Fastener tightening method, fastener tightening device and related equipment

Abstract

The invention discloses a fastener tightening method, a fastener tightening device and related equipment, and the method comprises the steps: obtaining a first image of the surrounding environment of a fastener under the condition that any fastener of a to-be-tightened workpiece and a tightening mechanism are located at a corresponding position; the first image is input into a pre-obtained target recognition model, a model category corresponding to the first image is matched, and the target recognition model comprises a plurality of model categories divided according to a preset fastener tightening sequence of the to-be-tightened workpiece; under the condition that the corresponding model category is determined to be a target category, tightening operation is conducted on the fastener, and the target category is the category of the fastener to be tightened currently in a preset fastener tightening sequence; and the qualified tightening number of the tightening operation is obtained, and the tightening mechanism is locked under the condition that the qualified tightening number reaches the number of the fasteners. The tightening device can ensure that the fasteners are tightened according to a correct sequence, and has a sequence mistake-proofing function.

Description

Technical Field

[0001] The present application relates to the technical field of accessory assembly, and in particular to a fastener tightening method, a fastener tightening device and related equipment. Background Art

[0002] Fastener connection is the most common connection method for equipment, such as bolt connection and screw connection. Taking bolt connection as an example, whether the bolt tightening torque is qualified or not, especially for key bolts involving safety and function, if the tightening is not qualified, it may lead to loss of equipment function or even a safety accident.

[0003] The current industry-standard method for error-proofing fastener tightening involves identifying the installation environment, selecting the corresponding fastener position number, and sending it to the tightening system, which then invokes the corresponding tightening process based on the number. However, this method cannot meet requirements for tightening sequences and lacks sequence error prevention. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a fastener tightening method, a fastener tightening device and related equipment to solve the problem that the fastener tightening error prevention method in the prior art does not have a sequential error prevention function.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides a fastener tightening method, which is applied to a tightening system, the tightening system including a tightening mechanism, and the method comprising: When any fastener of the workpiece to be tightened is in a corresponding position with the tightening mechanism, acquiring a first image of the surrounding environment of the fastener; Inputting the first image into a pre-acquired target recognition model to match a model category corresponding to the first image, wherein the target recognition model includes a plurality of model categories divided according to a preset fastener tightening sequence of a workpiece to be tightened; When it is determined that the corresponding model category is the target category, a tightening operation is performed on the fastener, where the target category is the category of the fastener currently to be tightened in the preset fastener tightening sequence; A qualified tightening number of the tightening operation is obtained, and when it is determined that the qualified tightening number reaches the number of fasteners, the tightening mechanism is locked.

[0006] In an embodiment of the present application, when any fastener of a workpiece to be tightened is in a corresponding position with the tightening mechanism, acquiring a first image of the surrounding environment of the fastener includes: When any fastener of the workpiece to be tightened is in a corresponding position with the tightening mechanism, obtaining the distance between the workpiece to be tightened and the tightening mechanism; When the distance is less than the preset distance, a first image of the surrounding environment of the fastener is acquired.

[0007] In an embodiment of the present application, the tightening system further includes a cloud platform; When any fastener of the workpiece to be tightened is in a corresponding position to the tightening mechanism, before acquiring the first image of the surrounding environment of the fastener, the method further includes: Uploading the workpiece information of the workpiece to be tightened to the cloud platform; Receive the qualified tightening torque and the number of the fasteners fed back by the cloud platform based on the workpiece information.

[0008] In an embodiment of the present application, obtaining a qualified tightening number of a tightening operation, and locking a tightening mechanism when determining that the qualified tightening number reaches the number of fasteners, includes: When the actual tightening torque of the tightening operation reaches the qualified tightening torque, the tightening operation is determined to be a qualified operation; The cumulative number of qualified operations is determined as the qualified tightening number; When it is determined that the qualified tightening quantity reaches the quantity of the fasteners, the tightening mechanism is locked.

[0009] In an embodiment of the present application, the method further includes: Receive the tightening program number based on workpiece information feedback from the cloud platform; When the corresponding model category is determined to be the target category, a tightening operation is performed on the fastener, including: In a case where the corresponding model category is determined to be the target category, determining a tightening program corresponding to the tightening program number, the tightening program including operation information when the tightening mechanism performs a tightening operation; Control the tightening mechanism to perform tightening operations on the fasteners according to the tightening program.

[0010] In an embodiment of the present application, a method for obtaining a pre-acquired target recognition model includes: Acquire a training data set, the training data set including a plurality of training samples, each training sample including a fastener category and a second image corresponding to the fastener category, the second image including peripheral information of the fastener; Use the training data set to train the preset initial model until the preset training stop condition is met; Configure a preset fastener tightening sequence to obtain a pre-acquired target recognition model.

[0011] A second aspect of the present application provides a fastener tightening device, which is applied to a tightening system. The tightening system includes a tightening mechanism, and the device includes: A first acquisition module is configured to acquire a first image of the surrounding environment of any fastener of the workpiece to be tightened when the fastener and the tightening mechanism are in corresponding positions; a recognition module, configured to input the first image into a pre-acquired target recognition model and match a model category corresponding to the first image; an execution module, configured to perform a tightening operation on the fastener when determining that the corresponding model category is a target category, the target category being the category of the fastener currently to be tightened in a preset fastener tightening sequence; The locking module is used to obtain the qualified tightening number of the tightening operation, and lock the tightening mechanism when it is determined that the qualified tightening number reaches the number of fasteners.

[0012] A third aspect of the present application provides an electronic device, the electronic device comprising: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the fastener tightening method according to the first aspect is implemented.

[0013] A fourth aspect of the present application provides a tightening system, the tightening system comprising: Such as the electronic device of the third aspect; and the tightening mechanism.

[0014] A fifth aspect of the present application provides a machine-readable storage medium having stored thereon instructions for causing a machine to execute the fastener tightening method according to the first aspect.

[0015] In the fastener tightening method provided in this application, by acquiring an image of the fastener's surrounding environment, using a target recognition model to identify the model category of the fastener, and judging whether it is the target category currently to be tightened based on a preset fastener tightening sequence, the method achieves error-proofing of the fastener tightening sequence, solves the problem that existing methods cannot meet the tightening sequence requirements, ensures that fasteners are tightened in the correct order, and improves the accuracy of equipment assembly. At the same time, the number of qualified tightening operations is counted, and the tightening mechanism is locked when the number of fasteners is reached, effectively avoiding missed tightening and over-tightening, and further ensuring the integrity and sequentiality of the tightening of multiple fasteners. Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present application but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings: Figure 1 A schematic diagram of a process of tightening a fastener according to an embodiment of the present application is shown; Figure 2 The following schematically shows a structural diagram of a tightening system according to an embodiment of the present application; Figure 3 The following schematically shows a schematic diagram of the installation of a feed port according to an example of an embodiment of the present application; Figure 4 A schematic diagram schematically shows a tightening sequence according to an embodiment of the present application; Figure 5 A schematic diagram of a tightening operation according to an embodiment of the present application is schematically shown; Figure 6 The overall process diagram of the fastener tightening method according to the embodiment of the present application is schematically shown; Figure 7 The schematic diagram shows the structure of a fastener tightening device according to an embodiment of the present application.

[0017] Figure 8 It is a structural diagram of an electronic device provided in an embodiment of the present application.

[0018] Description of Reference Numerals DETAILED DESCRIPTION

[0019] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0020] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of laws and regulations. In the embodiments of this application, certain software, components, models, and other existing solutions in the industry may be mentioned. These should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use such solutions.

[0021] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), such directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0022] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0023] It should be noted that the fastener tightening method provided in the subsequent embodiments of the present application can be applied to tightening fasteners of the workpiece to be tightened, wherein the fasteners may include but are not limited to bolts, screws, studs, nuts and clips, etc. In order to clearly explain the technical solution, the fastener is a bolt as an example to explain the embodiment.

[0024] Figure 1 The following schematically shows a flow chart of a method for tightening a fastener according to an embodiment of the present application. Figure 1 As shown, an embodiment of the present application provides a fastener tightening method, which may include the following steps.

[0025] Step 101: When any fastener of a workpiece to be tightened is in a corresponding position with a tightening mechanism, a first image of the surrounding environment of the fastener is acquired; In an embodiment of the present application, a fastener tightening method is applied to a tightening system, which also includes a tightening mechanism and an image acquisition mechanism. For ease of understanding, the tightening system is described below.

[0026] Figure 2 The schematic diagram of the structure of a tightening system according to an embodiment of the present application is shown. In addition to the above mechanisms, the tightening system also includes a moving mechanism 20, a vision system mounting plate 40 and a distance measuring mechanism 50.

[0027] The moving mechanism 20 can be a truss-type structure or a column-type cantilever structure, capable of movement in three directions (X, Y, and Z). This is used to align the tightening gun 301 in the tightening mechanism 30 with the fastener of the workpiece to be tightened. The X, Y, and Z directions can be moved electrically or manually, and electric or pneumatic brakes can be provided in each direction to maintain a specific X, Y, and Z orientation.

[0028] The tightening mechanism 30, specifically a tightening actuator, is installed at the end of the moving mechanism 20. It rotates to make the fastener torque reach the required level. It includes a tightening gun 301 and a controller, etc., and can receive instructions from the tightening system to perform tightening operations.

[0029] The visual system mounting plate 40 is mounted at the end of the moving mechanism 20 , and a distance measuring mechanism 50 and an image acquisition mechanism 60 are mounted thereon.

[0030] The distance measuring mechanism 50 , which can be specifically a laser rangefinder, is designed with an anti-collision cover for automatically measuring the distance between the workpiece and the tightening mechanism 30 , and triggering the image acquisition mechanism 60 to work when the distance reaches a set value.

[0031] The image acquisition mechanism 60 may be a visual camera for capturing images of the surrounding environment of each fastener and importing the images into the recognition model. The lens of the visual camera may be a 2D or 3D camera.

[0032] In this embodiment, when any fastener of a workpiece to be tightened is in a corresponding position with the tightening mechanism 30, a first image of the surrounding environment of the fastener is acquired by the image acquisition mechanism 60. The workpiece to be tightened includes a plurality of fasteners to be tightened. The fastener and the tightening mechanism 30 being in a corresponding position means that the fastener and the front end sleeve 302 of the tightening gun 301 in the tightening mechanism 30 are aligned (specifically, the sleeve is inserted into the fastener), that is, they are in the same horizontal position. The tightening mechanism 30 can be moved by the moving mechanism 20 to correspond to any fastener.

[0033] After the fastener is aligned with the tightening mechanism 30 , the image acquisition mechanism 60 may be used to acquire a first image of the fastener's surroundings. The first image may include the fastener's dimensions and surrounding information.

[0034] For ease of understanding, as an example, this embodiment takes the tightening of the bolts at the discharge port 32 of the pump truck as an example to illustrate the workpiece to be tightened.

[0035] like Figure 3 As shown, Figure 3 The diagram of the installation of the discharge port 32 is shown in Figure 3. The discharge port 32 needs to be installed on the hopper 31 through multiple bolts 33. The hopper 31 and the discharge port 32 are the workpieces to be tightened, and the multiple bolts 33 are the fasteners. The tightening order is as follows: Figure 4 Execute sequentially.

[0036] Step 102: Input the first image into a pre-acquired object recognition model to match a model category corresponding to the first image; In an embodiment of the present application, the target recognition model includes multiple model categories divided according to the preset fastener tightening sequence of the workpiece to be tightened, wherein the model category refers to a category that includes the sequence and the specific fastener type. For example, category 1 is the first in the tightening sequence and the specific type corresponding to the fastener; category 2 is the second in the tightening sequence and the specific type corresponding to the fastener.

[0037] After acquiring the first image, the object recognition model pre-deployed in the tightening system is used to identify the first image and determine the model category of the fastener in the first image. This model has been pre-trained and has the ability to recognize features such as the fastener's surrounding information, allowing it to accurately determine the model category of the fastener.

[0038] Step 103: When it is determined that the corresponding model category is the target category, tighten the fastener; In an embodiment of the present application, the target category is the category of the fastener currently to be tightened within a preset fastener tightening sequence; the fastener tightening sequence corresponds to the target recognition model, i.e., the target recognition model includes the tightening sequence of each fastener in the workpiece to be tightened, i.e., the fastener tightening sequence. If the fastener tightening sequence needs to be changed, the model category of each fastener can be rearranged to change the fastener tightening sequence. For example, changing a fastener from category 1 to category 2 would change the tightening sequence of that fastener.

[0039] As an example, the bolt tightening sequence is as follows Figure 4 As shown, they are 1, 2, 3, 4, 5, 6, 7, and 8. If the target category to be tightened is 1 and the model category is also 1, it means that the model category and the target category match. At this time, the tightening operation can be performed and the target category to be tightened is changed to 2. On the other hand, if the target category is 1 and the model category is 2, the model category and the target category do not match. At this time, it is necessary to use the moving mechanism 20 to reselect a bolt at a different position and re-execute step 101.

[0040] Among them, the control tightening mechanism 30 performs the tightening operation on the bolt as follows Figure 5 As shown, the tightening operation can be completed by rotating the tightening gun 301.

[0041] Step 104 : Obtain the qualified tightening number of the tightening operation, and lock the tightening mechanism 30 when it is determined that the qualified tightening number reaches the number of fasteners.

[0042] In the embodiment of the present application, after controlling the tightening mechanism 30 to perform a tightening operation on the fastener, the target category may be updated to the next category in the tightening sequence of the fastener until the number of qualified tightening operations reaches the number of fasteners.

[0043] During the tightening operation, the number of fasteners that have passed the tightening is counted. When the number of fasteners that have passed the tightening reaches the total number of fasteners on the workpiece to be tightened, the tightening system locks the tightening mechanism 30 to prevent misoperation or repeated tightening, ensuring that all fasteners are tightened as required.

[0044] In this embodiment, by capturing fastener images, identifying the fastener category using an object recognition model, and determining whether the fastener is of the target category to be tightened based on a preset fastener tightening sequence, this method implements error-proofing of the fastener tightening sequence, resolving the problem of existing methods failing to meet tightening sequence requirements. This ensures that fasteners are tightened in the correct order, improving the accuracy of equipment assembly. Furthermore, the number of qualified tightening operations is counted, and the tightening mechanism is locked when the required number of fasteners is reached. This effectively prevents missed or over-tightened fasteners, further ensuring the integrity and sequential tightening of multiple fasteners. In one embodiment of the present application, when any fastener of a workpiece to be tightened is in a corresponding position with the tightening mechanism 30, acquiring a first image of the surrounding environment of the fastener includes: When any fastener of the workpiece to be tightened is in a corresponding position with the tightening mechanism 30 , obtaining the distance between the workpiece to be tightened and the tightening mechanism 30 ; When the distance is less than the preset distance, a first image of the fastener is acquired.

[0045] In this embodiment, when any fastener of the workpiece to be tightened is in relative position with the tightening mechanism 30 (i.e., the fastener is aligned with the front sleeve 302 of the tightening gun 301), the distance measurement mechanism 50 begins operation, thereby obtaining the distance between the fastener and the tightening mechanism 30. Only when the measured distance is less than a preset distance will the image capture mechanism 60 be triggered to capture the first image of the workpiece to be tightened. This preset distance is set based on actual conditions and experience to ensure that image capture occurs when the fastener and tightening mechanism 30 are in the appropriate relative position, thereby ensuring image quality.

[0046] In this embodiment, the distance measuring mechanism 50 is used to trigger the image acquisition mechanism 60 to take pictures, which can effectively prevent the problem of triggering the photo-taking program to take pictures of the wrong position and occupying the device storage space when the device is not in place, thereby improving the success rate of tightening the fasteners.

[0047] In one embodiment of the present application, when any fastener of the workpiece to be tightened is in a corresponding position with the tightening mechanism 30, before acquiring the first image of the surrounding environment of the fastener, the method further includes: Upload the workpiece information of the workpiece to be tightened to the cloud platform; Receive the tightening qualified torque and number of fasteners based on the workpiece information feedback from the cloud platform.

[0048] In this embodiment, after the workpiece to be tightened is positioned in the hopper 31, the tightening system scans and identifies the workpiece barcode information at the outlet 32 ​​to obtain workpiece information and feeds it back to the cloud platform. This workpiece information may include the workpiece model, specifications, material, design drawings, and the distribution of fasteners. By uploading detailed workpiece information, the cloud platform can fully understand the characteristics of the workpiece to be tightened.

[0049] After receiving the workpiece information, the cloud platform matches the tightening torque and number of fasteners corresponding to the workpiece information with the database containing the tightening torque and number of fasteners uploaded to the cloud platform in advance, and sends the matched information to the tightening system.

[0050] In this embodiment, accurate tightening torque and number of fasteners can be provided for the tightening operation according to the specific information of the workpiece to be tightened, thereby improving the precision and quality of fastener tightening and ensuring the stability and safety of equipment assembly.

[0051] In one embodiment of the present application, obtaining the qualified tightening number of the tightening operation, and locking the tightening mechanism 30 when it is determined that the qualified tightening number reaches the number of fasteners, includes: When the actual tightening torque of the tightening operation reaches the qualified tightening torque, the tightening operation is determined to be a qualified operation; The cumulative number of qualified operations is determined as the qualified tightening number; When it is determined that the qualified tightening quantity reaches the quantity of the fasteners, the tightening mechanism is locked.

[0052] In this embodiment, the tightening system further includes a cloud platform connected to the tightening system.

[0053] When obtaining the qualified tightening count for a tightening operation, it's necessary to confirm whether the actual tightening torque achieved meets the qualified tightening torque. This qualified tightening torque is determined by the cloud platform based on the workpiece information (such as workpiece model, specifications, fastener distribution, and connection requirements). For example, for different models of pump truck outlets 32, the cloud platform will determine the corresponding qualified tightening torque for each fastener based on the specific design requirements.

[0054] When the actual tightening torque reaches the qualified tightening torque, the tightening system generates a qualified signal, indicating that the corresponding tightening operation is qualified, and uploads the signal to the cloud platform. This process provides real-time feedback on the tightening quality of individual fasteners, allowing the cloud platform to obtain timely information on the tightening status of each fastener.

[0055] The cloud platform continuously receives qualified signals from each fastener tightening operation and accumulates and counts them to calculate the qualified tightening number. When the cumulative number of received qualified tightening numbers reaches the number of fasteners on the workpiece to be tightened, it indicates that all fasteners have reached the qualified tightening torque, and the cloud platform feeds back a qualified signal for each fastener to the tightening system.

[0056] After receiving the single qualified signal fed back by the cloud platform, the tightening system confirms that the qualified number of tightening operations has reached the number of fasteners, and then executes the operation of locking the tightening mechanism 30 to complete the entire fastener tightening process.

[0057] In this embodiment, through data interaction between the cloud platform and the tightening system, precise control of the tightening torque of the fasteners and monitoring and management of the tightening operation are achieved, ensuring that each fastener can be tightened with the appropriate torque and improving the tightening quality of the fasteners.

[0058] In one embodiment of the present application, the method further includes: Receive the tightening program number fed back by the cloud platform based on the workpiece information; the tightening program number is the operation information when the tightening mechanism 30 performs the tightening operation; In a case where the corresponding model category is determined to be the target category, determining a tightening program corresponding to the tightening program number, the tightening program including operation information when the tightening mechanism performs a tightening operation; The tightening mechanism is controlled to perform a tightening operation on the fastener according to the tightening program.

[0059] In this embodiment, the cloud platform also stores the correspondence between work order information and tightening procedure numbers. Each tightening procedure number corresponds to a tightening procedure, which is stored in the tightening system. The tightening procedure includes operational information during the tightening operation, which can include detailed information such as tightening speed, tightening angle, tightening direction, and tightening torque variation curve.

[0060] Based on the workpiece information received, the cloud platform matches the workpiece's tightening program number and feeds it back to the tightening system. The tightening system then receives the tightening program number, matches it to the corresponding tightening program, and provides guidance for subsequent tightening operations. Operators can add or maintain the matching relationship between tightening programs and their corresponding program numbers through the cloud platform, shortening the time required to perform changes and maintenance at the on-site controller, significantly increasing maintenance efficiency.

[0061] When the model category is determined to be the target category to be tightened according to the preset fastener tightening sequence, the tightening system can control the tightening mechanism 30 to perform the tightening operation on the fastener according to the tightening program number fed back by the cloud platform.

[0062] In this embodiment, the cloud platform generates a tightening program number based on workpiece information, and then matches the tightening program number to the corresponding tightening program. This allows for more precise control of the tightening mechanism 30, improving the quality and efficiency of fastener tightening and adapting to the diverse tightening requirements of different workpieces. Furthermore, the cloud platform facilitates maintenance of tightening programs, improving maintenance efficiency.

[0063] In one embodiment of the present application, a method for obtaining a pre-acquired target recognition model includes: Acquire a training data set, the training data set including a plurality of training samples, each training sample including a fastener category and a second image corresponding to the fastener category, the second image including peripheral information of the fastener and also including an outer dimension of a workpiece to be tightened; Use the training data set to train the preset initial model until the preset training stop condition is met; Configure a preset fastener tightening sequence to obtain a pre-acquired target recognition model.

[0064] In this embodiment, multiple training samples are collected, each of which includes a fastener category and a second image corresponding to the category. The second image includes the dimensions of the workpiece to be tightened and information about the fastener surroundings, which is used to accurately identify the fastener category.

[0065] The obtained training dataset is used to train the preset initial model. During training, the model parameters are continuously adjusted to enable the model to learn the mapping relationship between fastener image features and categories. Training continues until the preset training stop conditions are met, such as reaching a certain training accuracy or number of training times, thus obtaining the initial recognition model for the fasteners.

[0066] After obtaining the initial recognition model, it is also necessary to configure the fastener tightening sequence in the initial recognition model. The sequence is arranged according to the different categories of the fasteners. For example, fasteners of category A are configured as category 1, and fasteners of category B are configured as category 2; or fasteners of category B are configured as category 1, and fasteners of category A are configured as category 2, until all fastener categories are configured and the target recognition model is obtained.

[0067] The target recognition model is deployed in the tightening system, enabling it to accurately identify the fastener category and provide a basis for determining the tightening sequence.

[0068] In this embodiment, by obtaining a suitable training data set, training a model, screening out a matching target recognition model and deploying it, the accuracy of fastener category recognition is improved, thereby ensuring that the fastener tightening operation is performed in the correct order, and improving the quality and reliability of equipment assembly.

[0069] Figure 6The overall process diagram of the fastener tightening method according to the embodiment of the present application is schematically shown. Figure 6 As shown, in the embodiment of the present application, the overall process of the fastener tightening method is as follows: 1. The tightening cloud platform maintains the workpiece tightening data information, that is, the tightening program number, tightening qualified torque and number of bolts of each workpiece are maintained on the cloud platform respectively; 2. The AI ​​model is classified according to the product and bolt tightening sequence, and the model is trained. This is the training process of the bolt recognition model in the above embodiment.

[0070] 3. Scan the barcode to identify the workpiece and upload the workpiece information to the cloud platform. That is, the tightening system in the above embodiment obtains the workpiece information by scanning and identifying the workpiece barcode information of the discharge port 32, and feeds the workpiece information back to the cloud platform.

[0071] 4. The cloud platform sends the tightening program number to the tightening system, that is, the cloud platform sends the tightening program number to the tightening system based on the workpiece information.

[0072] 5. Move the tightening device to identify the bolt cap, that is, move the tightening mechanism 30 by the moving mechanism 20 to correspond to any bolt of the workpiece to be tightened.

[0073] 6. Press the button of the tightening device to trigger the laser ranging signal, that is, obtain the distance between the bolt and the tightening mechanism 30 through the distance measuring mechanism 50.

[0074] 7. Laser distance detection, and when the conditions are met, the visual camera takes a picture and imports it into the AI ​​system. That is, when the distance is less than the preset distance, the first image of the workpiece to be tightened is obtained through the image acquisition mechanism 60, and the pre-acquired target recognition model is used to recognize the first image.

[0075] 8. The AI ​​model identifies, compares and classifies, and if the conditions are met, the tightening spindle starts and tightens the bolt. That is, the pre-acquired target recognition model in the above embodiment is used to identify the first image to obtain the model category of the fastener; according to the preset fastener tightening sequence, when it is determined that the model category is the target category currently to be tightened in the fastener tightening sequence, the tightening mechanism 30 is controlled to perform the tightening operation on the fastener.

[0076] 9. The tightening system data is uploaded to the tightening cloud platform, and when it is judged that the torque meets the requirements, the qualified number of times is judged. That is, in the above embodiment, when the actual tightening torque of the tightening operation reaches the qualified tightening torque, a qualified signal is generated and uploaded to the cloud platform, so that when the cumulative number of qualified signals received by the cloud platform reaches the number of fasteners, a single qualified signal is fed back to the tightening system.

[0077] 10. The tightening system locks the tightening shaft to complete the assembly.

[0078] Figure 7 A schematic structural diagram of a fastener tightening device provided in another embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0079] Reference Figure 7 , the fastener tightening device 700 may include: A first acquisition module 701 is configured to acquire, when any fastener of a workpiece to be tightened is in a corresponding position with the tightening mechanism, a surrounding environment of the fastener as a first image; Recognition module 702, configured to input the first image into a pre-acquired object recognition model and match a model category corresponding to the first image; An execution module 703 is configured to perform a tightening operation on the fastener when it is determined that the corresponding model category is a target category, where the target category is the category of the fastener to be tightened in a preset fastener tightening sequence; The locking module 704 is configured to obtain a qualified tightening quantity of the tightening operation, and lock the tightening mechanism when it is determined that the qualified tightening quantity reaches the number of fasteners.

[0080] Optionally, the first acquisition module 701 includes: A first acquisition submodule is configured to acquire the distance between the workpiece to be tightened and the tightening mechanism when any fastener of the workpiece to be tightened and the tightening mechanism are in corresponding positions; The second acquisition submodule is configured to acquire a first image of the fastener when the distance is less than a preset distance.

[0081] Optionally, the fastener tightening device 700 further includes: A first uploading module is used to upload the workpiece information of the workpiece to be tightened to the cloud platform; The first receiving module is used to receive the tightening qualified torque and the number of fasteners fed back by the cloud platform based on the workpiece information.

[0082] Optionally, the locking module 704 includes: A first determining submodule is configured to determine the tightening operation as a qualified operation when the actual tightening torque of the tightening operation reaches the qualified tightening torque; A second determining submodule is configured to determine the cumulative number of qualified operations as the qualified tightening number; The locking submodule is used to lock the tightening mechanism when it is determined that the qualified tightening quantity reaches the quantity of fasteners.

[0083] Optionally, the fastener tightening device 700 further includes: The second receiving module is used to receive the tightening program number based on the workpiece information feedback from the cloud platform; The execution module 703 is specifically configured to: In a case where the corresponding model category is determined to be the target category, determining a tightening program corresponding to the tightening program number, the tightening program including operation information when the tightening mechanism performs a tightening operation; Control the tightening mechanism to perform tightening operations on the fasteners according to the tightening program.

[0084] Optionally, the fastener tightening device 700 further includes: a second acquisition module, configured to acquire a training data set, the training data set including a plurality of training samples, each training sample including a fastener category of a fastener and a second image corresponding to the fastener category, the second image including peripheral information of the fastener; A training module is used to train a preset initial model using a training data set until a preset training stop condition is met; A configuration module, configured to configure a preset fastener tightening sequence and obtain a pre-acquired target recognition model; Figure 8 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application is shown.

[0085] The device may include a processor 801 and a memory 802 storing program instructions.

[0086] When the processor 801 executes the program, the steps in any of the above method embodiments are implemented.

[0087] For example, the program can be divided into one or more modules / units, one or more modules / units are stored in the memory 802 and executed by the processor 801 to complete the present application. One or more modules / units can be a series of program instruction segments that can perform specific functions, and the instruction segments are used to describe the execution process of the program in the device.

[0088] Specifically, the processor 801 may include a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0089] The memory 802 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 802 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 802 may include removable or non-removable (or fixed) media. Where appropriate, the memory 802 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 802 is a non-volatile solid-state memory.

[0090] The memory may include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical or other physical / tangible memory storage devices. Thus, generally, the memory includes one or more tangible (non-transitory) readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0091] The processor 801 implements any one of the methods in the above embodiments by reading and executing program instructions stored in the memory 802 .

[0092] In one example, the electronic device may further include a communication interface 803 and a bus 810. The processor 801, the memory 802, and the communication interface 803 are connected via the bus 810 and communicate with each other.

[0093] The communication interface 803 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0094] Bus 810 includes hardware, software or both, and the components of online data flow metering equipment are coupled to each other. For example, but not limitation, bus can include accelerated graphics port (AGP) or other graphics bus, enhanced industry standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industry standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 810 can include one or more buses. Although the present application embodiment describes and shows specific bus, the application considers any suitable bus or interconnection.

[0095] In addition, in combination with the methods in the above embodiments, embodiments of the present application may provide a storage medium for implementation. The storage medium stores program instructions; when the program instructions are executed by a processor, any one of the methods in the above embodiments is implemented.

[0096] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0097] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0098] An embodiment of the present application provides a computer program product, which is stored in a storage medium. The program product is executed by at least one processor to implement the various processes of the above-mentioned method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0099] It should be understood that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present application is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present application.

[0100] The functional modules shown in the above block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), suitable firmware, a plug-in unit, a function card or the like. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium that can store or transmit information. The example of a machine-readable medium includes an electronic circuit, a semiconductor memory device, a ROM, a flash memory, an erasable ROM (EROM), a floppy disk, a CD-ROM, an optical disk, a hard disk, an optical fiber medium, a radio frequency (RF) link, or the like. The code segment can be downloaded via a computer grid such as the Internet, an intranet, etc.

[0101] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps. In other words, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0102] Aspects of the present disclosure have been described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed via the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. This processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit. It is also understood that each box in the block diagram and / or the flowchart and the combination of the boxes in the block diagram and / or the flowchart can also be implemented by the dedicated hardware that performs the specified function or action, or can be implemented by the combination of dedicated hardware and computer instructions.

[0103] The above is only a specific implementation method of the present application. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the scope of protection of the present application is not limited to this. Any technician familiar with this technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the scope of protection of this application.

Claims

1. A method for tightening a fastener, characterized in that: Applied to a tightening system, the tightening system includes a tightening mechanism, and the method includes: When any fastener of the workpiece to be tightened is in a corresponding position to the tightening mechanism, acquiring a first image of the surrounding environment of the fastener; Inputting the first image into a pre-acquired object recognition model to match a model category corresponding to the first image, wherein the object recognition model includes a plurality of model categories divided according to a preset fastener tightening sequence of a workpiece to be tightened; In a case where it is determined that the corresponding model category is a target category, performing a tightening operation on the fastener, the target category being the category of the fastener currently to be tightened in the fastener tightening sequence; A qualified tightening quantity of the tightening operation is obtained, and when it is determined that the qualified tightening quantity reaches the quantity of the fasteners, the tightening mechanism is locked.

2. The fastener tightening method according to claim 1, characterized in that: When any fastener of the workpiece to be tightened is in a corresponding position to the tightening mechanism, acquiring a first image of the surrounding environment of the fastener includes: When any fastener of the workpiece to be tightened is in a corresponding position with the tightening mechanism, obtaining a distance between the workpiece to be tightened and the tightening mechanism; When the distance is less than a preset distance, a first image of the surrounding environment of the fastener is acquired.

3. The fastener tightening method according to claim 1, characterized in that: The tightening system also includes a cloud platform; When any fastener of the workpiece to be tightened is in a corresponding position to the tightening mechanism, before acquiring the first image of the surrounding environment of the fastener, the method further includes: Uploading the workpiece information of the workpiece to be tightened to the cloud platform; Receive the qualified tightening torque and the number of the fasteners fed back by the cloud platform based on the workpiece information.

4. The fastener tightening method according to claim 3, characterized in that: The obtaining of the qualified tightening number of the tightening operation and locking the tightening mechanism when it is determined that the qualified tightening number reaches the number of the fasteners includes: When the actual tightening torque of the tightening operation reaches the tightening qualified torque, the tightening operation is determined to be a qualified operation; Determine the cumulative number of qualified operations as the qualified tightening number; When it is determined that the qualified tightening quantity reaches the quantity of the fasteners, the tightening mechanism is locked.

5. The fastener tightening method according to claim 3, characterized in that: The method further comprises: receiving a tightening program number fed back by the cloud platform based on the workpiece information; When determining that the corresponding model category is the target category, performing a tightening operation on the fastener includes: In a case where it is determined that the corresponding model category is the target category, determining a tightening program corresponding to the tightening program number, wherein the tightening program includes operation information when the tightening mechanism performs a tightening operation; The tightening mechanism is controlled to perform a tightening operation on the fastener according to the tightening program.

6. The fastener tightening method according to claim 1, characterized in that: The method for obtaining the pre-acquired target recognition model includes: Acquire a training data set, the training data set including a plurality of training samples, each of the training samples including a fastener category of a fastener and a second image corresponding to the fastener category, the second image including peripheral information of the fastener; Using the training data set to train a preset initial model until a preset training stop condition is met; A preset fastener tightening sequence is configured to obtain the pre-acquired target recognition model.

7. A fastener tightening device, characterized in that: Applicable to a tightening system, the tightening system includes a tightening mechanism, and the device includes: a first acquisition module, configured to acquire a first image of the surrounding environment of any fastener of the workpiece to be tightened when the fastener is in a corresponding position to the tightening mechanism; a recognition module configured to input the first image into a pre-acquired target recognition model and match a model category corresponding to the first image, wherein the target recognition model includes a plurality of model categories divided according to a preset fastener tightening sequence of a workpiece to be tightened; an execution module, configured to perform a tightening operation on the fastener when it is determined that the corresponding model category is a target category, wherein the target category is a category of the fastener currently to be tightened in a preset fastener tightening sequence; The locking module is used to obtain the qualified tightening number of the tightening operation, and lock the tightening mechanism when it is determined that the qualified tightening number reaches the number of the fasteners.

8. An electronic device, characterized in that: The electronic device includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the fastener tightening method according to any one of claims 1 to 6 is implemented.

9. A tightening system, characterized in that: The tightening system comprises: The electronic device according to claim 8; and a tightening mechanism.

10. A machine-readable storage medium, characterized in that The machine-readable storage medium stores instructions for causing a machine to execute the fastener tightening method according to any one of claims 1 to 6.

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