Round nut tightening control method and system, electronic equipment and storage medium

Abstract

The invention relates to the field of nut assembly, and provides a round nut tightening control method and system, electronic equipment and a storage medium, and the method comprises the steps: obtaining a real-time torque value and a real-time pre-tightening force in a round nut tightening process; determining a real-time torque coefficient based on the real-time torque value and the real-time pre-tightening force; determining a target torque value based on the real-time torque value and a preset standard torque value; determining a target pre-tightening force based on the target torque value and the real-time torque coefficient; and based on the target pre-tightening force, the round nut is tightened. The method and the device are used for overcoming the defects that in the prior art, the round nut tightening process at the deep opening position is difficult, no matched process equipment exists, and the efficiency is low, accurate control over the round nut tightening process can be achieved, and the requirement for high-precision assembly is met.

Description

Technical Field

[0001] This invention relates to the field of nut assembly technology, and in particular to a method and system for controlling the tightening of round nuts, electronic equipment, and storage medium. Background Technology

[0002] Round nuts are widely used parts in the assembly of mechanical equipment. Currently, in the fields of heavy machinery, wind power equipment, and aerospace, the assembly of round nuts in deep-hole and narrow-cavity applications faces the following technical challenges: Torque limitation: Traditional hydraulic wrenches or pneumatic tools have insufficient torque range (usually below 3000 N), making it difficult to meet ultra-high torque requirements, and manual operation is prone to errors.

[0003] Difficulty in operating deep and narrow openings: When the round nut is located inside a deep or narrow cavity, conventional tools cannot accurately position it and there is a lack of visual feedback on the working condition.

[0004] Low control precision: Existing equipment mostly relies on preset torque values ​​and cannot dynamically fit the actual torque curve, resulting in the risk of over-tightening or under-tightening.

[0005] Lack of data traceability: The lack of real-time monitoring data records for the tightening process makes it difficult to meet the process verification requirements of high-precision assembly. Summary of the Invention

[0006] This invention provides a method and system for tightening round nuts, an electronic device, and a storage medium to solve the defects of difficult tightening process, lack of matching process equipment, and low efficiency of deep-hole round nuts in related technologies. The solution of this application can achieve precise control of the tightening process of round nuts and meet the requirements of high-precision assembly.

[0007] This invention provides a method for controlling the tightening of a round nut, comprising: Obtain the real-time torque and preload during the tightening process of the round nut; Based on the real-time torque value and the real-time preload, the real-time torque coefficient is determined; Based on the real-time torque value and the preset standard torque value, the target torque value is determined; The target preload is determined based on the target torque value and the real-time torque coefficient. Tighten the round nut based on the target preload.

[0008] According to the round nut tightening control method provided by the present invention, the step of determining the real-time torque coefficient based on the real-time torque value and the real-time preload includes: The real-time torque coefficient is calculated based on the following formula: in, This is the real-time torque coefficient. This is the real-time torque value. For real-time preload, This refers to the thread diameter of the round nut.

[0009] According to the round nut tightening control method provided by the present invention, determining the target torque value based on the real-time torque value and the preset standard torque value includes: The difference between the real-time torque value and the preset standard torque value is calculated as the target torque value.

[0010] According to the round nut tightening control method provided by the present invention, determining the target preload based on the target torque value and the real-time torque coefficient includes: The target preload is calculated based on the following formula: in, Preload for target, For the target torque value, This is the real-time torque coefficient. This refers to the thread diameter of the round nut.

[0011] According to the round nut tightening control method provided by the present invention, the step of determining the real-time torque coefficient based on the real-time torque value and the real-time preload further includes: The real-time torque coefficient is compared with a preset torque coefficient range. If the real-time torque coefficient is lower than the minimum threshold of the torque coefficient range, it is determined that the round nut is under-tightened, and an early warning is issued. If the real-time torque coefficient is higher than the maximum threshold of the torque coefficient range, it is determined that the round nut is over-tightened, and an early warning is issued.

[0012] According to the round nut tightening control method provided by the present invention, after determining that the round nut is under-tightened and issuing an early warning, the method further includes: Increase the real-time torque coefficient of the round nut until it is within the torque coefficient range; The process of determining that the round nut is overtightened and issuing a warning further includes: Adjust the real-time torque coefficient of the round nut until it is within the torque coefficient range.

[0013] According to the round nut tightening control method provided by the present invention, the torque coefficient ranges from 1.1 to 1.25.

[0014] The present invention also provides a round nut tightening control system, applied to the above-described round nut tightening control method, comprising: The data acquisition module is used to acquire the real-time torque value and real-time preload during the tightening process of the round nut; The first determining module is used to determine the real-time torque coefficient based on the real-time torque value and the real-time preload. The second determining module is used to determine the target torque value based on the real-time torque value and the preset standard torque value; The third determining module is used to determine the target preload force based on the target torque value and the real-time torque coefficient; The tightening control module is used to tighten the round nut based on the target preload.

[0015] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement any of the round nut tightening control methods described above.

[0016] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the round nut tightening control methods described above.

[0017] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements any of the round nut tightening control methods described above.

[0018] The round nut tightening control method provided by this invention can acquire parameters such as torque and preload during the tightening process of the round nut in real time, and control the process parameters of the tightening process based on the actual parameter changes, thereby achieving real-time and precise control of the round nut. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a flowchart illustrating the round nut tightening control method provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the round nut tightening control system provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the physical structure of the electronic device provided in an embodiment of the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0022] Figure 1 This is a flowchart illustrating the round nut tightening control method provided in an embodiment of the present invention.

[0023] like Figure 1 As shown, this embodiment provides a method for controlling the tightening of a round nut, including: Step 101: Obtain the real-time torque value and real-time preload during the tightening process of the round nut; In practical applications, the real-time torque value can be obtained through a high-precision disc torque sensor, and the real-time preload can be directly output by the servo motor. In other words, the real-time preload during the tightening process of the round nut can be obtained by directly collecting the output data of the servo motor.

[0024] Step 102: Determine the real-time torque coefficient based on the real-time torque value and the real-time preload. In practical applications, the real-time torque coefficient can be calculated based on the following formula: in, This is the real-time torque coefficient. This is the real-time torque value. For real-time preload, This refers to the thread diameter of the round nut.

[0025] The above formula is the calculation formula provided by the torque control method applied in this application. The real-time torque value and real-time preload can be obtained through the above step 101, and the thread diameter of the round nut can be directly measured.

[0026] Step 103: Determine the target torque value based on the real-time torque value and the preset standard torque value; Specifically, the difference between the real-time torque value and the preset standard torque value can be calculated as the target torque value. This method is also the dynamic torque compensation PID algorithm provided by the scheme in this application, which is a closed-loop control system based on two core data streams: the preset torque target and the actual torque feedback. It calculates the error between the two in real time, uses proportional and derivative operations to generate a compensation output, and dynamically adjusts the action of the system's actuators. The key to constructing this algorithm lies in obtaining accurate and reliable torque feedback, rationally designing the control structure, and adjusting the PID parameters. The ultimate goal is to enable the actual torque to quickly, accurately, and stably track the desired torque trajectory.

[0027] Step 104: Determine the target preload based on the target torque value and the real-time torque coefficient; In practical applications, the target preload can be calculated based on the following formula: in, Preload for target, For the target torque value, This is the real-time torque coefficient. This refers to the thread diameter of the round nut.

[0028] Step 105: Tighten the round nut based on the target preload.

[0029] The round nut tightening control method provided in this embodiment can obtain parameters such as torque and preload during the round nut tightening process in real time, and control the process parameters of the tightening process based on the actual parameter changes, thereby achieving real-time and precise control of the round nut.

[0030] The round nut tightening control system provided by the present invention is described below. The round nut tightening control system described below can be referred to in correspondence with the round nut tightening control method described above.

[0031] Figure 2 This is a schematic diagram of the round nut tightening control system provided in an embodiment of the present invention.

[0032] like Figure 2 As shown, the round nut tightening control system provided in this embodiment includes: The data acquisition module 201 is used to acquire the real-time torque value and real-time preload during the tightening process of the round nut; The first determining module 202 is used to determine the real-time torque coefficient based on the real-time torque value and the real-time preload. The second determining module 203 is used to determine the target torque value based on the real-time torque value and the preset standard torque value; The third determining module 204 is used to determine the target preload based on the target torque value and the real-time torque coefficient; The tightening control module 205 is used to tighten the round nut based on the target preload.

[0033] In an exemplary embodiment, the first determining module 202 is further configured to: The real-time torque coefficient is calculated based on the following formula: in, This is the real-time torque coefficient. This is the real-time torque value. For real-time preload, This refers to the thread diameter of the round nut.

[0034] In an exemplary embodiment, the second determining module 203 is further configured to: The difference between the real-time torque value and the preset standard torque value is calculated as the target torque value.

[0035] In an exemplary embodiment, the third determining module 204 is further configured to: The target preload is calculated based on the following formula: in, Preload for target, For the target torque value, This is the real-time torque coefficient. This refers to the thread diameter of the round nut.

[0036] The specific implementation method of the round nut tightening control system provided in this embodiment can be implemented with reference to the above embodiment, and will not be repeated here.

[0037] Figure 3 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 3 As shown, the electronic device may include: a processor 310, a communication interface 320, a memory 330, and a communication bus 340, wherein the processor 310, the communication interface 320, and the memory 330 communicate with each other via the communication bus 340. The processor 310 can call logical instructions in the memory 330 to execute a round nut tightening control method, which includes: Obtain the real-time torque and preload during the tightening process of the round nut; Based on the real-time torque value and the real-time preload, the real-time torque coefficient is determined; Based on the real-time torque value and the preset standard torque value, the target torque value is determined; The target preload is determined based on the target torque value and the real-time torque coefficient. Tighten the round nut based on the target preload.

[0038] Furthermore, the logical instructions in the aforementioned memory 330 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0039] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the round nut tightening control method provided by the above methods, the method including: Obtain the real-time torque and preload during the tightening process of the round nut; Based on the real-time torque value and the real-time preload, the real-time torque coefficient is determined; Based on the real-time torque value and the preset standard torque value, the target torque value is determined; The target preload is determined based on the target torque value and the real-time torque coefficient. Tighten the round nut based on the target preload.

[0040] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the round nut tightening control method provided by the methods described above, the method comprising: Obtain the real-time torque and preload during the tightening process of the round nut; Based on the real-time torque value and the real-time preload, the real-time torque coefficient is determined; Based on the real-time torque value and the preset standard torque value, the target torque value is determined; The target preload is determined based on the target torque value and the real-time torque coefficient. Tighten the round nut based on the target preload.

[0041] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0042] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of embodiments.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling the tightening of a round nut, characterized in that, include: Obtain the real-time torque and preload during the tightening process of the round nut; Based on the real-time torque value and the real-time preload, the real-time torque coefficient is determined; Based on the real-time torque value and the preset standard torque value, the target torque value is determined; The target preload is determined based on the target torque value and the real-time torque coefficient. Tighten the round nut based on the target preload.

2. The round nut tightening control method according to claim 1, characterized in that, The determination of the real-time torque coefficient based on the real-time torque value and the real-time preload includes: The real-time torque coefficient is calculated based on the following formula: in, This is the real-time torque coefficient. This is the real-time torque value. For real-time preload, This refers to the thread diameter of the round nut.

3. The round nut tightening control method according to claim 1, characterized in that, Determining the target torque value based on the real-time torque value and the preset standard torque value includes: The difference between the real-time torque value and the preset standard torque value is calculated as the target torque value.

4. The round nut tightening control method according to claim 1, characterized in that, Determining the target preload based on the target torque value and the real-time torque coefficient includes: The target preload is calculated based on the following formula: in, Preload for target, For the target torque value, This is the real-time torque coefficient. This refers to the thread diameter of the round nut.

5. The round nut tightening control method according to claim 1, characterized in that, The process of determining the real-time torque coefficient based on the real-time torque value and the real-time preload further includes: The real-time torque coefficient is compared with a preset torque coefficient range. If the real-time torque coefficient is lower than the minimum threshold of the torque coefficient range, it is determined that the round nut is under-tightened, and an early warning is issued. If the real-time torque coefficient is higher than the maximum threshold of the torque coefficient range, it is determined that the round nut is over-tightened, and an early warning is issued.

6. The round nut tightening control method according to claim 5, characterized in that, After determining that the round nut is undertightened and issuing a warning, the process further includes: Increase the real-time torque coefficient of the round nut until it is within the torque coefficient range; The process of determining that the round nut is overtightened and issuing a warning further includes: Adjust the real-time torque coefficient of the round nut until it is within the torque coefficient range.

7. The round nut tightening control method according to claim 1, characterized in that, The torque coefficient ranges from 1.1 to 1.

25.

8. A round nut tightening control system, applied to the round nut tightening control method according to any one of claims 1-7, characterized in that, include: The data acquisition module is used to acquire the real-time torque value and real-time preload during the tightening process of the round nut; The first determining module is used to determine the real-time torque coefficient based on the real-time torque value and the real-time preload. The second determining module is used to determine the target torque value based on the real-time torque value and the preset standard torque value; The third determining module is used to determine the target preload force based on the target torque value and the real-time torque coefficient; The tightening control module is used to tighten the round nut based on the target preload.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the round nut tightening control method as described in any one of claims 1-7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the round nut tightening control method as described in any one of claims 1-7.

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