Installation tool control method, system, equipment and program based on pretightening force

Abstract

The invention discloses an installation tool control method, system, equipment and program based on pretightening force. The method comprises the steps that initial sound time and initial temperature are preset; when a pre-tightening force measurement instruction is received, high-voltage pulse excitation is carried out to act on the sensor, and an echo signal is generated; calculating a sound time difference based on the echo signal; calculating a real-time pre-tightening force based on the initial sound time, the initial temperature, the real-time detection ultrasonic flight time and the real-time detection temperature; calculating a pre-tightening force difference value according to the target pre-tightening force and the real-time pre-tightening force; controlling a motor to rotate based on the target pre-tightening force and the pre-tightening force difference value, and mounting the bolt; judging whether the real-time pre-tightening force reaches the target pre-tightening force or not after the motor rotates; wherein when the real-time pre-tightening force does not reach the target pre-tightening force, the bolt mounting step is repeated; and when the real-time pre-tightening force reaches the target pre-tightening force, installation is completed. Through the processing scheme disclosed by the invention, the installation quality can be improved, the labor intensity and skill requirements are reduced, and quality tracing and process improvement are facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of installation tools, and in particular to a method, system, device and program for controlling an installation tool based on a preload force. Background Art

[0002] During the mechanical installation process, it is crucial to control the preload force of fasteners such as bolts and nuts. Insufficient preload force may cause loose connections, affecting the stability and safety of the equipment; excessive preload force may damage the connector or cause the equipment to be subjected to excessive stress. At present, although the more advanced handheld installation tools on the market have torque and angle control functions, due to the influence of the comprehensive friction coefficient of the connection structure, the torque is ultimately converted into a preload value with great discreteness, which leads to low installation accuracy and uncontrollable installation quality. In addition, some existing installation tools with preload force control functions are often large in size and complicated to operate, making them inconvenient to carry and use on site.

[0003] It can be seen that how to create a new installation tool control method based on preload has become a goal that the industry urgently needs to improve. Summary of the invention

[0004] In view of this, an embodiment of the present disclosure provides a method for controlling an installation tool based on a preload force, which at least partially solves the problems existing in the prior art.

[0005] In a first aspect, an embodiment of the present disclosure provides a method for controlling an installation tool based on a preload force, the method comprising the following steps: S110: Preset initial sound time and initial temperature; S120: When a preload force measurement instruction is received, a high voltage pulse is excited to act on the sensor to generate an echo signal; S130: Calculating the ultrasonic flight time based on the echo signal; S140: Calculating the real-time preload force based on the initial acoustic time, the initial temperature, the real-time ultrasonic flight time and the real-time detected temperature; S150: Calculating a preload difference according to the target preload and the real-time preload; S160: Control the motor to rotate based on the target preload force and the preload force difference, and install the bolt; S170: Determine whether the real-time preload force reaches the target preload force after the motor rotates; when the real-time preload force does not reach the target preload force, repeat S120-S170; when the real-time preload force reaches the target preload force, the installation is completed.

[0006] According to a specific implementation manner of the embodiment of the present disclosure, the method includes: amplifying and filtering the echo signal.

[0007] According to a specific implementation manner of the embodiments of the present disclosure, the real-time pre-tightening force is calculated based on the following formula: )*K; Wherein, Fr is the real-time pre-tightening force; D1 is the initial acoustic time; T1 is the initial temperature; K is the load coefficient; B is the temperature coefficient; D2 is the real-time detected ultrasonic flight time; T2 is the real-time detected temperature.

[0008] According to a specific implementation manner of the embodiments of the present disclosure, calculating the pre-tightening force difference according to the target pre-tightening force and the real-time pre-tightening force includes: ; Wherein, is the pre-tightening force difference; Fr is the real-time pre-tightening force; Ft is the target pre-tightening force.

[0009] According to a specific implementation manner of the embodiments of the present disclosure, controlling the rotation of the motor based on the target pre-tightening force and the pre-tightening force difference includes: When <0.4*Ft, and Tr < Tp, control the motor to run at 1*Vmax, 0.2*I; When 0.4*Ft < <0.8*Ft, and Tr < Tp, control the motor to run at *Vmax, *I; When >0.8*Ft, and Tr < Tp, control the motor to run at Vmin, I; When Tr > Tp, control the motor to stop running; Wherein, is the pre-tightening force difference; Fr is the real-time pre-tightening force; Ft is the target pre-tightening force; Vmax is the maximum value of the motor speed setting; Vmin is the minimum value of the motor speed setting; I is the motor set current; Tr is the real-time torque value; Tp is the torque protection value.

[0010] In a second aspect, the embodiments of the present disclosure provide an installation tool control system based on pre-tightening force, and the system includes: A parameter presetting module configured to preset the initial acoustic time and the initial temperature; A measurement module configured to, when receiving a pre-tightening force measurement instruction, perform a high-voltage pulse excitation, act on the sensor, and generate an echo signal; A calculation module, configured to calculate the ultrasonic flight time based on the echo signal; Calculate the real-time pre-tightening force based on the initial acoustic time, initial temperature, real-time detected ultrasonic flight time, and real-time detected temperature; And calculate the pre-tightening force difference according to the target pre-tightening force and the real-time pre-tightening force; A control module, configured to control the rotation of the motor based on the target pre-tightening force and the pre-tightening force difference to install the bolt; A judgment module, configured to judge whether the real-time pre-tightening force reaches the target pre-tightening force after the motor rotates; wherein, when the real-time pre-tightening force does not reach the target pre-tightening force, repeat the installation of the bolt; when the real-time pre-tightening force reaches the target pre-tightening force, the installation is completed.

[0011] According to a specific implementation manner of the embodiments of the present disclosure, the system further includes: A motor control module, configured to when <0.4*Ft, and Tr < Tp, control the motor to run at 1*Vmax, 0.2*I; when 0.4*Ft < <0.8*Ft, and Tr < Tp, control the motor to run at *Vmax, *I; when >0.8*Ft, and Tr < Tp, control the motor to run at Vmin, I; when Tr > Tp, control the motor to stop running; Wherein, is the pre-tightening force difference; Fr is the real-time pre-tightening force; Ft is the target pre-tightening force; Vmax is the maximum value of the motor speed setting; Vmin is the minimum value of the motor speed setting; I is the motor set current; Tr is the real-time torque value; Tp is the torque protection value.

[0012] In a third aspect, the embodiments of the present disclosure further provide an electronic device, and the electronic device includes: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor implements the installation tool control method based on the pre-tightening force according to any one of the first aspect or any implementation manner of the first aspect.

[0013] In a fourth aspect, an embodiment of the present disclosure further provides a computer program product, comprising a computer program stored on a non-transitory computer-readable storage medium, wherein the computer program comprises program instructions, and when the program instructions are executed by a computer, the computer executes the preload-based installation tool control method of the aforementioned first aspect or any implementation of the first aspect.

[0014] The preload-based installation tool control method in the disclosed embodiment is designed to address the deficiencies of existing handheld installation tools in preload control, improve installation accuracy and quality, and ensure the portability and ease of operation of the tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0016] Figure 1 A schematic flow chart of a method for controlling an installation tool based on preload force provided in an embodiment of the present disclosure; Figure 2 A schematic diagram of the appearance and structure of an installation tool provided in an embodiment of the present disclosure; Figure 3 A signal transmission schematic diagram provided for an embodiment of the present disclosure; Figure 4 A schematic diagram of a transmission and power system provided in an embodiment of the present disclosure; Figure 5 A schematic diagram of a brushless drive circuit board module provided in an embodiment of the present disclosure; Figure 6 A schematic diagram of a small preload test circuit board module provided by an embodiment of the present disclosure; Figure 7 A schematic diagram of a small torque test circuit board provided in an embodiment of the present disclosure; Figure 8 A schematic diagram of a brushless drive circuit board module provided in an embodiment of the present disclosure; Fig. 9 A schematic diagram of the structure of a pre-tightening force-based installation tool control system provided in an embodiment of the present disclosure; Fig.10 A schematic diagram of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0017] The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0018] The following describes the embodiments of the present disclosure through specific examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. The present disclosure can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present disclosure.

[0019] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein may be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present disclosure, it should be understood by those skilled in the art that an aspect described herein may be implemented independently of any other aspect, and two or more of these aspects may be combined in various ways. For example, any number of aspects described herein may be used to implement a device and / or practice a method. In addition, other structures and / or functionalities other than one or more of the aspects described herein may be used to implement this device and / or practice this method.

[0020] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects described may be practiced without these specific details.

[0021] An embodiment of the present invention provides a method for controlling an installation tool based on preload force. First, the installer operates a host computer program to issue installation parameters of the installed smart bolts, including load coefficient, temperature coefficient, upper and lower limits of preload force, preload target force value, upper and lower limits of torque, etc.; secondly, the installer operates the installation tool, and the sleeve head is placed on the position of the installed bolt nut to ensure that the measuring probe is in contact with the center ring of the smart bolt sensor; after waiting for the display screen to display stable sound time data, the zero button is pressed, and the control system records the current sound time as the initial sound time, and the current temperature as the initial temperature; again, the installation button is pressed, and the control system enters the preload force closed-loop control process after detecting the installation start signal.

[0022] More specifically, Figure 1 A schematic diagram of the process of the installation tool control method based on preload force provided in an embodiment of the present disclosure.

[0023] like Figure 1As shown, at step S110, the initial sound time and the initial temperature are preset.

[0024] More specifically, the initial sound time setting range is 1000-99999, in ns; the initial temperature setting range is -50-100°C.

[0025] More specifically, the process proceeds to step S120.

[0026] In step S120, when a preload force measurement instruction is received, a high voltage pulse is excited to act on the sensor to generate an echo signal.

[0027] More specifically, the high voltage pulse is provided with a voltage source by a high voltage power supply module, and the control system controls the MOS tube to trigger and generate a negative voltage pulse; the voltage range is 10-300VDC, and the pulse width is 1-20ns.

[0028] In an embodiment of the present invention, the method includes: amplifying and filtering the echo signal. For example, the filtering adopts a median filtering method, specifically collecting N data, sorting the data, and sorting the N / 2th data as the final output data.

[0029] More specifically, the control system sends a preload measurement instruction to the preload detection system; the preload detection system receives the instruction, performs high-voltage pulse excitation, acts on the sensor, generates ultrasonic waves, and the ultrasonic waves fly back and act on the sensor to generate weak electrical signals, which are then amplified and filtered to generate usable echo signals. The TDC calculates the acoustic time difference and returns the acoustic time difference to the control system.

[0030] Next, go to step S130.

[0031] In step S130 , the ultrasound flight time is calculated based on the echo signal.

[0032] Next, go to step S140.

[0033] At step S140 , the real-time preload force is calculated based on the initial acoustic time, the initial temperature, the real-time detected ultrasonic flight time and the real-time detected temperature.

[0034] In the embodiment of the present invention, the control system calculates the preload value according to the initial sound time, the initial temperature, the real-time detection ultrasonic flight time, and the real-time detection temperature in combination with the calculation formula, and calculates the real-time preload based on the following formula: )*K; in, Fr is the real-time preload; D1 When it is the initial sound; T1 is the initial temperature; K is the load factor; B is the temperature coefficient; D2For real-time detection of ultrasonic flight time; T2 For real-time detection of temperature.

[0035] Next, go to step S150.

[0036] At step S150, calculate the pre-tightening force difference according to the target pre-tightening force and the real-time pre-tightening force.

[0037] In the embodiment of the present invention, the control system calculates the pre-tightening force difference according to the target pre-tightening force and the real-time pre-tightening force, including: ; Wherein, is the pre-tightening force difference; Fr is the real-time pre-tightening force; Ft is the target pre-tightening force.

[0038] Next, go to step S160.

[0039] At step S160, control the rotation of the motor based on the target pre-tightening force and the pre-tightening force difference to install the bolt.

[0040] More specifically, the control system controls the rotation of the brushless motor according to the pre-tightening force target value Ft, the magnitude of the pre-tightening force difference , the predetermined maximum speed Vmax, the predetermined minimum speed Vmin, the rated current value I of the motor, the real-time torque value Tr, and the torque protection value Tp.

[0041] In the embodiment of the present invention, the controlling the rotation of the motor based on the target pre-tightening force and the pre-tightening force difference includes: When < 0.4*Ft, and Tr < Tp, control the motor to operate at 1*Vmax, 0.2*I; When 0.4*Ft < < 0.8*Ft, and Tr < Tp, control the motor to operate at *Vmax, *I; When > 0.8*Ft, and Tr < Tp, control the motor to operate at Vmin, I; When Tr > Tp, control the motor to stop operating; Wherein, is the pre-tightening force difference; Fr is the real-time pre-tightening force; Ft is the target pre-tightening force; Vmax is the maximum motor speed setting; Vmin is the minimum motor speed setting; I is the motor setting current; Tr is the real-time torque value; Tp is the torque protection value.

[0042] More specifically, if the set preload target value is not reached, the high speed and low torque output by the brushless motor is converted to low speed and high torque through the reduction mechanism, and then acts on the smart bolt through the transmission mechanism and sleeve, and the bolt is rotated for installation. The control system uploads the real-time installation process value to the host computer program and enters S120 again to perform the preload closed-loop control process. If the set preload target value is reached, the control system uploads the final installation result value to the host computer program. This installation is completed.

[0043] The control system sends a torque measurement command to the torque detection system; the torque measurement system receives the command, performs analog-to-digital conversion, and reads the real-time torque value.

[0044] Next, go to step S170.

[0045] In step S170, it is determined whether the real-time preload force reaches the target preload force after the motor rotates; when the real-time preload force does not reach the target preload force, S120-S170 are repeated; when the real-time preload force reaches the target preload force, the installation is completed.

[0046] The installation tool control method based on preload force proposed by the present invention has the following advantages: 1. Improve installation quality By precisely controlling the installation parameters through preload force and providing real-time feedback, the installation accuracy is improved, the installation quality of components is guaranteed, and the reliability of the entire product is improved.

[0047] 2. Reduce labor intensity and skill requirements The ergonomic handle design reduces hand fatigue, and the intelligent control eliminates the need for operators to rely heavily on experience, reducing the requirement for operators’ skill levels.

[0048] 3. Facilitate quality traceability and process improvement The data recording and analysis functions provide strong support for quality control and process optimization, which is conducive to timely discovery of problems and taking improvement measures to improve the level of production management.

[0049] Fig. 9 The present invention shows a preload-based installation tool control system 900 , which includes a parameter preset module 910 , a measurement module 920 , a calculation module 930 , a control module 940 and a judgment module 950 .

[0050] The parameter preset module 910 is used to preset the initial sound time and the initial temperature; The measuring module 920 is used to perform high-voltage pulse excitation upon receiving a preload measurement instruction, and act on the sensor to generate an echo signal; The calculation module 930 is configured to calculate the ultrasonic flight time based on the echo signal; calculate the real-time pre-tightening force based on the initial acoustic time, the initial temperature, the real-time detected ultrasonic flight time, and the real-time detected temperature; and calculate the pre-tightening force difference according to the target pre-tightening force and the real-time pre-tightening force. The control module 940 is configured to control the rotation of the motor based on the target pre-tightening force and the pre-tightening force difference to install the bolt. The judgment module 950 is configured to judge whether the real-time pre-tightening force reaches the target pre-tightening force after the motor rotates; wherein, when the real-time pre-tightening force does not reach the target pre-tightening force, the installation of the bolt is repeated; when the real-time pre-tightening force reaches the target pre-tightening force, the installation is completed.

[0051] In the embodiment of the present invention, the system further includes: A motor control module, configured to when <0.4*Ft, and Tr < Tp, control the motor to run at 1*Vmax, 0.2*I; when 0.4*Ft < <0.8*Ft, and Tr < Tp, control the motor to run at *Vmax, *I; when >0.8*Ft, and Tr < Tp, control the motor to run at Vmin, I; when Tr > Tp, control the motor to stop running; Wherein, is the pre-tightening force difference; Fr is the real-time pre-tightening force; Ft is the target pre-tightening force; Vmax is the maximum value of the motor speed setting; Vmin is the minimum value of the motor speed setting; I is the set current of the motor; Tr is the real-time torque value; Tp is the torque protection value.

[0052] The present invention will be described in detail below through embodiments.

[0053] I. This handheld intelligent installation tool mainly consists of a transmission system, a power and drive system, a pre-tightening force detection system, a torque detection system, a control system, and a housing, etc.

[0054] a) Transmission system The transmission system includes a planetary gear reducer and a torque transmission shaft. The planetary gear reducer is used to convert the high-speed, low-torque output of the motor into a low-speed, high-torque output to meet the needs of the installation operation. The torque transmission shaft is made of high-strength alloy steel, and its surface is specially treated, having good wear resistance and torsional strength. It accurately transmits the decelerated torque to the working end of the installation tool.

[0055] b) Power and drive system The power source is a high-performance brushless servo motor with adjustable speed and torque output characteristics. The drive system is designed with STM32F4 as the control core, Infineon IRF7842 as the drive circuit core, and a magnetic encoder as the position detection core. The motor drive control circuit controls the servo motor to achieve precise position control based on the pulse and direction signals sent by the upper control board.

[0056] c) Preload force detection system It includes adjustable high-voltage power supply module circuit, high-voltage pulse drive circuit, limit protection circuit, high-speed op amp circuit, active filter circuit, TDC circuit, MCU main control circuit, etc. It is built with TDC chip as the core, and the single-chip microcomputer is used as the main control. The pulse drive circuit is controlled through IO, and the TDC chip is controlled through the SPI bus to complete the timing function.

[0057] d) Torque detection system It includes a torque sensor and a torque detection circuit, wherein the torque sensor adopts a static torque sensor, which is connected between the reducer and the housing, and applies force to the torque sensor according to the principle of action and reaction force; the torque detection circuit includes a signal conditioning circuit, an analog-to-digital conversion circuit, and a power supply circuit. The signal conditioning circuit realizes amplification and filtering of weak signals of the sensor, the analog-to-digital conversion circuit realizes conversion of analog quantity into digital quantity, and the power supply circuit provides a low-noise, low-ripple power supply for the detection circuit.

[0058] e) Control system Receives signals from the preload detection system and torque detection system, and controls the motor speed and torque output to accurately control the preload according to the stored preload control algorithm, the preset preload value and real-time sensor data. When the preset preload is reached, the control unit will immediately stop the motor to prevent over-tightening.

[0059] f) Housing The main body of the shell is made of aluminum alloy, which has good wear resistance and ergonomic design. The surface of the shell has a non-slip texture, which is convenient for operators to hold. At the same time, the design of the grip part conforms to the physiological structure of the human hand, which can reduce the fatigue caused by long-term use of the tool.

[0060] 2. Working Principle a) Startup and installation parameter settings The operator sends the installation parameters (including load factor, temperature factor, target preload, etc.) through the supporting application, starts the tool by operating the start button on the tool, the motor starts to rotate, and the power is transmitted to the working end through the transmission system.

[0061] b) Control during installation During the installation process, the preload detection system and torque detection system detect the preload and torque changes in real time. The control unit controls the torque output of the motor by adjusting the motor current according to the preset preload value and torque monitoring range and other parameters. If the detected real-time preload value is close to the preset value, the control unit will gradually reduce the motor speed to more accurately control the preload until the motor stops rotating when the preset value is reached.

[0062] c) Data recording and feedback During the entire installation process, the control system collects and records various parameter information in real time. After installation, the control system transmits the data to the application program for viewing and analysis via wired or wireless means. If the preload force exceeds the set tolerance range, an abnormal message will be displayed in the application program to prompt the operator to check the installation.

[0063] like Figure 2 The following is the circuit structure design between the sensor and the preload detection mainboard: The conductive slip ring is designed on the rotating transmission shaft near the reduction motor side. The conductive ring is isolated from the rotating transmission shaft by a nylon insulating ring and connected to the conductive core. The elastic copper brush is fixed on the inside of the installation tool housing. The elastic copper brush head is contoured to the contact position of the slip ring to increase the contact area and ensure signal quality.

[0064] A conductive core extension interface is designed on the installation side of the rotating transmission shaft sleeve, and different cores can be replaced according to the length of the sleeve used to ensure reliable and effective contact with the end sensor.

[0065] 3. System composition Figure 3 A signal transmission schematic diagram provided for an embodiment of the present disclosure.

[0066] Figure 4 A schematic diagram of a transmission and power system provided in an embodiment of the present disclosure.

[0067] 1. Transmission system The transmission system is mainly composed of a power output shaft, a planetary gear reducer, bearings, brackets, etc. The left end of the power output shaft is a 1 / 2-inch sleeve connector, the middle core is the preload measurement signal line, and the right end is the reducer output end connection disk. The power output shaft realizes the power output signal and measurement signal transmission function; the reducer is a first-stage planetary gear reducer, which is composed of a sun gear, three planetary gears, an inner gear ring, a planet carrier, etc., to realize the conversion of high-speed, low-torque input into low-speed, high-torque output; the bearings and brackets play a fixed support role.

[0068] 2. Power system Figure 5This is a schematic diagram of the brushless drive circuit board module. The power system is mainly composed of a brushless motor rotor, a brushless motor stator, a position detection sensor, a bearing, a bracket, etc. The brushless motor is designed in an oblate shape, which can fully utilize the space without increasing the circumferential size of the installation tool, and can also be well stacked on the reduction mechanism. The rotor is made of high-strength NdFeB magnetic steel, and the stator is made of high-quality silicon steel sheets and copper wires. The special design of the servo motor rotor and stator achieves the optimal volume-to-power ratio.

[0069] 3. Drive system The STM32F4 is used as the control core, the Infineon IRF7842 is used as the driving circuit core, and the magnetic encoder is used as the position detection core design. The motor drive control circuit controls the servo motor to achieve precise position control according to the pulse and direction signals sent by the upper control board.

[0070] 4. Preload force detection system Figure 6 This is a schematic diagram of a small preload test circuit board module, including an adjustable high-voltage power supply module circuit, a high-voltage pulse drive circuit, a limit protection circuit, a high-speed op amp circuit, an active filter circuit, a TDC circuit, an MCU main control circuit, etc. It is built with a TDC chip (such as GP22) as the core, and the single-chip microcomputer is used as the main control. The pulse drive circuit is controlled through IO, and the TDC chip is controlled through the SPI bus to complete the timing function.

[0071] 5. Torque detection system Figure 7 This is a schematic diagram of a small torque test circuit board. The torque detection circuit includes a signal conditioning circuit, an analog-to-digital conversion circuit, and a power supply circuit. The signal conditioning circuit amplifies and filters the weak signal of the sensor, the analog-to-digital conversion circuit converts the analog quantity into a digital quantity, and the power supply circuit provides a low-noise, low-ripple power supply for the detection circuit.

[0072] 6. Control system Figure 8 This is a schematic diagram of the brushless driver circuit board module. It uses STM32F407 as the main control and is designed with power interface, torque detection system interface, preload detection system interface, IO interface, motor control interface, HMI interface, and RS485 communication interface. The control process is that the control system receives signals transmitted from the preload detection system and the torque detection system, and controls the motor speed and torque output to accurately control the preload according to the stored preload control algorithm, the preset preload value and real-time sensor data. When the preset preload is reached, the control system will immediately stop the motor from rotating to prevent over-tightening.

[0073] See also Fig.10 The present disclosure also provides an electronic device 100, which includes: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the installation tool control method based on preload force in the aforementioned method embodiment.

[0074] The embodiment of the present disclosure also provides a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable the computer to execute the preload-based installation tool control method in the aforementioned method embodiment.

[0075] The embodiment of the present disclosure also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the preload-based installation tool control method in the aforementioned method embodiment.

[0076] Reference below Fig.10 , which shows a schematic diagram of the structure of an electronic device 100 suitable for implementing the embodiment of the present disclosure. The electronic device in the embodiment of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig.10 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0077] like Fig.10 As shown, the electronic device 100 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 1001, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1008 to a random access memory (RAM) 1003. In the RAM 1003, various programs and data required for the operation of the electronic device 100 are also stored. The processing device 1001, the ROM 1002, and the RAM 1003 are connected to each other via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0078] Typically, the following devices may be connected to the I / O interface 1005: input devices 1006 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1007 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1008 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the electronic device 100 to communicate with other devices wirelessly or by wire to exchange data. Although the electronic device 100 with various devices is shown in the figure, it should be understood that it is not required to implement or have all the devices shown. More or fewer devices may be implemented or have alternatively.

[0079] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device 1009, or installed from a storage device 1008, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0080] It should be noted that the computer-readable medium mentioned above in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. Computer readable signal media may also be any computer readable medium other than computer readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0081] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0082] The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: obtains at least two Internet Protocol addresses; sends a node evaluation request including the at least two Internet Protocol addresses to a node evaluation device, wherein the node evaluation device selects an Internet Protocol address from the at least two Internet Protocol addresses and returns it; receives the Internet Protocol address returned by the node evaluation device; wherein the obtained Internet Protocol address indicates an edge node in a content distribution network.

[0083] Alternatively, the computer-readable medium carries one or more programs, and when the one or more programs are executed by the electronic device, the electronic device: receives a node evaluation request including at least two Internet Protocol addresses; selects an Internet Protocol address from the at least two Internet Protocol addresses; and returns the selected Internet Protocol address; wherein the received Internet Protocol address indicates an edge node in a content distribution network.

[0084] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0085] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0086] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware. The name of a unit does not limit the unit itself in some cases. For example, the first acquisition unit may also be described as a "unit for acquiring at least two Internet Protocol addresses".

[0087] It should be understood that various parts of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof.

[0088] The above is only a specific implementation of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present disclosure should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A method for controlling an installation tool based on preload force, characterized in that: The method comprises the following steps: S110: Preset initial sound time and initial temperature; S120: When a preload force measurement instruction is received, a high voltage pulse is excited to act on the sensor to generate an echo signal; S130: Calculating the ultrasonic flight time based on the echo signal; S140: Calculating the real-time preload force based on the initial acoustic time, the initial temperature, the real-time ultrasonic flight time and the real-time detected temperature; S150: Calculating a preload difference according to the target preload and the real-time preload; S160: Control the motor to rotate based on the target preload force and the preload force difference, and install the bolt; S170: Determine whether the real-time preload force reaches the target preload force after the motor rotates; when the real-time preload force does not reach the target preload force, repeat S120-S170; when the real-time preload force reaches the target preload force, the installation is completed.

2. The method for controlling an installation tool based on preload force according to claim 1, characterized in that: The method comprises: amplifying and filtering the echo signal.

3. The method for controlling an installation tool based on preload force according to claim 1, characterized in that: The real-time preload is calculated based on the following formula: )×K； in, Fr is the real-time preload; D1 When it is the initial sound; T1 is the initial temperature; K is the load factor; B is the temperature coefficient; D2 To detect ultrasound flight time in real time; T2 To detect temperature in real time.

4. The method for controlling an installation tool based on preload force according to claim 1, characterized in that: Calculating a preload difference according to the target preload and the real-time preload, including: ; in, is the preload difference; Fr is the real-time preload; Ft The target preload.

5. The method for controlling an installation tool based on preload force according to claim 1, characterized in that: The controlling the rotation of the motor based on the target preload force and the preload force difference includes: When <0.4×Ft, and when Tr < Tp, control the motor to operate at 1×Vmax, 0.2×I; When 0.4×Ft < < 0.8×Ft, and when Tr < Tp, control the motor to run at ×Vmax, ×I; When > 0.8×Ft and Tr < Tp, control the motor to operate at Vmin, I; When Tr>Tp, the motor is controlled to stop running; in, is the preload difference; Fr is the real-time preload; Ft is the target preload; Vmax is the maximum value of the motor speed setting; Vmin is the minimum value of the motor speed setting; I is the motor setting current; Tr is the real-time torque value; Tp is the torque protection value.

6. A preload-based installation tool control system, characterized in that: The system comprises: A parameter preset module, configured to preset an initial sound time and an initial temperature; The measuring module is configured to perform high-voltage pulse excitation upon receiving a preload measurement instruction, act on the sensor, and generate an echo signal; A calculation module, configured to calculate the ultrasound flight time based on the echo signal; Calculate the real-time preload based on the initial acoustic time, initial temperature, real-time ultrasonic flight time and real-time temperature; and, calculating a preload difference according to the target preload and the real-time preload; A control module is configured to control the rotation of the motor based on the target preload force and the preload force difference to install the bolt; The judgment module is configured to judge whether the real-time pre-tightening force reaches the target pre-tightening force after the motor rotates; when the real-time pre-tightening force does not reach the target pre-tightening force, the bolt is repeatedly installed; when the real-time pre-tightening force reaches the target pre-tightening force, the installation is completed.

7. The preload-based installation tool control system according to claim 6, characterized in that: The system further comprises: The motor control module is configured to, when < 0.4×Ft and Tr < Tp, control the motor to operate at 1×Vmax, 0.2×I; when 0.4×Ft < < 0.8×Ft and Tr < Tp, control the motor to operate at ×Vmax, ×I; when > 0.8×Ft and Tr < Tp, control the motor to operate at Vmin, I; when Tr > Tp, control the motor to stop operating; in, is the preload difference; Fr is the real-time preload; Ft is the target preload; Vmax is the maximum value of the motor speed setting; Vmin is the minimum value of the motor speed setting; I is the motor setting current; Tr is the real-time torque value; Tp is the torque protection value.

8. An electronic device, characterized in that: The electronic device includes: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor executes the installation tool control method based on preload force as described in any one of claims 1 to 5.

9. A computer program product, characterized in that The computer program product includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer is caused to execute the preload-based installation tool control method as described in any one of claims 1 to 5.

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