CN111421492A - Electric screwdriver and sectional control method and storage medium thereof - Google Patents
Electric screwdriver and sectional control method and storage medium thereof Download PDFInfo
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- CN111421492A CN111421492A CN202010344630.6A CN202010344630A CN111421492A CN 111421492 A CN111421492 A CN 111421492A CN 202010344630 A CN202010344630 A CN 202010344630A CN 111421492 A CN111421492 A CN 111421492A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B21/00—Portable power-driven screw or nut setting or loosening tools; Attachments for drilling apparatus serving the same purpose
Abstract
The invention relates to an electric batch, a sectional control method thereof and a storage medium. The electric batch sectional control method comprises the steps of tooth searching, tooth mounting and locking. Wherein, the tooth searching step adopts a first rotating speed with lower rotating speed to drive the servo motor so as to facilitate the engagement of the screwdriver head and the screw. In the tooth loading step, a servo motor is driven by a second rotating speed and a first torque with higher rotating speed, so that the speed of screwing the screw into the screw hole can be increased. In the locking step, a third rotating speed with a lower rotating speed and a constant first preset torque are adopted to drive the servo motor, so that the locking quality of the screw can be ensured. According to the sectional control method of the electric batch, the servo motor is driven at different rotating speeds, torques and torques according to different stages of the electric batch, the integrating degree of the control method and the working stage can be improved, and therefore the accuracy of the electric batch control process is improved.
Description
Technical Field
The invention relates to the technical field of electric tools, in particular to an electric screwdriver and a sectional control method and a storage medium thereof.
Background
The electric screwdriver, also called an electric screwdriver or an electric screwdriver, is an electric tool for screwing and unscrewing screws, and is one of the necessary tools for most production enterprises.
In the conventional technology, the electric batch control method is generally as follows: and the controller adjusts the working process of the electric screwdriver according to the current information and the rotating speed information of the servo motor.
The inventor finds out in the process of realizing the conventional technology that: the control process of the traditional electric batch control method is not accurate enough.
Disclosure of Invention
Therefore, it is necessary to provide an electric batch, a section control method thereof and a storage medium for solving the problem that the control process of the electric batch control method in the conventional technology is not accurate enough.
An electric batch subsection control method for controlling the electric batch to work, the electric batch is provided with a servo motor to drive a batch head of the electric batch, and the method comprises the following steps:
tooth searching: acquiring a first rotating speed, and driving the servo motor according to the first rotating speed so as to enable the screwdriver head to be engaged with the screw;
after the tooth searching step is finished, the upper teeth: acquiring a second rotating speed and a first torque, and driving the servo motor according to the second rotating speed and the first torque so as to enable the screwdriver head to drive the screw to be screwed into the screw hole, wherein the second rotating speed is greater than the first rotating speed;
after the upper teeth step is finished, locking: and acquiring a third rotating speed and a first preset torque, and driving the servo motor according to the third rotating speed and the first preset torque so as to screw the screw, wherein the third rotating speed is less than the second rotating speed.
In one embodiment, the obtaining a first rotation speed and driving the servo motor according to the first rotation speed includes:
and acquiring a first rotating speed, and driving the servo motor according to the first rotating speed so as to drive the batch head to rotate by a first angle.
In one embodiment, the first angle is greater than or equal to 45 degrees and less than or equal to 180 degrees.
In one embodiment, after the driving the servo motor according to the second rotation speed and the first torque, the upper teeth step further comprises:
if the servo motor is driven for a first period according to the second rotating speed and the first torque, then: acquiring a fourth rotating speed and a second torsion, wherein the fourth rotating speed is greater than the second rotating speed, and the second torsion is greater than the first torsion;
and driving the servo motor according to the fourth rotating speed and the second torsion.
In one embodiment, after the driving the servo motor according to the fourth rotation speed and the second torsion, the method further includes:
adjusting: acquiring the actual torque of the servo motor, and acquiring a torque difference value between the actual torque and a second preset torque;
if the torque difference value exceeds a preset range, the method comprises the following steps: driving the servo motor to enable the batch head to rotate reversely for a preset number of turns;
and after the batch head rotates reversely for a preset number of turns, returning to the step of driving the servo motor according to the fourth rotating speed and the second torsion.
In one embodiment, after obtaining the torque difference between the actual torque and the second preset torque, the adjusting step further includes:
if the torque difference value is within the preset range, the following steps are carried out: and returning to the step of driving the servo motor according to the fourth rotating speed and the second torsion.
In one embodiment, if the torque difference exceeds a preset range, the driving the servo motor to rotate the batch head reversely for a preset number of turns further includes:
and (4) alarming: acquiring the exceeding times of the torque difference value exceeding a preset range;
and if the exceeding times are more than or equal to the preset times, controlling the servo motor to stop working and giving a fault alarm.
In one embodiment, after the locking step, the method further comprises:
and (3) rollback: and acquiring a fifth rotating speed, and driving the servo motor according to the fifth rotating speed so as to enable the batch head to rotate reversely by a second angle, wherein the second angle is greater than or equal to 10 degrees and less than or equal to 30 degrees.
An electric screwdriver, comprising:
a batch head;
the servo motor is connected with the batch head and used for driving the batch head;
a memory storing a computer program;
and a processor connected to the servo motor for controlling the servo motor, wherein the processor implements the steps of the method according to any one of the above embodiments when executing the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of the above embodiments.
The electric batch sectional control method comprises the steps of tooth searching, tooth mounting and locking. Wherein, the tooth searching step adopts a first rotating speed with lower rotating speed to drive the servo motor so as to facilitate the engagement of the screwdriver head and the screw. In the tooth loading step, a servo motor is driven by a second rotating speed and a first torque with higher rotating speed, so that the speed of screwing the screw into the screw hole can be increased. In the locking step, a third rotating speed with a lower rotating speed and a constant first preset torque are adopted to drive the servo motor, so that the locking quality of the screw can be ensured. According to the sectional control method of the electric batch, the servo motor is driven at different rotating speeds, torques and torques according to different stages of the electric batch, the integrating degree of the control method and the working stage can be improved, and therefore the accuracy of the electric batch control process is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of an embodiment of a method for controlling an electric batch section according to the present application;
FIG. 2 is a schematic flow chart of an electric batch subsection control method in another embodiment of the present application;
FIG. 3 is a schematic flow chart of an electric batch subsection control method in another embodiment of the present application;
FIG. 4 is a schematic flow chart of an electric batch subsection control method in another embodiment of the present application;
FIG. 5 is a schematic flow chart of an electric batch subsection control method in another embodiment of the present application;
fig. 6 is a schematic block diagram of an electric screwdriver in an embodiment of the present application.
Wherein, the meanings represented by the reference numerals of the figures are respectively as follows:
10. electric screwdriver;
110. a batch head;
120. a servo motor;
130. a memory;
140. a processor.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present application and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be considered as limiting the present application.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Generally, an electric batch has a servo motor, a controller for controlling the servo motor, and a batch head driven by the servo motor. The screwdriver head is used for being matched with the thread of the screw, so that when the screwdriver head rotates, the screw is driven to rotate, and the screw is screwed into the screw hole. The servo motor is used for driving the batch head so as to rotate the batch head. The controller comprises a memory and a processor and is used for driving the servo motor so as to control the working state of the servo motor. Therefore, the controller can control the rotation speed, the rotation direction, the rotation torque and the rotation torque of the servo motor driving batch head.
The application provides an electric batch, a sectional control method thereof and a storage medium. The electric batch subsection control method can drive the servo motor by different control logics according to different stages in the electric batch working process, so that the integrating degree of the control method and the electric batch working stage is improved.
As shown in FIG. 1, the present application provides a method for controlling the operation of an electric batch 10. The electric batch sectional control method sequentially comprises the following steps: step S10 tooth seeking, step S20 tooth applying and step S30 locking. The "tooth finding" in step S10 means: the operation of the electric screwdriver 10 is controlled through step S10 such that the screwdriver head 110 of the electric screwdriver 10 is engaged with the thread of the screw. The "upper teeth" of step S20 mean: the electric screwdriver 10 is controlled to operate through step S20, so that the screwdriver bit 110 drives the screw to screw the screw into the screw hole. The "locking" of step S30 means: the operation of the electric screwdriver 10 is controlled through step S30, so that the screwdriver bit 110 drives the screw to tighten the screw.
Step S10 tooth searching specifically includes: s110, acquiring a first rotating speed, and driving the servo motor 120 according to the first rotating speed so as to enable the batch head 110 to be engaged with the screw.
The controller of the electric screwdriver 10 acquires a first rotation speed. The first rotation speed may be a rotation speed preset by the electric screwdriver 10, and the "first" is only used for distinguishing the rotation speed in other stages described below, and is not explained otherwise. This first rotational speed can be used for controlling the operation of the electric screwdriver 10 during the tooth-seeking phase. When the controller controls the operation of the servo motor 120 according to the first rotation speed, the servo motor 120 drives the batch head 110 to rotate at the first rotation speed, so that the batch head 110 is engaged with the screw. Generally, to increase the engagement rate of the bits 110 and screws during the process, the first rotation speed may be a lower rotation speed. For example, the first rotational speed may be 30 revolutions per minute, 60 revolutions per minute, or 90 revolutions per minute.
After the tooth searching in step S10 is finished, the tooth adding in step S20 may specifically include: s210, a second rotating speed and a first torque are obtained, the servo motor 120 is driven according to the second rotating speed and the first torque, so that the screwdriver head 110 drives the screw to be screwed into the screw hole, and the second rotating speed is greater than the first rotating speed.
The controller of the electric screwdriver 10 acquires the second rotating speed and the first torsion. Similarly, the second rotation speed may be a rotation speed preset by the electric screwdriver 10, and the "second" is only used for distinguishing the rotation speed in other stages and is not explained otherwise. The first torque may also be a preset torque value of the electric batch 10, and the first torque is only used for distinguishing the torque value in other stages without any explanation. The second rotation speed and the first torque may be applied to the operation control of the electric screwdriver 10 in the upper teeth stage. When the controller controls the operation of the servo motor 120 according to the second rotation speed and the first torque, the servo motor 120 drives the bit 110 to rotate at the second rotation speed and the first torque, so as to drive the screw to be screwed into the screw hole. Generally, to increase the upper teeth speed of the electric screwdriver 10, the second rotation speed may be higher than the first rotation speed, and is a higher rotation speed. For example, the second speed may be 300 rpm, 360 rpm, or 420 rpm.
After the tooth application is finished in step S20, the locking in step S30 may specifically include: and S310, acquiring a third rotating speed and a first preset torque, and driving the servo motor 120 according to the third rotating speed and the first preset torque so as to tighten the screw, wherein the third rotating speed is less than the second rotating speed.
The controller of the electric screwdriver 10 obtains the third rotation speed and the first preset torque. Similarly, the third rotation speed may be a rotation speed preset by the electric screwdriver 10, and the third rotation speed is only used for distinguishing the rotation speed in other stages and is not explained otherwise. The first preset torque may also be a fixed torque value preset by the electric batch 10, and the "first" is only used for distinguishing from the torque values in other stages and is not explained otherwise. The third rotation speed and the first preset torque may be applied to the operation control of the electric screwdriver 10 in the locking stage. When the controller controls the servo motor 120 to operate according to the third rotation speed and the first preset torque, the servo motor 120 drives the bit 110 to rotate at the third rotation speed and the first preset torque, so as to tighten the screw. Generally, to ensure the locking quality of the electric screwdriver 10, the third rotation speed may be lower than the second rotation speed, and is a lower rotation speed. For example, the third speed may also be 30 revolutions per minute, 60 revolutions per minute, or 90 revolutions per minute.
According to the sectional control method of the electric batch, the servo motor 120 is driven at different rotating speeds, torques and torques according to different working stages of the electric batch 10, so that the integrating degree of the control method and the working stages can be improved, and the accuracy of the control process of the electric batch 10 is improved.
In an embodiment, the step S110 of the electric batch segment control method of the present application may include:
the first rotation speed is obtained, and the servo motor 120 is driven according to the first rotation speed to drive the batch head 110 to rotate by a first angle.
Specifically, the step of "obtaining the first rotation speed and driving the servo motor 120 according to the first rotation speed" is described in the above embodiments, and is not described herein again. In this embodiment, when the controller of the electric screwdriver 10 obtains the first rotation speed and controls the operation of the servo motor 120 according to the first rotation speed, the screwdriver head 110 can be rotated by a first angle, so that the screwdriver head 110 is engaged with the screw. The first angle may be a preset angle of the electric screwdriver 10, and the first angle is only used for distinguishing the rotation angle in other stages described below, and is not explained otherwise.
Further, the range of the first angle is: the first angle is 45 degrees or more and 180 degrees or less.
Specifically, generally, the head 110 of the electric screwdriver 10 includes various shapes such as "linear", "cross" and "m" shapes. For the "straight" batch head 110, the batch head 110 can be engaged with the screw when the batch head 110 rotates 180 degrees. For the "cross" batch head 110, the batch head 110 and the screw can be engaged under the condition that the batch head 110 rotates 90 degrees. For the "rice-shaped" batch head 110, under the condition that the batch head 110 rotates 45 degrees, the engagement between the batch head 110 and the screw can be completed. Therefore, in order to enable the electric batch subsection control method of the present application to be suitable for batch heads 110 with different shapes, the first angle may be greater than or equal to 45 degrees and less than or equal to 180 degrees. Here, the first angle may be 45 degrees, 60 degrees, 90 degrees, or 180 degrees.
In one embodiment, as shown in fig. 2, the electric batch segmentation control method of the present application, which performs the uploading process in step S20, further includes, after step S210:
s220, it is determined whether the servo motor 120 has been driven for the first period of time according to the second rotation speed and the first torque.
Specifically, in step S210, the servo motor 120 needs to be driven according to the second rotation speed and the first torque. In the present embodiment, the monitoring of the driving time of the servo motor 120 driven according to the second rotation speed and the first torque, i.e., the monitoring of the execution time of step S210, may be started from the start of the execution of step S210. Meanwhile, it is determined whether the execution time of step S210 reaches the first period. The first time period may be a time period preset by the electric batch 10, and the "first" is only used to distinguish from the time periods in other phases, and is not explained otherwise. In some specific embodiments, the first period of time may be 3 seconds, 5 seconds, or 8 seconds.
If yes, then: s230, a fourth rotation speed and a second torsion are obtained, wherein the fourth rotation speed is greater than the second rotation speed, and the second torsion is greater than the first torsion, and the servo motor 120 is driven according to the fourth rotation speed and the second torsion.
Specifically, if the execution time of step S210 has reached the first period, or if the servo motor 120 has been driven according to the second rotation speed and the first torque for the first period, step S230 is executed. At this time, the controller obtains the fourth rotation speed and the second torque force, and drives the servo motor 120 according to the fourth rotation speed and the second torque force. Similarly, the fourth rotation speed may also be a rotation speed preset by the electric screwdriver 10, and the fourth rotation speed is only used for distinguishing the rotation speed in other stages and is not explained otherwise. The second torque force may also be a torque force value preset by the electric screwdriver 10, and the second torque force is only used for distinguishing torque force values in other stages without any other explanation. The fourth rotation speed and the second torque force may be applied to the operation control of the electric screwdriver 10 in the upper teeth stage. When the controller controls the servo motor 120 to work according to the fourth rotation speed and the second torque force, the servo motor 120 drives the bit 110 to rotate at the fourth rotation speed and the second torque force, so as to drive the screw to be screwed into the screw hole. Generally, the fourth speed may be greater than the second speed, which is a higher speed. For example, the second rotational speed may be 300 revolutions per minute, 360 revolutions per minute, or 420 revolutions per minute; the fourth speed may be 480 revolutions per minute, 540 revolutions per minute, or 600 revolutions per minute.
If not, the process returns to step S210. That is, if the execution time of step S210 does not reach the first period, step S210 continues to be executed until the execution time of step S210 reaches the first period.
The sectional control method of the electric screwdriver divides the upper teeth step of the electric screwdriver 10 into two stages. In the first stage of the threading step, the screw is just screwed into the screw hole, so that the screw is less resistant. At this time, the screwdriver 10 works with the second lower rotation speed and the first torque, so that the screw is screwed into the screw hole at a low rotation speed, and the screw teeth can be prevented from being damaged due to the fact that the screwdriver head 110 rotates at an excessive speed and the torque is too large. In the second stage of the threading procedure, the screw is already inserted into the screw hole and is subjected to a greater resistance. At this time, the screwdriver 10 works with the fourth rotating speed and the second torque force, so that the screw can be screwed into the screw hole quickly, and the screwing speed of the screw into the screw hole can be increased.
As is known from the above description, the fourth rotation speed and the second torsion force in step S230 are large, and thus, the screw is easily broken during screwing into the screw hole in step S230. In view of this, in an embodiment, as shown in fig. 3, the electric batch segmentation control method of the present application may further include step S40 adjustment.
The step S40 may specifically include:
s410, acquiring the actual torque of the servo motor 120, and acquiring a torque difference value between the actual torque and a second preset torque.
During the execution of step S230, that is, during the driving of the servo motor 120 according to the fourth rotation speed and the second torque force, the electric batch segment control method of the present application also monitors the actual torque of the servo motor 120 in real time.
The second predetermined torque may be a torque value predetermined by the electric batch 10, and the second predetermined torque is only used for distinguishing from the torque values in other phases and is not explained otherwise. In this embodiment, after acquiring the actual torque of the servo motor 120, the electric batch segment control method further obtains a torque difference value according to the actual torque and a second preset torque. The torque difference is the difference obtained by subtracting the actual torque from the second preset torque.
And S420, judging whether the torque difference value exceeds a preset range.
And after the torque difference value is obtained, judging whether the torque difference value exceeds a preset range. The predetermined range may be a torque range predetermined by the electric batch 10.
If yes, then: s430, the servo motor 120 is driven to rotate the batch head 110 reversely for a preset number of turns.
If yes, namely if the torque difference value exceeds a preset range, the electric batch 10 is indicated to have a fault in the working process. At this time, the controller may drive the servo motor 120 to rotate the batch head 110 in a reverse direction for a preset number of turns. The reverse direction refers to the rotation direction of the bit 110 when the servo motor 120 is operated during the process of tooth searching in step S10, tooth adding in step S20, and locking in step S30. Generally, in step S10, step S20 and step S30, the screw is screwed into the screw hole, and the batch head 110 is rotated clockwise. At this time, in step S430, the controller drives the servo motor 120 to rotate the batch head 110 counterclockwise by a preset number of turns. Thus, the fault adjustment and correction can be realized.
The preset number of turns may be one turn, or two or three turns. After the batch head 110 rotates reversely for the preset number of turns, the step of driving the servo motor 120 according to the fourth rotation speed and the second torque force is returned, that is, the step S230 is returned to.
If not, that is, if the torque difference is within the preset range, the step of driving the servo motor 120 according to the fourth rotation speed and the second torque force is directly returned, that is, the step S230 is directly returned to.
The batch subsection control method also monitors the actual torque of the servo motor 120 of the batch 10 in real time during the working process of the batch 10 in step S230, and adjusts the operation of the servo motor 120 according to the actual torque. Therefore, faults such as floating nails, sliding teeth and the like generated in the working process of the electric screwdriver 10 can be adjusted, and therefore the working quality of the electric screwdriver 10 is improved.
As is known from the above description, the step S40 can adjust for the fault generated during the operation of the electric batch 10. However, some faults may still exist after the adjustment. In view of this, in one embodiment, as shown in fig. 4, the electric batch segmentation control method of the present application may further include a step S50 alarm after the adjustment of step S40.
The step S50 may include:
and S510, acquiring the exceeding times of the torque difference value exceeding the preset range.
In the execution of step S40, whenever the torque difference value is determined to be out of the preset range in step S420, step S430 is executed to rotate the batch head 110 reversely, so as to achieve the adjustment purpose. In this embodiment, when the torque difference exceeds the preset range and step S430 is executed, the electric batch segment control method of the present application may further count the number of times the torque difference exceeds the preset range.
The number of times the difference in torque exceeds the preset range is equal to the number of times the batch head 110 is rotated in the reverse direction.
And S520, if the exceeding times are more than or equal to the preset times, controlling the servo motor 120 to stop working and sending a fault alarm.
The preset number may be a preset number of the electric batch 10. For example, the preset number of times may be three times. When the exceeding times of the torque difference value exceeding the preset range is greater than or equal to the preset times, the servo motor 120 is controlled to stop working, and a fault alarm is sent out. In other words, when the number of times the torque difference exceeds the preset range is equal to or greater than the preset number of times, it indicates that the fault in the operation of the electric batch 10 is difficult to adjust. At this time, the electric batch 10 stops operating and gives a malfunction alarm.
In one embodiment, as shown in fig. 5, after the locking at step S30, the batch fragmentation control method of the present application may further include a step S60 of rollback.
The step S60 of returning may specifically include: and acquiring a fifth rotating speed, and driving the servo motor 120 according to the fifth rotating speed to rotate the batch head 110 reversely by a second angle, wherein the second angle is greater than or equal to 10 degrees and less than or equal to 30 degrees.
The controller of the electric screwdriver 10 acquires the fifth rotation speed. Similarly, the fifth rotation speed may be a rotation speed preset by the electric screwdriver 10, and the "fifth" is only used for distinguishing the rotation speed in other stages and is not explained otherwise. This fifth rotational speed can be used for controlling the operation of the electric screwdriver 10 during the tooth-seeking phase. When the controller controls the servo motor 120 to operate according to the fifth rotation speed, the servo motor 120 drives the batch head 110 to rotate reversely at the fifth rotation speed. The reverse direction refers to the rotation direction of the bit 110 when the servo motor 120 is operated during the process of tooth searching in step S10, tooth adding in step S20, and locking in step S30. Generally, in step S10, step S20 and step S30, the screw is screwed into the screw hole, and the batch head 110 is rotated clockwise. At this time, in step S60, the controller drives the servo motor 120 to rotate the batch head 110 counterclockwise.
In this embodiment, the controller drives the servo motor 120 according to the fifth rotation speed, such that the batch head 110 rotates reversely by the second angle. The second angle is also an angle preset by the electric screwdriver 10, and the second angle is only used for distinguishing the rotation angle in other stages and is not explained otherwise. In the present embodiment, the range of the second angle is: the second angle is greater than or equal to 10 degrees and less than or equal to 30 degrees. That is, the second angle may be 10 degrees, 20 degrees, or 30 degrees.
The batch subsection control method further controls the batch head 110 to retreat by a second angle after the batch 10 is attached. Therefore, the friction force between the screwdriver bit 110 of the screwdriver 10 and the screw teeth of the screw can be reduced to be small when the screwdriver bit is separated from the screw teeth of the screw, so that the screwdriver bit 110 is prevented from being worn too fast, and the service life of the screwdriver bit 110 is prolonged.
In one embodiment, the present application further provides an electric batch 10, which includes a batch head 110, a servo motor 120, a memory 130 and a processor 140.
Specifically, the screwdriver bit 110 is adapted to engage with a thread of a screw, so that when the screwdriver bit 110 is rotated, the screw is driven to rotate, thereby screwing the screw into the screw hole. The servo motor 120 is used to drive the batch head 110, thereby rotating the batch head 110. The memory 130 stores a computer program. The processor 140 is connected to the servo motor 120 and is configured to drive the servo motor 120 to control an operating state of the servo motor 120. The processor 140 is also used to execute computer programs stored in the memory 130.
The processor 140, when executing the computer program stored in the memory 130, may implement the method of electric batch segmentation control as in any of the embodiments described above.
In one embodiment, the processor 140, when executing the computer program, performs the steps of:
tooth searching: acquiring a first rotating speed, and driving the servo motor 120 according to the first rotating speed so as to enable the batch head 110 to be engaged with a screw;
after the tooth searching step is finished, the upper teeth: acquiring a second rotating speed and a first torque, and driving the servo motor 120 according to the second rotating speed and the first torque, so that the screwdriver head 110 drives the screw to be screwed into the screw hole, wherein the second rotating speed is greater than the first rotating speed;
after the upper teeth step is finished, locking: and acquiring a third rotating speed and a first preset torque, and driving the servo motor 120 according to the third rotating speed and the first preset torque so as to screw the screw, wherein the third rotating speed is less than the second rotating speed.
In one embodiment, the processor 140, when executing the computer program, further performs the steps of:
acquiring a first rotation speed, and driving the servo motor 120 according to the first rotation speed to drive the batch head 110 to rotate by a first angle.
In one embodiment, the first angle is greater than or equal to 45 degrees and less than or equal to 180 degrees.
In one embodiment, the processor 140, when executing the computer program, further performs the steps of:
if the servo motor 120 is driven according to the second rotation speed and the first torque for a first period of time, then: acquiring a fourth rotating speed and a second torsion, wherein the fourth rotating speed is greater than the second rotating speed, and the second torsion is greater than the first torsion;
the servo motor 120 is driven according to the fourth rotation speed and the second torque force.
In one embodiment, the processor 140, when executing the computer program, further performs the steps of:
adjusting: acquiring an actual torque of the servo motor 120, and acquiring a torque difference value between the actual torque and a second preset torque;
if the torque difference value exceeds a preset range, the method comprises the following steps: driving the servo motor 120 to rotate the batch head 110 reversely for a preset number of turns;
and after the batch head 110 reversely rotates for a preset number of turns, returning to the step of driving the servo motor 120 according to the fourth rotating speed and the second torsion.
In one embodiment, the processor 140, when executing the computer program, further performs the steps of:
if the torque difference value is within the preset range, the following steps are carried out: returning to the step of driving the servo motor 120 according to the fourth rotation speed and the second torsion.
In one embodiment, the processor 140, when executing the computer program, further performs the steps of:
and (4) alarming: acquiring the exceeding times of the torque difference value exceeding a preset range;
and if the exceeding times are more than or equal to the preset times, controlling the servo motor 120 to stop working and sending a fault alarm.
In one embodiment, the processor 140, when executing the computer program, further performs the steps of:
and (3) rollback: and acquiring a fifth rotating speed, and driving the servo motor 120 according to the fifth rotating speed to enable the batch head 110 to rotate reversely by a second angle, wherein the second angle is greater than or equal to 10 degrees and less than or equal to 30 degrees.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when executed by the processor 140, performs the steps of:
tooth searching: acquiring a first rotating speed, and driving the servo motor 120 according to the first rotating speed so as to enable the batch head 110 to be engaged with a screw;
after the tooth searching step is finished, the upper teeth: acquiring a second rotating speed and a first torque, and driving the servo motor 120 according to the second rotating speed and the first torque, so that the screwdriver head 110 drives the screw to be screwed into the screw hole, wherein the second rotating speed is greater than the first rotating speed;
after the upper teeth step is finished, locking: and acquiring a third rotating speed and a first preset torque, and driving the servo motor 120 according to the third rotating speed and the first preset torque so as to screw the screw, wherein the third rotating speed is less than the second rotating speed.
The implementation principle and technical effect of the computer-readable storage medium provided by this embodiment are similar to those of the above-described method embodiment, and are not described herein again.
In one embodiment, the computer program when executed by the processor 140 further performs the steps of:
acquiring a first rotation speed, and driving the servo motor 120 according to the first rotation speed to drive the batch head 110 to rotate by a first angle.
In one embodiment, the first angle is greater than or equal to 45 degrees and less than or equal to 180 degrees.
In one embodiment, the computer program when executed by the processor 140 further performs the steps of:
if the servo motor 120 is driven according to the second rotation speed and the first torque for a first period of time, then: acquiring a fourth rotating speed and a second torsion, wherein the fourth rotating speed is greater than the second rotating speed, and the second torsion is greater than the first torsion;
the servo motor 120 is driven according to the fourth rotation speed and the second torque force.
In one embodiment, the computer program when executed by the processor 140 further performs the steps of:
adjusting: acquiring an actual torque of the servo motor 120, and acquiring a torque difference value between the actual torque and a second preset torque;
if the torque difference value exceeds a preset range, the method comprises the following steps: driving the servo motor 120 to rotate the batch head 110 reversely for a preset number of turns;
and after the batch head 110 reversely rotates for a preset number of turns, returning to the step of driving the servo motor 120 according to the fourth rotating speed and the second torsion.
In one embodiment, the computer program when executed by the processor 140 further performs the steps of:
if the torque difference value is within the preset range, the following steps are carried out: returning to the step of driving the servo motor 120 according to the fourth rotation speed and the second torsion.
In one embodiment, the computer program when executed by the processor 140 further performs the steps of:
and (4) alarming: acquiring the exceeding times of the torque difference value exceeding a preset range;
and if the exceeding times are more than or equal to the preset times, controlling the servo motor 120 to stop working and sending a fault alarm.
In one embodiment, the computer program when executed by the processor 140 further performs the steps of:
and (3) rollback: and acquiring a fifth rotating speed, and driving the servo motor 120 according to the fifth rotating speed to enable the batch head 110 to rotate reversely by a second angle, wherein the second angle is greater than or equal to 10 degrees and less than or equal to 30 degrees.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A sectional control method for an electric batch, which is used for controlling the operation of the electric batch, wherein the electric batch is provided with a servo motor to drive a batch head of the electric batch, and the sectional control method is characterized by comprising the following steps:
tooth searching: acquiring a first rotating speed, and driving the servo motor according to the first rotating speed so as to enable the screwdriver head to be engaged with the screw;
after the tooth searching step is finished, the upper teeth: acquiring a second rotating speed and a first torque, and driving the servo motor according to the second rotating speed and the first torque so as to enable the screwdriver head to drive the screw to be screwed into the screw hole, wherein the second rotating speed is greater than the first rotating speed;
after the upper teeth step is finished, locking: and acquiring a third rotating speed and a first preset torque, and driving the servo motor according to the third rotating speed and the first preset torque so as to screw the screw, wherein the third rotating speed is less than the second rotating speed.
2. The electric batch subsection control method according to claim 1, wherein the acquiring a first rotation speed and driving the servo motor according to the first rotation speed comprises:
and acquiring a first rotating speed, and driving the servo motor according to the first rotating speed so as to drive the batch head to rotate by a first angle.
3. The electric batch sectionalizing control method according to claim 2, wherein the first angle is 45 degrees or more and 180 degrees or less.
4. The baton section control method according to claim 1, wherein the step of screwing further comprises, after the servo motor is driven according to the second rotation speed and the first torque:
if the servo motor is driven for a first period according to the second rotating speed and the first torque, then: acquiring a fourth rotating speed and a second torsion, wherein the fourth rotating speed is greater than the second rotating speed, and the second torsion is greater than the first torsion;
and driving the servo motor according to the fourth rotating speed and the second torsion.
5. The electric batch subsection control method according to claim 4, further comprising, after driving the servo motor according to the fourth rotation speed and the second torsion force:
adjusting: acquiring the actual torque of the servo motor, and acquiring a torque difference value between the actual torque and a second preset torque;
if the torque difference value exceeds a preset range, the method comprises the following steps: driving the servo motor to enable the batch head to rotate reversely for a preset number of turns;
and after the batch head rotates reversely for a preset number of turns, returning to the step of driving the servo motor according to the fourth rotating speed and the second torsion.
6. The electric batch subsection control method of claim 5, wherein after obtaining the torque difference between the actual torque and the second preset torque, the adjusting step further comprises:
if the torque difference value is within the preset range, the following steps are carried out: and returning to the step of driving the servo motor according to the fourth rotating speed and the second torsion.
7. The batch subsection control method according to claim 5, wherein the step of driving the servo motor to rotate the batch head in a reverse direction for a preset number of turns if the torque difference exceeds a preset range further comprises:
and (4) alarming: acquiring the exceeding times of the torque difference value exceeding a preset range;
and if the exceeding times are more than or equal to the preset times, controlling the servo motor to stop working and giving a fault alarm.
8. The electric batch sectionalizing control method according to claim 1, further comprising, after the locking step:
and (3) rollback: and acquiring a fifth rotating speed, and driving the servo motor according to the fifth rotating speed so as to enable the batch head to rotate reversely by a second angle, wherein the second angle is greater than or equal to 10 degrees and less than or equal to 30 degrees.
9. An electric screwdriver, comprising:
a batch head;
the servo motor is connected with the batch head and used for driving the batch head;
a memory storing a computer program;
a processor connected to the servo motor for controlling the servo motor, the processor implementing the steps of the method of any one of claims 1-8 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.
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| CN112388297A (en) * | 2020-10-27 | 2021-02-23 | 深圳市研控自动化科技有限公司 | Automatic screw locking method, screw machine and storage medium |
| CN112757205A (en) * | 2021-01-05 | 2021-05-07 | 中国第一汽车股份有限公司 | Torque gun control method for avoiding beating hands |
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| CN115055952A (en) * | 2022-07-06 | 2022-09-16 | 珠海格力电器股份有限公司 | Automatic screw screwing device and method for power device assembly |
| TWI793967B (en) * | 2022-01-10 | 2023-02-21 | 碩豐工業股份有限公司 | Electric screw driver with clutch and rotational speed controlling module thereof |
| CN116300541A (en) * | 2023-05-25 | 2023-06-23 | 广东科伺智能科技有限公司 | Control method and system for servo electric batch |
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