A method and system for controlling an electric crimping tool

Abstract

The application relates to an electric crimping tool control method and system, and relates to the technical field of crimping control, which comprises the following steps: acquiring a pre-crimping stroke and a pre-crimping power; analyzing the pre-crimping stroke and the pre-crimping power to determine an optimal crimping position and a target screw rod stroke; controlling a preset crimping device to uniformly crimp a preset component to be crimped according to the optimal crimping position and the target screw rod stroke; acquiring crimping power data; and controlling the crimping device to reset according to the crimping power data. The application has the effect of improving crimping precision.

Description

Technical Field

[0001] This application relates to the technical field of crimping control, and in particular to a control method and system for an electric crimping tool. Background Technology

[0002] Electric crimping tool control refers to the process of crimping components by controlling the crimping power of the crimping tool.

[0003] In related technologies, when controlling crimping tools, a fixed crimping force control method is usually adopted. During the crimping process, the pressure head of the crimping tool is first controlled to advance rapidly until it contacts the workpiece to be crimped, and then the pressure control mode is switched. In the pressure control mode, the actual pressure value at the position of the pressure head is monitored in real time by a pressure sensor. When the actual pressure value reaches the calibrated fixed crimping force, the pressure holding mode is switched to perform pressure holding crimping on the workpiece to be crimped. After the pressure holding crimping is completed, the pressure head of the crimping device is controlled to retract, thus completing the crimping process.

[0004] Regarding the aforementioned technologies, when using a fixed pressing force control method to control the pressing tool, inconsistent pressing speeds may occur, resulting in uneven force on the pressing device during the pressing process and low pressing accuracy. There is still room for improvement. Summary of the Invention

[0005] To improve crimping accuracy, this application provides a control method and system for an electric crimping tool.

[0006] In a first aspect, this application provides a control method for an electric crimping tool, which adopts the following technical solution: A method for controlling an electric crimping tool, comprising: Obtain the pre-crushing stroke and pre-crushing power; The pre-pressing stroke and pre-pressing power are analyzed to determine the optimal pressing hole position and target lead screw stroke; The preset pressing device is controlled according to the optimal pressing hole position and the target lead screw stroke to press the preset components to be pressed at a uniform speed. Obtain crimping power data; The crimping device is reset based on the crimping power data.

[0007] Optionally, the steps of analyzing the pre-crimping stroke and pre-crimping power to determine the optimal crimping hole position and target lead screw stroke include: The pre-crimping power was analyzed to determine the no-load crimping power and the crimping endpoint power. Calculate the difference between the crimping endpoint power and the crimping no-load power to determine the crimping power difference; Calculate the quotient of the crimping power difference and the pre-crimping stroke to determine the reference power stiffness; The crimping no-load power and reference power stiffness are analyzed to determine the optimal crimping hole position; Obtain the optimal lead screw stroke corresponding to the optimal crimping hole position; The optimal lead screw travel is determined as the target lead screw travel.

[0008] Optionally, the step of analyzing the no-load power of the crimp and the stiffness of the reference power to determine the optimal crimp hole position includes: Obtain the reference hole position lever arm and the adjusting hole position lever arm; Calculate the quotient of the adjusting hole position lever arm and the reference hole position lever arm to determine the relative transmission coefficient; The relative transmission coefficient and the reference power stiffness are input into the preset stiffness mapping model to determine the adjustment power stiffness; The adjusted power stiffness and the reference power stiffness are integrated to determine the power stiffness at all holes; Obtain the target crimping amount and the full-position stroke conversion coefficient corresponding to the preset selectable crimping positions; Calculate the product of the target crimping amount and the full hole stroke conversion coefficient to determine the full hole screw stroke; The optimal crimping hole position is determined by analyzing the full-hole screw travel, full-hole power stiffness, and crimping no-load power.

[0009] Optionally, the steps to analyze the full-position lead screw travel, full-position power stiffness, and crimping no-load power to determine the optimal crimping hole position include: Calculate the product of the full-hole power stiffness and the full-hole screw travel to determine the full-hole power increment; Calculate the sum of the total hole power increment and the press-fit no-load power to determine the predicted peak power; The predicted peak power is filtered based on the preset maximum motor power to determine the selectable peak power; The full-position lead screw stroke corresponding to the selectable peak power is defined as the selectable lead screw stroke; Calculate the difference between the selectable lead screw travel and the preset optimal lead screw travel to determine the lead screw travel deviation; Obtain the hole position conversion coefficient corresponding to the minimum lead screw travel deviation; The optional crimping hole position corresponding to the hole position conversion coefficient is determined as the optimal crimping hole position.

[0010] Optionally, the step of controlling the preset crimping device to uniformly crimp the preset components to be crimped according to the optimal crimping hole position and the target lead screw stroke includes: The power stiffness of the crimping hole position is obtained based on the optimal crimping hole position. A feedforward control function is constructed based on the hole position power stiffness, the preset uniform pressing speed, and the preset no-load uniform power. Select the optimal crimping hole position as the crimping hole position of the crimping device, and start the crimping device according to the no-load uniform speed power control. The pressing device is controlled to press the component to be pressed at a uniform speed based on the hole position power stiffness, feedforward control function, and target screw stroke.

[0011] Optionally, the steps for controlling the pressing device to uniformly press the assembly to be pressed, based on the hole position power stiffness, feedforward control function, and target lead screw stroke, include: Obtain the real-time lead screw speed; A real-time fine-tuning function is constructed based on the real-time lead screw speed and the uniform pressing speed. The real-time fine-tuning function and the feedforward control function are fused to determine the feedforward fine-tuning function; The real-time crimping power is determined based on the feedforward fine-tuning function, so as to control the crimping device to crimp the components to be crimped at a uniform speed in real time. Obtain real-time lead screw travel; Determine whether the real-time lead screw travel is less than the target lead screw travel; If it is less than, then continue to obtain the real-time lead screw speed and determine the real-time crimping power in order to control the crimping device to crimp the component to be crimped at a uniform speed in real time. If it is not less than, then the pressing device is controlled to perform pressure holding pressing of the component to be pressed according to the hole position power stiffness and the target lead screw stroke.

[0012] Optionally, the steps for controlling the crimping device to perform pressure-holding crimping of the assembly to be crimped, based on the hole position power stiffness and the target lead screw stroke, include: The preset motor transmission efficiency, uniform pressing speed and hole position power stiffness are input into the preset stiffness conversion model to determine the hole position thrust stiffness. Calculate the product of the hole thrust stiffness and the target lead screw stroke to determine the pressure-holding thrust increment; Calculate the sum of the pressure-holding thrust increment and the preset no-load screw thrust to determine the target pressure-holding thrust; Within a preset pressure holding and pressing time, the pressing device is controlled to perform pressure holding and pressing of the component to be pressed according to the target pressure holding thrust.

[0013] Optionally, the step of controlling the resetting of the crimping device based on the crimping power data includes: Numerical analysis was performed on the crimping power data to determine the power abrupt change point; The crimping contact stroke is obtained based on the power abrupt change point; Calculate the difference between the crimping contact stroke and the preset safety redundancy stroke to determine the target reset stroke; The crimping device is reset according to the target reset stroke and the preset reset pressure holding thrust.

[0014] Secondly, this application provides an electric crimping tool control system, which adopts the following technical solution: An electric crimping tool control system, comprising: The acquisition module is used to acquire pre-pressing stroke, pre-pressing power, and pressing power data; A memory for storing a program for a control method of an electric crimping tool as described in any of the preceding claims; The processor and the program in the memory can be loaded and executed by the processor to implement an electric crimping tool control method as described in any of the above.

[0015] In summary, this application includes at least one of the following beneficial technical effects: 1. By acquiring the pre-pressing stroke and pre-pressing power, the pre-pressing stroke and pre-pressing power are analyzed to determine the optimal pressing hole position and target lead screw stroke. Based on the optimal pressing hole position and target lead screw stroke, the pressing device is controlled to press the preset component to be pressed at a uniform speed. The pressing power data is acquired, and the pressing device is controlled to reset based on the pressing power data. Thus, the final pressing hole position is determined based on the pre-experiment, improving the accuracy of pressing control. 2. By obtaining the reference hole position lever arm and the adjusting hole position lever arm, the quotient of the adjusting hole position lever arm and the reference hole position lever arm is calculated to determine the relative transmission coefficient. The relative transmission coefficient and the reference power stiffness are input into the stiffness mapping model to determine the adjusting power stiffness. The adjusting power stiffness and the reference power stiffness are integrated to determine the full hole position power stiffness. The target pressing amount and the full hole position stroke conversion coefficient corresponding to the selectable pressing hole position are obtained. The product of the target pressing amount and the full hole position stroke conversion coefficient is calculated to determine the full hole position screw stroke. The full hole position screw stroke, full hole position power stiffness and pressing no-load power are analyzed to determine the optimal pressing hole position. Thus, the hole position corresponding to the screw stroke with the smallest difference from the optimal screw stroke is selected as the optimal pressing hole position, thereby reducing the risk of low pressing efficiency due to insufficient pressing force or damage to the workpiece to be pressed due to excessive pressing force. 3. By performing numerical analysis on the crimping power data, the power mutation point is determined. Based on the power mutation point, the crimping contact stroke is obtained. The difference between the crimping contact stroke and the preset safety redundancy stroke is calculated to determine the target reset stroke. Based on the target reset stroke and the preset reset pressure holding thrust, the crimping device is controlled to reset, thereby controlling the incomplete reset of the crimping device and improving the crimping efficiency. Attached Figure Description

[0016] Figure 1 This is a flowchart of an electric crimping tool control method according to an embodiment of this application.

[0017] Figure 2This is a flowchart illustrating the analysis of pre-pressing stroke and pre-pressing power in embodiments of this application to determine the optimal pressing hole position and target lead screw stroke.

[0018] Figure 3 This is a flowchart illustrating the analysis of the no-load power and reference power stiffness of the crimping in this embodiment of the application to determine the optimal crimping hole position.

[0019] Figure 4 This is a flowchart illustrating the analysis of the full-position screw stroke, full-position power stiffness, and crimping no-load power in the embodiments of this application to determine the optimal crimping hole position.

[0020] Figure 5 This is a flowchart illustrating how a preset pressing device controls the preset components to be pressed at a uniform speed according to the optimal pressing hole position and the target lead screw stroke in an embodiment of this application.

[0021] Figure 6 This is a flowchart illustrating how the pressing device controls the pressing assembly to be pressed at a uniform speed based on the hole position power stiffness, feedforward control function, and target lead screw stroke in the embodiments of this application.

[0022] Figure 7 This is a flowchart illustrating how the crimping device controls the pressure holding and crimping of the component to be crimped based on the hole position power stiffness and the target lead screw stroke in the embodiments of this application.

[0023] Figure 8 This is a flowchart illustrating the process of controlling the resetting of the crimping device based on the crimping power data in an embodiment of this application. Detailed Implementation

[0024] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figures 1 to 8 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0025] This application discloses an electric crimping tool control method and system, specifically a processing terminal and a crimping device. The processing terminal acquires the pre-crimping stroke and pre-crimping power, analyzes the pre-crimping stroke and pre-crimping power to determine the optimal crimping hole position and target lead screw stroke, controls the crimping device to crimp the preset component to be crimped at a uniform speed based on the optimal crimping hole position and target lead screw stroke, acquires crimping power data, and controls the crimping device to reset based on the crimping power data. Thus, the final crimping hole position is determined based on pre-experimentation, improving the accuracy of crimping control.

[0026] Reference Figure 1 This application discloses a method for controlling an electric crimping tool, comprising the following steps: Step S100: Obtain the pre-pressing stroke and pre-pressing power.

[0027] The pre-pressing stroke refers to the screw stroke data during the pre-pressing test of the component to be pressed, where a reference hole position is selected as the pressure hole position. This is determined by the processing terminal by retrieving the screw stroke timing data throughout the pre-test process. During the pre-test, multiple pre-pressing tests are conducted on the workpiece to be pressed at a uniform pressing speed. The middle hole position among multiple selectable pressing holes is selected as the reference hole position to ensure that the lever arm length is appropriate during the pre-test. This avoids damage to the workpiece to be pressed due to excessive pressing force or failure to effectively press the workpiece to be pressed due to insufficient pressing force, thus preventing the acquisition of effective pressing data. After pressing, the power data and screw stroke data obtained from the pressing are smoothed and filtered to remove abnormal noise interference. The filtered data is then processed in the same way according to the alignment interpolation operation of the power data to ensure that the power data and stroke data correspond one-to-one. Finally, the average value of the screw stroke data at each sampling point obtained from multiple pressing tests is taken as the final value.

[0028] Pre-pressing power refers to the motor power data when a reference hole is selected as the pressure hole for a pre-pressing experiment on the component to be pressed. The processing terminal takes the average value of the motor power data at each sampling point obtained from multiple pressings. When taking the average value of the power data, the starting point of the data is first located at the time point when the pressing device and the workpiece to be pressed are completely pressed in each group of pre-experiments. The pressing power data is aligned point by point, and smoothing filtering and interpolation operations are performed to make the power data length obtained in each group of experiments consistent. Then the average value of the power value at each point is calculated.

[0029] Step S101: Analyze the pre-pressing stroke and pre-pressing power to determine the optimal pressing hole position and target lead screw stroke.

[0030] The optimal crimping hole position refers to the final selected hole position for crimping the component to be crimped. The target lead screw stroke refers to the target stroke of the lead screw during the crimping process corresponding to the target deformation of the workpiece to be crimped. Both are determined by the processing terminal through analysis of the pre-crimping stroke and pre-crimping power. Specific analysis steps are detailed in [reference needed]. Figure 2 In the process, if historical crimping data exists for the workpiece to be crimped, the optimal crimping hole position and target lead screw stroke corresponding to the historical crimping data can be directly called without repeating the calculation.

[0031] Step S102: Control the preset crimping device to crimp the preset components to be crimped at a uniform speed according to the optimal crimping hole position and the target lead screw stroke.

[0032] The crimping device refers to a lever-type caliper electric crimping tool that uses a motor-driven planetary reducer ball bearing to drive a lead screw with linear transmission. The lower wall of the caliper has multiple switchable lever crimping holes. By changing the pins connected to different lever crimping holes, the lever arm transmission ratio of the crimping device can be changed, thereby adjusting the relationship between the crimping pressure and the lead screw crimping stroke to adapt to components of different materials to be crimped. During the crimping process, the motor rotates, driving the planetary gears and planetary carrier to rotate. A three-stage planetary gear reduction outputs low speed and high torque, while the rotating nut is fixed to the planetary carrier. The planetary carrier rotates, causing the rotating nut to rotate. The rotating nut and the lead screw form a ball screw structure. When the rotating nut rotates, the lead screw begins to move linearly up and down. A dust cover and a dust sealing ring are fixed on the lead screw and move synchronously with it to prevent dust from entering the ball screw structure. When the lead screw moves upward, it carries the base upward to press and squeeze. The connecting rod pushes the lower arm of the crimping device's clamp, amplifying the force through the lever principle, causing the clamp jaws to close and achieving the crimping effect. The crimping device can automatically determine relevant parameters to perform the crimping operation, or it can be manually operated by personnel.

[0033] The components to be crimped refer to the metal pipes and fittings that are waiting to be crimped. Different components to be crimped have different material hardness, pipe wall thickness and pipe outer diameter, so different crimping hole positions need to be switched to achieve the best crimping effect. During the crimping process, the crimping device squeezes the components to be crimped under the drive of the screw to cause plastic deformation, so as to complete the pipe sealing and forming of the components to be crimped.

[0034] After determining the optimal crimping hole position and target lead screw stroke, the preset crimping device is controlled to crimp the preset components to be crimped at a uniform speed according to the optimal crimping hole position and target lead screw stroke. For specific methods and steps, please refer to [link / reference needed]. Figure 5 The steps in the process.

[0035] Step S103: Obtain crimping power data.

[0036] Among them, the crimping power data refers to the timing power data of the motor during the formal crimping process. It is determined by the processing terminal by retrieving the complete power data of the crimping device motor during the crimping process, and provides data support for the subsequent control of the crimping device reset.

[0037] Step S104: Control the crimping device to reset according to the crimping power data.

[0038] After determining the crimping power data, the crimping device is reset according to the crimping power data. Specific methods and steps are detailed below. Figure 8 The steps in the process.

[0039] Reference Figure 2The steps for analyzing the pre-pressing stroke and pre-pressing power to determine the optimal pressing hole position and target lead screw stroke include: Step S200: Analyze the pre-crimping power to determine the no-load crimping power and the crimping endpoint power.

[0040] Among them, the no-load power of crimping refers to the stable base power corresponding to the lead screw traveling without load before the caliper of the crimping device contacts the component to be crimped. That is, the motor crimping power corresponding to the starting moment when the crimping device contacts the component to be crimped and officially begins the crimping operation. The processing terminal retrieves the complete power data during the no-load travel of the lead screw and then performs mean smoothing filtering on the power data to reduce the impact of short-term power changes caused by current fluctuations or gear jamming, thereby improving the crimping control accuracy.

[0041] The crimping endpoint power refers to the crimping power of the motor at the end of the pre-crimping process. The processing terminal first smooths and filters the complete power sampling data during the pre-crimping process to eliminate instantaneous power fluctuations, and then extracts and determines the power data based on the time point when the lead screw reaches the target stroke of the pre-experiment.

[0042] Step S201: Calculate the difference between the crimping endpoint power and the crimping no-load power to determine the crimping power difference.

[0043] Among them, the crimping power difference refers to the power difference of the crimping device during the pre-crimping process, which is determined by the processing terminal by calculating the difference between the crimping endpoint power and the crimping no-load power.

[0044] Step S202: Calculate the quotient of the crimping power difference and the pre-crimping stroke to determine the reference power stiffness.

[0045] Among them, the reference power stiffness refers to the motor power increment corresponding to the incremental travel of the lead screw per unit length when the component to be crimped is crimped, reflecting the magnitude of the resistance generated when the component to be crimped undergoes deformation, and is determined by the processing terminal by calculating the quotient of the crimping power difference and the pre-crimping stroke.

[0046] Step S203: Analyze the no-load power and reference power stiffness of the crimping to determine the optimal crimping hole position.

[0047] The optimal crimping hole position is consistent with the optimal crimping hole position in step S101, and is determined by the processing terminal through analysis of the crimping no-load power and reference power stiffness. Specific analysis steps are detailed below. Figure 3 The steps in the process.

[0048] Step S204: Obtain the optimal lead screw stroke corresponding to the optimal crimping hole position.

[0049] Among them, the optimal screw stroke refers to selecting the optimal pressing hole position to press the component to be pressed. When the deformation of the workpiece to be pressed reaches the target deformation, the corresponding screw advance stroke is determined by the processing terminal by retrieving the full hole position screw stroke corresponding to the optimal pressing hole position after determining the optimal pressing hole position.

[0050] Step S205: Determine the optimal lead screw stroke as the target lead screw stroke.

[0051] The target lead screw stroke is consistent with the target lead screw stroke in step S101. After determining the optimal lead screw stroke, the processing terminal determines the optimal lead screw stroke as the target lead screw stroke.

[0052] Reference Figure 3 The steps for analyzing the no-load power and reference power stiffness of the crimping to determine the optimal crimping hole position include: Step S300: Obtain the reference hole position lever arm and the adjusting hole position lever arm.

[0053] Among them, the reference hole position lever arm refers to the lever arm length corresponding to the reference hole position selected in the pre-experiment, that is, the distance from the reference hole position to the rotation fulcrum of the crimping device caliper, which is determined by the processing terminal according to the crimping device design parameters stored in the system.

[0054] The adjustment lever arm refers to the lever arm length corresponding to the other holes besides the reference hole position, which is determined by the processing terminal based on the crimping device design parameters stored in the system.

[0055] Step S301: Calculate the quotient of the adjusting hole position lever arm and the reference hole position lever arm to determine the relative transmission coefficient.

[0056] The relative transmission coefficient refers to the relative lever transmission scaling ratio of each adjusting hole lever arm relative to the reference hole lever arm. It is used to characterize the relative difference in jaw deformation stroke between the adjusting hole and the reference hole under the same displacement. It is determined by the processing terminal by calculating the quotient of the adjusting hole lever arm and the reference hole lever arm for each adjusting hole.

[0057] Step S302: Input the relative transmission coefficient and the reference power stiffness into the preset stiffness mapping model to determine the adjustment power stiffness.

[0058] The stiffness mapping model refers to a formula model that maps the reference power stiffness of the reference hole position to the adjustment hole position by inversely proportional to the square of the relative transmission ratio coefficient of each adjustment hole position, thereby determining the adjustment power stiffness of each adjustment hole position. This model eliminates the need for pre-experiments on each hole position on the adjustment device to determine the power stiffness of all holes, improving crimping efficiency. Based on the lever torque balance principle, the caliper force amplification factor is proportional to the lever arm length; therefore, the equivalent stiffness of the lead screw end is inversely proportional to the square of the force amplification factor. Since the transmission ratio coefficient is directly proportional to the force amplification factor, the model derives that the equivalent power stiffness of the lead screw end is inversely proportional to the square of the transmission ratio coefficient, thus enabling rapid mapping and determination of stiffness data for all holes based on reference data. The specific model formula is as follows: .

[0059] In the formula, Let the adjustment power stiffness be the i-th adjustment hole position. As a reference power stiffness, Let be the relative transmission coefficient of the i-th adjustment hole position.

[0060] Adjusting power stiffness refers to the power stiffness corresponding to the other holes, excluding the reference hole position. It is determined by the processing terminal by inputting the relative transmission coefficient corresponding to each adjustment hole position and the reference power stiffness into the stiffness mapping model.

[0061] Step S303: Integrate the adjusted power stiffness and the reference power stiffness to determine the full-hole power stiffness.

[0062] Among them, the total hole power stiffness refers to the power stiffness data of all holes on the crimping device, including the adjustment power stiffness and the reference power stiffness. It is determined by the processing terminal after determining the adjustment power stiffness and the reference power stiffness, which are then integrated and determined.

[0063] Step S304: Obtain the target crimping amount and the full hole stroke conversion coefficient corresponding to the preset selectable crimping hole positions.

[0064] The target pressing amount refers to the linear displacement of the pressing clamp relative to the workpiece contact position from the moment it contacts the workpiece to the moment the pressing is completed. The target pressing amount is determined by the operator by first setting a set of gradient pressing amounts based on the standard shrinkage range corresponding to the key forming, then selecting a reference hole position for offline pressing pre-experimentation to determine the pressing quality corresponding to different pressing amounts, and selecting the target pressing amount with the best quality determined by multiple experiments. If the standard shrinkage amount of the workpiece to be pressed has been determined, the standard shrinkage amount is directly determined as the target pressing amount. After determining the target pressing amount, it is uploaded to the system and called by the processing terminal.

[0065] Selectable crimping holes refer to the freely switchable crimping holes on the crimping device, used to adjust the lever arm of the crimping device to adapt to components of different materials to be crimped, including the reference crimping hole selected in the pre-experiment and the remaining adjustment holes.

[0066] The full-position stroke conversion factor refers to the inherent conversion factor between the linear displacement of the crimping caliper and the lead screw stroke under each selectable crimping position, which is determined by the processing terminal by retrieving the crimping device design parameters stored in the system.

[0067] Step S305: Calculate the product of the target crimping amount and the full hole stroke conversion coefficient to determine the full hole screw stroke.

[0068] Among them, the full-position screw stroke refers to the screw stroke corresponding to the target crimping amount under each selectable crimping position, which is determined by the processing terminal by calculating the product of the target crimping amount and the full-position stroke conversion coefficient corresponding to each selectable crimping position.

[0069] Step S306: Analyze the full-position lead screw stroke, full-position power stiffness, and crimping no-load power to determine the optimal crimping position.

[0070] The optimal crimping hole position is consistent with the optimal crimping hole position in step S203, and is determined by the processing terminal through analysis of the full-position lead screw stroke, full-position power stiffness, and crimping no-load power. Specific analysis steps are detailed below. Figure 4 The steps in the process.

[0071] Reference Figure 4 The steps to determine the optimal crimping hole position by analyzing the full-position lead screw travel, full-position power stiffness, and crimping no-load power include: Step S400: Calculate the product of the full-hole power stiffness and the full-hole screw stroke to determine the full-hole power increment.

[0072] Among them, the power increment of the full hole position refers to the power increment of the motor crimping power relative to the crimping hole position power when the crimping caliper reaches the target crimping amount. It is determined by the processing terminal by calculating the product of the full hole position power stiffness and the full hole position screw stroke.

[0073] Step S401: Calculate the sum of the total hole power increment and the press-fit no-load power to determine the predicted peak power.

[0074] Among them, the predicted peak power refers to the total motor power of the crimping caliper when it reaches the target crimping amount under each selectable crimping hole position. It is determined by the processing terminal by calculating the sum of the power increment of all holes and the no-load crimping power.

[0075] Step S402: Filter the predicted peak power according to the preset maximum motor power to determine the selectable peak power.

[0076] The maximum motor power refers to the maximum crimping power that the crimping device motor can allow, which is determined by the operator based on the rated crimping power of the crimping device motor.

[0077] Selectable peak power refers to the predicted peak power that is less than the maximum motor power. The processing terminal determines the selected peak power by iterating through the predicted peak power and selecting the crimping hole position with the peak power less than the maximum motor power to perform the crimping operation, thereby improving the operational stability of the crimping device.

[0078] Step S403: Determine the full-position lead screw stroke corresponding to the selectable peak power as the selectable lead screw stroke.

[0079] Among them, the selectable lead screw stroke refers to the full-position lead screw stroke corresponding to the selectable peak power. The processing terminal retrieves the full-position lead screw stroke corresponding to the selectable peak power after determining the selectable peak power, which is the selectable lead screw stroke.

[0080] Step S404: Calculate the difference between the selectable lead screw stroke and the preset optimal lead screw stroke to determine the lead screw stroke deviation.

[0081] The optimal screw stroke refers to the optimal screw advance stroke, which is 60% of the effective screw stroke. This avoids both situations where the screw stroke is too long and the crimping force is too small, resulting in low crimping efficiency, and situations where the screw stroke is too short and the crimping force is too large, resulting in a high risk of damage to the workpiece. This optimizes the crimping effect. Operators first analyze historical crimping data to determine the crimping efficiency and pipe forming damage risk corresponding to different screw strokes for various types of workpieces. They eliminate situations where the screw stroke is too long and the crimping force is too small, resulting in low crimping efficiency, and situations where the screw stroke is too short and the crimping force is too large, resulting in unqualified workpiece quality inspection results. Finally, based on the actual crimping operation requirements, the screw stroke that meets the crimping time and crimping pass rate requirements is determined, which is the optimal screw stroke. During the crimping production process, crimping data is continuously accumulated. If a decrease in crimping efficiency or quality abnormalities occur in consecutive batches, the optimal screw stroke is re-determined.

[0082] The lead screw travel deviation refers to the deviation between each selectable lead screw travel and the optimal lead screw travel, which is determined by the processing terminal by calculating the difference between each selectable lead screw travel and the optimal lead screw travel.

[0083] Step S405: Obtain the hole position conversion coefficient corresponding to the minimum lead screw travel deviation.

[0084] Among them, the hole position conversion coefficient refers to the stroke conversion coefficient corresponding to the minimum lead screw stroke deviation. After determining the lead screw stroke deviation, the processing terminal iterates through the lead screw stroke deviations to determine the minimum lead screw stroke deviation, and the stroke conversion coefficient used to calculate the minimum stroke deviation is determined as the hole position conversion coefficient.

[0085] Step S406: Determine the optional crimping hole position corresponding to the hole position conversion coefficient as the optimal crimping hole position.

[0086] The optimal crimping hole position is consistent with the optimal crimping hole position in step S306, that is, the crimping hole position whose corresponding lead screw stroke is closest to the optimal lead screw stroke. The processing terminal determines the optional crimping hole position corresponding to the hole position conversion coefficient as the optimal crimping hole position after determining the hole position conversion coefficient. In this way, the corresponding hole position of the lead screw stroke with the smallest difference from the optimal lead screw stroke is selected as the optimal crimping hole position, thereby reducing the risk of low crimping efficiency due to insufficient crimping force or damage to the workpiece to be crimped due to excessive crimping force.

[0087] Reference Figure 5 The steps of uniformly pressing the preset components to be pressed according to the optimal pressing hole position and the target lead screw stroke by controlling the preset pressing device include: Step S500: Obtain the power stiffness of the crimping hole according to the optimal crimping hole position.

[0088] Among them, hole position power stiffness refers to the full hole position power stiffness corresponding to the optimal crimping hole position. After determining the optimal crimping hole position, the processing terminal searches for the full hole position power stiffness data stored in the system based on the optimal crimping hole position to determine the full hole position power stiffness corresponding to the optimal crimping hole position, which is the hole position power stiffness.

[0089] Step S501: Construct a feedforward control function based on the hole position power stiffness, the preset uniform pressing speed, and the preset no-load uniform power.

[0090] The uniform pressing speed refers to the constant speed of the lead screw when pressing the workpiece at a constant speed. The operator conducts offline pre-experiments by setting gradient pressing speeds within the rated pressing speed range, and performs pressing experiments on typical workpieces to be pressed in the pressing operation. The pass rate of the workpiece under each gradient pressing speed and the heat generation of the pressing device under continuous operation are monitored in real time. The maximum selectable pressing speed that allows the workpiece pass rate to meet the standard and the heat generation of the pressing device to be within the stable operating temperature range of the pressing device after multiple repeated tests is the uniform pressing speed.

[0091] No-load uniform speed power refers to the motor output power when the lead screw moves forward at a uniform pressing speed under no-load conditions during the pressing process, when the pressing clamp of the pressing device is not in contact with the workpiece to be pressed. After determining the uniform pressing speed, the operator controls the motor output torque according to the speed closed-loop PI control under no-load conditions and continuously collects the power of the lead screw. After removing the instantaneous fluctuation data during start and stop, the average power of the stable operating range is taken, which is the no-load uniform speed power.

[0092] The feedforward control function refers to a pre-control function that uses the constant speed advance of the lead screw as a constraint and determines the time-domain constant speed pre-reference power based on the constant speed pressing speed. This function uses the moment the pressing device contacts the workpiece to be pressed as the starting point to determine the total pressing time. Using the pressing time as the real-time independent variable, it determines the pre-set power control quantity during the advance process. Thus, based on the speed closed-loop PI control, the feedforward control power is set. Based on the linear growth trend of power with the lead screw stroke, the theoretical load power is pre-determined, thereby reducing the response lag error and dynamic adjustment error caused by the speed closed-loop PI, reducing the lead screw speed fluctuation amplitude and power overshoot risk, and improving the stability of the pressing process. The feedforward control function is: .

[0093] In the formula, Forward control function, For no-load constant speed power, For hole position power stiffness, The pressing speed is uniform.

[0094] Step S502: Select the optimal crimping hole position as the crimping hole position of the crimping device, and start the crimping device according to the no-load uniform speed power control.

[0095] After determining the optimal crimping hole position, the optimal crimping hole position is selected as the crimping hole position of the crimping device. Then, the crimping device is started according to the no-load uniform speed power control. At the same time, the travel speed of the lead screw is monitored in real time. When the deviation between the travel speed of the lead screw and the uniform crimping speed is greater than the preset speed deviation threshold, it indicates that the crimping caliper has fully contacted the workpiece and the workpiece is officially crimped.

[0096] The speed deviation threshold is determined by the operator through offline pre-experimentation. The pre-experimentation sets typical crimping operation conditions, selects typical workpieces of different models to be crimped, and conducts multiple sets of repeated experiments. During the experiment, the crimping device is controlled to crimp the workpiece at a uniform crimping speed. The complete screw running speed data from the time the crimping device is unloaded to the time it is in full contact with the workpiece is collected synchronously. After eliminating abnormal speed fluctuations that occur during unloaded operation, the critical real-time screw advance speed threshold that can effectively distinguish between unloaded crimping and full contact formal crimping under typical crimping conditions of multiple models is determined, which is the speed deviation threshold.

[0097] Step S503: Control the pressing device to press the component to be pressed at a uniform speed according to the hole position power stiffness, feedforward control function and target lead screw stroke.

[0098] When the processing terminal determines that the deviation between the lead screw travel speed and the uniform pressing speed is greater than the speed deviation threshold, it indicates that the pressing caliper has fully contacted the workpiece. The power control process of the pressing device needs to be switched to maintain the uniform pressing process. Therefore, at this time, the pressing device is controlled to perform uniform pressing of the component to be pressed based on the hole position power stiffness, feedforward control function, and target lead screw stroke. The specific method and steps are described in [reference needed]. Figure 6 The steps in the process.

[0099] Reference Figure 6 The steps for controlling the pressing device to uniformly press the assembly to be pressed, based on the hole position power stiffness, feedforward control function, and target screw stroke, include: Step S600: Obtain the real-time lead screw speed.

[0100] The real-time screw speed refers to the instantaneous speed of the screw in the previous control cycle when the crimping device is controlled cycle by cycle using a feedforward fine-tuning function. It is used to determine the real-time crimping power for each real-time control cycle. After the processing terminal determines that it will start controlling the crimping device using the feedforward fine-tuning function, it first takes the instantaneous speed of the screw in the last complete control cycle of the no-load stage as the first real-time screw instantaneous speed as the first input data of the feedforward fine-tuning function. At the same time, this moment is determined as the control starting point of the feedforward fine-tuning function. In each control cycle, the real-time travel of the screw is determined according to the timing window, and the ratio of the travel difference to the timing window length is calculated. The length of the timing window is determined by the operator by calculating the difference between the length of each control cycle and the time required to determine the real-time crimping power after the processing terminal determines the real-time screw speed.

[0101] Step S601: Construct a real-time fine-tuning function based on the real-time lead screw speed and the uniform pressing speed.

[0102] The real-time fine-tuning function refers to a power control function that uses the speed difference between the real-time lead screw speed and the uniform pressing speed to set a proportional fine-tuning function and an integral fine-tuning function. Based on the feedforward control function, the power is finely adjusted in real time according to the proportional and integral fine-tuning functions. The specific function formula is as follows: .

[0103] In the formula, For real-time fine-tuning functions, The proportional control coefficient is determined by the operator using an offline step response calibration method. Under no-load conditions, a constant speed step command is applied to the crimping device, and a gradient control coefficient is set. The screw speed following behavior corresponding to different control coefficients is observed to determine the speed overshoot and speed response time. The proportional coefficient corresponding to a fast response without significant speed oscillation is selected as the proportional control coefficient. For uniform pressing speed, For real-time lead screw speed, The integral adjustment coefficient is determined by the operator after setting the proportional adjustment coefficient. During the pressing process, a fixed speed deviation is continuously applied to simulate the deformation resistance of the workpiece. Then, the gradient adjustment coefficient is set, and the steady-state speed residual and speed fluctuation of the system under the gradient adjustment coefficient are observed. The proportional coefficient that can quickly offset the steady-state speed and stabilize the screw speed is selected, which is the integral adjustment coefficient.

[0104] Step S602: Combine the real-time fine-tuning function and the feedforward control function to determine the feedforward fine-tuning function.

[0105] Among them, the feedforward fine-tuning function refers to a power control function that integrates the real-time fine-tuning function and the feedforward control function, and controls the power by superimposing the fine-tuning amount on the feedforward adjustment amount. It is determined by the processing terminal by calculating the sum of the real-time fine-tuning function and the feedforward control function.

[0106] Step S603: Determine the real-time crimping power based on the feedforward fine-tuning function, so as to control the crimping device to crimp the components to be crimped at a uniform speed in real time.

[0107] In this process, after determining the feedforward fine-tuning function, the real-time screw speed is input into the function to determine the real-time pressing power for each cycle. This allows the pressing device to perform uniform pressing of the components to be pressed in real time, ensuring that the pressing speed remains stable near the uniform pressing speed. This maintains a uniform pressing state, thereby stabilizing the deformation of the workpiece during the pressing process, reducing impact loads and the risk of cracking or damage. Simultaneously, it provides a regular load change for the real-time control system, matching the feedforward control quantity with the real-time pressing conditions throughout the pressing process. The feedback fine-tuning quantity only needs to compensate for small speed fluctuations during the pressing process to maintain uniform pressing, ensuring the stability and reproducibility of the pressing process and improving the stability of the pressing quality.

[0108] Step S604: Obtain the real-time lead screw travel.

[0109] Among them, the real-time lead screw travel refers to the relative travel of the lead screw from the moment it fully contacts the workpiece to be pressed to the current moment. After the processing terminal determines that the pressing device is fully in contact with the workpiece, it retrieves the linear displacement data of the lead screw measured in real time by the encoder, and calculates the real-time position of the lead screw by combining the lead screw lead parameters. The real-time position is determined as the position zero point, and then the relative travel of the lead screw relative to the position zero point is continuously obtained based on the position zero point.

[0110] Step S605: Determine whether the real-time lead screw stroke is less than the target lead screw stroke.

[0111] The system determines whether the real-time lead screw stroke is less than the target lead screw stroke by processing the terminal, thereby determining whether to enter the pressure holding and pressing stage to press the workpiece to be pressed, thus improving the accuracy of pressing control.

[0112] Step S6051: If it is less than, continue to obtain the real-time lead screw speed and determine the real-time crimping power to control the crimping device to crimp the component to be crimped at a uniform speed in real time.

[0113] If the processing terminal determines that the real-time lead screw stroke is less than the target lead screw stroke, it indicates that the pressing deformation is insufficient and the lead screw needs to be pushed forward. Therefore, the real-time lead screw speed is acquired and input into the feedforward fine-tuning function to determine the real-time pressing power at the current moment so as to control the pressing device to press the component to be pressed at a uniform speed in real time.

[0114] Step S6052: If it is not less than, then control the crimping device to perform pressure holding crimping on the component to be crimped according to the hole position power stiffness and the target lead screw stroke.

[0115] If the processing terminal determines that the real-time lead screw stroke is not less than the target lead screw stroke, it indicates that the pressing deformation meets the standard. The lead screw needs to be stopped, and the current lead screw advance should be maintained for pressure holding and pressing. Therefore, at this time, the pressing device is controlled to perform pressure holding and pressing of the component to be pressed based on the hole position power stiffness and the target lead screw stroke. Specific methods and steps are detailed below. Figure 7 The steps in the process.

[0116] Reference Figure 7 The steps for controlling the crimping device to perform pressure-holding crimping of the assembly to be crimped, based on the hole position power stiffness and the target lead screw stroke, include: Step S700: Input the preset motor transmission efficiency, uniform pressing speed and hole position power stiffness into the preset stiffness conversion model to determine the hole position thrust stiffness.

[0117] Among them, motor transmission efficiency refers to the energy transfer efficiency of the motor, that is, the loss coefficient between the motor output power and the axial thrust power of the lead screw. It is determined by the operator through setting up offline pre-experiments. The pre-experiments are conducted under the same working conditions as the actual pressing operation. The lead screw of the pressing device is controlled to advance at a constant speed under no-load. At the same time, the actual output power of the pressing device motor and the constant speed of the lead screw are collected. Finally, the loss ratio of the transmission system composed of the motor and the lead screw is calculated in reverse according to the mechanical conversion relationship between power and thrust. Multiple sets of experiments are then conducted, and different running speeds are selected for repeated pressing. The relevant pressing data are filtered to determine the corresponding loss ratio. Finally, the average value of multiple loss ratios is calculated, which is the motor transmission efficiency.

[0118] The stiffness conversion model is a formulaic model constructed based on the energy conversion relationship between motor power and screw mechanical thrust under uniform speed pressing conditions. This model is based on the premise that the mechanical thrust power of the screw under uniform speed pressing conditions is equal to the product of the motor output power and the motor transmission efficiency, and that the mechanical thrust power, determined by the power law of uniform linear motion, is equal to the product of the axial thrust and the motion speed. The model derives the relationship between the thrust of the screw in the pressing device, the motor output power, and the screw travel speed. Since the hole position power stiffness characterizes the power increment corresponding to a unit screw advance stroke, it can be converted based on the power increment to determine the thrust increment corresponding to a unit screw advance stroke, i.e., the hole position thrust stiffness. The specific model formula is as follows: .

[0119] In the formula, For the thrust stiffness at the borehole position, For hole position power stiffness, For motor transmission efficiency. The pressing speed is uniform.

[0120] Hole position thrust stiffness refers to the increase in screw thrust caused by the deformation resistance of the workpiece to be pressed, corresponding to a unit increase in screw stroke. It is calculated and determined by the processing terminal by inputting the motor transmission efficiency, uniform pressing speed and hole position power stiffness into the stiffness conversion model.

[0121] Step S701: Calculate the product of the hole thrust stiffness and the target lead screw stroke to determine the pressure holding thrust increment.

[0122] Among them, the pressure holding thrust increment refers to the total screw thrust increment caused by the deformation resistance of the workpiece to be pressed under the target screw stroke, which is determined by the processing terminal by calculating the product of the hole position thrust stiffness and the target screw stroke.

[0123] Step S702: Calculate the sum of the pressure-holding thrust increment and the preset no-load screw thrust to determine the target pressure-holding thrust.

[0124] Among them, the no-load screw thrust refers to the axial thrust required for the screw to overcome friction and move at a constant speed under no-load conditions. After determining the no-load pressing power, the operator converts the no-load pressing power into the axial thrust of the screw according to the stiffness conversion model, which is the no-load screw thrust.

[0125] The target pressure holding thrust refers to the axial thrust required to stabilize the lead screw travel at the target lead screw stroke for pressure holding and pressing. It is determined by the processing terminal by calculating the pressure holding thrust increment and the unloaded lead screw thrust.

[0126] Step S703: Within the preset pressure holding and pressing time, control the pressing device to perform pressure holding and pressing of the component to be pressed according to the target pressure holding thrust.

[0127] Among them, the pressure holding and pressing time refers to the duration of pressure holding and pressing, which is determined by the operator through setting up offline pre-experiments. During the experiment, typical pressing conditions are set up, and multiple pressing pre-experiments are conducted with different gradient pressing times. After pressing is completed, based on the pressing effect, pressing deformation, and pressing pass rate of the workpiece to be pressed, the shortest pressure holding time corresponding to the pressing effect, pressing deformation, and pressing pass rate meeting the standards under multiple experiments is determined, which is the pressure holding and pressing time.

[0128] Once the lead screw reaches the target lead screw stroke, the control crimping device uses the target holding pressure thrust as the crimping control quantity. During the holding pressure crimping time, the motor is continuously controlled to output the target holding pressure thrust to hold and shape the workpiece to be crimped, thereby optimizing the crimping effect of the workpiece to be crimped.

[0129] Reference Figure 8 The steps for controlling the resetting of the crimping device based on the crimping power data include: Step S800: Perform numerical analysis on the crimping power data to determine the power mutation point.

[0130] Among them, the power mutation point refers to the power mutation time point corresponding to the moment when the crimping device's crimping joint is fully in contact with the workpiece to be crimped and the crimping operation officially begins. The processing terminal first uses a sliding mean filtering algorithm to smooth the crimping power data in real time, and then calculates the power change rate between each sampling point after filtering. When the power change rate exceeds the preset power change threshold, the time point corresponding to the first power change rate that exceeds the threshold is determined as the power mutation point.

[0131] The power change threshold is determined by the operator through offline pre-experimentation. During the pre-experimentation, typical crimping conditions are set. During the experiment, the crimping device is controlled to approach the workpiece at a low speed until the crimping device is in complete contact with the workpiece. Complete crimping power sampling data during the crimping process is retrieved simultaneously. After smoothing and filtering the sampling data, the minimum power change rate corresponding to the complete contact between the crimping device and the workpiece is determined in multiple experiments, as well as the maximum power change rate caused by noise during the experiment. Finally, the median value between the minimum contact change rate and the maximum noise fluctuation rate is taken as the final value.

[0132] Step S801: Obtain the crimping contact stroke based on the power abrupt change point.

[0133] Among them, the crimping contact stroke refers to the advance stroke of the lead screw when the crimping device is in full contact with the workpiece to be crimped, which is determined by the processing terminal by retrieving the stroke of the lead screw at the corresponding time point based on the power mutation point.

[0134] Step S802: Calculate the difference between the crimping contact stroke and the preset safety redundancy stroke to determine the target reset stroke.

[0135] Among them, the safety redundancy stroke refers to the additional redundant retraction stroke added to the crimping contact stroke. It is used to set a certain workpiece placement gap and to adapt to the crimping position deviation caused by workpiece size deviation. The operator first analyzes the historical crimping data to determine the maximum fluctuation of the historical crimping position, then takes 10% of the crimping contact stroke, calculates the sum of the two to determine the basic redundancy, and then conducts a crimping pre-experiment with the basic redundancy to determine whether the crimping operation can be successfully completed under the basic redundancy. Based on the experimental results, the basic redundancy is fine-tuned to determine the target reset stroke.

[0136] The target reset stroke refers to the target stroke amount of the lead screw reset when the control crimping device is not fully reset. It is determined by the processing terminal by calculating the difference between the crimping contact stroke and the safety redundancy stroke.

[0137] Step S803: Control the crimping device to reset according to the target reset stroke and the preset reset pressure holding thrust.

[0138] The reset pressure holding thrust is the same as the no-load screw thrust in step S702.

[0139] During continuous pressing operations, after pressing the current workpiece, the motor outputs reverse torque according to the uniform pressing speed to reset the lead screw to the target lead screw stroke. The reset pressure holding thrust is used to stabilize the lead screw at the target lead screw stroke to wait for the next pressing, thereby improving the pressing efficiency. Alternatively, the incomplete reset operation can be skipped, and the pressing device can be fully reset.

[0140] Based on the same inventive concept, embodiments of this application provide an electric crimping tool control system, including: The acquisition module is used to acquire pre-pressing stroke, pre-pressing power, pressing power data, optimal screw stroke, reference hole position lever arm, adjusting hole position lever arm, target pressing amount, full hole position stroke conversion coefficient, hole position conversion coefficient, hole position power stiffness, real-time screw speed, real-time screw stroke, and pressing contact stroke. A memory for storing a program for controlling an electric crimping tool; The processor and the program in the memory can be loaded and executed by the processor to implement a method for controlling an electric crimping tool.

[0141] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0142] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A control method for an electric crimping tool, characterized in that, include: Obtain the pre-crushing stroke and pre-crushing power; The pre-pressing stroke and pre-pressing power are analyzed to determine the optimal pressing hole position and target lead screw stroke; The preset pressing device is controlled according to the optimal pressing hole position and the target lead screw stroke to press the preset components to be pressed at a uniform speed. Obtain crimping power data; The crimping device is reset based on the crimping power data. The steps involved in analyzing the pre-pressing stroke and pre-pressing power to determine the optimal pressing hole position and target lead screw stroke include: The pre-crimping power was analyzed to determine the no-load crimping power and the crimping endpoint power. Calculate the difference between the crimping endpoint power and the crimping no-load power to determine the crimping power difference; Calculate the quotient of the crimping power difference and the pre-crimping stroke to determine the reference power stiffness; The crimping no-load power and reference power stiffness are analyzed to determine the optimal crimping hole position; Obtain the optimal lead screw stroke corresponding to the optimal crimping hole position; The optimal lead screw stroke is determined as the target lead screw stroke; The steps for analyzing the no-load power and reference power stiffness of the crimping to determine the optimal crimping hole position include: Obtain the reference hole position lever arm and the adjusting hole position lever arm; Calculate the quotient of the adjusting hole position lever arm and the reference hole position lever arm to determine the relative transmission coefficient; The relative transmission coefficient and the reference power stiffness are input into the preset stiffness mapping model to determine the adjustment power stiffness; The adjusted power stiffness and the reference power stiffness are integrated to determine the power stiffness at all holes; Obtain the target crimping amount and the full-position stroke conversion coefficient corresponding to the preset selectable crimping positions; Calculate the product of the target crimping amount and the full hole stroke conversion coefficient to determine the full hole screw stroke; The full-position lead screw stroke, full-position power stiffness, and crimping no-load power are analyzed to determine the optimal crimping hole position; The steps for analyzing the full-position screw travel, full-position power stiffness, and crimping no-load power to determine the optimal crimping hole position include: Calculate the product of the full-hole power stiffness and the full-hole screw travel to determine the full-hole power increment; Calculate the sum of the total hole power increment and the press-fit no-load power to determine the predicted peak power; The predicted peak power is filtered based on the preset maximum motor power to determine the selectable peak power; The full-position lead screw stroke corresponding to the selectable peak power is defined as the selectable lead screw stroke; Calculate the difference between the selectable lead screw travel and the preset optimal lead screw travel to determine the lead screw travel deviation; Obtain the hole position conversion coefficient corresponding to the minimum lead screw travel deviation; The optional crimping hole position corresponding to the hole position conversion coefficient is determined as the optimal crimping hole position.

2. The electric crimping tool control method according to claim 1, characterized in that, The steps of uniformly pressing the preset components to be pressed according to the optimal pressing hole position and the target lead screw stroke by controlling the preset pressing device include: The power stiffness of the crimping hole position is obtained based on the optimal crimping hole position. A feedforward control function is constructed based on the hole position power stiffness, the preset uniform pressing speed, and the preset no-load uniform power. Select the optimal crimping hole position as the crimping hole position of the crimping device, and start the crimping device according to the no-load uniform speed power control. The pressing device is controlled to press the component to be pressed at a uniform speed based on the hole position power stiffness, feedforward control function, and target screw stroke.

3. The electric crimping tool control method according to claim 2, characterized in that, The steps for controlling the pressing device to uniformly press the assembly to be pressed, based on the hole position power stiffness, feedforward control function, and target screw stroke, include: Obtain the real-time lead screw speed; A real-time fine-tuning function is constructed based on the real-time lead screw speed and the uniform pressing speed. The real-time fine-tuning function and the feedforward control function are fused to determine the feedforward fine-tuning function; The real-time crimping power is determined based on the feedforward fine-tuning function, so as to control the crimping device to crimp the components to be crimped at a uniform speed in real time. Obtain real-time lead screw travel; Determine whether the real-time lead screw travel is less than the target lead screw travel; If it is less than, then continue to obtain the real-time lead screw speed and determine the real-time crimping power in order to control the crimping device to crimp the component to be crimped at a uniform speed in real time. If it is not less than, then the pressing device is controlled to perform pressure holding pressing of the component to be pressed according to the hole position power stiffness and the target lead screw stroke.

4. The electric crimping tool control method according to claim 3, characterized in that, The steps for pressure-holding crimping of the assembly to be crimped, controlled by the crimping device based on the hole position power stiffness and the target lead screw stroke, include: The preset motor transmission efficiency, uniform pressing speed and hole position power stiffness are input into the preset stiffness conversion model to determine the hole position thrust stiffness. Calculate the product of the hole thrust stiffness and the target lead screw stroke to determine the pressure-holding thrust increment; Calculate the sum of the pressure-holding thrust increment and the preset no-load screw thrust to determine the target pressure-holding thrust; Within a preset pressure holding and pressing time, the pressing device is controlled to perform pressure holding and pressing of the component to be pressed according to the target pressure holding thrust.

5. The electric crimping tool control method according to claim 1, characterized in that, The steps for controlling the resetting of the crimping device based on the crimping power data include: Numerical analysis was performed on the crimping power data to determine the power abrupt change point; The crimping contact stroke is obtained based on the power abrupt change point; Calculate the difference between the crimping contact stroke and the preset safety redundancy stroke to determine the target reset stroke; The crimping device is reset according to the target reset stroke and the preset reset pressure holding thrust.

6. A control system for an electric crimping tool, characterized in that, include: The acquisition module is used to acquire pre-pressing stroke, pre-pressing power, and pressing power data; A memory for storing a program for controlling an electric crimping tool as described in any one of claims 1 to 5; The processor and the program in the memory can be loaded and executed by the processor to implement the electric crimping tool control method as described in any one of claims 1 to 5.

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