiency, intelligence, convenience and safety.

[0073] The system supports both manual and automatic operation processes. In manual mode, the operator selects preset parameters and operation modes by pressing buttons, and manually unlocks the tool to perform tightening work. In automatic mode, the tool is connected to the control terminal 2 via wireless or serial communication, receives tasks and instructions issued by the control terminal 2, automatically switches preset parameters and operation modes, and uploads tightening data to the control terminal in real time for recording and storage.

[0074] Since the tool can be configured via the button 106, the tool has a manual operation process, such as Figure 3 As shown. In the manual operation process, the operation method is as follows: (1) Turn on the tool. (2) After turning on the tool, the tool enters the main interface. (3) Operate the button 106 to select the preset parameters and operation mode. (4) Operate the button 106 to unlock the electric tightening tool. (5) After the configuration is completed, perform tightening work.

[0075] Since the tool integrates the main controller 1 and the communication module (serial communication module 103, wireless communication module 107), the tool can communicate with the control terminal 2, so the tool has an automatic operation process, such as Figure 4As shown. In the communication mode with the control terminal 2, the operation process is as follows: (1) Configure the electric tightening tool WiFi (the parameters are stored after the first configuration, and there is no need to repeat the configuration if no changes are made). (2) Turn on the tool. (3) Enter the main interface. (4) Control terminal 2 edits the process. (5) Select the process. (6) Send tasks and instructions to the tool. (7) The tool receives the instructions. (8) The tool automatically switches to the preset parameters and operating mode configured by the control terminal 2. (9) The tool is automatically unlocked. (10) The tool automatically subscribes to data. (11) The tool works normally. (12) The tightening data during the tool operation is uploaded to the control terminal 2.

[0076] The torque sensor 8 collects the torque data of the tightening tool in real time, and the encoder 4 obtains the tool rotation angle data, and transmits these data to the main controller 1 for processing. The main controller 1 adopts advanced control algorithms and accurately controls the motor through the motor driver 3 according to the preset tightening program and real-time data.

[0077] Specifically, Figure 5 As shown, the electric tightening tool can collect the speed, temperature, and current signals of the motor in real time, provide original operation data for the system to control the output torque and system protection, and obtain the actual torque value output through the analog conversion of the torque sensor 8. On the one hand, the motor armature current and motor speed signals are collected to control the motor speed and output torque in real time; on the other hand, the torque value of the motor torque sensor 8 is collected in real time to calibrate the torque accuracy. The electric tightening tool control program achieves higher control accuracy and torque accuracy of the electric tightening tool through torque measurement by strain gauge method and torque control by current method.

[0078] By reasonably adjusting the motor speed and current within the motor's load-bearing power range during the tightening process and referring to the output torque value obtained by torque measurement using the strain gauge method, better torque control accuracy can be obtained, which is more suitable for various application scenarios of "hard connection" and "soft connection" of threaded connection components.

[0079] Compared with the existing technology, the torque sensor strain gauge is used to collect torque to achieve torque accuracy, and the current is controlled to achieve control accuracy, and interactive control is used. The torque accuracy and control accuracy of the electric tightening tool are improved through interactive control, and the three-dimensional space positioning and the station reference point reference are used to achieve the bolt tightening position positioning guidance. Get rid of the external controller and realize direct communication control with the upper layer. Real-time collection and adjustment to achieve better torque control accuracy. Better suitable for soft and hard connection. Ensure that the tightening results are stable and reliable, improve the product assembly quality, and realize the traceability of tightening data.

[0080] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. An electric tightening tool control system, characterized in that: include: The encoder is installed on the motor to obtain the rotation angle of the motor and feed it back to the main controller; The torque sensor is installed at the front end of the multiplier to obtain the torque during the tightening process in real time and feed it back to the main controller; Control terminal, which interacts with the main controller for remote control and data reception; The main controller generates control instructions based on the instructions from the control terminal and the data fed back by the encoder and torque sensor and sends them to the motor drive; The motor drive controls the operation of the motor under the command of the main controller.

2. The electric tightening tool control system according to claim 1, characterized in that: The main controller includes a microcontroller unit, a power module, a signal conditioning module, a display screen, buttons, indicator lights, a serial communication module and a wireless communication module; The microcontroller unit includes a CPU, a memory, and input and output ports to perform control logic and data processing tasks; The power module converts the battery pack voltage into a stable voltage suitable for the main controller and the motor drive operation; The signal conditioning module amplifies, filters and converts the input and output signals; The display screen, buttons and indicator lights are installed outside the tool housing for human-computer interaction and status display; The serial communication module and the wireless communication module realize data exchange between the tool and the control terminal.

3. The electric tightening tool control system according to claim 2, characterized in that: The main controller also includes a storage module and a clock module; The storage module is used to store data in the tightening process, and the clock module provides a time reference.

4. The electric tightening tool control system according to claim 1, characterized in that: The main controller also includes a UWB spatial positioning module, which sends position data to each positioning base station via ultrasound or radio frequency, obtains the spatial position of the electric tightening tool through a spatial positioning algorithm, and realizes three-dimensional spatial positioning of the tool. In the fixed workstation mode, the spatial positioning module is used to identify the specifications of the bolts and automatically adjust the tightening torque.

5. The electric tightening tool control system according to claim 1, characterized in that: The main controller also includes a code scanning module, which is used to scan the QR code and bar code information related to the workstation and automatically switch the working process.

6. The electric tightening tool control system according to claim 1, characterized in that: The control terminal includes an operation terminal and a service terminal. The operation terminal includes a PC, a tablet, and a PDA. The service terminal includes an MES system and an intelligent assembly management and control system.

7. The electric tightening tool control system according to claim 1, characterized in that: The control system includes a battery pack, which is installed at the bottom of the tool handle for power supply; the control system also includes a charging box or a wireless charging module, the battery pack is inserted into the charging box for charging, or the battery pack is charged through the wireless charging module.

8. The electric tightening tool control system according to claim 1, characterized in that: The control system also includes the motor, reducer, multiplier and output head; The motor is connected to the reducer to provide power; A reducer, connected to the multiplier, is used to reduce the speed and increase the torque; A multiplier, connected to the output head, used to reduce the speed and increase the torque; The output head, combined with the sleeve, is used to contact the fastener and apply the tightening force.

9. A control method for an electric tightening tool control system according to any one of claims 1 to 8, characterized in that: include: Obtain the motor's speed and current signals in real time, and obtain the output torque based on the speed and current signals; Real-time acquisition of the measured torque value of the torque sensor; It is determined whether the measured torque value reaches the preset value. If so, the motor stops; if not, the motor speed and current are controlled to adjust the output torque until the measured torque value reaches the preset value and the motor stops.

10. The control method according to claim 9, characterized in that: include: Manual mode and automatic mode: The manual mode includes: operating the buttons to select preset parameters and operation modes; operating the buttons to unlock the electric tightening tool; and performing tightening work after configuration is completed; The automatic mode includes: the control terminal edits the process; selects the process; sends tasks and instructions to the tool; the tool receives the instructions; the tool automatically switches to the preset parameters and operation mode configured by the control terminal; the tool automatically unlocks; the tool automatically subscribes to data; the tool works normally and uploads the tightening data during the work process to the control terminal.

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