Fabricated station multi-point force transmission lead screw intelligent fastening device, system and method

Abstract

The invention relates to the technical field of prefabricated assembly type subway stations, and provides an intelligent fastening device, system and method for a multi-point force transmission lead screw of an assembly type station. Comprising a fabricated station arranged in a foundation pit, and the fabricated station is provided with a left side wall and a right side wall; a left fertilizer groove is formed between the left side wall and the left side wall of the foundation pit, and a right fertilizer groove is formed between the right side wall and the right side wall of the foundation pit; a first lead screw fastening assembly is arranged in the left fertilizer groove, and a second lead screw fastening assembly is arranged in the right fertilizer groove; the first lead screw fastening assembly and the second lead screw fastening assembly are respectively driven by the driving assembly to controllably extend or retract. The method has the beneficial effects that traditional manual single-point experience operation of lead screw supporting is changed into multi-point intelligent installation of the lead screw fastener, the installation efficiency and the installation precision are improved, scientific criteria are provided for adjustment of the lead screw fastener, the stability and the safety of a foundation pit are enhanced, and the possibility of instability of the foundation pit is reduced.

Description

Technical Field

[0001] This invention relates to the field of prefabricated metro station technology, specifically to an intelligent fastening device, system, and method for multi-point force transmission screws in prefabricated stations. Background Technology

[0002] In recent years, new prefabricated modular subway station technology has been initially explored and developed in China. The assembly process of a modular station requires a horizontal support structure composed of a horizontal structure (slab) and lead screws to replace the temporary cross bracing (steel or concrete supports) erected during foundation pit excavation. The basic operating principle of the lead screw is to convert rotational motion into linear motion, or vice versa. The lead screw mainly consists of a screw rod and a nut. The screw rod is a rotating component with helical threads on its outer surface; the nut is a linear motion component with its inner surface matching the threads of the screw rod. When the screw rod rotates, the nut moves linearly along the axial direction of the screw rod, thereby achieving lifting, lowering, or other linear movements.

[0003] According to the design and assembly process of prefabricated stations, after the existing prefabricated station cross-section (XY plane) side walls are assembled, screw rods are used at corresponding positions on the bottom plate, middle plate, and top plate to replace the temporary horizontal bracing (steel bracing or concrete bracing) of the foundation pit and play the role of horizontal (X direction) support for the foundation pit side walls. However, the installation of screw rods has the following problems and limitations:

[0004] (1) After the screw is positioned, the horizontal extension mainly relies on the manual rotation operation of the worker. The maximum extension value is the limit of the manual rotation force. The reinforcement is subjective and arbitrary, the operation is rough, and there is a lack of scientific evaluation standards and basis, so the installation quality cannot be guaranteed.

[0005] (2) In order to reduce the amount of excavation, the new station only reserves a horizontal (X direction) spacing of 15cm in the trench (the gap between the station and the edge of the foundation pit). The longitudinal (Z direction) length of a single component is 2m. At least a number of screw rods need to be evenly arranged at the same height. The longitudinal inner screw rods cannot be reached by traditional methods.

[0006] (3) The installation of the lead screw is done manually at one point at a time, which is inefficient. The lead screws of the same component at the same height (Y direction) and in the same direction (X direction) are prone to uneven stress, which fails to form an effective and uniform linkage horizontal force surface. This results in a significant hidden danger in replacing the cross bracing function and will seriously affect the assembly quality of subsequent components.

[0007] Therefore, this invention is proposed. Summary of the Invention

[0008] The purpose of this invention is to provide an intelligent fastening device, system, and method for multi-point force transmission screws in prefabricated railway stations, so as to solve the technical problems existing in the prior art.

[0009] To achieve the above objectives, the technical solution adopted by the present invention is: a prefabricated station multi-point force transmission screw intelligent fastening device, comprising: a prefabricated station installed in a foundation pit, wherein the prefabricated station is provided with a left side wall and a right side wall;

[0010] A left-side trench is formed between the left-side wall and the left-side wall of the foundation pit, and a right-side trench is formed between the right-side wall and the right-side wall of the foundation pit.

[0011] A first screw fastening assembly is provided in the left-side trench, and the two ends of the first screw fastening assembly are in contact with the left-side wall and the left-side wall of the pit, respectively; a second screw fastening assembly is provided in the right-side trench, and the two ends of the second screw fastening assembly are in contact with the right-side wall and the right-side wall of the pit, respectively.

[0012] The first lead screw fastening assembly and the second lead screw fastening assembly can be controllably extended or shortened under the drive of the drive assembly.

[0013] In an optional embodiment, the first lead screw fastening assembly includes at least three sets of lead screw assemblies evenly arranged from top to bottom along the Y direction; the second lead screw fastening assembly includes at least three sets of lead screw assemblies evenly arranged from top to bottom along the Y direction.

[0014] In an optional embodiment, each group of lead screw assemblies includes at least three or more lead screw fasteners arranged horizontally along the Z direction. Each lead screw fastener includes a lead screw body, and an integrally formed connector is provided in the middle of the lead screw body. A driven wheel is fixedly connected to the connector of each lead screw body.

[0015] The two ends of the lead screw body are respectively threaded to a first threaded cylinder and a second threaded cylinder. The end of the first threaded cylinder is provided with a first pad integrally formed therewith, and the end of the second threaded cylinder is provided with a second pad integrally formed therewith.

[0016] In an optional embodiment, the drive assembly includes a drive shaft with at least three drive wheels, the number of drive wheels on the drive shaft being equal to the number of screw fasteners in each group of screw assemblies.

[0017] In an optional embodiment, an inclinometer is respectively installed on the left side wall and the right side wall.

[0018] In an optional embodiment, a stress sensor is respectively provided on the first pad and the second pad.

[0019] In an optional embodiment, the drive shaft is connected to a motor, and the motor is connected in series with an ammeter.

[0020] In an optional embodiment, the drive component adjusts each screw fastener in the first screw fastening assembly or the second screw fastening assembly one by one; or, it adjusts each group of screw assemblies in the first screw fastening assembly or the second screw fastening assembly simultaneously.

[0021] On the other hand, the present invention also provides a fastening system using the prefabricated station multi-point force transmission screw intelligent fastening device as described above, including: a cloud platform.

[0022] On the other hand, the present invention also provides a fastening method using the intelligent fastening device for multi-point force transmission screws in prefabricated stations as described above, comprising:

[0023] S1: After the left or right wall of the prefabricated station is installed in the foundation pit, at least three sets of screw assemblies are evenly arranged and pre-tightened in the left and right troughs formed with the foundation pit, respectively.

[0024] S2: Start the drive assembly, driving at least one lead screw fastener in the lead screw assembly to run each time;

[0025] S3: Extract the real-time data of the motor current intensity A, the drive wheel speed V, the stress σ of the stress sensor and the inclinometer angle θ in the drive assembly, and upload the above monitoring data to the cloud platform for real-time calculation and analysis;

[0026] S4: The cloud platform converts the current intensity A into electrical power W in real time, the rotational speed V of the drive wheel into the elongation Δh of the screw fastener, the stress σ of the stress sensor into the horizontal force N, and the tilt angle θ measured by the inclinometer into the tilt angle Δθ.

[0027] S5: When W < W0, and Δh < h1, N > N0, -θ0 < Δθ < θ0, the screw fastener installation is completed. If any one of these conditions is not met, the cloud platform adjusts the corresponding parameters one by one until the conditions are met.

[0028] Where W0 is the maximum power of the motor, h1 is the design value of the maximum elongation of the lead screw fastener, N0 is the design value of the horizontal force N, and θ0 is the design maximum allowable tilt angle.

[0029] The beneficial effects of this invention are as follows:

[0030] The traditional manual, single-point experience-based operation of the lead screw support is transformed into multi-point intelligent installation of lead screw fasteners. It should be noted that the cloud platform collects real-time data such as the motor current intensity A, the drive wheel speed V, the stress σ of the stress sensor, and the inclinometer angle θ, and adjusts the lead screw fasteners one by one to meet the requirements. This improves installation efficiency and accuracy. Moreover, the adjustment of the lead screw fasteners is based on scientific criteria, which enhances the stability and safety of the foundation pit and reduces the possibility of foundation pit instability. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 XY cross-section of the overall structure of the intelligent fastening device for multi-point force transmission screws in a prefabricated station provided in an embodiment of the present invention. Figure 1 .

[0033] Figure 2 XY cross-section of the overall structure of the intelligent fastening device for multi-point force transmission screws in a prefabricated station provided in an embodiment of the present invention. Figure 2 .

[0034] Figure 3 A cross-sectional view of the transmission mechanism in the drive assembly provided in an embodiment of the present invention in the YZ direction.

[0035] Figure 4 This is a schematic diagram of the XY direction arrangement of the drive wheels in a drive assembly provided in an embodiment of the present invention.

[0036] Figure 5 This is a schematic diagram of the XY direction structure of each lead screw assembly provided in an embodiment of the present invention.

[0037] Figure 6 This is a flowchart illustrating the usage method of the intelligent fastening device for multi-point force transmission screws in a prefabricated railway station, as provided in an embodiment of the present invention.

[0038] In the figure, the labels are as follows: 1-Cloud platform; 2-Prefabricated station; 21-Top plate; 22-Bottom plate; 23-Left side wall; 24-Right side wall; 3-Left side trough; 4-Right side trough; 5-First lead screw fastening assembly; 51-First lead screw assembly; 52-Second lead screw assembly; 53-Third lead screw assembly; 511-First lead screw fastener; 512-Second lead screw fastener; 513-Third lead screw fastener; 5111-First pad; 5112-First... Threaded cylinder, 5113-Second pad, 5114-Second threaded cylinder, 5115-Screw body, 5166-Connector; 6-Second screw fastening assembly, 61-Fourth screw assembly, 62-Fifth screw assembly, 63-Sixth screw assembly; 7-Inclinometer; 8-Drive assembly, 81-First driven wheel, 82-Second driven wheel, 83-Third driven wheel, 84-First drive wheel, 85-Second drive wheel, 86-Third drive wheel, 87-Drive shaft. Detailed Implementation

[0039] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0040] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly or indirectly located on that other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to that other component. The terms "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate orientations or positions based on the accompanying drawings, and are for ease of description only, and should not be construed as limiting the technical solution. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. "Multiple" means two or more, and "several" means any number including one, unless otherwise explicitly specified.

[0041] Please see the appendix Figure 1-6 The purpose of this embodiment is to provide a multi-point force transmission screw intelligent fastening device for prefabricated stations, including: a prefabricated station 2 set in a foundation pit, the prefabricated station is provided with a top plate 21, a bottom plate 22, a left side wall 23 and a right side wall 24, a support component is provided in the enclosed assembly of the top plate 21, bottom plate 22, left side wall 23 and right side wall 24, and an inclinometer 7 is respectively provided on the left side wall 23 and the right side wall 24, the inclinometer 7 is used to detect the tilt angle of the side wall. A left-side groove 3 is formed between the left-side wall 23 and the left-side wall of the foundation pit, and a right-side groove 4 is formed between the right-side wall 24 and the right-side wall of the foundation pit. A first screw fastening assembly 5 is installed in the left-side groove 3, with both ends contacting the left-side wall 23 and the left-side wall of the foundation pit, respectively. A second screw fastening assembly 6 is installed in the right-side groove 4, with both ends contacting the right-side wall 24 and the right-side wall of the foundation pit, respectively. The first screw fastening assembly 5 and the second screw fastening assembly 6 can be controllably extended or shortened under the drive of the drive assembly 8. The support assembly includes a middle plate, top longitudinal beam, middle longitudinal beam, bottom longitudinal beam, and columns; their specific overlapping methods are existing technology and will not be described further. The cloud platform controls the motor to drive the drive assembly 8, which in turn drives the screw assembly for precise extension and retraction. This transforms the traditional manual single-point experience-based horizontal beam support into multi-point intelligent installation of screw fasteners, improving installation efficiency and accuracy.

[0042] Specifically, the first lead screw fastening assembly 5 includes at least three sets of lead screw assemblies evenly arranged from top to bottom along the Y direction; the second lead screw fastening assembly 6 includes at least three sets of lead screw assemblies evenly arranged from top to bottom along the Y direction. The number of lead screw assemblies in the first lead screw fastening assembly 5 is equal to the number of lead screw assemblies in the second lead screw fastening assembly 6.

[0043] In an optional embodiment, the first lead screw fastening assembly 5 includes a first lead screw assembly 51, a second lead screw assembly 52, and a third lead screw assembly 53, and the second lead screw fastening assembly 6 includes a fourth lead screw assembly 61, a fifth lead screw assembly 62, and a sixth lead screw assembly 63. During installation, the axes of the first lead screw assembly 51 and the fourth lead screw assembly 61 are at the same horizontal height, the axes of the second lead screw assembly 52 and the fifth lead screw assembly 62 are at the same horizontal height, and the axes of the third lead screw assembly 53 and the sixth lead screw assembly 63 are at the same horizontal height. It should be noted that the first lead screw assembly 51, the second lead screw assembly 52, the third lead screw assembly 53, the fourth lead screw assembly 61, the fifth lead screw assembly 62 and the sixth lead screw assembly 63 all include three or more lead screw fasteners arranged horizontally along the Z direction, and the number of lead screw fasteners in each group of lead screw assemblies is equal. Each lead screw fastener includes a lead screw body 5115, and an integrally formed connector 5116 is provided in the middle of the lead screw body 5115. A driven wheel is fixedly connected to the connector 5116 of each lead screw body 5115.

[0044] In this embodiment, taking the first lead screw assembly 51 as an example, it includes three lead screw fasteners arranged horizontally along the Z direction: a first lead screw fastener 511, a second lead screw fastener 512, and a third lead screw fastener 513. The first lead screw fastener 511 has a first driven wheel 81 on its lead screw body, the second lead screw fastener 512 has a second driven wheel 82 on its lead screw body, and the third lead screw fastener 513 has a third driven wheel 83 on its lead screw body. The radii of the first driven wheel 81, the second driven wheel 82, and the third driven wheel 83 increase sequentially. Each lead screw fastener in each of the other lead screw assemblies also has a driven wheel on its lead screw body.

[0045] It should be noted that the two ends of the lead screw body 5115 are respectively threaded to a first threaded cylinder 5112 and a second threaded cylinder 5114. The end of the first threaded cylinder 5112 is provided with a first pad 5111 integrally formed therewith, and the end of the second threaded cylinder 5114 is provided with a second pad 5113 integrally formed therewith. A stress sensor is respectively provided on the first pad 5111 and the second pad 5113 for collecting force parameters.

[0046] Furthermore, the drive assembly 8 includes a drive shaft 87, on which at least three drive wheels are provided. The number of drive wheels on the drive shaft 87 is equal to the number of screw fasteners in each set of screw assemblies, and can be three, four, five, or even more. In an optional embodiment, a first drive wheel 84, a second drive wheel 85, and a third drive wheel 86 with progressively increasing radii are sequentially provided on the drive shaft 87. The first drive wheel 84 cooperates with the first driven wheel 81, the second drive wheel 85 cooperates with the second driven wheel 82, and the third drive wheel 86 cooperates with the third driven wheel 83. The first drive wheel 84, the second drive wheel 85, and the third drive wheel 86 also cooperate with the driven wheels on the screw bodies of the screw fasteners in the other sets of screw assemblies in the first screw fastening assembly 5 and the second screw fastening assembly 6, respectively.

[0047] In use, after the left wall 23 is assembled in place, the drive assembly 8 connects to a set of lead screw assemblies in the first lead screw fastening assembly 5. A synchronous toothed belt or chain is fitted onto a driven wheel in the set of lead screw assemblies and the corresponding drive wheel in the drive assembly 8. For example, the drive assembly 8 connects to the first lead screw fastener 511, the second lead screw fastener 512, or the third lead screw fastener 513 in the first lead screw fastening assembly 5. The synchronous toothed belt or chain fitted onto the first drive wheel 84 and the first driven wheel 81 can adjust the extension and retraction of the first lead screw fastener 511. The synchronous toothed belt or chain fitted onto the second drive wheel 85 and the second driven wheel 82 can adjust the extension and retraction of the first lead screw fastener 512. Each time a synchronous toothed belt or chain is fitted onto a set of drive wheels and driven wheels, the lead screw fasteners in each set of lead screw assemblies are adjusted one by one. This will not be described in detail again. After the right side wall 24 is assembled in place, the drive assembly 8 is disassembled and installed on one side of the right side wall 24. Each screw fastener in each screw assembly of the second screw fastening assembly 5 is adjusted one by one. It should be noted that the longitudinal (Z-direction) length of the single-ring component of the prefabricated station is 2m. The single-ring structure is fastened with three screw fasteners on the bottom plate, middle plate and top plate to fasten the pit sidewall. The groove between the prefabricated station and the pit sidewall is only 15cm (X-direction). At least a number of screw fasteners need to be evenly distributed at the same height. The innermost screw fastener cannot be reached by traditional methods. The above method can solve this technical problem.

[0048] In an optional embodiment, to further improve work efficiency, the screw fasteners of the first screw assembly 51, the second screw assembly 52, and the third screw assembly 53 in the first screw fastening assembly 5 can be pre-tightened to the same length between the left side wall 23 and the left side wall of the pit. Synchronous toothed belts or chains are simultaneously fitted onto each driving wheel of the drive assembly 8 and each corresponding driven wheel in each screw assembly. The motor operation can synchronously adjust the length of each screw fastener in each screw assembly. Similarly, after the drive assembly 8 is disassembled and installed on the right side wall 24, the same method can be used to synchronously adjust the screw fasteners of each screw assembly in the second screw fastening assembly 6. This synchronous adjustment of each screw assembly can improve work efficiency.

[0049] In an optional embodiment, a fastening system using the above-mentioned prefabricated station multi-point force transmission screw intelligent fastening device includes: a cloud platform 1, used for adjusting various parameters during the fastening process, as described below.

[0050] In an optional embodiment, see Appendix Figure 6 The specific usage method of this prefabricated station multi-point force transmission screw intelligent fastening device includes the following steps:

[0051] S1: After the left side wall 23 or right side wall 24 of the prefabricated station 2 is installed in the foundation pit, at least three sets of screw assemblies are evenly arranged and pre-tightened in the left side trench 3 and right side trench 4 formed with the foundation pit, respectively.

[0052] S2: Start drive component 8, driving at least one lead screw fastener in the lead screw assembly to run each time;

[0053] S3: Extract the real-time data of the motor current intensity A, the drive wheel speed V, the stress σ of the stress sensor and the inclinometer angle θ in the drive component 8, and upload the above monitoring data to the cloud platform for real-time calculation and analysis;

[0054] S4: The cloud platform converts the current intensity A into electrical power W in real time, the rotational speed V of the drive wheel into the elongation Δh of the screw fastener, the stress σ of the stress sensor into the horizontal force N, and the tilt angle θ measured by the inclinometer into the tilt angle Δθ.

[0055] S5: When W < W0, and Δh < h1, N > N0, -θ0 < Δθ < θ0, the screw fastener installation is completed. If any one of these conditions is not met, the cloud platform will adjust the corresponding parameters one by one until the conditions are met.

[0056] Where W0 is the maximum power of the motor, h1 is the design value of the maximum elongation of the lead screw fastener, N0 is the design value of the horizontal force N, and θ0 is the design maximum allowable tilt angle.

[0057] The system uses a cloud platform to collect real-time data on motor current intensity A, drive wheel speed V, stress sensor stress σ, and inclinometer angle θ. Each screw fastener is then adjusted to meet the requirements, improving installation efficiency and accuracy. Furthermore, the adjustment of each screw fastener is based on scientific criteria, enhancing the stability and safety of the foundation pit and reducing the possibility of pit instability.

[0058] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An assembled station multi-point force transmission screw rod intelligent fastening device, characterized in that, include: The prefabricated station (2) is set in the foundation pit, and the prefabricated station is provided with a left side wall (23) and a right side wall (24). A left-side trench (3) is formed between the left-side wall (23) and the left-side wall of the pit, and a right-side trench (4) is formed between the right-side wall (24) and the right-side wall of the pit. The left-side trench (3) is provided with a first screw fastening assembly (5), the two ends of which are in contact with the left-side wall (23) and the left side wall of the pit respectively; the right-side trench (4) is provided with a second screw fastening assembly (6), the two ends of which are in contact with the right-side wall (24) and the right side wall of the pit respectively. The first lead screw fastening assembly (5) and the second lead screw fastening assembly (6) can be controlled to extend or shorten under the drive of the drive assembly (8).

2. The prefabricated station multi-point load transmission screw rod intelligent fastening device according to claim 1, wherein, The first lead screw fastening assembly (5) includes at least three sets of lead screw assemblies evenly arranged from top to bottom along the Y direction; the second lead screw fastening assembly (6) includes at least three sets of lead screw assemblies evenly arranged from top to bottom along the Y direction.

3. The prefabricated station multi-point load transmission screw rod intelligent fastening device according to claim 2, characterized in that, Each of the aforementioned lead screw assemblies includes at least three or more lead screw fasteners arranged horizontally along the Z direction. Each lead screw fastener includes a lead screw body (5115), and an integrally formed connector (5116) is provided in the middle of the lead screw body (5115). A driven wheel is fixedly connected to the connector (5116) of each lead screw body (5115). The two ends of the lead screw body (5115) are respectively threaded to a first threaded cylinder (5112) and a second threaded cylinder (5114). The end of the first threaded cylinder (5112) is provided with a first pad (5111) integrally formed therewith, and the end of the second threaded cylinder (5114) is provided with a second pad (5113) integrally formed therewith.

4. The intelligent fastening device for multi-point force transmission screws in prefabricated railway stations as described in claim 3, characterized in that, The drive assembly (8) includes a drive shaft (87) on which at least three drive wheels are provided. The number of drive wheels on the drive shaft (87) is equal to the number of screw fasteners in each group of screw assemblies.

5. The intelligent fastening device for multi-point force transmission screws in prefabricated railway stations as described in claim 1, characterized in that, An inclinometer (7) is installed on the left wall (23) and the right wall (24).

6. The modular station multipoint transfer screw intelligent fastening device of claim 3, wherein, A stress sensor is provided on the first pad (5111) and the second pad (5113).

7. The modular station multipoint transfer screw intelligent fastening device of claim 4, wherein, The drive shaft (87) is connected to a motor, and the motor is connected in series with an ammeter.

8. The modular station multipoint transfer screw intelligent fastening device of claim 2, wherein, The drive assembly (8) adjusts each screw fastener in the first screw fastening assembly (5) or the second screw fastening assembly (6) one by one; or, adjusts each group of screw assemblies in the first screw fastening assembly (5) or the second screw fastening assembly (6) simultaneously.

9. A fastening system using the assembled station multi-point force transmission screw intelligent fastening device according to any one of claims 1-8, characterized in that, include: Cloud platform (1).

10. A fastening method using the assembled station multi-point force transmission screw rod intelligent fastening device according to any one of claims 1-8, characterized in that, include: S1: After the left wall (23) or right wall (24) of the prefabricated station (2) is installed in the foundation pit, at least three sets of screw assemblies are evenly arranged and pre-tightened in the left trough (3) and right trough (4) formed with the foundation pit respectively. S2: Start the drive assembly (8) and drive at least one lead screw fastener in the lead screw assembly to run each time; S3: Extract the real-time data of the motor current intensity A, the drive wheel speed V, the stress σ of the stress sensor and the inclinometer angle θ in the drive component (8), and upload the above monitoring data to the cloud platform for real-time calculation and analysis; S4: The cloud platform converts the current intensity A into electrical power W in real time, the rotational speed V of the drive wheel into the elongation Δh of the screw fastener, the stress σ of the stress sensor into the horizontal force N, and the tilt angle θ measured by the inclinometer into the tilt angle Δθ. S5: When W < W0, and Δh < h1, N > N0, -θ0 < Δθ < θ0, the screw fastener installation is completed. If any one of these conditions is not met, the cloud platform adjusts the corresponding parameters one by one until the conditions are met. Where W0 is the maximum power of the motor, h1 is the design value of the maximum elongation of the lead screw fastener, N0 is the design value of the horizontal force N, and θ0 is the design maximum allowable tilt angle.

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