Tightening device, tightening control method, equipment, readable storage medium and product

Abstract

The invention discloses a tightening device, a tightening control method, equipment, a readable storage medium and a product. The tightening device comprises an encoder; tightening the tool; the controller is in communication connection with the encoder and the tightening tool, and the controller is used for obtaining a first distance between the encoder and the tightening tool, determining a second distance between the encoder and a target tightening point of the target workpiece and providing tightening enabling for the tightening tool under the condition that the first distance is matched with the second distance; the tightening tool is to perform a tightening operation at the target tightening point in response to the tightening enabling. The method is beneficial to improving the accuracy of the tightening sequence.

Description

Technical Field

[0001] The present application relates to the field of batteries, and in particular to a tightening device, a tightening control method, equipment, a readable storage medium and a product. Background Art

[0002] During the battery production process, an assembly process is usually involved, which includes many steps related to tightening operations.

[0003] In these tightening operation-related processes, operators often miss or incorrectly tighten the tightening points during assembly. Summary of the Invention

[0004] The present application provides a tightening device, a tightening control method, equipment, a readable storage medium and a product, which can solve the problem of missed tightening or wrong tightening of tightening points.

[0005] In a first aspect, the present application provides a tightening device, which includes: an encoder; a tightening tool; and a controller, wherein the controller is communicatively connected to the encoder and the tightening tool respectively, and the controller is used to obtain a first distance between the encoder and the tightening tool, and determine a second distance between the encoder and a target tightening point of the target workpiece, and provide a tightening enable to the tightening tool when the first distance matches the second distance; the tightening tool is used to perform a tightening operation at the target tightening point in response to the tightening enable.

[0006] In the technical solution of the embodiment of the present application, a first distance between the encoder and the tightening tool is obtained, and a second distance between the encoder and the target tightening point of the target workpiece is determined. Tightening enable is provided to the tightening tool only when the first distance matches the second distance, thereby reducing the possibility of missing the target tightening point or incorrectly tightening other tightening points other than the target tightening point, improving the accuracy of the tightening sequence and the efficiency of the tightening process, and realizing a fool-proof design of the tightening process.

[0007] In some embodiments, the controller is used to determine the position information of the encoder based on the position information of multiple first reference points of the target workpiece and the distance between the multiple first reference points and the encoder, and calculate the second distance between the encoder and the target tightening point based on the position information of the encoder and the position information of the target tightening point.

[0008] In this way, the controller determines the position information of the encoder based on the position information of multiple first reference points of the target workpiece and the distances between the multiple first reference points and the encoder, which is equivalent to calibrating the position information of the encoder, that is, calibrating the position information of the encoder relative to the target workpiece, so that the calculated second distance between the encoder and the target tightening point is more accurate, which is beneficial to improve the accuracy of the tightening sequence and the efficiency of the tightening process, and realize the fool-proof design of the tightening process.

[0009] In some embodiments, the controller is used to obtain the position information of multiple second reference points of the calibration workpiece and the position information of the preset tightening point of the calibration workpiece, the multiple second reference points correspond one-to-one to the multiple first reference points, and the position information of the multiple first reference points is determined based on the position information of the multiple second reference points; and the position information of the target tightening point corresponding to the preset tightening point is determined based on the position information of the preset tightening point.

[0010] In this way, without the need for re-measurement, the position information of multiple first reference points of the target workpiece can be determined based on the position information of multiple second reference points of the calibration workpiece; the position information of the target tightening point of the target workpiece can be determined based on the position information of the preset tightening point of the calibration workpiece, thereby facilitating the calculation of the second distance between the encoder and the target tightening point.

[0011] In some embodiments, the multiple first reference points include a first sub-reference point, a second sub-reference point, and a third sub-reference point, and the controller is specifically used to determine the position information of the encoder based on the position information of the first sub-reference point, the position information of the second sub-reference point, the position information of the third sub-reference point, the distance between the first sub-reference point and the encoder, the distance between the second sub-reference point and the encoder, and the distance between the third sub-reference point and the encoder.

[0012] In some embodiments, the controller is specifically used to determine the position information of the encoder based on the position information of multiple first reference points of the target workpiece and the distances between the multiple first reference points and the encoder when the number of first reference points of the target workpiece is greater than or equal to 3, and calculate the second distance between the encoder and the target tightening point based on the position information of the encoder and the position information of the target tightening point.

[0013] In some embodiments, the controller is specifically configured to provide tightening enable to the tightening tool when the number of first reference points of the target workpiece is greater than or equal to 3 and the difference between the first distance and the second distance is less than or equal to a first preset threshold.

[0014] In some embodiments, the controller is specifically used to determine, when the number of first reference points of the target workpiece is less than 3, a preset tightening point in the calibration workpiece corresponding to the target tightening point based on the correspondence between the tightening point of the target workpiece and the tightening point of the calibration workpiece, and to determine a second distance between the encoder and the target tightening point of the target workpiece based on the distance between the encoder and the preset tightening point of the calibration workpiece.

[0015] In this way, even when the number of first reference points of the target workpiece is less than 3, the second distance between the encoder and the target tightening point of the target workpiece can be determined, and then the target tightening point can be tightened according to the matching results of the first distance and the second distance, thereby improving the accuracy of the tightening sequence and the efficiency of the tightening process, and realizing a fool-proof design of the tightening process.

[0016] In some embodiments, the controller is specifically configured to provide tightening enable to the tightening tool when the number of first reference points of the target workpiece is less than 3 and the difference between the first distance and the second distance is less than or equal to a second preset threshold.

[0017] In some embodiments, the plurality of first reference points of the target workpiece include a plurality of different tightening points of the target workpiece.

[0018] In this way, multiple different tightening points of the target workpiece are reused as multiple first reference points of the target workpiece, which can reduce the design of preset marking points of the target workpiece and reduce costs.

[0019] In some embodiments, the controller is configured to update the target tightening point according to the numbering sequence of the multiple tightening points of the target workpiece after providing tightening enable to the tightening tool when the first distance matches the second distance.

[0020] In some embodiments, the encoder includes a first encoder and a second encoder, the first encoder is communicatively connected to the controller and the tightening tool respectively, and the second encoder is communicatively connected to the controller and the tightening tool respectively; the first distance includes a first sub-distance between the first encoder and the tightening tool and a second sub-distance between the second encoder and the tightening tool, and the second distance includes a third sub-distance between the first encoder and the target tightening point and a fourth sub-distance between the second encoder and the target tightening point; the controller is specifically used to provide tightening enable to the tightening tool when the first sub-distance matches the third sub-distance and the second sub-distance matches the fourth sub-distance.

[0021] In this way, tightening enable is provided to the tightening tool only when the first sub-distance matches the third sub-distance and the second sub-distance matches the fourth sub-distance, which can reduce the possibility of mis-tightening other tightening points that are at the same or similar distance from the target tightening point to the same encoder, and further improve the accuracy of the tightening sequence and the efficiency of the tightening process.

[0022] In some embodiments, the encoder is connected to the tightening tool via a connecting rope, and the first distance includes a length of the connecting rope between the encoder and the tightening tool.

[0023] In this way, by obtaining the length of the connecting rope between the encoder and the tightening tool, the first distance between the encoder and the tightening tool can be determined, which is convenient and quick and helps to improve the accuracy of the determined first distance between the encoder and the tightening tool.

[0024] In some embodiments, the encoder comprises a draw wire encoder.

[0025] In some embodiments, the tightening tool includes a tightening part and a handle, the tightening part is connected to the handle, the tightening part is provided with a tightening mechanism adapted to the fastener, and the encoder is connected to the tightening part via a connecting rope.

[0026] In this way, the encoder is connected to the tightening unit via a connecting cord. This, on the one hand, makes it easier for the operator to move the tightening tool, minimizing interference from the connecting cord. On the other hand, when the tightening tool is tightening at the target tightening point, the tightening unit is close to the target tightening point, and the distance between the tightening unit and the encoder is the same as or similar to the distance between the target tightening point and the encoder. This way, the matching result between the distance between the tightening unit and the encoder and the distance between the target tightening point and the encoder is used to determine whether to enable tightening for the tightening tool, improving the accuracy of the determination.

[0027] In some embodiments, the tightening device further includes a bracket and a pulley assembly, the encoder and the pulley assembly are connected to the bracket, the pulley assembly includes at least one pulley, and the connecting rope connected to the encoder is connected to the tightening tool through at least one pulley.

[0028] In this way, the connecting rope connected to the encoder is connected to the tightening tool through at least one pulley, which can save the operator's force in pulling the connecting rope and facilitate the operator to control the tightening tool.

[0029] In some embodiments, the tightening device also includes a calibration component, which is used to place the tightening tool. The controller is used to obtain the first pulse number of the encoder and the first length of the connecting rope between the encoder and the tightening tool when the tightening tool is placed on the calibration component, and determine the conversion relationship between the pulse number of the encoder and the length of the connecting rope between the encoder and the tightening tool based on the first pulse number and the first length.

[0030] In some embodiments, the controller is specifically configured to obtain a second pulse number of the encoder, and determine a first distance between the encoder and the tightening tool based on the second pulse number and a conversion relationship.

[0031] In this way, based on the number of pulses fed back by the encoder and the conversion relationship, the length of the connecting rope between the encoder and the tightening tool can be determined, that is, the first distance between the encoder and the tightening tool can be determined. This is convenient and quick, and is conducive to improving the accuracy of the determined first distance between the encoder and the tightening tool.

[0032] In some embodiments, the tightening device further includes a bracket, the calibration component is connected to the bracket, and a receiving cavity is provided on a side of the calibration component facing away from the bracket, and the receiving cavity is used to place the tightening tool.

[0033] In some embodiments, the tightening device also includes a card swiping device, which is communicatively connected to the controller. The card swiping device is used to obtain user information of the first operator and send the user information of the first operator to the controller; the controller is specifically used to provide tightening enable to the tightening tool when the user information of the first operator matches the pre-set first target user information and the first distance matches the second distance.

[0034] In this way, by verifying the user information of the first operator, it is helpful to achieve the management and control of operators performing tightening operations and the tracing of defective products.

[0035] In some embodiments, the controller is further configured to obtain tightening parameters fed back by the tightening tool after the tightening tool performs a tightening operation at a target tightening point in response to the tightening enable, and output an alarm message when the tightening parameters exceed a preset range.

[0036] In this way, when the tightening parameters exceed the preset range, an alarm message is output, which is conducive to promptly reminding the operator when a tightening abnormality occurs at the target tightening point.

[0037] In some embodiments, the controller is also used to receive user information of a second operator obtained by a card swiping device when the tightening parameters exceed a preset range, and to provide a reversal enable to the tightening tool when the user information of the second operator matches the pre-set second target user information; the tightening tool is used to perform a reversal operation at the target tightening point in response to the reversal enable.

[0038] In this way, when a tightening anomaly occurs at the target tightening point, the first operator performing the tightening operation cannot perform the reversal operation at the target tightening point. Only the second operator who meets the requirements can resolve the anomaly, thereby achieving controlled management of tightening anomalies. At the same time, it is beneficial to reduce the outflow of defective products caused by rework due to human errors due to tightening anomalies.

[0039] In second aspect, the present application provides a tightening control method, which includes: obtaining a first distance between an encoder and a tightening tool; determining a second distance between the encoder and a target tightening point of a target workpiece; and providing a tightening enable to the tightening tool when the first distance matches the second distance, the tightening enable being used to drive the tightening tool to perform a tightening operation at the target tightening point.

[0040] In some embodiments, determining the second distance between the encoder and the target tightening point of the target workpiece includes: obtaining position information of multiple first reference points of the target workpiece, position information of the target tightening point, and the distances between the multiple first reference points and the encoder; determining the position information of the encoder based on the position information of the multiple first reference points and the distances between the multiple first reference points and the encoder; and calculating the second distance between the encoder and the target tightening point based on the position information of the encoder and the position information of the target tightening point.

[0041] In some embodiments, obtaining position information of multiple first reference points of a target workpiece, position information of a target tightening point, and distances between the multiple first reference points and an encoder includes: obtaining position information of multiple second reference points of a calibration workpiece and position information of a preset tightening point of the calibration workpiece, the multiple second reference points corresponding one-to-one to the multiple first reference points; determining position information of the multiple first reference points based on the position information of the multiple second reference points; and determining position information of the target tightening point corresponding to the preset tightening point based on the position information of the preset tightening point.

[0042] In some embodiments, the multiple first reference points include a first sub-reference point, a second sub-reference point, and a third sub-reference point; determining the position information of the encoder based on the position information of the multiple first reference points and the distances between the multiple first reference points and the encoder includes: determining the position information of the encoder based on the position information of the first sub-reference point, the position information of the second sub-reference point, the position information of the third sub-reference point, the distance between the first sub-reference point and the encoder, the distance between the second sub-reference point and the encoder, and the distance between the third sub-reference point and the encoder.

[0043] In some embodiments, obtaining position information of multiple first reference points of the target workpiece, position information of the target tightening point, and distances between the multiple first reference points and the encoder includes: when the number of first reference points of the target workpiece is greater than or equal to 3, obtaining position information of multiple first reference points of the target workpiece, position information of the target tightening point, and distances between the multiple first reference points and the encoder.

[0044] In some embodiments, when the first distance matches the second distance, tightening enable is provided to the tightening tool, including: when the number of first reference points of the target workpiece is greater than or equal to 3, and when the difference between the first distance and the second distance is less than or equal to a first preset threshold, tightening enable is provided to the tightening tool.

[0045] In some embodiments, determining the second distance between the encoder and the target tightening point of the target workpiece includes: when the number of first reference points of the target workpiece is less than 3, determining a preset tightening point in the calibration workpiece corresponding to the target tightening point based on the correspondence between the tightening point of the target workpiece and the tightening point of the calibration workpiece; and determining the second distance between the encoder and the target tightening point of the target workpiece based on the distance between the encoder and the preset tightening point of the calibration workpiece.

[0046] In some embodiments, when the first distance matches the second distance, tightening enable is provided to the tightening tool, including: when the number of first reference points of the target workpiece is less than 3, and when the difference between the first distance and the second distance is less than or equal to a second preset threshold, tightening enable is provided to the tightening tool.

[0047] In some embodiments, the plurality of first reference points of the target workpiece include a plurality of different tightening points of the target workpiece.

[0048] In some embodiments, when the first distance matches the second distance, after providing tightening enable to the tightening tool, the tightening control method further includes: updating the target tightening point according to the numbering order of multiple tightening points of the target workpiece, and returning to the step of obtaining the first distance between the encoder and the tightening tool.

[0049] In some embodiments, the encoder includes a first encoder and a second encoder; the first distance includes a first sub-distance between the first encoder and the tightening tool and a second sub-distance between the second encoder and the tightening tool, and the second distance includes a third sub-distance between the first encoder and the target tightening point and a fourth sub-distance between the second encoder and the target tightening point; when the first distance matches the second distance, providing tightening enable to the tightening tool includes: when the first sub-distance matches the third sub-distance and the second sub-distance matches the fourth sub-distance, providing tightening enable to the tightening tool.

[0050] In some embodiments, the encoder is connected to the tightening tool via a connecting rope, and the first distance includes a length of the connecting rope between the encoder and the tightening tool.

[0051] In some embodiments, before obtaining the first distance between the encoder and the tightening tool, the tightening control method also includes: when the tightening tool is placed on the calibration component, obtaining the first pulse number of the encoder and the first length of the connecting rope between the encoder and the tightening tool; determining the conversion relationship between the pulse number of the encoder and the length of the connecting rope between the encoder and the tightening tool based on the first pulse number and the first length; obtaining the first distance between the encoder and the tightening tool, including: obtaining the second pulse number of the encoder; determining the first distance between the encoder and the tightening tool based on the second pulse number and the conversion relationship.

[0052] In some embodiments, before providing tightening enable to the tightening tool when the first distance matches the second distance, the tightening control method further includes: obtaining user information of the first operator; providing tightening enable to the tightening tool when the first distance matches the second distance, including: providing tightening enable to the tightening tool when the user information of the first operator matches the pre-set first target user information and the first distance matches the second distance.

[0053] In some embodiments, when the first distance matches the second distance, after providing tightening enable to the tightening tool, the tightening control method further includes: obtaining tightening parameters fed back by the tightening tool; and outputting an alarm message when the tightening parameters exceed a preset range.

[0054] In some embodiments, after obtaining the tightening parameters fed back by the tightening tool, the tightening control method further includes: when the tightening parameters exceed a preset range, obtaining user information of a second operator; when the user information of the second operator matches the pre-set second target user information, providing a reverse enable to the tightening tool, and the reverse enable is used to drive the tightening tool to perform a reverse operation at the target tightening point.

[0055] In a third aspect, the present application provides an electronic device, which includes: a processor, a memory, and a computer program stored in the memory and runnable on the processor. When the computer program is executed by the processor, the steps of the tightening control method provided in the second aspect are implemented.

[0056] In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the tightening control method provided in the second aspect are implemented.

[0057] In a fifth aspect, an embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the steps of the tightening control method provided in the second aspect.

[0058] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0060] Figure 1 A schematic structural diagram of a tightening device provided in some embodiments of the present application;

[0061] Figure 2 schematically illustrating a plurality of first reference points and target tightening points of a target workpiece;

[0062] Figure 3 A schematic structural diagram of a tightening device provided in some other embodiments of the present application;

[0063] Figure 4 A schematic diagram of the structure of an encoder in a tightening device provided in some embodiments of the present application;

[0064] Figure 5 A schematic structural diagram of a tightening tool in a tightening device provided in some embodiments of the present application;

[0065] Figure 6 A schematic structural diagram of a calibration component in a tightening device provided in some embodiments of the present application;

[0066] Figure 7 A schematic structural diagram of a tightening device provided in some other embodiments of the present application;

[0067] Figure 8 A schematic flow chart of a tightening control method provided in some embodiments of the present application;

[0068] Figure 9 This is a flow chart of S802 in the tightening control method provided in some embodiments of the present application;

[0069] Figure 10 A schematic flow chart of a tightening control method provided in other embodiments of the present application;

[0070] Figure 11 A flowchart of a tightening control method provided in some embodiments of the present application;

[0071] Figure 12 A flowchart of a tightening control method provided in some embodiments of the present application;

[0072] Figure 13 A schematic flow chart of a tightening control method provided in some embodiments of the present application;

[0073] Figure 14A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0074] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present application by illustrating the examples of the present application.

[0075] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, the elements defined by the phrase "comprising..." do not exclude the presence of other identical elements in the process, method, article, or device comprising the elements.

[0076] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0077] In the embodiments of the present application, the term "electrical connection" may refer to a direct electrical connection between two components, or may refer to an electrical connection between two components via one or more other components. The term "communication connection" may include a wired communication connection or a wireless communication connection.

[0078] It will be apparent to those skilled in the art that various modifications and variations can be made in this application without departing from the spirit or scope of this application. Therefore, this application is intended to cover modifications and variations of this application that fall within the scope of the corresponding claims (technical solutions claimed for protection) and their equivalents. It should be noted that the embodiments provided in the examples of this application can be combined with each other without contradiction.

[0079] Before describing the technical solutions provided by the embodiments of the present application, in order to facilitate understanding of the embodiments of the present application, the present application first specifically describes the problems existing in the related art:

[0080] In the battery production process, assembly processes are usually involved, such as but not limited to the assembly process between battery modules and the assembly process of the battery pack chassis. The assembly process includes a large number of processes related to tightening operations, such as module fixation, high-voltage connection, etc. In these processes related to tightening operations, in order to improve the reliability of the tightening operation and the quality of the assembly process, it is necessary to tighten multiple tightening points on the workpiece in a certain order to reduce the possibility of uneven force on the workpiece due to incorrect tightening order or omission of tightening points, which may adversely affect the assembly quality. However, in actual operation, under manual operation, due to human factors, phenomena such as omission of tightening points or incorrect tightening often occur during assembly.

[0081] In view of the above research findings of the inventors, the embodiments of the present application provide a tightening device, a tightening control method, an apparatus, a readable storage medium and a product, which can solve the technical problems of missed or incorrect tightening of tightening points existing in the related art.

[0082] The following first introduces the tightening device provided in the embodiment of the present application.

[0083] Figure 1 This is a schematic diagram of the structure of the tightening device provided in some embodiments of the present application. Figure 1 As shown, the tightening device 10 may include an encoder 101, a tightening tool 102, and a controller 103. The controller 103 may be connected to the encoder 101 and the tightening tool 102 for communication, and the controller 103 may be used to obtain a first distance between the encoder 101 and the tightening tool 102, and determine the distance between the encoder 101 and the target workpiece ( Figure 1 The first and second distances are aligned, and when the first and second distances match, a tightening enable is provided to the tightening tool 102. The tightening tool 102 can be configured to perform a tightening operation at the target tightening point in response to the tightening enable. For example, in some examples, the target tightening point may include a target threaded hole in a target workpiece. The tightening tool 102 can be configured to tighten a fastener in the target threaded hole in response to the tightening enable. For example, the fastener includes, but is not limited to, a bolt or a screw.

[0084] In some examples, the target workpiece may include a battery module or a battery pack, or any other battery component that requires a tightening operation. Among them, the battery pack may include a box and a battery module, and the battery module may be accommodated in the box. Whether it is the assembly process of the battery module itself, the assembly process of installing the battery module to the box, or the assembly process of the box. For example, a plurality of battery cells are assembled into a battery module, and the upper cover and the lower shell of the box are fixedly connected through threaded holes, and so on. As long as the assembly process involves a tightening operation, the tightening device 10 provided in the embodiment of the present application can be used to perform the tightening operation, so as to improve the accuracy of the tightening sequence and the efficiency of the tightening process, and realize the fool-proof design of the tightening process.

[0085] If the first distance matches the second distance, it indicates that the tightening tool 102 has moved to the vicinity of the target tightening point. In this case, a tightening enable is provided to the tightening tool 102, so that the tightening tool 102 performs the tightening operation at the target tightening point in response to the tightening enable. If the first distance does not match the second distance, it indicates that the tightening tool 102 may have moved to the vicinity of a tightening point other than the target tightening point. In this case, the tightening enable may not be provided to the tightening tool 102, thereby helping to remind the operator that there is an error in the tightening sequence, such as the target tightening point not being tightened (i.e., missed tightening).

[0086] In this way, by obtaining the first distance between the encoder and the tightening tool and determining the second distance between the encoder and the target tightening point of the target workpiece, the tightening enable is provided to the tightening tool only when the first distance matches the second distance. This is beneficial to reducing the possibility of missing the target tightening point or incorrectly tightening other tightening points other than the target tightening point, improving the accuracy of the tightening sequence and the efficiency of the tightening process, and realizing a fool-proof design of the tightening process.

[0087] In some specific embodiments, optionally, the controller 103 may include a programmable logic controller (PLC) or other microprocessor with logical calculation and sequential control, or a control system including the PLC or microprocessor, or any electronic device including the control system, which is not limited in this application.

[0088] Figure 2 Schematically shows a plurality of first reference points and target tightening points of the target workpiece. Figure 2 As shown, the target workpiece 20 may optionally include multiple first reference points P and target tightening points F. In some examples, the first reference point P may be a tightening point other than the target tightening point F in the target workpiece 20, such as a threaded hole other than the target tightening point F. Of course, the first reference point P may also be a preset marking point on the target workpiece 20, etc., which is not limited in this application.

[0089] Combine Figure 1 and Figure 2 As shown, the controller 103 can be used to determine the position information of the encoder 101 based on the position information of the multiple first reference points P of the target workpiece 20 and the distances between the multiple first reference points P and the encoder 101. The position information of the multiple first reference points P of the target workpiece 20 and the distances between the multiple first reference points P and the encoder 101 are known quantities, while the position information of the encoder 101 (i.e., the position information of the encoder 101 relative to the target workpiece 20) can be an unknown quantity.

[0090] The position information of the unknown point (i.e., encoder 101) can be calculated using the position information of multiple known points (i.e., first reference points P) and the distances between the multiple known points and the unknown point (i.e., encoder 101). It should be noted that the distances between different first reference points P and encoder 101 can be different.

[0091] The controller 103 may also be configured to calculate a second distance between the encoder 101 and the target tightening point F according to the position information of the encoder 101 and the position information of the target tightening point F.

[0092] The position information of the target tightening point F is a known quantity. After the above calculation, the position information of the encoder 101 is also known. Therefore, the controller 103 can be used to calculate the second distance between the encoder 101 and the target tightening point F based on the position information of the encoder 101 and the position information of the target tightening point F.

[0093] In this way, the controller determines the position information of the encoder based on the position information of multiple first reference points of the target workpiece and the distances between the multiple first reference points and the encoder, which is equivalent to calibrating the position information of the encoder, that is, calibrating the position information of the encoder relative to the target workpiece, so that the calculated second distance between the encoder and the target tightening point is more accurate, which is beneficial to improve the accuracy of the tightening sequence and the efficiency of the tightening process, and realize the fool-proof design of the tightening process.

[0094] According to some embodiments of the present application, optionally, before the tightening operation is performed on the tightening points of the target workpiece, a calibration workpiece can be placed in a tightening station and calibrated using the calibration workpiece, that is, the position information of multiple second reference points of the calibration workpiece, the position information of the tightening points of the calibration workpiece, and the distance between the multiple second reference points and the encoder are determined. Exemplarily, the calibration workpiece can be a workpiece or model with the same structure as the target workpiece. The calibration workpiece may include multiple tightening points. In some examples, the multiple second reference points of the calibration workpiece may include multiple different tightening points of the calibration workpiece. Of course, the second reference point can also be a preset marking point of the calibration workpiece, etc., which is not limited by the present application.

[0095] In some embodiments, the controller 103 can be configured to obtain position information of multiple second reference points of the calibration workpiece and position information of a predetermined tightening point of the calibration workpiece, and determine position information of multiple first reference points of the target workpiece based on the position information of the multiple second reference points, wherein the multiple second reference points correspond one-to-one to the multiple first reference points.

[0096] Specifically, after calibration using the calibration workpiece, the position information of multiple second reference points of the calibration workpiece, the position information of the tightening points of the calibration workpiece, and the distances between the multiple second reference points and the encoder are all known. Because the calibration workpiece and the target workpiece have the same structure, a correspondence can be established between the second reference points of the calibration workpiece and the first reference points of the target workpiece, and a correspondence can be established between the tightening points of the calibration workpiece and the tightening points of the target workpiece.

[0097] It should be noted that when the second reference point of the calibration workpiece is the tightening point of the calibration workpiece and the first reference point of the target workpiece is the tightening point of the target workpiece, only the correspondence between the tightening point of the calibration workpiece and the tightening point of the target workpiece can be established.

[0098] The controller 103 can be configured to determine, based on the correspondence between the second reference points of the calibration workpiece and the first reference points of the target workpiece, multiple second reference points of the calibration workpiece corresponding to multiple first reference points of the target workpiece, with the multiple second reference points corresponding one-to-one with the multiple first reference points. The controller 103 can be configured to use the position information of the multiple second reference points of the calibration workpiece as the position information of the multiple first reference points of the target workpiece, thereby obtaining the position information of the multiple first reference points of the target workpiece.

[0099] The controller 103 can be configured to determine the position information of the target tightening point corresponding to the preset tightening point based on the position information of the preset tightening point of the calibration workpiece. For example, the controller 103 can be configured to determine the preset tightening point of the calibration workpiece corresponding to the target tightening point of the target workpiece based on the correspondence between the tightening point of the calibration workpiece and the tightening point of the target workpiece, and use the position information of the preset tightening point of the calibration workpiece as the position information of the target tightening point of the target workpiece.

[0100] In this way, without the need for re-measurement, the position information of multiple first reference points of the target workpiece can be determined based on the position information of multiple second reference points of the calibration workpiece; the position information of the target tightening point of the target workpiece can be determined based on the position information of the preset tightening point of the calibration workpiece, thereby facilitating the calculation of the second distance between the encoder and the target tightening point.

[0101] Considering that there may be a deviation between the position of the target workpiece and the position of the calibration workpiece, the second distance between the encoder and the target tightening point of the target workpiece may be different from the distance between the encoder and the preset tightening point of the calibration workpiece.

[0102] In view of this, in some embodiments, the present application considers obtaining the distance between multiple first reference points and the encoder through actual measurement, and calibrating the position information of the encoder based on the position information of the multiple first reference points of the target workpiece and the distance between the multiple first reference points and the encoder obtained by actual measurement, that is, obtaining the position information of the encoder relative to the target workpiece, and then calculating the second distance between the encoder and the target tightening point based on the position information of the encoder relative to the target workpiece and the position information of the target tightening point, thereby improving the accuracy of the second distance between the encoder and the target tightening point, which is beneficial to improving the accuracy of the tightening sequence and the efficiency of the tightening process, and realizing the fool-proof design of the tightening process.

[0103] In some embodiments, optionally, after obtaining the position information of multiple first reference points of the target workpiece and the distances between the multiple first reference points and the encoder obtained by actual measurement, the position information of the encoder relative to the target workpiece can be obtained based on a three-ball positioning algorithm (or three-side positioning algorithm).

[0104] Combine Figure 1 and Figure 2 As shown, according to some embodiments of the present application, the plurality of first reference points P may optionally include a first sub-reference point P1, a second sub-reference point P2, and a third sub-reference point P3. The controller 103 may be specifically configured to determine the position information of the encoder 101 based on the position information of the first sub-reference point P1, the position information of the second sub-reference point P2, the position information of the third sub-reference point P3, the distance L1 between the first sub-reference point P1 and the encoder 101, the distance L2 between the second sub-reference point P1 and the encoder 101, and the distance L3 between the third sub-reference point P1 and the encoder 101.

[0105] In this way, the position information of the unknown point (i.e., encoder 101) can be calculated through the position information of three known points (i.e., the first sub-reference point P1, the second sub-reference point P2 and the third sub-reference point P3) and the distance between the three known points and the unknown point (i.e., encoder 101).

[0106] For example, in some specific embodiments, the coordinates of the first sub-reference point P1 are (X1, Y1, Z1), the coordinates of the second sub-reference point P2 are (X2, Y2, Z2), and the coordinates of the third sub-reference point P3 are (X3, Y3, Z3). X1-X3 represent the coordinates of the X axis in the spatial coordinate system, Y1-Y3 represent the coordinates of the Y axis in the spatial coordinate system, and Z1-Z3 represent the coordinates of the Z axis in the spatial coordinate system.

[0107] According to the coordinates of the first sub-reference point P1 (X1, Y1, Z1), the coordinates of the second sub-reference point P2 (X2, Y2, Z2), the coordinates of the third sub-reference point P3 (X3, Y3, Z3), the distance L1 between the first sub-reference point P1 and the encoder, the distance L2 between the second sub-reference point P1 and the encoder, and the distance L3 between the third sub-reference point P1 and the encoder, the position information of the encoder relative to the target workpiece can be obtained based on the three-ball positioning algorithm.

[0108] The target workpiece usually includes multiple tightening points, and / or the target workpiece can also be set with preset marking points, etc. Therefore, the number of first reference points of the target workpiece is usually greater than or equal to 3, and it is rare that the number of first reference points of the target workpiece is less than 3.

[0109] Therefore, based on the three-ball positioning algorithm, the position information of the encoder relative to the target workpiece is obtained; then, based on the position information of the encoder relative to the target workpiece and the position information of the target tightening point, the second distance between the encoder and the target tightening point is calculated, which is suitable for most situations in which tightening operations are performed on the tightening point of the target workpiece.

[0110] According to some embodiments of the present application, optionally, the controller 103 can be specifically used to determine the position information of the encoder based on the position information of multiple first reference points of the target workpiece and the distances between the multiple first reference points and the encoder when the number of first reference points of the target workpiece is greater than or equal to 3, and calculate the second distance between the encoder and the target tightening point based on the position information of the encoder and the position information of the target tightening point.

[0111] That is, when the number of first reference points of the target workpiece is greater than or equal to 3, the position information of the unknown point (i.e., encoder 101) can be calculated using the position information of multiple known points (i.e., first reference points) and the distances between the multiple known points and the unknown point (i.e., encoder 101). The specific calculation process has been described in detail above and will not be repeated here.

[0112] According to some embodiments of the present application, the controller 103 may optionally be configured to provide a tightening enable to the tightening tool when the number of first reference points of the target workpiece is greater than or equal to 3, and when the difference between the first distance and the second distance is less than or equal to a first preset threshold. The value of the first preset threshold may be flexibly adjusted based on actual conditions and is not limited in this application.

[0113] In this way, by obtaining the first distance between the encoder and the tightening tool and determining the second distance between the encoder and the target tightening point of the target workpiece, the tightening enable is provided to the tightening tool only when the difference between the first distance and the second distance is less than or equal to the first preset threshold value. This is beneficial to reducing the possibility of missing the target tightening point or incorrectly tightening other tightening points other than the target tightening point, improving the accuracy of the tightening sequence and the efficiency of the tightening process, and realizing a fool-proof design of the tightening process.

[0114] According to some embodiments of the present application, optionally, the multiple first reference points P of the target workpiece may include multiple different tightening points of the target workpiece.

[0115] In this way, multiple different tightening points of the target workpiece are reused as multiple first reference points of the target workpiece, which can reduce the design of preset marking points of the target workpiece and reduce costs.

[0116] The following describes a case where the number of first reference points of the target workpiece is less than 3.

[0117] According to some embodiments of the present application, optionally, the controller 103 can be specifically used to determine, when the number of first reference points of the target workpiece is less than 3, a preset tightening point in the calibration workpiece corresponding to the target tightening point based on the correspondence between the tightening point of the target workpiece and the tightening point of the calibration workpiece, and to determine a second distance between the encoder and the target tightening point of the target workpiece based on the distance between the encoder and the preset tightening point of the calibration workpiece.

[0118] For example, if the number of first reference points on the target workpiece is less than three, a preset tightening point on the calibration workpiece corresponding to the target tightening point can be determined based on the correspondence between the tightening points on the target workpiece and the tightening points on the calibration workpiece. The distance between the encoder and the preset tightening point on the calibration workpiece can then be used as the second distance between the encoder and the target tightening point on the target workpiece.

[0119] In this way, even when the number of first reference points of the target workpiece is less than 3, the second distance between the encoder and the target tightening point of the target workpiece can be determined, and then the target tightening point can be tightened according to the matching results of the first distance and the second distance, thereby improving the accuracy of the tightening sequence and the efficiency of the tightening process, and realizing a fool-proof design of the tightening process.

[0120] According to some embodiments of the present application, the controller 103 may optionally be configured to provide a tightening enable to the tightening tool when the number of first reference points of the target workpiece is less than 3 and the difference between the first distance and the second distance is less than or equal to a second preset threshold. The value of the second preset threshold may be flexibly adjusted according to actual circumstances and is not limited in this application.

[0121] In this way, by obtaining the first distance between the encoder and the tightening tool and determining the second distance between the encoder and the target tightening point of the target workpiece, the tightening enable is provided to the tightening tool only when the difference between the first distance and the second distance is less than or equal to the second preset threshold value. This is beneficial to reduce the possibility of missing the target tightening point or incorrectly tightening other tightening points other than the target tightening point, improve the accuracy of the tightening sequence and the efficiency of the tightening process, and realize the fool-proof design of the tightening process.

[0122] According to some embodiments of the present application, optionally, the second preset threshold value may be different from the first preset threshold value. For example, the second preset threshold value may be greater than the first preset threshold value.

[0123] In this way, taking into account the deviation between the position of the target workpiece and the position of the calibration workpiece, when the number of first reference points of the target workpiece is less than 3, setting a relatively large second preset threshold is beneficial to reducing the impact of the deviation between the position of the target workpiece and the position of the calibration workpiece on the comparison result of the first distance and the second distance, reducing the misjudgment rate, and allowing the tightening operation to proceed smoothly.

[0124] According to some embodiments of the present application, optionally, the controller 103 can be used to update the target tightening point according to the numbering sequence of multiple tightening points of the target workpiece after providing tightening enable to the tightening tool 102 when the first distance matches the second distance.

[0125] For example, after the tightening enable is provided to the tightening tool 102 and the tightening tool 102 completes the tightening operation at the target tightening point, the next tightening point after the current target tightening point can be used as the new target tightening point according to the numbering order of the multiple tightening points of the target workpiece, and then the tightening operation is performed on the new target tightening point until the tightening operation is completed on all tightening points of the target workpiece.

[0126] Considering that there may be multiple tightening points on the target workpiece with the same or similar distance encoders, the tightening sequence of the multiple tightening points with the same or similar distance encoders may be incorrect.

[0127] In view of this, at least two encoders are provided in some embodiments of the present application, and whether to provide tightening enable to the tightening tool is determined based on the matching results of the distance between the target tightening point and the at least two encoders, thereby reducing the possibility of mis-tightening other tightening points that are at the same or similar distance from the target tightening point to the same encoder, and further improving the accuracy of the tightening sequence and the efficiency of the tightening process.

[0128] Figure 3 This is a schematic diagram of the structure of the tightening device provided in some other embodiments of the present application. Figure 3 As shown, according to some embodiments of the present application, optionally, the encoder 101 may include a first encoder 301 and a second encoder 302, and the first encoder 301 may be respectively connected to the controller ( Figure 3 The controller 300 may be connected to the tightening tool 102 for communication (not shown), and the second encoder 302 may be connected to the controller and the tightening tool 102 for communication, respectively.

[0129] The first distance may include a first sub-distance between the first encoder 301 and the tightening tool 102 and a second sub-distance between the second encoder 302 and the tightening tool 102. The second distance may include a third sub-distance between the first encoder 301 and the target tightening point F and a fourth sub-distance between the second encoder 302 and the target tightening point F. The process of determining the third and fourth sub-distances is described above with reference to the process of determining the second distance, and will not be repeated here.

[0130] Specifically, the controller may be configured to provide a tightening enable to the tightening tool 102 when the first sub-distance matches the third sub-distance and the second sub-distance matches the fourth sub-distance. Accordingly, the controller may also be configured to not provide a tightening enable to the tightening tool 102 when the first sub-distance does not match the third sub-distance and / or the second sub-distance does not match the fourth sub-distance.

[0131] In this way, tightening enable is provided to the tightening tool only when the first sub-distance matches the third sub-distance and the second sub-distance matches the fourth sub-distance, which can reduce the possibility of mis-tightening other tightening points that are at the same or similar distance from the target tightening point to the same encoder, and further improve the accuracy of the tightening sequence and the efficiency of the tightening process.

[0132] It should be noted that the number of encoders can be flexibly adjusted according to actual conditions and is not limited in this application. For example, in other embodiments, the number of encoders can be greater than or equal to three. Based on the matching results of the distances between the target tightening point and three or more encoders, it is determined whether to provide tightening enable to the tightening tool. This can also achieve the technical effect of reducing the possibility of mis-tightening other tightening points that have the same or similar distance from the target tightening point to the same encoder, further improving the accuracy of the tightening sequence and the efficiency of the tightening process.

[0133] like Figure 3 As shown, according to some embodiments of the present application, optionally, the encoder 101 may be connected to the tightening tool 102 via a connecting rope 303 , and the first distance may include the length of the connecting rope 303 between the encoder 101 and the tightening tool 102 .

[0134] In this way, by obtaining the length of the connecting rope 303 between the encoder 101 and the tightening tool 102, the first distance between the encoder 101 and the tightening tool 102 can be determined. This is convenient and quick, and is conducive to improving the accuracy of the determined first distance between the encoder 101 and the tightening tool 102.

[0135] Figure 4 This is a schematic diagram of the structure of the encoder in the tightening device provided in some embodiments of the present application. Figure 4 As shown, according to some embodiments of the present application, the encoder 101 may optionally include a draw wire encoder 401. The draw wire encoder 401 may include an encoder unit 4011, a storage box 4012, and a tension spring ( Figure 4 Not shown). Figure 3 and Figure 4 As shown, the storage box 4012 can be used to store the connecting cord 303, and the tension spring can be used to apply tension to the connecting cord 303 to return to the storage box 4012. When the connecting cord 303 is pulled, the number of pulses of the encoder unit 4011 changes. Therefore, the length of the connecting cord 303 between the encoder 101 and the tightening tool 102 can be determined based on the number of pulses of the encoder unit 4011, that is, the first distance between the encoder 101 and the tightening tool 102 can be determined. By way of example, the encoder unit 4011 includes, but is not limited to, an absolute encoder and an incremental encoder.

[0136] In this way, by using a pull-wire encoder as the encoder, the length of the connecting rope between the encoder and the tightening tool can be determined according to the number of pulses fed back by the encoder, that is, the first distance between the encoder and the tightening tool can be determined. This is convenient and fast, and is conducive to improving the accuracy of the determined first distance between the encoder and the tightening tool.

[0137] Combine Figure 3 and Figure 4 As shown, according to some embodiments of the present application, optionally, the tightening device 10 may further include a bracket 304 and a pulley assembly 402, and the encoder 101 and the pulley assembly 402 may be connected to the bracket 304. The bracket 304 may be used to fix the encoder 101 and the pulley assembly 402, etc.

[0138] The pulley assembly 402 may include at least one pulley 4021 , and the connecting rope 303 connected to the encoder 101 may be connected to the tightening tool 102 via the at least one pulley 4021 .

[0139] In this way, the connecting rope connected to the encoder is connected to the tightening tool through at least one pulley, which can save the operator's force in pulling the connecting rope and facilitate the operator to control the tightening tool.

[0140] It should be noted that the structure and shape of the bracket 304 are only schematic. The structure and shape of the bracket 304 can be flexibly adjusted according to actual conditions, and this application does not limit this.

[0141] Figure 5 This is a schematic diagram of the structure of the tightening tool in the tightening device provided in some embodiments of the present application. Figure 3 and Figure 5 As shown, according to some embodiments of the present application, optionally, the tightening tool 102 includes a tightening portion 501 and a handle 502, and the tightening portion 501 can be connected to the handle 502. The tightening portion 501 can be provided with a tightening mechanism ( Figure 5 (not shown). The encoder 101 may be connected to the tightening portion 501 via a connecting cord 303. For example, in some examples, the tightening tool 102 may be a tightening gun.

[0142] In this way, the encoder is connected to the tightening unit via a connecting cord. This, on the one hand, makes it easier for the operator to move the tightening tool, minimizing interference from the connecting cord. On the other hand, when the tightening tool is tightening at the target tightening point, the tightening unit is close to the target tightening point, and the distance between the tightening unit and the encoder is the same as or similar to the distance between the target tightening point and the encoder. This way, the matching result between the distance between the tightening unit and the encoder and the distance between the target tightening point and the encoder is used to determine whether to enable tightening for the tightening tool, improving the accuracy of the determination.

[0143] like Figure 3 As shown, according to some embodiments of the present application, the tightening device 10 may optionally further include a calibration component 305, which may be used to place the tightening tool 102. The controller may be configured to obtain a first pulse number of the encoder 101 and a first length of the connecting rope between the encoder 101 and the tightening tool 102 when the tightening tool 102 is placed on the calibration component 305, and determine a conversion relationship between the pulse number of the encoder 101 and the length of the connecting rope 303 between the encoder 101 and the tightening tool 102 based on the first pulse number and the first length.

[0144] For example, before performing a tightening operation on a tightening point of a target workpiece, the tightening tool 102 can be placed on the calibration assembly 305. When the tightening tool 102 is placed on the calibration assembly 305, a first pulse number of the encoder 101 and a first length of the connecting rope between the encoder 101 and the tightening tool 102 can be obtained, and a conversion relationship (hereinafter referred to as the conversion relationship) between the pulse number of the encoder 101 and the length of the connecting rope 303 between the encoder 101 and the tightening tool 102 can be determined based on the first pulse number and the first length.

[0145] According to some embodiments of the present application, optionally, the controller can be specifically used to obtain the second pulse number of the encoder 101, and determine the length of the connecting rope 303 between the encoder 101 and the tightening tool 102 based on the second pulse number and the conversion relationship, that is, determine the first distance between the encoder 101 and the tightening tool 102.

[0146] In this way, based on the number of pulses fed back by the encoder and the conversion relationship, the length of the connecting rope between the encoder and the tightening tool can be determined, that is, the first distance between the encoder and the tightening tool can be determined. This is convenient and quick, and is conducive to improving the accuracy of the determined first distance between the encoder and the tightening tool.

[0147] Figure 6 This is a schematic diagram of the structure of the calibration component in the tightening device provided in some embodiments of the present application. Figure 3 and Figure 6 As shown, according to some embodiments of the present application, the calibration component 305 can be optionally connected to the bracket 304 to fix the position of the calibration component 305. The calibration component 305 has a receiving cavity 3051 on the side facing away from the bracket 304, and the receiving cavity 3051 can be used to place the tightening tool 102.

[0148] like Figure 6 As shown, in some examples, the accommodating cavity 3051 may have a recess b1, which may communicate with the plane a on the side of the calibration component 305 facing away from the bracket 304. The recess b1 facilitates the operator to remove the tightening tool 102 from the accommodating cavity 3051.

[0149] Figure 7 This is a schematic diagram of the structure of the tightening device provided in some embodiments of the present application. Figure 7As shown, according to some embodiments of the present application, the tightening device 10 may optionally further include a card swiping device 701, which may be communicatively connected to the controller 103. The card swiping device 701 may be used to obtain user information of a first operator and transmit the user information of the first operator to the controller 103. For example, in some examples, the card swiping device 701 may be used to read the user information of the first operator stored in the first operator's work card. The user information of the first operator may be information representing the identity of the first operator. For example, the user information of the first operator may include, but is not limited to, the first operator's name and / or work number.

[0150] The controller 103 can be specifically configured to provide a tightening enable to the tightening tool when the user information of the first operator matches the preset first target user information and the first distance matches the second distance. Accordingly, the controller 103 can also be configured to not provide the tightening enable to the tightening tool when the user information of the first operator does not match the preset first target user information.

[0151] The first target user information may be user information of an operator who is allowed to operate the tightening tool 102 to perform a tightening operation. The first target user information may include user information of one or more operators.

[0152] In this way, by verifying the user information of the first operator, it is helpful to achieve the management and control of operators performing tightening operations and the tracing of defective products.

[0153] According to some embodiments of the present application, the controller 103 may optionally be configured to obtain tightening parameters fed back by the tightening tool 102 after providing a tightening enable to the tightening tool 102, and output an alarm message when the tightening parameters exceed a preset range. The size of the preset range can be flexibly adjusted according to actual conditions, and this application does not limit this. In some examples, for example, the tightening parameters may include tightening torque and / or tightening angle.

[0154] In this way, when the tightening parameters exceed the preset range, an alarm message is output, which is conducive to promptly reminding the operator when a tightening abnormality occurs at the target tightening point.

[0155] According to some embodiments of the present application, the controller 103 may optionally be configured to receive user information of a second operator acquired by the card swiping device 701 when the tightening parameter exceeds a preset range, and to provide a reverse enable to the tightening tool 102 when the user information of the second operator matches pre-set second target user information. The tightening tool 102 may be configured to perform a reverse operation at the target tightening point in response to the reverse enable.

[0156] Specifically, the second target user information may be user information of an operator who is allowed to operate the tightening tool 102 to perform a reverse operation. In some examples, the second target user information may be different from the first target user information, that is, the second target user information and the first target user information may be user information of different operators.

[0157] In this way, when a tightening anomaly occurs at the target tightening point, the first operator performing the tightening operation cannot perform the reversal operation at the target tightening point. Only the second operator who meets the requirements can resolve the anomaly, thereby achieving controlled management of tightening anomalies. At the same time, it is beneficial to reduce the outflow of defective products caused by rework due to human errors due to tightening anomalies.

[0158] According to some embodiments of the present application, optionally, the controller 103 can also be used to lock the enable of the tightening tool 102 or stop providing tightening enable to the tightening tool 102 before providing reverse enable to the tightening tool 102 when the user information of the second operator matches the pre-set second target user information, thereby preventing the first operator from continuing the tightening operation until the second operator who meets the requirements resolves the anomaly.

[0159] Based on the same technical concept as the tightening device 10 provided in the above embodiment, the present application also provides a tightening control method. The tightening control method can be applied to the tightening device 10 provided in the above embodiment, for example, it can be applied to the controller 103 in the tightening device 10 provided in the above embodiment, and the present application does not limit this.

[0160] Figure 8 This is a flow chart of a tightening control method provided in some embodiments of the present application. Figure 8 As shown, the tightening control method may include the following steps S801 to S803.

[0161] S801: Acquire a first distance between an encoder and a tightening tool.

[0162] S802: Determine a second distance between the encoder and a target tightening point of the target workpiece.

[0163] S803: When the first distance matches the second distance, provide a tightening enable to the tightening tool, where the tightening enable is used to drive the tightening tool to perform a tightening operation at the target tightening point.

[0164] The specific implementation methods of the above steps have been described in detail when introducing the tightening device 10 above. Please refer to the above and will not be repeated here.

[0165] The tightening control method of the embodiment of the present application obtains a first distance between the encoder and the tightening tool, and determines a second distance between the encoder and the target tightening point of the target workpiece. Tightening enable is provided to the tightening tool only when the first distance matches the second distance, thereby reducing the possibility of missing the target tightening point or incorrectly tightening other tightening points other than the target tightening point, improving the accuracy of the tightening sequence and the efficiency of the tightening process, and realizing a fool-proof design of the tightening process.

[0166] Figure 9 This is a flow chart of S802 in the tightening control method provided in some embodiments of the present application. Figure 9 As shown, according to some embodiments of the present application, optionally, S802, determining a second distance between the encoder and a target tightening point of a target workpiece, may include the following steps S901 to S903.

[0167] S901 , obtaining position information of a plurality of first reference points of a target workpiece, position information of a target tightening point, and distances between the plurality of first reference points and an encoder.

[0168] S902: Determine position information of the encoder according to position information of the plurality of first reference points and distances between the plurality of first reference points and the encoder.

[0169] S903: Calculate a second distance between the encoder and the target tightening point according to the position information of the encoder and the position information of the target tightening point.

[0170] According to some embodiments of the present application, optionally, S901 may include the following steps:

[0171] Step 1: obtaining position information of a plurality of second reference points of the calibration workpiece and position information of a preset tightening point of the calibration workpiece, wherein the plurality of second reference points correspond one-to-one to the plurality of first reference points;

[0172] Step 2: Determine the position information of the plurality of first reference points based on the position information of the plurality of second reference points;

[0173] Step 3: According to the position information of the preset tightening point, determine the position information of the target tightening point corresponding to the preset tightening point.

[0174] According to some embodiments of the present application, the plurality of first reference points may optionally include a first sub-reference point, a second sub-reference point, and a third sub-reference point. S902: Determining the position information of the encoder based on the position information of the plurality of first reference points and the distances between the plurality of first reference points and the encoder may include the following steps:

[0175] Determine the position information of the encoder based on the position information of the first sub-reference point, the position information of the second sub-reference point, the position information of the third sub-reference point, the distance between the first sub-reference point and the encoder, the distance between the second sub-reference point and the encoder, and the distance between the third sub-reference point and the encoder.

[0176] According to some embodiments of the present application, optionally, S901 may include the following steps:

[0177] When the number of first reference points of the target workpiece is greater than or equal to 3, position information of the multiple first reference points of the target workpiece, position information of the target tightening point, and distances between the multiple first reference points and the encoder are acquired.

[0178] According to some embodiments of the present application, optionally, S803, providing a tightening enable to the tightening tool when the first distance matches the second distance, may include the following steps:

[0179] When the number of the first reference points of the target workpiece is greater than or equal to 3 and the difference between the first distance and the second distance is less than or equal to a first preset threshold, tightening enable is provided to the tightening tool.

[0180] According to some embodiments of the present application, optionally, S802, determining a second distance between the encoder and a target tightening point of the target workpiece, may include the following steps:

[0181] When the number of the first reference points of the target workpiece is less than 3, determining a preset tightening point in the calibration workpiece corresponding to the target tightening point according to a correspondence between the tightening point of the target workpiece and the tightening point of the calibration workpiece;

[0182] A second distance between the encoder and a target tightening point of the target workpiece is determined based on the distance between the encoder and a preset tightening point of the calibration workpiece.

[0183] According to some embodiments of the present application, optionally, S803, providing a tightening enable to the tightening tool when the first distance matches the second distance, may include the following steps:

[0184] When the number of the first reference points of the target workpiece is less than 3 and the difference between the first distance and the second distance is less than or equal to a second preset threshold, tightening enable is provided to the tightening tool.

[0185] According to some embodiments of the present application, optionally, the multiple first reference points of the target workpiece include multiple different tightening points of the target workpiece.

[0186] Figure 10 Schematic diagram of the process flow of the tightening control method provided in some other embodiments of the present application. Figure 10 As shown, according to some embodiments of the present application, optionally, in S803, after providing tightening enable to the tightening tool when the first distance matches the second distance, the tightening control method may further include the following steps:

[0187] S1001. Update the target tightening point according to the numbering sequence of the multiple tightening points of the target workpiece, and return to the step of obtaining the first distance between the encoder and the tightening tool.

[0188] According to some embodiments of the present application, the encoder optionally includes a first encoder and a second encoder. The first distance includes a first sub-distance between the first encoder and the tightening tool and a second sub-distance between the second encoder and the tightening tool, and the second distance includes a third sub-distance between the first encoder and the target tightening point and a fourth sub-distance between the second encoder and the target tightening point.

[0189] S803: Providing a tightening enable to the tightening tool when the first distance matches the second distance may include the following steps:

[0190] In the case that the first sub-distance matches the third sub-distance, and the second sub-distance matches the fourth sub-distance, tightening enable is provided to the tightening tool.

[0191] According to some embodiments of the present application, optionally, the encoder is connected to the tightening tool via a connecting rope, and the first distance includes the length of the connecting rope between the encoder and the tightening tool.

[0192] Figure 11 Schematic diagram of the flow of tightening control method provided by some embodiments of the present application. Figure 11 As shown, according to some embodiments of the present application, optionally, before S801, obtaining the first distance between the encoder and the tightening tool, the tightening control method may further include the following steps:

[0193] S1101: When the tightening tool is placed on the calibration assembly, obtain a first pulse number of the encoder and a first length of the connecting rope between the encoder and the tightening tool;

[0194] S1102: Determine a conversion relationship between the pulse number of the encoder and the length of the connecting rope between the encoder and the tightening tool according to the first pulse number and the first length.

[0195] Accordingly, S801, obtaining a first distance between the encoder and the tightening tool, may include the following steps:

[0196] S1103, obtaining the second pulse number of the encoder;

[0197] S1104: Determine a first distance between the encoder and the tightening tool according to the second pulse number and the conversion relationship.

[0198] Figure 12 Schematic diagram of the flow of tightening control method provided by some embodiments of the present application. Figure 12 As shown, according to some embodiments of the present application, optionally, in S803, before providing tightening enable to the tightening tool when the first distance matches the second distance, the tightening control method may further include the following steps:

[0199] S1201: Obtain user information of a first operator.

[0200] Accordingly, S803, when the first distance matches the second distance, providing a tightening enable to the tightening tool, may include the following steps:

[0201] When the user information of the first operator matches the preset first target user information and the first distance matches the second distance, tightening enable is provided to the tightening tool.

[0202] Figure 13 Schematic diagram of the flow of tightening control method provided by some embodiments of the present application. Figure 13 As shown, according to some embodiments of the present application, optionally, in S803, after providing tightening enable to the tightening tool when the first distance matches the second distance, the tightening control method may further include the following steps:

[0203] S1301, obtaining tightening parameters fed back by the tightening tool;

[0204] S1302: When the tightening parameters exceed the preset range, an alarm message is output.

[0205] like Figure 13 As shown, according to some embodiments of the present application, optionally, after S1301, obtaining the tightening parameters fed back by the tightening tool, the tightening control method may further include the following steps:

[0206] S1303: When the tightening parameter exceeds a preset range, obtaining user information of the second operator;

[0207] S1304: When the user information of the second operator matches the preset second target user information, provide reverse enable to the tightening tool.

[0208] The reverse enable is used to drive the tightening tool to perform a reverse operation at the target tightening point.

[0209] The specific implementation of each step of the above tightening control method has been described in detail when introducing the tightening device 10 above, and can achieve its corresponding technical effects. For the sake of brevity, it will not be repeated here.

[0210] Based on the tightening control method provided in the above embodiment, the present application also provides a specific implementation of the electronic device. Please refer to the following embodiment.

[0211] Figure 14 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application is shown.

[0212] The electronic device 1400 may include a processor 1401 and a memory 1402 storing computer program instructions.

[0213] Specifically, the processor 1401 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.

[0214] Memory 1402 may include a large-capacity memory for data or instructions. By way of example and not limitation, memory 1402 may include a hard disk drive (HDD), a floppy disk drive, 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. In one example, memory 1402 may include removable or non-removable (or fixed) media, or memory 1402 may be a non-volatile solid-state memory. Memory 1402 may be internal or external to the electronic device.

[0215] In one example, the memory 1402 may be a read-only memory (ROM). In one example, the ROM may be a mask-programmable ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0216] The memory 1402 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) computer-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 application.

[0217] The processor 1401 implements the method / steps in the above-mentioned method embodiment by reading and executing the computer program instructions stored in the memory 1402, and achieves the corresponding technical effects achieved by the method embodiment executing its method / steps. For the sake of brevity, they are not repeated here.

[0218] In one example, the electronic device may further include a communication interface 1403 and a bus 1410. Figure 14 As shown, the processor 1401, the memory 1402, and the communication interface 1403 are connected via a bus 1410 and communicate with each other.

[0219] The communication interface 1403 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0220] Bus 1410 includes hardware, software or both, couples the parts of electronic equipment to each other.For example, but not limitation, bus may include Accelerated Graphics Port (AGP) or other graphics buses, Enhanced Industry Standard Architecture (EISA) bus, Front Side Bus (FSB), Hyper Transport (HT) interconnection, Industry Standard Architecture (ISA) bus, InfiniBand interconnection, Low Pin Count (LPC) bus, memory bus, Micro Channel Architecture (MCA) bus, Peripheral Component Interconnect (PCI) bus, PCI-Express (PCI-X) bus, Serial Advanced Technology Attachment (SATA) bus, Video Electronics Standards Association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 1410 may include one or more buses. Although the present application embodiment describes and shows specific bus, the application considers any suitable bus or interconnection.

[0221] In addition, in conjunction with the tightening control method in the above-mentioned embodiments, embodiments of the present application may provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any of the tightening control methods in the above-mentioned embodiments is implemented. Examples of computer-readable storage media include non-transitory computer-readable storage media, such as electronic circuits, semiconductor memory devices, ROM, random access memory, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, and hard disks.

[0222] In addition, in combination with the tightening control method, device, and readable storage medium in the above embodiments, embodiments of the present application may provide a computer program product for implementation. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes any of the tightening control methods in the above embodiments.

[0223] 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.

[0224] The functional blocks shown in the above-described 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), appropriate firmware, a plug-in, a function card, etc. 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 via a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0225] 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.

[0226] Aspects of the present application have been described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. 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 computer 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.

[0227] The above description is only a specific embodiment of the present application. Those skilled in the art will 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 thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the scope of protection of the present application.

Claims

1. A tightening device, characterized in that: include: encoder; Tightening tools; a controller, the controller being in communication with the encoder and the tightening tool, respectively, the controller being configured to obtain a first distance between the encoder and the tightening tool, determine a second distance between the encoder and a target tightening point of a target workpiece, and provide a tightening enable to the tightening tool when the first distance matches the second distance; The tightening tool is configured to enable a tightening operation to be performed at the target tightening point in response to the tightening.

2. The tightening device according to claim 1, characterized in that The controller is used to determine the position information of the encoder based on the position information of multiple first reference points of the target workpiece and the distances between the multiple first reference points and the encoder, and calculate the second distance between the encoder and the target tightening point based on the position information of the encoder and the position information of the target tightening point.

3. The tightening device according to claim 2, characterized in that The controller is used to obtain the position information of multiple second reference points of the calibration workpiece and the position information of the preset tightening point of the calibration workpiece, the multiple second reference points corresponding one-to-one with the multiple first reference points, and determine the position information of the multiple first reference points based on the position information of the multiple second reference points; and determine the position information of the target tightening point corresponding to the preset tightening point based on the position information of the preset tightening point.

4. The tightening device according to claim 2, characterized in that: The multiple first reference points include a first sub-reference point, a second sub-reference point, and a third sub-reference point, and the controller is specifically configured to determine the position information of the encoder based on the position information of the first sub-reference point, the position information of the second sub-reference point, the position information of the third sub-reference point, the distance between the first sub-reference point and the encoder, the distance between the second sub-reference point and the encoder, and the distance between the third sub-reference point and the encoder.

5. The tightening device according to claim 2, characterized in that: The controller is specifically used to determine the position information of the encoder based on the position information of multiple first reference points of the target workpiece and the distances between the multiple first reference points and the encoder when the number of first reference points of the target workpiece is greater than or equal to 3, and calculate the second distance between the encoder and the target tightening point based on the position information of the encoder and the position information of the target tightening point.

6. The tightening device according to claim 5, characterized in that The controller is specifically configured to provide tightening enable to the tightening tool when the number of first reference points of the target workpiece is greater than or equal to 3 and when the difference between the first distance and the second distance is less than or equal to a first preset threshold.

7. The tightening device according to claim 1, characterized in that The controller is specifically used to determine, when the number of first reference points of the target workpiece is less than 3, a preset tightening point in the calibration workpiece corresponding to the target tightening point based on the correspondence between the tightening point of the target workpiece and the tightening point of the calibration workpiece, and to determine a second distance between the encoder and the target tightening point of the target workpiece based on the distance between the encoder and the preset tightening point of the calibration workpiece.

8. The tightening device according to claim 7, characterized in that: The controller is specifically configured to provide tightening enable to the tightening tool when the number of first reference points of the target workpiece is less than 3 and the difference between the first distance and the second distance is less than or equal to a second preset threshold.

9. The tightening device according to any one of claims 2 to 8, characterized in that The plurality of first reference points of the target workpiece include a plurality of different tightening points of the target workpiece.

10. The tightening device according to any one of claims 1 to 8, characterized in that The controller is configured to update the target tightening point according to a numbering sequence of the plurality of tightening points of the target workpiece after providing a tightening enable to the tightening tool when the first distance matches the second distance.

11. The tightening device according to any one of claims 1 to 8, characterized in that The encoder includes a first encoder and a second encoder, the first encoder is respectively connected to the controller and the tightening tool for communication, and the second encoder is respectively connected to the controller and the tightening tool for communication; The first distance includes a first sub-distance between the first encoder and the tightening tool and a second sub-distance between the second encoder and the tightening tool, and the second distance includes a third sub-distance between the first encoder and the target tightening point and a fourth sub-distance between the second encoder and the target tightening point; The controller is specifically configured to provide a tightening enable to the tightening tool when the first sub-distance matches the third sub-distance and the second sub-distance matches the fourth sub-distance.

12. The tightening device according to any one of claims 1 to 8, characterized in that The encoder is connected to the tightening tool via a connecting rope, and the first distance includes the length of the connecting rope between the encoder and the tightening tool.

13. The tightening device according to claim 12, characterized in that The encoder comprises a draw wire encoder.

14. The tightening device according to claim 12, characterized in that The tightening tool includes a tightening part and a handle, the tightening part is connected to the handle, the tightening part is provided with a tightening mechanism adapted to the fastener, and the encoder is connected to the tightening part through the connecting rope.

15. The tightening device according to claim 13 or 14, characterized in that: The tightening device further includes a bracket and a pulley assembly, wherein the encoder and the pulley assembly are connected to the bracket. The pulley assembly includes at least one pulley, and the connecting rope connected to the encoder is connected to the tightening tool through the at least one pulley.

16. The tightening device according to any one of claims 1 to 8, characterized in that The tightening device also includes a calibration component, which is used to place the tightening tool. The controller is used to obtain the first pulse number of the encoder and the first length of the connecting rope between the encoder and the tightening tool when the tightening tool is placed on the calibration component, and determine the conversion relationship between the pulse number of the encoder and the length of the connecting rope between the encoder and the tightening tool based on the first pulse number and the first length.

17. The tightening device according to claim 16, characterized in that The controller is specifically configured to obtain a second pulse number of the encoder, and determine the first distance between the encoder and the tightening tool according to the second pulse number and the conversion relationship.

18. The tightening device according to claim 16, characterized in that The tightening device further includes a bracket, the calibration component is connected to the bracket, and a receiving cavity is provided on a side of the calibration component facing away from the bracket, and the receiving cavity is used to place the tightening tool.

19. The tightening device according to any one of claims 1 to 8, characterized in that The tightening device further includes a card swiping device, the card swiping device is communicatively connected to the controller, and the card swiping device is used to obtain user information of the first operator and send the user information of the first operator to the controller; The controller is specifically configured to provide tightening enable to the tightening tool when the user information of the first operator matches the preset first target user information and the first distance matches the second distance.

20. The tightening device according to claim 19, characterized in that The controller is further configured to obtain tightening parameters fed back by the tightening tool after the tightening tool performs a tightening operation at the target tightening point in response to the tightening enable, and output an alarm message if the tightening parameters exceed a preset range.

21. The tightening device according to claim 20, characterized in that The controller is further configured to receive user information of a second operator acquired by the card swiping device when the tightening parameter exceeds a preset range, and provide a reverse enable to the tightening tool when the user information of the second operator matches the preset second target user information; The tightening tool is configured to enable a reversing operation to be performed at the target tightening point in response to the reversal.

22. A tightening control method, characterized in that: include: Acquiring a first distance between the encoder and the tightening tool; determining a second distance between the encoder and a target tightening point of a target workpiece; In a case where the first distance matches the second distance, a tightening enable is provided to the tightening tool, where the tightening enable is used to drive the tightening tool to perform a tightening operation at the target tightening point.

23. The tightening control method according to claim 22, characterized in that: Determining a second distance between the encoder and a target tightening point of the target workpiece includes: Acquire position information of a plurality of first reference points of the target workpiece, position information of the target tightening point, and distances between the plurality of first reference points and the encoder; determining position information of the encoder according to position information of the plurality of first reference points and distances between the plurality of first reference points and the encoder; A second distance between the encoder and the target tightening point is calculated according to the position information of the encoder and the position information of the target tightening point.

24. The tightening control method according to claim 23, characterized in that: The acquiring the position information of the plurality of first reference points of the target workpiece, the position information of the target tightening point, and the distances between the plurality of first reference points and the encoder includes: Acquire position information of a plurality of second reference points of the calibration workpiece and position information of a preset tightening point of the calibration workpiece, wherein the plurality of second reference points correspond one-to-one to the plurality of first reference points; Determining the position information of the plurality of first reference points according to the position information of the plurality of second reference points; According to the position information of the preset tightening point, the position information of the target tightening point corresponding to the preset tightening point is determined.

25. The tightening control method according to claim 23, characterized in that: The plurality of first reference points include a first sub-reference point, a second sub-reference point, and a third sub-reference point; The determining the position information of the encoder according to the position information of the plurality of first reference points and the distances between the plurality of first reference points and the encoder includes: Determine the position information of the encoder based on the position information of the first sub-reference point, the position information of the second sub-reference point, the position information of the third sub-reference point, the distance between the first sub-reference point and the encoder, the distance between the second sub-reference point and the encoder, and the distance between the third sub-reference point and the encoder.

26. The tightening control method according to claim 23, characterized in that: The acquiring the position information of the plurality of first reference points of the target workpiece, the position information of the target tightening point, and the distances between the plurality of first reference points and the encoder includes: When the number of the first reference points of the target workpiece is greater than or equal to 3, position information of the first reference points of the target workpiece, position information of the target tightening point, and distances between the first reference points and the encoder are acquired.

27. The tightening control method according to claim 26, characterized in that: When the first distance matches the second distance, providing a tightening enable to the tightening tool includes: When the number of the first reference points of the target workpiece is greater than or equal to 3 and the difference between the first distance and the second distance is less than or equal to a first preset threshold, tightening enable is provided to the tightening tool.

28. The tightening control method according to claim 22, characterized in that: Determining a second distance between the encoder and a target tightening point of the target workpiece includes: When the number of the first reference points of the target workpiece is less than 3, determining a preset tightening point in the calibration workpiece corresponding to the target tightening point according to a correspondence between the tightening point of the target workpiece and the tightening point of the calibration workpiece; A second distance between the encoder and a target tightening point of a target workpiece is determined according to the distance between the encoder and the preset tightening point of the calibration workpiece.

29. The tightening control method according to claim 28, characterized in that: When the first distance matches the second distance, providing a tightening enable to the tightening tool includes: When the number of the first reference points of the target workpiece is less than 3 and the difference between the first distance and the second distance is less than or equal to a second preset threshold, tightening enable is provided to the tightening tool.

30. The tightening control method according to any one of claims 23 to 29, characterized in that: The plurality of first reference points of the target workpiece include a plurality of different tightening points of the target workpiece.

31. The tightening control method according to any one of claims 22 to 29, characterized in that: When the first distance matches the second distance, after providing a tightening enable to the tightening tool, the tightening control method further includes: According to the numbering sequence of the multiple tightening points of the target workpiece, the target tightening point is updated, and the process returns to the step of obtaining the first distance between the encoder and the tightening tool.

32. The tightening control method according to any one of claims 22 to 29, characterized in that: The encoder includes a first encoder and a second encoder; The first distance includes a first sub-distance between the first encoder and the tightening tool and a second sub-distance between the second encoder and the tightening tool, and the second distance includes a third sub-distance between the first encoder and the target tightening point and a fourth sub-distance between the second encoder and the target tightening point; When the first distance matches the second distance, providing a tightening enable to the tightening tool includes: In a case where the first sub-distance matches the third sub-distance, and the second sub-distance matches the fourth sub-distance, tightening enable is provided to the tightening tool.

33. The tightening control method according to any one of claims 22 to 29, characterized in that: The encoder is connected to the tightening tool via a connecting rope, and the first distance includes the length of the connecting rope between the encoder and the tightening tool.

34. The tightening control method according to any one of claims 22 to 29, characterized in that: Before acquiring the first distance between the encoder and the tightening tool, the tightening control method further includes: When the tightening tool is placed on the calibration assembly, obtaining a first pulse number of the encoder and a first length of the connecting rope between the encoder and the tightening tool; determining, based on the first pulse number and the first length, a conversion relationship between the pulse number of the encoder and the length of the connecting rope between the encoder and the tightening tool; The obtaining of a first distance between the encoder and the tightening tool comprises: Obtaining a second pulse number of the encoder; The first distance between the encoder and the tightening tool is determined according to the second pulse number and the conversion relationship.

35. The tightening control method according to any one of claims 22 to 29, characterized in that: When the first distance matches the second distance, before providing the tightening enable to the tightening tool, the tightening control method further includes: Obtaining user information of the first operator; When the first distance matches the second distance, providing a tightening enable to the tightening tool includes: When the user information of the first operator matches the preset first target user information and the first distance matches the second distance, tightening enable is provided to the tightening tool.

36. The tightening control method according to any one of claims 22 to 29, characterized in that: When the first distance matches the second distance, after providing a tightening enable to the tightening tool, the tightening control method further includes: Obtaining tightening parameters fed back by the tightening tool; When the tightening parameters exceed the preset range, an alarm message is output.

37. The tightening control method according to claim 36, characterized in that: After obtaining the tightening parameters fed back by the tightening tool, the tightening control method further includes: When the tightening parameter exceeds a preset range, obtaining user information of a second operator; In a case where the user information of the second operator matches the preset second target user information, a reverse enable is provided to the tightening tool, where the reverse enable is used to drive the tightening tool to perform a reverse operation at the target tightening point.

38. An electronic device, characterized in that: The electronic device includes: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the steps of the tightening control method according to any one of claims 22 to 37 are implemented.

39. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the tightening control method according to any one of claims 22 to 37 are implemented.

40. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device is caused to perform the steps of the tightening control method according to any one of claims 22 to 37.

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