Torsion compensation method based on torsion test, electronic device and storage medium

Abstract

The application discloses a torsion compensation method based on torsion testing, an electronic device and a storage medium, and relates to the technical field of data processing. The method comprises the following steps: when the torsion testing is performed and the jaw mechanism and the device body are in a concentric state under no load, a first preset product is placed on the jaw mechanism, and it is detected whether the reference positions of the jaw mechanism and the first preset product are in a concentric state; if the reference positions are not in a concentric state, a first deviation value between the reference positions of the jaw mechanism and the first preset product is determined; a first deviation curve containing at least one first deviation value is constructed, and a first compensation amount of the jaw mechanism is determined according to the first deviation curve; it is detected whether the first compensation amount is less than or equal to a preset compensation threshold; if the first compensation amount is less than or equal to the preset compensation threshold, the mechanism parameters of the jaw mechanism are adjusted according to the first compensation amount, so that the torsion compensation of the jaw mechanism is performed. The application improves the accuracy of torsion compensation.

Description

Technical Field

[0001] This application relates to the field of data processing technology, and in particular to a torque compensation method, electronic device and storage medium based on torque testing. Background Technology

[0002] Accurate torque measurement and compensation are crucial for ensuring product quality, improving production efficiency, and extending equipment life. However, current torque measurement methods rely heavily on manual measurement and compensation using fixed parameter tables. This approach has significant drawbacks, such as insufficient accuracy and a lack of intelligence in torque measurement, leading to lower accuracy in torque compensation for equipment.

[0003] Therefore, improving the accuracy of torque compensation has become an urgent problem to be solved.

[0004] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this application is to provide a torque compensation method, electronic device, and storage medium based on torque testing, aiming to solve the technical problem of how to improve the accuracy of torque compensation.

[0006] To achieve the above objectives, this application proposes a torque compensation method based on torque testing. This method is applied to an electronic device, which includes a device body and a gripper mechanism mounted on the device body. The method includes the following steps:

[0007] When conducting a torque test, and with the gripper mechanism and the equipment body in a concentric state under no-load conditions, place the first preset product at the gripper mechanism and check whether the reference position of the gripper mechanism and the first preset product is concentric.

[0008] If they are not in a concentric state, then determine the first deviation value between the gripper mechanism and the reference position of the first preset product;

[0009] Construct a first deviation curve containing at least one first deviation value, determine a first compensation amount of the gripper mechanism based on the first deviation curve, and detect whether the first compensation amount is less than or equal to a preset compensation amount threshold.

[0010] If the first compensation amount is less than or equal to the preset compensation amount threshold, the mechanism parameters of the gripper mechanism are adjusted according to the first compensation amount to perform torque compensation on the gripper mechanism.

[0011] Optionally, the electronic device includes a compensation mechanism disposed on the device body.

[0012] The steps for adjusting the mechanism parameters of the gripper mechanism based on the first compensation amount include:

[0013] The first deviation curve is compared with the preset baseline, and the first compensation direction of the gripper mechanism is determined based on the comparison result.

[0014] Based on the first compensation direction and the first compensation amount, the control compensation mechanism adjusts the mechanism parameters of the gripper mechanism.

[0015] Optionally, the compensation mechanism includes two different first compensation mechanisms and second compensation mechanisms, and the mechanism parameters include the position parameters of the gripper mechanism.

[0016] The steps for controlling the compensation mechanism to adjust the mechanism parameters of the gripper mechanism based on the first compensation direction and the first compensation amount include at least one of the following:

[0017] When the first compensation direction includes the horizontal axis direction, the control first compensation mechanism adjusts the position parameters of the gripper mechanism in the horizontal axis direction according to the first compensation amount;

[0018] When the first compensation direction includes the longitudinal axis direction, the control first compensation mechanism adjusts the position parameters of the gripper mechanism in the longitudinal axis direction according to the first compensation amount;

[0019] When the first compensation direction includes the height direction, the control second compensation mechanism adjusts the position parameters of the gripper mechanism in the height direction according to the first compensation amount.

[0020] Optionally, after the step of adjusting the mechanism parameters of the gripper mechanism according to the first compensation amount, the following steps are included:

[0021] Determine the quantity of the first preset product, and reposition the first preset product to the gripper mechanism according to the quantity of the product, and determine the second deviation value between the gripper mechanism and the reference position of the repositioned first preset product;

[0022] Check whether the second deviation value is greater than or equal to the first deviation value;

[0023] If the second deviation value is greater than or equal to the first deviation value, then the compensation for the gripper mechanism is determined to be in failure.

[0024] Optionally, after the step of detecting whether the second deviation value is greater than or equal to the first deviation value, the method includes:

[0025] If the second deviation value is less than the first deviation value, the product quantity of the first preset product that has been repositioned is updated. The second compensation amount of the gripper mechanism is determined based on the updated first preset product, and it is detected whether the second compensation amount is greater than the preset compensation amount threshold.

[0026] If the second compensation amount is greater than the preset compensation amount threshold, the product quantity of the first preset product that has been repositioned is updated again with a different product quantity. Based on the first preset product after the second update, the step of determining the second compensation amount of the gripper mechanism based on the updated first preset product is executed until the second compensation amount is determined for a preset number of times. If the second compensation amount for the preset number of times is greater than the preset compensation amount threshold, then the compensation for the gripper mechanism is determined to be ineffective.

[0027] Optionally, after determining the steps for compensating for the failure of the gripper mechanism, the process includes:

[0028] Obtain the historical placement quantity of historical products that have undergone torque test compensation, adjust the product quantity of the first preset product placed at the gripper mechanism based on the historical placement quantity, and determine the third deviation value between the gripper mechanism and the reference position of the adjusted first preset product.

[0029] Check whether the third deviation value is less than the first deviation value;

[0030] If the third deviation value is greater than or equal to the first deviation value, the product data of the first preset product is updated and adjusted again. Based on the updated and adjusted first preset product, the step of determining the third deviation value between the gripper mechanism and the reference position of the adjusted first preset product is executed until the latest third deviation value is detected to be less than the first deviation value, then the compensation for the gripper mechanism is determined to be effective.

[0031] Optionally, the step of determining the first compensation amount of the gripper mechanism based on the first deviation curve includes:

[0032] Determine at least two first deviation values ​​in the first deviation curve, calculate the average of the at least two first deviation values, and use the average as the first compensation amount.

[0033] Optionally, after the step of detecting whether the first compensation amount is less than or equal to a preset compensation amount threshold, the method further includes:

[0034] If the first compensation amount is greater than the preset compensation amount threshold, then the product data of the first preset product and the equipment data of the electronic device are verified.

[0035] If the data verification results include abnormalities in product data and / or equipment data, then after the abnormal product data and / or equipment data are restored, the following steps are re-executed: when the torque test is being performed and the gripper mechanism and the equipment body are in a concentric state under no-load conditions, the first preset product is placed at the gripper mechanism, and the reference position of the gripper mechanism and the first preset product is checked to see if they are in a concentric state.

[0036] In addition, to achieve the above objectives, this application also proposes an electronic device, which includes: a device body, a gripper mechanism disposed on the device body, a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the torque compensation method based on torque testing as described above.

[0037] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the torque compensation method based on torque testing as described above.

[0038] In this application, during torque testing of an electronic device, the gripper mechanism under no-load conditions must be concentric with the device body. A first preset product is then placed on the gripper mechanism. When the reference positions of the gripper mechanism and the first preset product are detected to be out of concentricity, a first deviation value is determined, and a first deviation curve including at least one first deviation value is constructed. A first compensation amount for the gripper mechanism is determined based on the first deviation curve. When the first compensation amount is less than or equal to a preset compensation threshold, the mechanism parameters of the gripper mechanism are adjusted according to the first compensation amount to achieve torque compensation. This avoids the inconsistencies in accuracy caused by relying entirely on manual torque measurement using fixed parameter tables in existing technologies, which leads to lower accuracy in torque compensation. By determining the first compensation amount of the gripper mechanism based on the actual first deviation value between the reference positions of the gripper mechanism and the first preset product, the torque compensation of the gripper mechanism can be flexibly adjusted according to different products and scenarios, improving the accuracy of torque compensation for the device. Attached Figure Description

[0039] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0040] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of a scenario involving an electronic device as described in an embodiment of this application;

[0042] Figure 2 This is a schematic diagram of a torque compensation method based on torque testing in this application;

[0043] Figure 3 Another scenario diagram provided in the first embodiment of the torque compensation method based on torque testing in this application;

[0044] Figure 4 This is a schematic diagram of a torque compensation method based on torque testing in this application;

[0045] Figure 5 This is a schematic diagram of the device structure of the hardware operating environment involved in the torque compensation method based on torque testing in the embodiments of this application.

[0046] Explanation of icon numbers

[0047] 100. Torque testing and compensation accuracy mechanism; 200. Precision rotating structure; 300. Vibration damping structure; 400. Pressure testing and monitoring module; 500. Accuracy compensation module.

[0048] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0049] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0050] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0051] Optionally, the entity executing the torque compensation method based on torque testing in the embodiments of this application may be an electronic device.

[0052] Optionally, the electronic device may include a device body and a gripper mechanism disposed on the device body.

[0053] Optionally, the gripper mechanism can be a freely movable chuck or a screw clamp, the position of which can be changed.

[0054] Alternatively, electronic devices can be devices with gripper mechanisms, such as industrial machines (e.g., six-axis articulated robots with gripper mechanisms at their ends for welding, handling, spraying, and assembly), CNC machine tools, semiconductor and electronic manufacturing equipment (chip placement machines, wire bonding machines, and electronic component assembly equipment with gripper mechanisms), precision measurement and testing equipment (e.g., the probe of a coordinate measuring machine can be a special gripper mechanism), and logistics and packaging automation equipment (e.g., palletizing robots and express sorting robots with gripper mechanisms).

[0055] Optionally, the electronic device can be an assembly device for wearable devices (such as watches), and the wearable device can be assembled using the torque-compensated assembly device based on torque testing according to the embodiments of this application.

[0056] For example, such as Figure 1 As shown, the electronic device can be an assembly device for wearable devices, and may include a shock-absorbing structure 300, a precision rotating structure 200, and a torque testing and compensation accuracy mechanism 100.

[0057] Based on this, embodiments of this application provide a torque compensation method based on torque testing, referring to... Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the torque compensation method based on torque testing according to this application.

[0058] In this embodiment, the torque compensation method based on torque testing includes steps S10 to S40.

[0059] Step S10: When the torque test is performed and the gripper mechanism and the equipment body are concentric under no-load conditions, the first preset product is placed at the gripper mechanism, and it is detected whether the reference position of the gripper mechanism and the first preset product are concentric.

[0060] Optionally, when a torque test is required on an electronic device, the gripper mechanism and the device body of the electronic device can be concentrically processed in an unloaded state (i.e., when the gripper mechanism is not carrying any product and there is no product at the gripper mechanism).

[0061] Optionally, a pressure sensor installed on the electronic device can be used to detect whether the gripper mechanism is concentric with the device body under no-load conditions. If so, it is determined that the gripper mechanism and the device body are concentric.

[0062] Alternatively, if the gripper mechanism is perfectly concentric with the equipment body (or the reference plane of the equipment body), then under no-load conditions, the pressure or torque on the gripper mechanism in all directions is balanced. Any misalignment will lead to uneven force distribution, resulting in detectable pressure fluctuations or torque differences on the pressure sensor. Therefore, a concentricity test can be performed using a pressure sensor. If the pressure fluctuation detected by the pressure sensor is large, it is determined that the gripper mechanism is not concentric with the equipment body.

[0063] Optionally, the pressure of the gripper mechanism in multiple directions under no-load conditions can be detected by a pressure sensor. If the pressure fluctuation value between each pressure is greater than the preset pressure threshold, it is determined that the pressure fluctuation is large and the gripper mechanism is not concentric with the equipment body. If the pressure fluctuation value is less than the preset pressure threshold, it is determined that the pressure fluctuation is small and the gripper mechanism is concentric with the equipment body. In other words, it can be considered that the gripper mechanism is concentric with the electronic equipment.

[0064] For example, such as Figure 3 As shown, an electronic device can be equipped with a pressure test monitoring module 400 and a precision compensation module 500. The pressure test monitoring module 400 can include at least one pressure sensor, and the precision compensation module 500 can be used to compensate for the torque of the gripper mechanism of the electronic device, such as adjusting the position of the gripper mechanism.

[0065] Optionally, when the electronic device is in an unloaded state and the gripper mechanism and the device body are in a concentric state, it is also necessary to determine the concentricity of the gripper mechanism under load. Therefore, a certain number (such as a preset number of products, such as 50) of the first preset products (which can be qualified products that have been tested and determined in advance, such as accessories to be installed on an electric watch, such as screws, watch cases, etc.) can be placed at the gripper mechanism, and then it can be detected whether the reference position of the gripper mechanism and the first preset products is in a concentric state.

[0066] Optionally, a pressure sensor can be used to detect whether the gripper mechanism and the reference position of the first preset product are concentric. If they are concentric, it is determined that the gripper mechanism and the reference position of the first preset product are concentric. If they are not concentric, it is determined that the gripper mechanism and the reference position of the first preset product are not concentric.

[0067] Optionally, the reference position of the first preset product can be obtained externally, such as the center position of the first preset product. If there are multiple first preset products placed at the gripper mechanism, a common reference position for multiple first preset products can be determined. Alternatively, a high-precision physical reference device with a known position (such as a precision conical seat, V-block, and fixed measuring plane) can be set up in advance near the gripper mechanism of the electronic device, and this physical reference device can be used as the physical entity corresponding to the reference position of the first preset product, and the first preset product can be placed on the physical reference device.

[0068] Optionally, if the gripper mechanism is completely concentric with the reference position of the first preset product, the contact force between the gripper mechanism and the reference position of the first preset product will act purely along the axial direction (i.e., the Z direction and the height direction), and will not generate lateral force or torsional torque.

[0069] Optionally, if the gripper mechanism is not concentric with the reference position of the first preset product, then the gripper mechanism will come into contact with the reference position of the first preset product, generating significant lateral force and torsional torque.

[0070] Alternatively, other methods can be used to determine whether the gripper mechanism and the reference position of the first preset product are concentric. For example, the features of the gripper mechanism and the product features of the first preset product can be identified by a camera to determine the pixel deviation of the center point between the two. If the pixel deviation is greater than a preset pixel threshold, it is determined that the gripper mechanism and the first preset product are not concentric. Alternatively, a laser displacement sensor can be used to scan and determine whether the reference position of the gripper mechanism and the first preset product are concentric.

[0071] Step S20: If they are not in a concentric state, determine the first deviation value between the gripper mechanism and the reference position of the first preset product.

[0072] Optionally, if it is determined that the reference position of the gripper mechanism and the first preset product are concentric, a new first preset product can be selected to re-perform the torque test on the electronic device; if it is determined that the reference position of the gripper mechanism and the first preset product are not concentric, torque compensation of the gripper mechanism is required.

[0073] Optionally, when the gripper mechanism and the reference position of the first preset product are not concentric, the lateral force and torsional torque recorded by the pressure sensor can be determined, and the positional deviation and angular offset between the gripper mechanism and the reference position of the first preset product can be determined based on the lateral force and torsional torque, and the positional deviation and angular offset can be used as the first deviation value.

[0074] Optionally, a first coordinate system can be constructed with the reference position of the device body of the electronic device as the origin of the coordinate system. The first position coordinate of the center of the gripper mechanism in the unloaded state and in the concentric state with the device body can be determined. The second coordinate position of the reference position of the first preset product in the first coordinate system after the gripper mechanism places the first preset product can be determined. The first deviation value between the first position coordinate and the second position coordinate can be determined based on the coordinate difference between the first position coordinate and the second position coordinate (such as the position deviation and the angle deviation of the rotation angle (i.e., the deviation direction)).

[0075] Optionally, the first deviation value may include positional and angular deviations in different coordinate axis directions.

[0076] Step S30: Construct a first deviation curve containing at least one first deviation value, determine a first compensation amount of the gripper mechanism based on the first deviation curve, and detect whether the first compensation amount is less than or equal to a preset compensation amount threshold.

[0077] Optionally, the quantity of the first preset product placed at the gripper mechanism can be adjusted, such as increasing or decreasing the quantity of the first preset product. Then, the detection of whether the reference position of the gripper mechanism and the first preset product is concentric is re-executed. If they are not concentric, a first deviation value between the reference position of the gripper mechanism and the first preset product is determined. This method can be used to obtain multiple different or identical first deviation values.

[0078] Furthermore, a first deviation curve including at least one first deviation value can be constructed based on multiple first deviation values. For example, a coordinate system can be constructed with time or product quantity as the vertical axis and the magnitude of the first deviation value as the horizontal axis, such as a second coordinate system. Multiple first deviation values ​​obtained by measuring the first preset product multiple times in the second coordinate system can be determined, and the first deviation values ​​can be connected to generate a first deviation curve.

[0079] Optionally, the amount of compensation required for the gripper mechanism can be determined based on the first deviation curve and used as the first compensation amount.

[0080] Optionally, the first compensation amount of the gripper mechanism is determined based on the first deviation curve, including step a10.

[0081] Step a10: Determine at least two first deviation values ​​in the first deviation curve, calculate the average of the at least two first deviation values, and use the average as the first compensation amount.

[0082] Optionally, at least two first deviation values ​​in the first deviation curve (such as first deviation values ​​obtained by measuring different quantities of the first preset product) can be determined, and then the average value of the at least two first deviation values ​​can be calculated, and the calculated average value can be used as the first compensation amount.

[0083] Alternatively, the calculated average value can be transformed (e.g., appropriately reduced or enlarged, or converted in format) to obtain the first compensation amount.

[0084] In this embodiment, by using the average of at least two first deviation values ​​in the first deviation curve as the first compensation amount, the accuracy of the determined first compensation amount is improved, thereby improving the accuracy of torque compensation.

[0085] Optionally, after determining or obtaining the first compensation amount of the gripper mechanism according to step a10, it is possible to detect whether the first compensation amount is less than or equal to a preset compensation amount threshold (the compensation amount threshold is dynamically set according to different scenarios, such as 40μm), and perform different operations according to different detection results.

[0086] Optionally, after the step of detecting whether the first compensation amount is less than or equal to a preset compensation amount threshold, steps b10-b20 are also included.

[0087] Step b10: If the first compensation amount is greater than the preset compensation amount threshold, then the product data of the first preset product and the device data of the electronic device are verified.

[0088] Step b20: If the data verification results include abnormalities in product data and / or equipment data, then after the abnormal product data and / or equipment data are restored, the following steps are repeated: when the torque test is performed and the gripper mechanism and the equipment body are concentric under no-load conditions, the first preset product is placed at the gripper mechanism, and the reference position of the gripper mechanism and the first preset product is checked to see if they are concentric.

[0089] Optionally, if the detection finds that the first compensation amount is greater than the preset compensation amount threshold, it is determined that there may be an abnormality in the torque test performed, and data verification can be carried out.

[0090] Optionally, the product data of the first preset product can be verified. The product data may include the number of the first preset product placed at the gripper mechanism and the placement position during the torque test. For example, taking the number of products as an example, the historical placement quantity of the products used in previous torque tests on electronic devices can be used. The historical products can be the same as the first preset product. The historical placement quantity can be the number of historical products placed at the gripper mechanism when the torque test was performed and the test was successful (i.e., compensation was successful).

[0091] Optionally, it can be detected whether there is a large difference between the historical placement quantity and the quantity of the first preset product. If there is a large difference (for example, if the historical placement quantity is 10 million and the quantity of the first preset product for this torque test is 1,000, then there is a large difference between the two), then when performing the torque test on the electronic device this time, it is necessary to increase the quantity of the first preset product so that it is not too far from the historical placement quantity.

[0092] Optionally, the device data of the electronic device can be verified. The device data may include sensor data (such as pressure sensor data), and whether there is obvious looseness or wear in the gripper mechanism.

[0093] Optionally, if an anomaly is detected in at least one of the product data and equipment data during data review, the abnormal data is restored and the torque test of the electronic device is repeated, i.e., step S10 is continued.

[0094] Optionally, by performing data verification when the first compensation amount exceeds a preset compensation amount threshold, and then performing the torque test, the inaccuracy of the torque test due to abnormal product data and equipment data can be avoided.

[0095] Step S40: If the first compensation amount is less than or equal to the preset compensation amount threshold, the mechanism parameters of the gripper mechanism are adjusted according to the first compensation amount to perform torque compensation on the gripper mechanism.

[0096] Optionally, the mechanism parameters may include at least one of the following: position parameters of the gripper mechanism, motion control parameters (such as proportional gain, integral gain and derivative gain), feedforward control, clamping force, clamping position and clamping center. The following example uses position parameters as the mechanism parameters.

[0097] Optionally, if the first compensation amount is detected to be less than or equal to a preset compensation amount threshold, the position parameters of the gripper mechanism can be compensated by the first compensation amount, that is, the position of the gripper mechanism can be adjusted, thereby realizing torque compensation of the gripper mechanism to increase the torque of the gripper mechanism.

[0098] In this embodiment, when performing torque testing on the electronic device, the gripper mechanism under no-load conditions must be concentric with the device body. A first preset product is then placed on the gripper mechanism. When it is detected that the gripper mechanism and the reference position of the first preset product are not concentric, a first deviation value is determined between them, and a first deviation curve including at least one first deviation value is constructed. A first compensation amount for the gripper mechanism is determined based on the first deviation curve. When the first compensation amount is less than or equal to a preset compensation amount threshold, the mechanism parameters of the gripper mechanism are adjusted according to the first compensation amount to achieve torque compensation for the gripper mechanism. This avoids the inconsistencies in accuracy caused by relying entirely on manual torque measurement using fixed parameter tables in existing technologies, which leads to lower accuracy for torque compensation. By determining the first compensation amount of the gripper mechanism based on the actual first deviation value between the gripper mechanism and the reference position of the first preset product, the torque compensation of the gripper mechanism can be flexibly adjusted according to different products and scenarios, improving the accuracy of torque compensation for the device.

[0099] Based on the first embodiment of this application, a second embodiment of this application is proposed. In this second embodiment, content that is the same as or similar to the above embodiment can be referred to the above description and will not be repeated hereafter. Based on this, the electronic device includes a compensation mechanism disposed on the device body. In step S40, the step of adjusting the mechanism parameters of the gripper mechanism according to the first compensation amount further includes steps c10-c20.

[0100] Step c10: Compare the first deviation curve with the preset baseline, and determine the first compensation direction of the gripper mechanism based on the comparison result.

[0101] Optionally, the preset baseline can be a pre-set curve with theoretically zero deviation, such as a horizontal straight line with a deviation value of 0 in the same coordinate system as the first deviation curve.

[0102] Optionally, the first compensation direction can be the direction in which the gripper mechanism is positioned.

[0103] Optionally, the first compensation direction can be determined based on the coordinate system (i.e., the first coordinate system) of the electronic device used in this embodiment. If it is a three-dimensional coordinate system, the first compensation direction includes the horizontal axis direction (i.e., the x-axis direction), the vertical axis direction (i.e., the y-axis direction), and the height direction (i.e., the z-axis direction). If it is a two-dimensional coordinate system, the first compensation direction includes the horizontal axis direction and the vertical axis direction.

[0104] Optionally, the first compensation direction can be determined based on the first deviation value and / or the direction included in the first compensation amount (e.g., determining the direction that the gripper device may need to compensate based on the angle deviation).

[0105] Optionally, taking a three-dimensional coordinate system as an example, the existence of a deviation in the horizontal direction of the first coordinate system can be determined based on the first deviation curve and the baseline. If a deviation exists, the first compensation direction is determined to include the horizontal direction; if no deviation exists, the first compensation direction is determined to exclude the horizontal direction. For example, if the value of the first deviation or the first compensation amount in the first deviation curve in the horizontal direction of the first coordinate system is consistent with the value of the corresponding reference point in the baseline in the horizontal direction of the first coordinate system, and if they are inconsistent, a deviation is determined to exist, and the first compensation direction includes the horizontal direction.

[0106] Optionally, the horizontal axis direction includes either a positive or a negative horizontal axis direction. If the first deviation value or the first compensation amount in the first deviation curve is greater than the value of the corresponding reference point in the first coordinate system in the horizontal axis direction, then the first compensation direction is determined to include the positive horizontal axis direction; otherwise, the first compensation direction is determined to include the negative horizontal axis direction.

[0107] Optionally, based on the first deviation curve and the baseline, it can be determined whether there is a deviation in the vertical direction of the first coordinate system. If there is a deviation, the first compensation direction is determined to include the vertical direction; if there is no deviation, the first compensation direction is determined to exclude the vertical direction. For example, if the value of the first deviation or the first compensation amount in the first deviation curve is consistent with the value of the corresponding reference point in the baseline in the vertical direction of the first coordinate system, and if they are inconsistent, it is determined that there is a deviation and the first compensation direction includes the vertical direction.

[0108] Optionally, the vertical axis direction includes either the positive vertical axis direction or the negative vertical axis direction. If the value of the first deviation or the first compensation amount in the first deviation curve is greater than the value of the corresponding reference point in the reference line in the vertical axis direction of the first coordinate system, then the first compensation direction is determined to include the positive vertical axis direction; otherwise, the first compensation direction is determined to include the negative vertical axis direction.

[0109] Optionally, based on the first deviation curve and the baseline, it can be determined whether there is a deviation in the height direction (i.e., the z-axis direction) in the first coordinate system. If there is a deviation, it is determined that the first compensation direction includes the height direction; if there is no deviation, it is determined that the first compensation direction does not include the height direction. For example, if the value of the first deviation or the first compensation amount in the first deviation curve is consistent with the value of the corresponding reference point in the baseline in the z-axis direction of the first coordinate system, and if they are inconsistent, it is determined that there is a deviation and the first compensation direction includes the height direction.

[0110] Optionally, the height direction includes the positive z-axis direction or the negative z-axis direction. If the first deviation value or the first compensation amount in the first deviation curve is greater than the value of the corresponding reference point in the reference line in the first coordinate system z-axis direction, then the first compensation direction is determined to include the positive z-axis direction; otherwise, the first compensation direction is determined to include the negative z-axis direction.

[0111] Step c20: Based on the first compensation direction and the first compensation amount, control the compensation mechanism to adjust the mechanism parameters of the gripper mechanism.

[0112] Optionally, after determining the first compensation direction, the compensation mechanism can be controlled to adjust the mechanism parameters of the gripper mechanism, such as the position parameters, according to the first compensation amount corresponding to the first compensation direction in different first compensation directions.

[0113] In this embodiment, the first compensation direction of the gripper mechanism is determined by comparing the first deviation curve with the preset baseline. Then, the compensation mechanism is controlled to adjust the mechanism parameters of the gripper mechanism based on the first compensation direction and the first compensation amount, so as to ensure effective torque compensation of the gripper mechanism.

[0114] Optionally, the compensation mechanism may include two different primary and secondary compensation mechanisms.

[0115] Optionally, the first compensation mechanism includes an upper compensation mechanism for adjusting the position of the gripper mechanism in the horizontal and vertical directions, and the second compensation mechanism includes a lower compensation mechanism for adjusting the position of the gripper mechanism in the z-axis direction.

[0116] Optionally, the mechanism parameters include the position parameters of the gripper mechanism.

[0117] Optionally, in step c20, the step of controlling the compensation mechanism to adjust the mechanism parameters of the gripper mechanism according to the first compensation direction and the first compensation amount includes at least one of the following steps c21-c23.

[0118] Step c21: When the first compensation direction includes the horizontal axis direction, control the first compensation mechanism to adjust the position parameters of the gripper mechanism in the horizontal axis direction according to the first compensation amount;

[0119] Optionally, when the first compensation direction includes the horizontal axis direction, the first compensation position parameter (such as the value of the coordinate point x, such as 5) corresponding to the horizontal axis direction in the first compensation amount is determined, and the first compensation mechanism is controlled to increase or decrease the position parameter of the gripper mechanism in the horizontal axis direction, and the adjustment is equal to the first compensation position parameter.

[0120] Optionally, when the first compensation direction includes the positive horizontal axis direction, the second compensation position parameter (such as the value of the coordinate point x, such as 5) corresponding to the positive horizontal axis direction in the first compensation amount is determined, and the position parameter of the gripper mechanism in the positive horizontal axis direction of the first compensation mechanism is controlled to increase or decrease the second compensation position parameter.

[0121] Optionally, when the first compensation direction includes the negative horizontal axis direction, a third compensation position parameter (such as the value of the x-coordinate point, like -5) corresponding to the negative horizontal axis direction in the first compensation amount is determined, and the position parameter of the gripper mechanism in the negative horizontal axis direction is controlled by the first compensation mechanism to increase or decrease the third compensation position parameter.

[0122] Step c22: When the first compensation direction includes the longitudinal axis direction, control the first compensation mechanism to adjust the position parameters of the gripper mechanism in the longitudinal axis direction according to the first compensation amount;

[0123] Optionally, when the first compensation direction includes the longitudinal axis direction, a fourth compensation position parameter (such as the magnitude of the y-value of the coordinate point, e.g., 5) corresponding to the longitudinal axis direction in the first compensation amount is determined, and the position parameter of the gripper mechanism in the longitudinal axis direction of the first compensation mechanism is controlled to increase or decrease the fourth compensation position parameter.

[0124] Optionally, when the first compensation direction includes the positive longitudinal axis direction, the fifth compensation position parameter (such as the value of the coordinate point y, such as 5) corresponding to the positive longitudinal axis direction in the first compensation amount is determined, and the position parameter of the gripper mechanism in the positive longitudinal axis direction of the first compensation mechanism is controlled to increase or decrease the fifth compensation position parameter.

[0125] Optionally, when the first compensation direction includes the negative longitudinal axis direction, the sixth compensation position parameter (such as the value of the coordinate point y, such as -5) corresponding to the negative longitudinal axis direction in the first compensation amount is determined, and the position parameter of the gripper mechanism in the negative longitudinal axis direction of the first compensation mechanism is controlled to increase or decrease the sixth compensation position parameter.

[0126] Step c23: When the first compensation direction includes the height direction, control the second compensation mechanism to adjust the position parameters of the gripper mechanism in the height direction according to the first compensation amount.

[0127] Optionally, when the first compensation direction includes the z-axis direction, the seventh compensation position parameter (such as the value of the coordinate point z, such as 5) corresponding to the z-axis direction in the first compensation amount is determined, and the position parameter of the gripper mechanism in the z-axis direction of the first compensation mechanism is controlled to increase or decrease the seventh compensation position parameter.

[0128] Optionally, when the first compensation direction includes the positive z-axis direction, the eighth compensation position parameter (such as the value of the coordinate point z, such as 5) corresponding to the positive z-axis direction in the first compensation amount is determined, and the position parameter of the gripper mechanism in the positive z-axis direction of the first compensation mechanism is controlled to increase or decrease the eighth compensation position parameter.

[0129] Optionally, when the first compensation direction includes the negative z-axis direction, the ninth compensation position parameter (such as the value of the z-coordinate point, such as -5) corresponding to the negative z-axis direction in the first compensation amount is determined, and the position parameter of the gripper mechanism in the negative z-axis direction of the first compensation mechanism is controlled to increase or decrease the ninth compensation position parameter.

[0130] In this embodiment, when the first compensation direction includes the horizontal axis direction and / or the vertical axis direction, the position parameters of the gripper mechanism are adjusted in the horizontal axis direction and / or the vertical axis direction according to the first compensation mechanism and the first compensation amount. When the first compensation direction includes the height direction, the position parameters of the gripper mechanism are adjusted in the height direction according to the second compensation mechanism and the first compensation amount. This achieves fine compensation of the gripper mechanism and improves the accuracy of torque compensation.

[0131] Based on the first or second embodiment of this application, a third embodiment of this application is proposed. In this third embodiment, content that is the same as or similar to the above embodiments can be referred to the above description and will not be repeated hereafter. Furthermore, after step S40, which involves adjusting the mechanism parameters of the gripper mechanism according to the first compensation amount, steps d10-d30 are also included.

[0132] Step d10: Determine the quantity of the first preset product, and reposition the first preset product to the gripper mechanism according to the quantity of the product, and determine the second deviation value between the gripper mechanism and the reference position of the repositioned first preset product;

[0133] Step d20: Check whether the second deviation value is greater than or equal to the first deviation value;

[0134] In step d30, if the second deviation value is greater than or equal to the first deviation value, then the compensation for the gripper mechanism is determined to be in failure.

[0135] Optionally, after adjusting the mechanism parameters of the gripper mechanism to compensate for the torque of the gripper mechanism, it is also necessary to check whether the torque compensation of the gripper mechanism is successful.

[0136] Optionally, the same number (e.g., ten) of the first preset products can be repositioned at the gripper mechanism, and the concentricity between the gripper mechanism and the reference position of the first preset products can be rechecked. If they are not concentric, the deviation between the gripper mechanism and the reference position of the repositioned first preset products is determined and used as the second deviation value. Multiple tests can be performed to obtain multiple second deviation values.

[0137] Optionally, it can be detected whether the second deviation value is greater than or equal to the first deviation value. If the second deviation value is greater than or equal to the first deviation value, it is determined that the compensation for the gripper mechanism has failed and torque compensation needs to be performed again.

[0138] In this embodiment, after torque compensation of the gripper mechanism, further testing is performed to determine whether the compensation of the gripper mechanism has failed, thereby ensuring the effectiveness of the compensation of the gripper mechanism.

[0139] Optionally, after step d20, which detects whether the second deviation value is greater than or equal to the first deviation value, steps d40-d50 are also included.

[0140] Step d40: If the second deviation value is less than the first deviation value, the product quantity of the repositioned first preset product is updated, the second compensation amount of the gripper mechanism is determined based on the updated first preset product, and it is detected whether the second compensation amount is greater than the preset compensation amount threshold.

[0141] Step d50: If the second compensation amount is greater than the preset compensation amount threshold, the product quantity of the repositioned first preset product is updated again with different product quantities. Based on the first preset product after the second update, the step of determining the second compensation amount of the gripper mechanism based on the updated first preset product is executed until the second compensation amount of the preset number of times is determined, and the second compensation amount of the preset number of times is greater than the preset compensation amount threshold, then the compensation of the gripper mechanism is determined to be ineffective.

[0142] Optionally, if the second deviation value is less than the first deviation value, multiple tests are required to determine whether the torque compensation of the gripper mechanism is successful.

[0143] Optionally, if the second deviation value is less than the first deviation value, the quantity of the first preset product placed at the gripper mechanism can be increased (i.e., the quantity of products can be updated). Then, it is detected whether the gripper mechanism and the reference position of the first preset product are concentric. If they are not concentric, the deviation value between the gripper mechanism and the reference position of the first preset product is determined and used as the fifth deviation value. A deviation curve including at least one fifth deviation value is constructed, and the compensation amount of the gripper mechanism is determined based on the deviation curve and used as the second compensation amount. It is detected whether the second compensation amount is greater than the preset compensation amount threshold. If the second compensation amount is less than or equal to the preset compensation amount threshold, the mechanism parameters of the gripper mechanism are adjusted based on the second compensation amount to perform torque compensation on the gripper mechanism.

[0144] Optionally, if the second compensation amount is greater than the preset compensation amount threshold, the number of products of the first preset product at the gripper mechanism is increased, and the torque test is repeated, for example, by executing each step in the first embodiment, until the preset cutoff condition is reached, such as the number of torque tests reaching a preset number (e.g., three times), and the second compensation amount obtained from the three torque tests is greater than the preset compensation amount threshold, then it is determined that the compensation for the gripper mechanism has failed, and torque compensation needs to be repeated.

[0145] In this embodiment, after torque compensation of the gripper mechanism, multiple tests are performed to determine whether the compensation of the gripper mechanism has failed, thereby ensuring the effectiveness of the compensation of the gripper mechanism.

[0146] Optionally, in this embodiment, after determining the compensation failure of the gripper mechanism, steps d60-d80 are also included.

[0147] Step d60: Obtain the historical placement quantity of historical products that have undergone torque test compensation; adjust the product quantity of the first preset product placed at the gripper mechanism based on the historical placement quantity; and determine the third deviation value between the gripper mechanism and the reference position of the adjusted first preset product.

[0148] Step d70: Check whether the third deviation value is less than the first deviation value;

[0149] Step d80: If the third deviation value is greater than or equal to the first deviation value, then obtain the new historical placement quantity, and perform the step of adjusting the product quantity of the first preset product placed at the gripper mechanism based on the new historical placement quantity, until the latest third deviation value is detected to be less than the first deviation value, then determine that the compensation for the gripper mechanism is effective.

[0150] Optionally, the electronic device can be configured to store a historical number of products (e.g., qualified products identical to the first preset product) that were previously placed at the gripper mechanism during a torque test of the electronic device.

[0151] Optionally, the number of products of the first preset product placed at the gripper mechanism can be adjusted based on the historical placement quantity, such as increasing the historical placement quantity, and then the torque test can be performed again. For example, it can be checked whether the reference position of the gripper mechanism and the current first preset product are concentric. If they are not concentric, the deviation value between the reference position of the gripper mechanism and the current first preset product is determined and used as the third deviation value. It can be checked whether the third deviation value is less than the first deviation value. If it is less than the first deviation value, multiple tests can be performed again. For example, the same steps as steps d40-d50 can be performed based on the third deviation value.

[0152] Optionally, if the third deviation value is greater than or equal to the first deviation value, the actual number of the first preset product is increased or decreased, and the step of determining the third deviation value between the gripper mechanism and the reference position of the adjusted first preset product is performed. Multiple torque tests are conducted until the latest obtained third deviation value is detected to be less than the first deviation value. At this point, it can be determined that the compensation for the gripper mechanism is effective.

[0153] In this embodiment, when the compensation for the gripper mechanism fails, the number of products of the first preset product is adjusted according to the historical placement quantity, and the torque test is repeated until the compensation for the gripper mechanism is determined to be effective, thereby improving the effectiveness of the compensation for the gripper mechanism.

[0154] Furthermore, to aid in understanding the torque compensation method based on torque testing in this embodiment, the following examples are provided.

[0155] For example, such as Figure 4As shown, operation A is performed first, rotating path force acquisition, followed by operation B, initial force benchmark establishment. This involves placing the first preset product at the gripper mechanism under no-load conditions, with the gripper mechanism and the equipment body concentric, and checking if the reference positions of the gripper mechanism and the first preset product are concentric. Next, operation C is performed, real-time force-reference force deviation analysis, followed by operation D, deviation threshold judgment. If the gripper mechanism and the reference position of the first preset product are concentric, it is considered OK, and the next test analysis is performed. This involves repositioning the first preset product with other product data at the gripper mechanism and performing real-time force-reference force deviation analysis. If the reference positions of the gripper mechanism and the first preset product are not concentric, a deviation is determined, exceeding the limit. In this case, the first deviation value between the gripper mechanism and the reference position of the first preset product is determined, and a first deviation curve containing at least one first deviation value is constructed. The first compensation amount of the gripper mechanism is determined based on the first deviation curve, and the compensation direction is determined by comparing the first compensation curve with the reference line. The system checks whether the first compensation amount is greater than a preset compensation threshold. If the first compensation amount is less than or equal to the preset compensation threshold, the mechanism parameters of the gripper mechanism are adjusted according to the first compensation amount to compensate for the torque of the gripper mechanism. If the first compensation amount is greater than the preset compensation threshold, the product data of the first preset product and the equipment data of the electronic device are verified. Then, operations E (upper compensation mechanism XY compensation) and F (lower compensation mechanism Z compensation) are performed. Specifically, when the first compensation direction includes the X and Y axes, the upper compensation mechanism is used to compensate in the horizontal and vertical axes. When the first compensation direction includes the Z axis, the lower compensation mechanism is used to compensate in the height direction, such as adjusting the position parameters of the gripper mechanism. Then, operation G (post-compensation force data verification) is performed, i.e., the test verification operation is repeated. After the verification operation, the accuracy of the compensation adjustment torque test can be fed back.

[0156] Furthermore, this application provides an electronic device, which includes: a device body, a gripper mechanism disposed on the device body, at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to execute the torque compensation method based on torque testing in the first embodiment described above.

[0157] The following is for reference. Figure 5The figure illustrates a structural diagram of an electronic device suitable for implementing embodiments of this application. The electronic devices in the embodiments of this application may include, but are not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. The devices shown in the figure are merely examples and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0158] The electronic device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for device operation. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. While electronic devices with various systems are shown in the figures, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0159] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0160] The electronic device provided in this application, employing the torque compensation method based on torque testing in the above embodiments, can solve the technical problem of how to improve the accuracy of torque compensation. Compared with the prior art, the beneficial effects of the electronic device provided in this application are the same as those of the torque compensation method based on torque testing provided in the above embodiments, and other technical features of this electronic device are the same as those disclosed in the method of the previous embodiment, and will not be repeated here.

[0161] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0162] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0163] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the torque compensation method based on torque testing in the above embodiments.

[0164] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0165] The aforementioned computer-readable storage medium may be included in an electronic device or may exist independently without being assembled into an electronic device.

[0166] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by an electronic device, enable the electronic device to perform the steps in the aforementioned torque compensation method based on torque testing.

[0167] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0168] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0169] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0170] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the torque compensation method based on torque testing described above, thereby solving the technical problem of how to improve the accuracy of torque compensation. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the torque compensation method based on torque testing provided in the above embodiments, and will not be repeated here.

[0171] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the torque compensation method based on torque testing as described above.

[0172] The computer program product provided in this application can solve the technical problem of how to improve the accuracy of torque compensation. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as the beneficial effects of the torque compensation method based on torque testing provided in the above embodiments, and will not be repeated here.

[0173] The above are only some embodiments of this application and do not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A torsion compensation method based on a torsion test, characterized in that, The torsion compensation method based on the torsion test is applied to an electronic device, and the electronic device comprises a device body and a clamping jaw mechanism arranged on the device body, and comprises the following steps: When the torsion test is performed and the clamping jaw mechanism and the device body are in a concentric state under no load, a first preset product is placed on the clamping jaw mechanism, and it is detected whether the reference positions of the clamping jaw mechanism and the first preset product are in a concentric state, wherein the product quantity of the first preset product placed on the clamping jaw mechanism is multiple; If not, a first deviation value between the clamping jaw mechanism and the reference position of the first preset product is determined; A first deviation curve comprising at least one first deviation value is constructed, and a first compensation amount of the clamping jaw mechanism is determined according to the first deviation curve, and it is detected whether the first compensation amount is less than or equal to a preset compensation threshold; wherein the first deviation curve comprises multiple first deviation values, and the product quantity of the first preset product corresponding to each first deviation value is different; If the first compensation amount is less than or equal to the preset compensation threshold, the mechanism parameters of the clamping jaw mechanism are adjusted according to the first compensation amount to compensate the torsion of the clamping jaw mechanism; Wherein, after the torsion compensation of the clamping jaw mechanism, it is determined whether the compensation of the clamping jaw mechanism is invalid, if it is determined that the compensation of the clamping jaw mechanism is invalid, the historical placement quantity of the historical product which has been compensated by the torsion test is obtained, the product quantity of the first preset product placed on the clamping jaw mechanism is adjusted according to the historical placement quantity, and a third deviation value between the clamping jaw mechanism and the reference position of the first preset product after adjustment is determined; wherein the historical product is a qualified product which is the same as the first preset product; It is detected whether the third deviation value is less than the first deviation value; If the third deviation value is greater than or equal to the first deviation value, the product data of the first preset product is updated and adjusted again, and according to the first preset product after the update and adjustment, the step of determining the third deviation value between the clamping jaw mechanism and the reference position of the first preset product after adjustment is executed until the latest third deviation value is detected to be less than the first deviation value, and it is determined that the compensation of the clamping jaw mechanism is valid.

2. The torsion compensation method based on torsion test according to claim 1, characterized in that, The electronic device comprises a compensation mechanism arranged on the device body, The step of adjusting the mechanism parameters of the clamping jaw mechanism according to the first compensation amount comprises: Comparing the first deviation curve with a preset reference line, and determining a first compensation direction of the clamping jaw mechanism according to the comparison result; According to the first compensation direction and the first compensation amount, the compensation mechanism is controlled to adjust the mechanism parameters of the clamping jaw mechanism.

3. The torsion compensation method based on torsion test according to claim 2, characterized in that, The compensation mechanism comprises two different first compensation mechanisms and second compensation mechanisms, and the mechanism parameters comprise position parameters of the clamping jaw mechanism, The step of controlling the compensation mechanism to adjust the mechanism parameters of the clamping jaw mechanism according to the first compensation direction and the first compensation amount comprises at least one of the following: When the first compensation direction comprises a horizontal axis direction, the first compensation mechanism is controlled to adjust the position parameter of the gripper mechanism in the horizontal axis direction according to the first compensation amount; When the first compensation direction comprises a vertical axis direction, the first compensation mechanism is controlled to adjust the position parameter of the gripper mechanism in the vertical axis direction according to the first compensation amount; When the first compensation direction comprises a height direction, the second compensation mechanism is controlled to adjust the position parameter of the gripper mechanism in the height direction according to the first compensation amount.

4. The torsion compensation method based on torsion test according to claim 1, characterized in that, After the step of adjusting the mechanism parameter of the gripper mechanism according to the first compensation amount, the method comprises: determining the product quantity of the first preset product, and repositioning the first preset product to the gripper mechanism according to the product quantity, and determining a second deviation value between the reference position of the gripper mechanism and the repositioned first preset product; detecting whether the second deviation value is greater than or equal to the first deviation value; if the second deviation value is greater than or equal to the first deviation value, determining that the compensation of the gripper mechanism is invalid.

5. The torsion compensation method based on torsion test according to claim 4, characterized in that, After the step of detecting whether the second deviation value is greater than or equal to the first deviation value, the method comprises: if the second deviation value is less than the first deviation value, updating the product quantity of the repositioned first preset product, determining a second compensation amount of the gripper mechanism according to the updated first preset product, and detecting whether the second compensation amount is greater than a preset compensation threshold value; if the second compensation amount is greater than the preset compensation threshold value, performing different product quantity update processing on the product quantity of the repositioned first preset product again, and performing the step of determining the second compensation amount of the gripper mechanism according to the repositioned first preset product again until a preset number of second compensation amounts are determined, and the preset number of second compensation amounts are all greater than the preset compensation threshold value, and determining that the compensation of the gripper mechanism is invalid.

6. The torsion compensation method based on torsion test according to claim 1, characterized in that, The step of determining the first compensation amount of the gripper mechanism according to the first deviation curve comprises: determining at least two first deviation values in the first deviation curve, calculating the average value of the at least two first deviation values, and taking the average value as the first compensation amount.

7. The torsion compensation method based on torsion test according to claim 1, characterized in that, After the step of detecting whether the first compensation amount is less than or equal to the preset compensation threshold value, the method further comprises: if the first compensation amount is greater than the preset compensation threshold value, performing data review on the product data of the first preset product and the equipment data of the electronic equipment; if the data review result comprises that the product data and / or the equipment data are abnormal, after the abnormal product data and / or equipment data are recovered, re-executing the step of placing the first preset product on the gripper mechanism when the gripper mechanism and the equipment body are in the concentric state under the condition of the torque test and the empty load, and detecting whether the reference position of the gripper mechanism and the first preset product is in the concentric state.

8. An electronic device, comprising: The electronic device comprises a device body, a clamping jaw mechanism arranged on the device body, a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the torsion compensation method based on the torsion test according to any one of claims 1 to 7.

9. A storage medium, characterized by The storage medium is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by the processor to implement the steps of the torsion compensation method based on the torsion test according to any one of claims 1 to 7.

Images