Bulldozer half-shaft electronic pressing machine control method and system, terminal and medium

Abstract

The invention belongs to the technical field of bulldozer assembly, and particularly discloses a bulldozer half shaft electronic press fitting machine control method and system, a terminal and a medium, and the method comprises the steps that a telescopic rod is controlled to conduct press fitting according to preset press fitting parameters, and force and depth data in the press fitting process are obtained in real time; and based on the real-time data and the press fitting parameters, the adjustment amount of the press fitting speed and force is dynamically calculated, the control instruction is adjusted in real time according to the adjustment amount, and press fitting is conducted according to the real-time control instruction. By monitoring the force and depth data in the press-fitting process in real time, the press-fitting speed and force can be dynamically adjusted, so that it is ensured that the best effect can be achieved in each press-fitting operation, and the product quality is remarkably improved. Meanwhile, the press fitting parameters are dynamically adjusted according to the actual situation, the electronic press fitting machine can better adapt to workpieces of different materials, sizes and shapes and changes of the external environment, and the adaptability and flexibility of equipment are greatly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of bulldozer assembly, and in particular relates to a control method, system, terminal and medium of a bulldozer half-axle electronic press assembly machine. Background Art

[0002] During the assembly process of the bulldozer, the half-shaft needs to be pressed into the half-shaft hole of the rear axle. The fit between the half-shaft and the half-shaft hole of the rear axle is an interference fit with a large interference amount. Therefore, this link is difficult to assemble and requires sufficient pressure and precision to ensure the quality of the press-fit.

[0003] Conventional electronic presses in the prior art usually perform press-fitting operations on bulldozer half shafts according to preset parameters.

[0004] However, in actual operation, due to slight differences in the material, processing technology, post-processing aging time, outer diameter size, inner hole size, surface roughness and shape of bulldozer half-shafts, final drive boxes and other workpieces during the production process, fixed pressing parameters cannot ensure that each bulldozer half-shaft can be pressed in the best condition. There is a risk that some bulldozer half-shafts may be pressed too tightly or too loosely, affecting their service life and performance.

[0005] Furthermore, workshop temperatures fluctuate during different seasons and production periods. Metal parts like bulldozer axles and final drive housings expand and contract with heat, causing their dimensions to change with temperature. Fixed press-fit parameters cannot compensate for this, affecting press-fit accuracy. Summary of the Invention

[0006] In response to the problems in the prior art, the present invention provides a control method, system, terminal and medium for a bulldozer half-shaft electronic press, which solves the problem in the prior art that the half-shaft is pressed too tightly or too loosely and cannot be compensated during the compression process due to the pressing operation of the bulldozer half-shaft according to preset parameters.

[0007] The technical solution adopted in the present invention is as follows: In a first aspect, the present application provides a method for controlling an electronic press-fitting machine for a bulldozer half-axle, the method comprising the following steps: Step S1, controlling the servo motor according to preset press-fitting parameters, and the servo motor drives the telescopic rod to extend for press-fitting; Step S2: obtaining the press-fitting force and press-fitting depth parameters of the telescopic rod in real time; Step S3: When the pressing head of the telescopic rod contacts the workpiece, the pressing speed and force adjustment amount are dynamically calculated based on the real-time pressing force and pressing depth data and pressing parameters; Step S4: adjusting the pressing speed and pressing force according to the pressing speed and force adjustment amount, thereby updating the control instruction; Step S5: Press-fit according to real-time control instructions.

[0008] Preferably, step S1 includes the following steps: Step S1-1, randomly initialize a group of particles, each particle represents a set of pressing parameter combinations, including pressure, speed, and pressing depth, assign an initial position and speed to each particle, and set the value range of each parameter; Step S1-2: setting a fitness function and calculating the fitness value of each particle according to the target pressing quality requirements, where the pressing quality requirements include the pressing time range, pressure range, and depth error range; Step S1-3: Based on the particle's historical optimal position and global optimal position, the particle's velocity and position are updated using the particle swarm optimization algorithm, ensuring that the parameter values ​​are within the preset boundaries; Step S1-4: repeat steps S1-2 and S1-3 to perform iterative optimization; Step S1-5: When the preset number of iterations is reached, the iteration is stopped, the particle with the best fitness value is selected, and its corresponding pressing parameters are extracted as the optimal control parameter group; Step S1-6: Control the servo motor according to the control parameter group combination obtained in step S1-5 as the preset press-fitting parameters.

[0009] Preferably, in step S1-2, the calculation formula of the fitness function is: ; in, 、 and is the weight; is the influencing factor of depth error on product quality score; and Respectively represent the impact factor of press speed on production time and basic time; It is the factor that influences the production cost by intensity and time consumption; It is a fixed cost; is the target press depth; is the actual pressing depth achieved at particle position x; is the average pressing velocity at particle position x; is the average pressing force at particle position x.

[0010] Preferably, in step S1-3, the updating formula of the particle velocity is: ; in, represents the velocity of particle i at time t; ω is the inertia weight; and is the learning factor; and is a random number in the range [0, 1]; is the individual optimal position of particle i; is the global optimal position of the entire particle swarm; represents the position of particle i at time t; is the calculated velocity of particle i at time t+1; The updating formula of particle position is: ; in, is the weight of the influence of velocity on position update; is the influence weight of the individual's optimal position on the current position update; is the influence weight of the global optimal position on the current position update; is a random perturbation weight; and are the upper and lower bounds of the search space respectively; is the next random number; m is the parameter of the generator.

[0011] Preferably, in step S3, the press speed adjustment amount is calculated by the following formula: ; The press force adjustment is calculated using the following formula: ; in, is the adjustment amount of the press speed, is the adjustment amount of the pressing force; 、 、 、 、 、 、 and is the adjustment factor; is the preset target pressing force; It is the pressing force obtained in real time; is the preset target press depth; It is the pressing depth obtained in real time; is the maximum pressing force applied; is the maximum press depth achieved; is the real-time rate of change of the pressing force; It is the real-time rate of change of the press depth.

[0012] Preferably, in step S1-4, the pressing speed is calculated by the following formula: ; in, Indicates the adjusted pressing speed; Indicates the pressing speed before adjustment; Indicates the speed adjustment factor; represents the velocity damping coefficient; Indicates the target speed; The press force is calculated using the following formula: ; in, Indicates the adjusted pressing force; Indicates the pressing force before adjustment; Indicates the force adjustment coefficient; represents the force damping coefficient; Indicates target strength; Indicates the force integral coefficient; It represents the time integral of the difference between the target force and the initial force.

[0013] Preferably, the method further comprises the following steps: Step S6: Based on the real-time collected press-fitting depth and press-fitting force data, if it is monitored that the current press-fitting pressure exceeds the preset safety upper limit and the press head displacement fails to reach the preset target displacement threshold, it is determined that a press-fitting abnormality has occurred, press-fitting is terminated, and an alarm signal is output; When the displacement of the press head reaches or exceeds the preset target displacement and the applied pressure is always within the allowable range, the press fitting is determined to be completed.

[0014] In a second aspect, the present application provides a bulldozer half-axle electronic press-fitting machine control system, the system comprising: A servo press-fitting execution module is used to drive the telescopic rod to extend or retract according to control instructions to achieve press-fitting operations on the bulldozer half shaft; A press-fitting parameter generation module is used to dynamically generate a press-fitting parameter combination including pressure, speed, and press-fitting depth using a particle swarm optimization algorithm based on preset press-fitting quality requirements, wherein the press-fitting quality requirements include a press-fitting time range, a pressure range, and a depth error range; The data acquisition module is used to collect the pressing depth data and pressing force data of the telescopic rod in real time during the pressing process; A control instruction calculation module is used to dynamically calculate the press speed adjustment amount and the press force adjustment amount based on the real-time collected data and the current press parameters after the press head contacts the workpiece, and generate an updated press control instruction; The abnormality judgment module is used to judge whether a press-fitting abnormality occurs or is completed based on the real-time press-fitting depth and force information obtained. Specifically, it includes: If the current pressure exceeds the preset safety threshold and the pressing depth does not reach the preset target, it is judged as abnormal and a press-stop instruction and an alarm signal are issued; If the current press-fitting depth reaches or exceeds the target value and the pressure does not exceed the upper limit, the press-fitting is determined to be completed; The controller is used to coordinate the operation of each module, control the servo press-fitting execution module to perform real-time press-fitting actions according to the current control instructions, and issue a press-fitting end instruction after the completion conditions are met to retract the telescopic rod to the initial standby position.

[0015] In a third aspect, the present application provides a terminal, including: A memory for storing a control program of a bulldozer half-axle electronic press assembly machine; The processor is used to implement the steps of the bulldozer half-shaft electronic press assembling machine control method as described in the first aspect when executing the bulldozer half-shaft electronic press assembling machine control system.

[0016] In a fourth aspect, the present application provides a computer-readable storage medium, which stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes the bulldozer half-axle electronic press control method as described in the first aspect.

[0017] It can be seen from the above technical solutions that the advantages of the present invention are: (1) The present invention can dynamically adjust the pressing speed and force by real-time monitoring of the force and depth data during the pressing process, thereby ensuring that each pressing operation can achieve the best effect and significantly improve product quality.

[0018] (2) The pressing parameters can be dynamically adjusted according to actual conditions. The present invention enables the electronic pressing machine to better adapt to workpieces of different materials, sizes and shapes, as well as changes in the external environment, greatly improving the adaptability and flexibility of the equipment.

[0019] (3) Through intelligent dynamic adjustment, the present invention reduces press-fitting failures or product quality problems caused by improper parameter settings, thereby improving production efficiency and reducing production costs and scrap rates.

[0020] (4) The present invention realizes the automation and intelligent control of the pressing process, simplifies the operation process, reduces the skill requirements for operators, and reduces human intervention and errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for the description. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 The present invention provides a flowchart of a method for controlling a bulldozer half-axle electronic press assembly. DETAILED DESCRIPTION

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0024] See also Figure 1 As shown, the present invention provides a method for controlling a bulldozer half-axle electronic press assembly, comprising the following steps: Step S1, controlling the servo motor according to preset press-fitting parameters, and the servo motor drives the telescopic rod to extend for press-fitting; Based on the preset safety and efficiency parameters, a stable and controllable starting condition is provided. Through the precise control of the servo motor, the press-fitting operation can be started accurately and quickly. Step S2: obtaining the press-fitting force and press-fitting depth parameters of the telescopic rod in real time; The acquisition of real-time data allows the system to continuously monitor the pressing process, detect any abnormalities in a timely manner, and make corresponding adjustments; In the specific implementation process, a force sensor, such as a pressure sensor or a force-sensitive resistor, is installed on the telescopic rod. These sensors can convert the pressure they feel into an electrical signal output; the output signal of the force sensor is connected to a data acquisition device (such as a data acquisition card or controller) through a data line. This device can read the electrical signal output by the sensor in real time and convert it into a digital signal; the digital signal is transmitted through Filter to obtain accurate pressing force value, where is the filtered pressing force value at time point n, It's at the time The original pressing force value, It's at the time The weight of the data point is N, the window size of the weighted moving average filter, and i is an index variable used to traverse all samples within window N. n represents the current time point. The filtered pressing force value can be displayed to the operator in real time on the display screen and simultaneously recorded to a storage device. Position sensors, such as linear displacement sensors, are installed on the telescopic rod. These sensors can accurately measure the displacement of the telescopic rod, thereby reflecting the pressing depth. The output signal of the position sensor is captured by the data acquisition device and converted into a digital signal for processing. The processing unit converts this data into actual displacement or pressing depth. The processed pressing depth data can also be displayed in real time on the control interface and recorded.

[0025] Step S3: When the pressing head of the telescopic rod contacts the workpiece, the pressing speed and force adjustment amount are dynamically calculated based on the real-time pressing force and pressing depth data and pressing parameters; This step enables the press-fitting process to be dynamically adjusted according to real-time conditions, rather than relying on fixed preset parameters. This greatly improves the accuracy and flexibility of press-fitting and ensures the best press-fitting results under different conditions. Step S4: adjusting the pressing speed and pressing force according to the pressing speed and force adjustment amount, thereby updating the control instruction; Ability to generate optimized control instructions based on previous calculations and analysis, which not only improves the quality and efficiency of press-fitting operations, but also reduces potential risks caused by improper operations; Step S5: Press-fit according to real-time control instructions; The press-fitting operation is carried out according to the optimized control instructions, ensuring the accuracy and consistency of the press-fitting; During implementation, the press receives the final control instructions calculated in step S4, including the adjusted press speed and force. The press ram begins its motion based on the received speed and force instructions. The ram moves downward at the specified speed while applying a preset pressure, pressing the workpiece into the other. During the press process, sensors continuously monitor the press depth and pressure to ensure that the process adheres to pre-determined parameters.

[0026] Step S6: Based on the real-time collected press-fitting depth and press-fitting force data, if it is monitored that the current press-fitting pressure exceeds the preset safety upper limit and the press head displacement fails to reach the preset target displacement threshold, it is determined that a press-fitting abnormality has occurred, press-fitting is terminated, and an alarm signal is output; When the displacement of the press head reaches or exceeds the preset target displacement and the applied pressure is always within the allowable range, the press fitting is considered to be completed; By setting the preset value, the system can automatically determine whether the press-fitting meets the expected standard, thus avoiding excessive or insufficient press-fitting; In the specific implementation process, before starting the press fitting, the preset values ​​of the depth and pressure to be reached by the press fitting are set. During the press fitting process, the control system will continuously compare the real-time press fitting depth or pressure data with the preset values.

[0027] In step S7, after the pressing is completed, the controller will send an instruction to the pressing head, instructing it to start retracting. After receiving the retraction instruction, the pressing head starts to retract according to the preset speed and trajectory. The pressing head continues to retract until it returns to its initial position, preparing for the next pressing operation.

[0028] In a bulldozer manufacturing application, a half-axle press is required to be pressed into the bulldozer's final drive. Based on previously calculated control commands, the press head begins press-fitting at a moderate speed and with appropriate force, slowly pressing the half-axle into the final drive. Throughout the entire process, sensors on the press continuously monitor the press depth and pressure applied. Prior to press-fitting, preset depth and pressure values ​​are set based on the specifications of the half-axle and final drive. When the press head presses the half-axle into the final drive and reaches these preset values, the control system recognizes that press-fitting is complete. Once press-fitting is complete, the controller immediately sends a command to the press head to retract it to its initial position. Upon receiving the command, the press head smoothly retracts, eventually returning to its pre-pressing position, ready for the next press-fitting operation.

[0029] In some embodiments, step S1 includes the following steps: Step S1-1, randomly initialize a group of particles, each particle represents a set of pressing parameter combinations, including pressure, speed, and pressing depth, assign an initial position and speed to each particle, and set the value range of each parameter; By randomly initializing the particle swarm, we can ensure that the global optimal combination of press-fitting parameters is found; Step S1-2: setting a fitness function and calculating the fitness value of each particle according to the target pressing quality requirements, where the pressing quality requirements include the pressing time range, pressure range, and depth error range; The fitness function can evaluate the quality of each set of press parameters. Through the fitness value, the performance of different parameter combinations can be quantitatively compared; Step S1-3: Based on the particle's historical optimal position and global optimal position, the particle's velocity and position are updated using the particle swarm optimization algorithm, ensuring that the parameter values ​​are within the preset boundaries; By updating the speed and position of particles, dynamic adjustment of parameters can be achieved, making the search process more flexible and efficient, and helping to escape from local optimal solutions and find the global optimal solution; Step S1-4: repeat steps S1-2 and S1-3 to perform iterative optimization; Through multiple iterations, the optimal combination of press-fitting parameters can be gradually approached, thus improving the optimization degree and stability of the press-fitting operation; Step S1-5: When the preset number of iterations is reached, the iteration is stopped, the particle with the best fitness value is selected, and its corresponding pressing parameters are extracted as the optimal control parameter group; By setting the number of iterations, the computational cost and time of the optimization process can be controlled to ensure that a relatively optimized combination of press-fitting parameters is obtained within a reasonable time. Step S1-6, controlling the servo motor according to the control parameter group combination obtained in step S1-5 as the preset press-fitting parameters; Using optimized press-fitting parameters for actual operation can improve the quality and efficiency of press-fitting operations, reduce trial and error costs, and improve the overall performance of the production line.

[0030] When specifically applied, this includes: Determine the size of the particle swarm (i.e., the number of particles). For each particle, randomly generate its initial position and velocity. The position here represents a set of pressing parameters (pressure, velocity, and pressing depth), while the velocity indicates the direction and step size of parameter adjustment. Ensure that the generated parameter values ​​are within a reasonable range to avoid safety hazards in actual operation. A fitness function is defined, taking the position of each particle (i.e., the pressing parameters) as input and calculating its fitness value. The higher the fitness value, the better the set of parameters. Based on the current speed and position of each particle, as well as its fitness value, the speed and position update formulas in the particle swarm optimization algorithm are used to adjust the particle state. The updated particle will represent a new pressing parameter combination for the next round of evaluation. The steps are repeated, that is, the fitness value and state of the particle are continuously calculated and updated. After each round of iteration, the current optimal particle (i.e., the particle with the highest fitness value) is recorded. When the preset number of iterations is reached, the iteration process is stopped and the position of the currently recorded optimal particle, i.e., the final pressing parameter combination, is output. The output final pressing parameter combination is converted into control instructions for the servo motor. According to these instructions, the operation of the servo motor is precisely controlled, thereby driving the telescopic rod to perform the pressing operation according to the optimized parameters.

[0031] In some embodiments, in step S1-2, the fitness function is calculated as: ; in, 、 and is the weight; is the influencing factor of depth error on product quality score; and Respectively represent the impact factor of press speed on production time and basic time; It is the factor that influences the production cost by intensity and time consumption; It is a fixed cost; is the target press depth; is the actual pressing depth achieved at particle position x; is the average pressing velocity at particle position x; is the average pressing force at particle position x.

[0032] This fitness function ensures that product quality, production efficiency and production cost can be balanced during the optimization process, thereby obtaining a more comprehensive optimization result. 、 and ) and various impact factors ( 、 、 、 、 ), the optimization target can be flexibly adjusted to suit different production requirements and product characteristics. This function can accurately quantify the performance of each particle (i.e., each set of pressing parameters), and reflect the quality, efficiency and cost of the pressing operation through specific values. By optimizing the pressing depth ( Approaching ), can reduce the quality problems of products caused by insufficient or excessive press-fitting, thereby improving the overall quality of the product. By optimizing the pressing speed, the production cycle can be reduced and the production efficiency can be improved. ) and speed, can ensure product quality and production efficiency while reducing the additional costs caused by excessive pressing or low-speed pressing, thereby achieving effective control of production costs.

[0033] In some embodiments, in step S1-3, the updating formula of particle velocity is: ; in, represents the velocity of particle i at time t; ω is the inertia weight; and is the learning factor; and is a random number in the range [0, 1]; is the individual optimal position of particle i; is the global optimal position of the entire particle swarm; represents the position of particle i at time t; is the calculated velocity of particle i at time t+1; The speed update formula allows particles to dynamically adjust according to historical speed, individual optimality and global optimality. This dynamicity enables particles to effectively explore and develop in the search space and find better solutions. and and random numbers and , increases the randomness and diversity of the search process, helps to avoid falling into local optimality and improves the global search capability. represents the individual optimal position, encouraging particles to move closer to their own historical optimal position; while g represents the global optimal position, guiding particles to move to the optimal position of the entire group. This mechanism finds a balance between individual optimization and group wisdom.

[0034] The updating formula of particle position is: ; in, is the weight of the influence of velocity on position update; is the influence weight of the individual's optimal position on the current position update; is the influence weight of the global optimal position on the current position update; is a random perturbation weight; and are the upper and lower bounds of the search space respectively; is the next random number; m is the parameter of the generator; The position update formula is based on the current position and speed of the particle as well as the influence of the individual optimal position and the global optimal position, so that the particle can comprehensively consider multiple information when updating its position, thereby improving the accuracy and efficiency of the search. 、 、 and , can flexibly control the influence of different factors on particle position update. The formula includes the upper bound of the search space and the lower bound , ensuring that particles do not exceed the predetermined search range when updating their positions, thereby ensuring the effectiveness and feasibility of the search. By influencing the global optimal position g, this formula can encourage particles to approach the global optimal solution, enhancing the algorithm's global search capabilities. The individual optimal position pi helps particles quickly converge to their individual historical best position, thereby improving the algorithm's convergence speed to a certain extent.

[0035] In some embodiments, in step S3, the press speed adjustment amount is calculated using the following formula: ; The press force adjustment is calculated using the following formula: ; in, is the adjustment amount of the press speed, is the adjustment amount of the pressing force; 、 、 、 、 、 、 and is the adjustment factor; is the preset target pressing force; It is the pressing force obtained in real time; is the preset target press depth; It is the pressing depth obtained in real time; is the maximum pressing force applied; is the maximum press depth achieved; is the real-time rate of change of the pressing force; is the real-time rate of change of press depth; This step dynamically calculates the adjustment amount of the pressing speed and force through the real-time acquisition of the pressing force and pressing depth data. This real-time feedback and adjustment mechanism can ensure that the pressing process is always maintained in the optimal state, thereby improving product quality and production efficiency. When calculating the adjustment amount, multiple dimensions such as the pressing force, pressing depth and its rate of change are comprehensively considered, making the adjustment more comprehensive and accurate. Through multiple adjustment coefficients, a high degree of flexibility and configurability is provided for the pressing process. By monitoring the changes in the pressing force and depth in real time and adjusting the pressing speed and force accordingly, equipment damage or product quality problems caused by overload can be effectively prevented. By precisely controlling the pressing speed and force, the pressing cycle can be shortened, unnecessary downtime can be reduced, and thus production efficiency can be improved. At the same time, the optimized pressing parameters also help to reduce energy consumption.

[0036] In some embodiments, in step S1-4, the press speed is calculated using the following formula: ; in, Indicates the adjusted press speed, which is the result of the formula calculation and will be used as the speed setting value in the final control instruction; Indicates the pressing speed before adjustment, also known as the initial speed or current speed; Indicates the speed adjustment coefficient, which is a positive number; Represents the velocity damping coefficient, which is a non-negative number used to reduce the impact of the difference between the initial velocity and the target velocity on the final velocity. When the initial velocity is far away from the target velocity, this term will increase, thereby reducing the adjustment amplitude of the final velocity to avoid excessive speed changes; Indicates the target speed; The press force is calculated using the following formula: ; in, Indicates the adjusted pressing force, which is the result of the formula calculation and will be used as the force setting value in the final control instruction; Indicates the pressing force before adjustment, also known as the initial force or current force; Indicates the strength adjustment coefficient, which is a positive number; Represents the force damping coefficient, which is a non-negative number used to reduce the impact of the difference between the initial force and the target force on the final force. When the initial force is far away from the target force, this term will increase, thereby reducing the adjustment amplitude of the final force to avoid excessive force changes; Indicates the target force, which is the desired pressing force. It can be a preset value or dynamically determined according to process requirements. Represents the force integral coefficient, which is a positive number. It is used to consider the impact of the difference between the target force and the initial force over a period of time on the final force adjustment. This term helps to reduce long-term force deviations. It represents the time integral of the difference between the target force and the initial force, reflecting the cumulative effect of force deviation over a period of time.

[0037] Through the speed adjustment coefficient, speed damping coefficient, force adjustment coefficient, force damping coefficient and force integral coefficient, the pressing speed and force can be controlled more accurately, making them closer to the preset target value. This precise control helps to improve product quality and production efficiency. The damping coefficient helps to reduce the impact of the difference between the initial value and the target value on the final adjustment result. When the pressing speed or force deviates from the target value, the damping term will increase, thereby smoothly adjusting these parameters to avoid excessive fluctuations, which helps to protect the mechanical system from sudden shocks and stresses. By comparing the difference between the target value and the initial value over a period of time, it is possible to better cope with long-term deviations, thereby improving the stability of the pressing process. The present invention can be dynamically adjusted according to real-time pressing data and preset target parameters, so that the system can flexibly adapt to different production environments and process requirements.

[0038] In some embodiments, the present application provides a bulldozer half-axle electronic press loader control system, the system comprising: A servo press-fitting execution module is used to drive the telescopic rod to extend or retract according to control instructions to achieve press-fitting operations on the bulldozer half shaft; A press-fitting parameter generation module is used to dynamically generate a press-fitting parameter combination including pressure, speed, and press-fitting depth using a particle swarm optimization algorithm based on preset press-fitting quality requirements, wherein the press-fitting quality requirements include a press-fitting time range, a pressure range, and a depth error range; The data acquisition module is used to collect the pressing depth data and pressing force data of the telescopic rod in real time during the pressing process; A control instruction calculation module is used to dynamically calculate the press speed adjustment amount and the press force adjustment amount based on the real-time collected data and the current press parameters after the press head contacts the workpiece, and generate an updated press control instruction; The abnormality judgment module is used to judge whether a press-fitting abnormality occurs or is completed based on the real-time press-fitting depth and force information obtained. Specifically, it includes: If the current pressure exceeds the preset safety threshold and the pressing depth does not reach the preset target, it is judged as abnormal and a press-stop instruction and an alarm signal are issued; If the current press-fitting depth reaches or exceeds the target value and the pressure does not exceed the upper limit, the press-fitting is determined to be completed; The controller is used to coordinate the operation of each module, control the servo press-fitting execution module to perform real-time press-fitting actions according to the current control instructions, and issue a press-fitting end instruction after the completion conditions are met to retract the telescopic rod to the initial standby position.

[0039] In some embodiments, the present application provides a terminal, including: A memory for storing a control program of a bulldozer half-axle electronic press assembly machine; A processor is used to implement the steps of the bulldozer half-axle electronic press assembling machine control method when executing the bulldozer half-axle electronic press assembling machine control system.

[0040] In some embodiments, the present application provides a computer-readable storage medium, which stores computer instructions. When a computer reads the computer instructions in the storage medium, the computer executes the bulldozer half-axle electronic press assembling machine control method.

[0041] The above content is merely an example and explanation of the concept of the present invention. Those skilled in the art may make various modifications or additions to the described specific embodiments or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined by the present invention, they should all fall within the scope of protection of the present invention.

Claims

1. A method for controlling a bulldozer half-axle electronic press assembly, characterized in that: The following steps are involved: Step S1, controlling the servo motor according to preset press-fitting parameters, and the servo motor drives the telescopic rod to extend for press-fitting; Step S2: obtaining the press-fitting force and press-fitting depth parameters of the telescopic rod in real time; Step S3: When the pressing head of the telescopic rod contacts the workpiece, the pressing speed and force adjustment amount are dynamically calculated based on the real-time pressing force and pressing depth data and pressing parameters; Step S4: adjusting the pressing speed and pressing force according to the pressing speed and force adjustment amount, thereby updating the control instruction; Step S5: Press-fit according to real-time control instructions.

2. The bulldozer half-axle electronic press-fitting control method according to claim 1, characterized in that: Step S1 includes the following steps: Step S1-1, randomly initialize a group of particles, each particle represents a set of pressing parameter combinations, including pressure, speed, and pressing depth, assign an initial position and speed to each particle, and set the value range of each parameter; Step S1-2: setting a fitness function and calculating the fitness value of each particle according to the target pressing quality requirements, where the pressing quality requirements include the pressing time range, pressure range, and depth error range; Step S1-3: Based on the particle's historical optimal position and global optimal position, the particle's velocity and position are updated using the particle swarm optimization algorithm, ensuring that the parameter values ​​are within the preset boundaries; Step S1-4: repeat steps S1-2 and S1-3 to perform iterative optimization; Step S1-5: When the preset number of iterations is reached, the iteration is stopped, the particle with the best fitness value is selected, and its corresponding pressing parameters are extracted as the optimal control parameter group; Step S1-6: Control the servo motor according to the control parameter group combination obtained in step S1-5 as the preset press-fitting parameters.

3. The bulldozer half-axle electronic press-fitting control method according to claim 2, characterized in that: In step S1-2, the calculation formula of the fitness function is: ； in, 、 and is the weight; is the influencing factor of depth error on product quality score; and Respectively represent the impact factor of press speed on production time and basic time; It is the factor that influences the production cost by intensity and time consumption; It is a fixed cost; is the target press depth; is the actual pressing depth achieved at particle position x; is the average pressing velocity at particle position x; is the average pressing force at particle position x.

4. The bulldozer half-axle electronic press-fitting control method according to claim 3, characterized in that: In step S1-3, the update formula of particle velocity is: ； in, represents the velocity of particle i at time t; ω is the inertia weight; and is the learning factor; and is a random number in the range [0, 1]; is the individual optimal position of particle i; is the global optimal position of the entire particle swarm; represents the position of particle i at time t; is the calculated velocity of particle i at time t+1; The updating formula of particle position is: ； in, is the weight of the influence of velocity on position update; is the influence weight of the individual's optimal position on the current position update; is the influence weight of the global optimal position on the current position update; is a random perturbation weight; and are the upper and lower bounds of the search space respectively; is the next random number; m is the parameter of the generator.

5. The bulldozer half-axle electronic press-fitting control method according to claim 1, characterized in that: In step S3, the press speed adjustment amount is calculated using the following formula: ； The press force adjustment is calculated using the following formula: ； in, is the adjustment amount of the press speed, is the adjustment amount of the pressing force; 、 、 、 、 、 、 and is the adjustment factor; is the preset target pressing force; It is the pressing force obtained in real time; is the preset target press depth; It is the pressing depth obtained in real time; is the maximum pressing force applied; is the maximum press depth achieved; is the real-time rate of change of the pressing force; It is the real-time rate of change of the press depth.

6. The bulldozer half-axle electronic press-fitting control method according to claim 5, characterized in that: In step S1-4, the press speed is calculated using the following formula: ； in, Indicates the adjusted pressing speed; Indicates the pressing speed before adjustment; Indicates the speed adjustment factor; represents the velocity damping coefficient; Indicates the target speed; The press force is calculated using the following formula: ； in, Indicates the adjusted pressing force; Indicates the pressing force before adjustment; Indicates the force adjustment coefficient; represents the force damping coefficient; Indicates target strength; Indicates the force integral coefficient; It represents the time integral of the difference between the target force and the initial force.

7. The bulldozer half-axle electronic press-fitting control method according to claim 1, characterized in that: The method further comprises the following steps: Step S6: Based on the real-time collected press-fitting depth and press-fitting force data, if it is monitored that the current press-fitting pressure exceeds the preset safety upper limit and the press head displacement fails to reach the preset target displacement threshold, it is determined that a press-fitting abnormality has occurred, press-fitting is terminated, and an alarm signal is output; When the displacement of the press head reaches or exceeds the preset target displacement and the applied pressure is always within the allowable range, the press fitting is determined to be completed.

8. A bulldozer half-axle electronic press-fit control system, characterized in that: The system includes: A servo press-fitting execution module is used to drive the telescopic rod to extend or retract according to control instructions to achieve press-fitting operations on the bulldozer half shaft; A press-fitting parameter generation module is used to dynamically generate a press-fitting parameter combination including pressure, speed, and press-fitting depth using a particle swarm optimization algorithm based on preset press-fitting quality requirements, wherein the press-fitting quality requirements include a press-fitting time range, a pressure range, and a depth error range; The data acquisition module is used to collect the pressing depth data and pressing force data of the telescopic rod in real time during the pressing process; A control instruction calculation module is used to dynamically calculate the press speed adjustment amount and the press force adjustment amount based on the real-time collected data and the current press parameters after the press head contacts the workpiece, and generate an updated press control instruction; The abnormality judgment module is used to judge whether a press-fitting abnormality occurs or is completed based on the real-time press-fitting depth and force information obtained. Specifically, it includes: If the current pressure exceeds the preset safety threshold and the pressing depth does not reach the preset target, it is judged as abnormal and a press-stop instruction and an alarm signal are issued; If the current press-fitting depth reaches or exceeds the target value and the pressure does not exceed the upper limit, the press-fitting is determined to be completed; The controller is used to coordinate the operation of each module, control the servo press-fitting execution module to perform real-time press-fitting actions according to the current control instructions, and issue a press-fitting end instruction after the completion conditions are met to retract the telescopic rod to the initial standby position.

9. A terminal, characterized in that: include: A memory for storing a control program of a bulldozer half-axle electronic press assembly machine; A processor is used to implement the steps of the bulldozer half-shaft electronic press-installer control method as claimed in claim 1 when executing the bulldozer half-shaft electronic press-installer control system.

10. A computer-readable storage medium, characterized in that The storage medium stores computer instructions. When the computer reads the computer instructions in the storage medium, the computer executes the bulldozer half-axle electronic press assembly control method as claimed in claim 1.

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