CN115922312B

CN115922312B - Screw tightening method, device, jig, equipment and storage medium

Info

Publication number: CN115922312B
Application number: CN202310249056.XA
Authority: CN
Inventors: 沈春勤; 宋雷; 窦增月; 孙俊财
Original assignee: Contemporary Amperex Technology Co Ltd
Current assignee: Contemporary Amperex Technology Co Ltd
Priority date: 2023-03-15
Filing date: 2023-03-15
Publication date: 2023-07-14
Anticipated expiration: 2043-03-15
Also published as: CN115922312A

Abstract

The application discloses a screw tightening method, a screw tightening device, a screw tightening jig, screw tightening equipment and a screw tightening storage medium. The screw tightening method comprises the following steps: determining the variation of the current placement position of the target workpiece compared with the preset placement position; determining target operation positions for screwing the screw holes to be locked each time based on the variable quantity, the preset operation positions of the screw holes to be locked on the target workpiece and a preset screwing sequence; acquiring an actual operation position of the tightening tool, and providing forward rotation enabling for the tightening tool under the condition that the distance between the actual operation position and the target operation position of the current screw hole to be locked is within a preset deviation interval. According to the embodiment of the application, the accuracy of the screw tightening sequence and the high efficiency of the tightening process can be improved, and then the assembly efficiency of the workpiece is improved.

Description

Screw tightening method, device, jig, equipment and storage medium

Technical Field

The application relates to the field of batteries, in particular to a screw tightening method, a screw tightening device, a screw tightening jig, screw tightening equipment and a screw tightening storage medium.

Background

In the battery production process, the pack (assembled battery) assembly process mainly processes and assembles the battery pack, and is used for combining and processing the battery core, the battery protection plate, the battery connecting sheet, the label paper and the like into products required by customers. The process includes many procedures associated with tightening operations, such as die set fixing, high pressure bonding, etc.

In these tightening operations, for example, when the module is fixed, it is often necessary to fix a plurality of screws, and when the operator performs the assembly, the phenomena such as screw hole locking and wrong locking often occur.

It should be noted that the foregoing statements are merely to provide background information related to the present application and may not necessarily constitute prior art.

Disclosure of Invention

In view of the above problems, embodiments of the present application provide a screw tightening method, apparatus, jig, device, and storage medium, which can improve accuracy of a screw tightening sequence and efficiency of a tightening process, and thus improve assembly efficiency of a workpiece.

In a first aspect, embodiments of the present application provide a screw tightening method, comprising:

determining the variation of the current placement position of the target workpiece compared with the preset placement position;

determining target operation positions for screwing the screw holes to be locked each time based on the variation and the preset operation positions of the screw holes to be locked on the target workpiece and a preset screwing sequence;

acquiring an actual operation position of a tightening tool, and providing forward rotation enabling for the tightening tool under the condition that the distance between the actual operation position and a target operation position of a current screw hole to be locked is within a preset deviation interval.

In the technical scheme of the embodiment of the application, the change amount of the current placement position of the target workpiece compared with the preset placement position is determined, and then the target operation position of the screw hole to be locked can be accurately calculated according to the sequence based on the change amount and the preset operation position of the screw hole to be locked on the target workpiece. And then, whether the tightening tool is provided with tightening enabling is controlled by comparing the currently calculated distance between the target operation position of the screw hole to be locked and the actual operation position of the tightening tool to be within a preset deviation interval, so that each tightening operation can be controlled to truly correspond to the calculated screw hole to be locked for operation, the possibility of phenomena such as screw hole locking omission and screw locking misplacement in the screw tightening operation process is reduced, the accuracy of the screw tightening sequence and the high efficiency of the tightening process are improved, and the integral assembly efficiency of workpieces is improved.

In some embodiments, the determining the target operation position for performing the tightening operation on the screw hole to be locked each time based on the variation and the preset operation position of the screw hole to be locked on the target workpiece and the preset tightening sequence includes: determining the current operation position of each screw hole to be locked according to the variation and the preset operation position of the screw hole to be locked on the target workpiece; and determining a target operation position for each tightening operation based on the current operation position of each screw hole to be locked and the preset tightening sequence. Therefore, the calculation of the current operation position and the control of the tightening sequence can be asynchronously processed and separately controlled, so that more intelligent automatic operation is realized, and the overall control efficiency is improved.

In some embodiments, the determining the current operation position of each screw hole to be locked according to the variation and the preset operation position of the screw hole to be locked on the target workpiece includes: determining the offset and the deflection angle of the operation positions of the screw holes to be locked under the condition that the target workpiece is converted from the preset placement position to the current placement position according to the variation; and determining the current operation position of each screw hole to be locked based on the offset, the deflection angle and the preset operation position. Thus, the change amount of the operation position of the screw hole to be locked is calculated through the two aspects of the offset amount and the offset direction, so that the current operation position coordinate of each screw hole to be locked can be obtained more accurately.

In some embodiments, the determining the change amount of the current placement position of the target workpiece compared to the preset placement position includes: acquiring a preset mark position and a current mark position of a preset mark on the target workpiece; and determining the change amount of the current placement position of the target workpiece compared with the preset placement position according to the preset marking position and the current marking position. Therefore, the position change quantity of the target workpiece can be determined according to the position change quantity of the preset mark, then the position change quantity of each screw hole to be locked can be accurately calculated through simple calculation, the position of each screw hole to be locked is not required to be acquired, the calculation error of the position of the screw hole caused by the identification error of the screw hole is reduced, and the accuracy and the high efficiency of the calculation of the position of the screw hole to be locked can be improved, so that the overall control efficiency is improved.

In some embodiments, the preset mark comprises at least two mark positions; the determining, according to the preset mark position and the current mark position, a variation of the current placement position of the target workpiece compared with the preset placement position includes: respectively determining the current coordinate difference value of the two mark positions, the preset coordinate difference value of the two mark positions, and the current midpoint coordinate and the preset midpoint coordinate of the two mark positions according to the preset mark position coordinate and the current mark position coordinate; determining a deflection angle of the current placement position of the target workpiece compared with a preset placement position based on the current coordinate difference value and the preset coordinate difference value; and respectively determining the offset between the corresponding target operation position of each screw hole to be locked and the current midpoint of the two marking positions under the condition that the target workpiece is converted from the preset placing position to the current placing position based on the current midpoint coordinates and the preset midpoint coordinates. Therefore, the change amount of the distance between the middle points of the two marking positions and the corresponding target operation positions of the screw holes to be locked is recorded as the offset of the corresponding target operation positions of the screw holes to be locked, and the deflection angle of the distance between the middle points of the two marking positions and the corresponding target operation positions of the screw holes to be locked can reduce the change amount floating caused by individual difference, so that the accuracy of calculating the change amount is improved.

In some embodiments, the preset mark comprises at least two target screw holes to be locked; the determining, according to the preset mark position and the current mark position, a variation of the current placement position of the target workpiece compared with the preset placement position includes:

respectively determining the current coordinate difference value of the two target screw holes to be locked, the preset coordinate difference value of the two target screw holes to be locked, and the current midpoint coordinate and the preset midpoint coordinate of the two target screw holes to be locked according to the preset mark position coordinate and the current mark position coordinate; determining a deflection angle of the current placement position of the target workpiece compared with a preset placement position based on the current coordinate difference value and the preset coordinate difference value; and respectively determining the offset between the corresponding target operation position of each screw hole to be locked and the current midpoints of the two target screw holes to be locked under the condition that the target workpiece is converted from the preset placement position to the current placement position based on the current midpoint coordinates and the preset midpoint coordinates. Therefore, the two screw holes to be locked are directly used as preset marks, the calculated amount of the two screw holes to be locked can be saved, the speed of calculating the target operation position subsequently is improved, and the operation efficiency of the method is further improved.

In some embodiments, the method further comprises: determining an operating parameter of a current tightening operation; the operating parameters include at least a tightening force and a tightening direction; and closing the forward rotation enabling of the tightening tool under the condition that the operation parameters do not accord with the preset parameter range. In the case where the tightening abnormality is not released, the tightening tool cannot be provided with the normal rotation enabling again, thereby realizing the controlled management of the tightening abnormality.

In some embodiments, after the turning off the tightening tool is enabled, further comprising: receiving a reset request for resetting the current tightening operation; acquiring current user information of a reset user sending the reset request; and providing inversion enabling to the tightening tool in the case that the current user information belongs to preset user information. Thus, by setting the abnormality relief authority, the authority management of the tightening and resetting process is realized.

In some embodiments, the screw tightening method is applied to a battery assembly process, and a screw tightening operation on a battery is performed.

In a second aspect, embodiments of the present application provide a screw tightening device comprising:

the change amount determining module is used for determining the change amount of the current placement position of the target workpiece compared with the preset placement position;

The operation position determining module is used for determining target operation positions for screwing the screw holes to be locked according to a preset screwing sequence based on the variation and the preset operation positions of the screw holes to be locked on the target workpiece;

and the enabling control module is used for acquiring the actual operation position of the tightening tool, and providing forward rotation enabling for the tightening tool under the condition that the distance between the actual operation position and the target operation position of the current screw hole to be locked is within a preset deviation interval.

In a third aspect, embodiments of the present application provide a screw tightening tool, including a tool body, with the screw tightening device of the third aspect.

In some embodiments, the jig body includes a mount and a guide mechanism; the fixing frame is used for being fixed on a battery for screw tightening operation; the guide mechanism is respectively connected with the fixing frame and the screw tightening device, and is used for receiving target operation positions of each tightening operation sent by the screw tightening device and guiding a tightening tool to the target operation positions.

In some embodiments, the screw tightening tool further comprises an encoder for detecting an operating position of the tightening tool.

In a fourth aspect, embodiments of the present application provide an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor running the computer program to implement the method as described in the first aspect.

In a fifth aspect, embodiments of the present application provide a computer readable storage medium having stored thereon a computer program for execution by a processor to perform the method of the first aspect.

The foregoing description is only an overview of the embodiments of the present application, and may be implemented in accordance with the content of the specification in order to make the technical means of the present application more clearly understood, and in order to make the above-mentioned and other objects, features and advantages of the embodiments of the present application more readily apparent, the following detailed description of the present application will be presented.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the accompanying drawings. In the drawings:

Fig. 1 is a schematic view of an exploded structure of a battery for performing a battery tightening operation using a screw tightening method according to some embodiments of the present application;

FIG. 2 is a schematic diagram of a fixture body according to some embodiments of the present application;

fig. 3 is a schematic flow chart of a screwing method according to an embodiment of the present disclosure;

fig. 4 is a schematic flowchart of step S1 in the screwing method according to some embodiments of the present application;

fig. 5 is a schematic flowchart of step S12 in the screwing method according to the embodiment of the present application;

FIG. 6 is a schematic diagram illustrating a change in the operation position of a screw hole to be locked on an assembly surface when a target workpiece is placed at a preset placement position and a current placement position according to some embodiments of the present application;

FIG. 7 is a schematic flow chart of a screw tightening method according to other embodiments of the present application;

FIG. 8 is a schematic flow chart of a screw tightening method according to further embodiments of the present application;

FIG. 9 is a schematic diagram of a screw tightening method according to an embodiment of the present disclosure;

fig. 10 is a schematic structural view of a screw tightening device according to an embodiment of the present application;

fig. 11 shows a schematic structural diagram of an electronic device according to an embodiment of the present application;

Fig. 12 shows a schematic diagram of a storage medium according to an embodiment of the present application.

Detailed Description

Embodiments of the technical solutions of the present application will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical solutions of the present application, and thus are only examples, and are not intended to limit the scope of protection of the present application.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which embodiments of the present application belong; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of embodiments of the present application; the terms "comprising" and "having" and any variations thereof in the description and claims of the present application and in the description of the figures above are intended to cover non-exclusive inclusions.

In the description of the embodiments of the present application, the meaning of "plurality" is two or more unless explicitly defined otherwise.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

In the description of the embodiments of the present application, the term "and/or" is merely an association relationship describing an association object, which means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

In the description of the embodiments of the present application, the term "plurality" refers to two or more (including two), and similarly, "plural sets" refers to two or more (including two), and "plural sheets" refers to two or more (including two).

In the description of the embodiments of the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally formed; or may be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the embodiments of the present application will be understood by those of ordinary skill in the art according to the specific circumstances.

In the battery production process, particularly the pack assembly process, many tightening operations are involved, such as module fixing, high voltage connection, etc. In the process related to these tightening operations, for example, when the module is fixed, it is generally necessary to fix a plurality of screws. In order to improve the reliability of the screwing operation and the quality of the assembly process, the screws are usually required to be screwed in a certain sequence, so that the possibility that the assembly quality is adversely affected due to uneven stress of workpieces caused by wrong screwing sequence or screw hole locking omission is reduced. However, in the actual operation process, under the condition of manual operation, the phenomena of screw hole locking missing, screw locking misplacement and the like often occur during assembly due to the influence of human factors.

In order to reduce the occurrence of phenomena such as screw hole locking omission and screw misplacement as much as possible, a special screw locking omission jig can be designed, a process hole consistent with the arrangement mode of screw holes to be locked can be formed in a jig body, identification information is arranged near the process hole and can be used for a screw locking device to scan so as to obtain screw information corresponding to the screw holes and screw torque information corresponding to the identification information, wherein the screw information is used for determining screws corresponding to the screw holes, and the screw torque is used for the screw locking device to lock the screws to the screw holes according to the screw torque. Through this tool, can realize the automatic operation of screwing up of screw hole basically, under the condition that information sign is correct, also reducible screw hole leaks the phenomenon such as lock, wrong lock screw. However, this method relies too much on the identification information, and if the position of the identification information is manually changed, the lock sub-hole information can be switched, so that the existing method cannot prevent the artificial abnormality, and the possibility of occurrence of phenomena such as missing locking of the screw hole, wrong locking of the screw, and the like is still high.

Based on the above considerations, in order to further reduce the possibility of occurrence of screw hole locking, wrong locking, and the like during the screw tightening operation, the embodiment of the present application designs a screw tightening method, which may be implemented by screw tightening, and the screw tightening device may be a PLC (Programmable Logic Controller ) or other microprocessor with logic calculation and sequential control, or may be a control system including the PLC or microprocessor, or any electronic device including the control system, so long as the screw tightening can be performed. The method comprises the steps of firstly determining the variation of the current placement position of a target workpiece compared with a preset placement position, then determining the target operation position of each tightening operation based on the variation and the preset operation position of a screw hole to be locked on the target workpiece and the preset tightening sequence, acquiring the actual operation position of a tightening tool before the specific tightening operation, and providing forward rotation enabling for the tightening tool under the condition that the distance between the actual operation position and the target operation position of the current screw hole to be locked is within a preset deviation interval.

In the screw tightening method provided by the embodiment of the application, the change amount of the current placement position of the target workpiece compared with the preset placement position can be determined, and then the target operation position of the screw hole to be locked can be accurately calculated according to the sequence based on the change amount and the preset operation position of the screw hole to be locked on the target workpiece. And then, whether the screw tightening tool is provided with tightening enabling is controlled by comparing whether the currently calculated target operation position of the screw hole to be locked and the actual operation position of the tightening tool accord with preset conditions (the distance between the target operation position and the actual operation position is within a preset deviation interval), and then the screw hole to be locked is actually operated corresponding to the calculated screw hole to be locked in each tightening operation, so that the possibility of phenomena such as screw hole locking omission, screw locking mistake and the like in the screw tightening operation process is reduced, the accuracy of the screw tightening sequence and the high efficiency of the tightening process are improved, and the assembly efficiency of workpieces is improved.

The preset operation position can be understood as a position where the tightening tool is located when the target workpiece is placed at the preset position and the screw hole to be locked is tightened. The target operation position is understood to be a specific position where the tightening tool should be in the current placement position of the target workpiece according to the tightening sequence every time the tightening operation is performed. The actual operating position is understood to be the actual position in which the tightening tool is currently located.

The screw tightening method disclosed by the embodiment of the application can be used in the battery production process of electric devices such as vehicles, ships or aircrafts. The screw tightening method disclosed by the embodiment of the application can be used for battery assembly, such as but not limited to an assembly process between battery modules, an assembly process of a battery pack chassis, a tightening operation of a high-voltage connecting bolt on a battery and the like, so that the stability of the whole structure of the battery and the service life of the battery are improved. That is, the target workpiece may be a battery, a battery module, or any other product component that requires a screw tightening operation.

Referring to fig. 1, fig. 1 is a schematic diagram illustrating an exploded structure of a battery 100 for performing a battery tightening operation by applying a screw tightening method according to some embodiments of the present application. As shown in fig. 1, the battery 100 includes a case 10 and a battery module 20, and the battery module 20 is accommodated in the case 10. The above-mentioned target workpiece may be the battery module 20, or may be the battery 100, or may be any other battery component that needs to be screwed, whether it is an assembly process of the battery module 20 itself, an assembly process of mounting the battery module 20 to the case 10, or an assembly process of the case 10, for example, assembling a plurality of battery monomers into the battery module 20, and fixedly connecting the upper cover 11 and the lower case 12 of the case 10 through the screw hole 101, etc., so long as the assembly process of the screwing operation is involved, the screw screwing method provided in the embodiment of the present application may be applied to improve accuracy of the screw screwing sequence and efficiency of the screwing process, and then improve overall assembly efficiency.

In practical applications, for example, on a production line of a battery, a standard placement position of a target workpiece, that is, a preset placement position, may be preset corresponding to each operation procedure. In order to achieve further automated operation of the operating tool, a specific operating position of the operating tool may be preset in the control system. Specifically, when the screw tightening operation is performed, a specific tightening position of the tightening tool for each tightening operation can be set corresponding to the position of each screw hole to be locked. The position of the screw hole to be locked can be preset in the control system, and then the specific tightening position of the tightening operation can be automatically calculated according to the operation requirement of the tightening tool. After the calculation of the tightening position, the tightening tool can be controlled to move to the currently calculated tightening position by means of a jig for the screw tightening operation.

Specifically, the execution main body of the screw tightening method provided in this embodiment may also be a PLC of the jig, and the position of the tightening gun is controlled by the jig body. As shown in fig. 2, the jig body 200 may include a fixing frame and a guide mechanism, wherein the fixing frame is used for fixing on a battery for screw tightening operation, and may include an X-axis truss (or guide rail) 211 and a Y-axis truss (or guide rail) 212 for integrally fixing and supporting the guide mechanism. The guiding mechanism is respectively connected with the fixing frame and the screw tightening device and is used for receiving target operation positions of each tightening operation sent by the screw tightening device and guiding the tightening tool to the target operation positions.

More specifically, the guide mechanism may include an X-axis guide mechanism 221 and a Y-axis guide mechanism 222, and a Z-axis guide mechanism 223 for guiding the tightening tool in the X-axis direction, the Y-axis direction, and the Z-axis direction, respectively. The specific directions of the X-axis direction, the Y-axis direction, and the Z-axis direction are shown in fig. 2, and the X-axis direction and the Y-axis direction are two perpendicular directions on the same plane, for example, may be two arrangement directions of the screw holes to be locked (in the case that the screw holes to be locked are respectively arranged along two perpendicular directions), the plane is the mounting surface where each screw hole to be locked is located, or is parallel to the mounting surface, and the Z-axis direction is the perpendicular direction of the plane.

The mounting surface of the screw hole to be locked may be understood as a plane where the hole opening of each screw hole to be locked is located, and if the hole openings of the screw holes to be locked are not in the same plane, the mounting surface of the screw hole to be locked may include a plurality of planes where the hole openings of the screw holes to be locked are located.

Note that, the following description will be referred to for understanding of the X-axis direction, the Y-axis direction, and the Z-axis direction. However, the present embodiment is not limited to this, and the tightening tool may be controlled to move in three directions, and the tightening tool may be moved in any direction in a three-dimensional space.

According to some embodiments of the present application, referring to fig. 3, fig. 3 is a schematic flow chart of a screw tightening method according to some embodiments of the present application, as shown in fig. 3, the embodiment of the present application provides a screw tightening method, including the following steps:

step S1, determining the variation of the current placement position of the target workpiece compared with the preset placement position.

The target workpiece may be any product component that requires a screw-down operation. The preset placement position is used for representing a standard placement position of the target workpiece for assembly operation. The current placement position is the current position of the target workpiece before the target workpiece is screwed down. The amount of change in the current placement position of the target workpiece from the preset placement position can be understood as a vector that includes both the amount of deflection and the direction of deflection. The present placement position of the screw hole to be locked can be offset and deflection direction of the preset placement position compared with the present placement position, or the center of the installation surface or the center of the target workpiece, and the target operation position of each tightening operation can be calculated only by the preset operation position of the screw hole to be locked corresponding to the variable quantity and the preset placement position.

In some embodiments of the present application, the amount of change may be determined based on the location of the preset mark. Specifically, as shown in fig. 4, the above step S1 may include the following processes: step S11, acquiring a preset mark position and a current mark position of a preset mark on a target workpiece; step S12, determining the change amount of the current placement position of the target workpiece compared with the preset placement position according to the preset marking position and the current marking position.

The preset mark may be a mark specifically set on the target workpiece for determining the real-time position of the target workpiece, or may be a specific portion or part on the target workpiece, which is not particularly limited in this embodiment, so long as the change of the target workpiece position can be determined based on the change of the preset mark position. The preset marking position is understood to be the position of the preset marking when the target workpiece is in the standard placement position. The current marking position is understood to mean the position of the preset marking of the target workpiece at the current placement position.

According to the method, the preset mark is arranged, the position change of the target workpiece can be determined according to the position change of the preset mark, then the position change of each screw hole to be locked can be accurately calculated through simple calculation, the positions of the screw holes to be locked are not required to be acquired, the calculation error of the positions of the screw holes caused by the identification error of the screw holes is reduced, and the accuracy and the high efficiency of the calculation of the positions of the screw holes to be locked can be improved, so that the overall control efficiency is improved.

Specifically, the current marking position of the preset mark on the target workpiece can be obtained through an encoder, the encoder can be fixed on a certain device of the production line, and the encoder can also be arranged on a special jig, and can comprise an X-axis encoder, a Y-axis encoder and a Z-axis encoder so as to respectively obtain the positions of the preset mark on the X-axis, the Y-axis and the Z-axis. The X axis and the Y axis may be two vertical directions in the horizontal direction, the Z axis may be a vertical direction, and the specific setting may be set according to the actual situation, which is not specifically limited in this embodiment.

Based on the principle that one surface is determined by two lines, in order to accurately calculate the current position of each screw hole to be locked, the preset mark comprises position coordinates of at least two mark positions, so that the offset and the deflection angle of the current placement position of the target workpiece compared with the standard placement position can be accurately reflected. When determining the change of the current placement position of the target workpiece compared with the preset placement position, the change of the connecting line between the two mark positions can be calculated first, and then the change of the connecting line is determined as the change of the current position and the preset position of the target workpiece.

Further, as shown in fig. 5, the above step S12 may include the following processes: step S121, determining the current coordinate difference value of the two mark positions, the preset coordinate difference value of the two mark positions, the current midpoint coordinate and the preset midpoint coordinate of the two mark positions according to the preset mark position coordinate and the current mark position coordinate; step S122, determining a deflection angle of the current placement position of the target workpiece compared with the preset placement position based on the current coordinate difference value and the preset coordinate difference value; step S123, based on the current midpoint coordinate and the preset midpoint coordinate, determining the offset of the target operation position corresponding to each screw hole to be locked relative to the midpoint of the two mark positions when the target workpiece is converted from the preset placement position to the current placement position.

In this embodiment, after the preset mark position coordinates and the current mark position coordinates of the two mark positions are obtained, the coordinate difference of the current mark position coordinates of the two mark positions is calculated according to the current mark position coordinates of the two mark positions, including the difference of the X-axis coordinates and the difference of the Y-axis coordinates (the default Z-axis direction is unchanged), and the current radian of the two mark positions is calculated based on the coordinate difference, where the current radian of the two mark positions is understood as the angle between the connecting line of the two mark positions and the reference line (for example, but not limited to, a horizontal line). And then determining preset radians of the two marking positions according to preset marking position coordinates of the two marking positions (the preset marking position coordinates can directly comprise the radians), and recording the difference value between the current radian and the preset radian as the deflection angle, namely, the deflection angle of the distance between the middle points of the two marking positions and the corresponding target operation positions of the screw holes to be locked under the condition that the target workpiece is converted from the preset placing position to the current placing position.

As shown in fig. 6, the schematic diagram of the change of the operation position of the screw hole to be locked on the assembling surface is shown when the target workpiece is at the preset placing position and the current placing position, wherein the solid line represents the schematic diagram of the assembling surface of the target workpiece when the target workpiece is at the preset placing position, the dotted line represents the schematic diagram of the assembling surface of the target workpiece when the target workpiece is at the current placing position, A1 and A2 respectively represent the current marking positions of the two marking positions projected on the assembling surface, a represents the midpoint of A1 and A2, namely the current midpoint of the two marking positions, and A3 represents the target operation position of one screw hole to be locked; a1 'and A2' respectively represent preset marking positions projected on the assembly surface by two marking positions, A 'represents the midpoints of A1' and A2', namely the preset midpoints of the two marking positions, and A3' represents the preset operation position of a screw hole to be locked. In the present embodiment, a horizontal line is taken as an example of the reference line, for example, a straight line L and a straight line L' in fig. 6, a horizontal direction in fig. 6 is taken as an X-axis direction, a vertical direction is taken as a Y-axis direction, and an arbitrary point is taken as an origin of coordinates, which is not particularly limited in the present embodiment. θ represents the current radian of the two marker positions, θ' represents the preset radian of the two marker positions, θ ₀ =θ - θ' (vector difference), representing twoThe deflection angle of the marking position is also the deflection angle of the target workpiece from the preset placing position to the current placing position, and is also the deflection angle of each screw hole to be locked from the preset operation position to the target operation position. The distance between the current midpoint of the two marking positions and the target operation position corresponding to each screw hole to be locked may be, for example, the distance D between a-A3 in fig. 6, the distance between the preset midpoint of the two marking positions and the preset operation position corresponding to each screw hole to be locked may be, for example, the distance D 'between a' -A3 'in fig. 6, then d=d', θ ₀ Also the angle of deflection between line a-A3 and line a ' -A3', the current arc θ3 of line a-A3 is equal to the angle of deflection θ between line a-A3 and line a ' -A3 ₀ The sum of the preset radian θ1 with the straight line a '-A3', that is θ3=θ1+θ ₀ 。

Then, the current median coordinates of the two marker positions are calculated from the current marker position coordinates of the two marker positions, and here and later referred to as the median coordinates, i.e., the coordinates of the midpoints of the two points. And determining the preset median coordinates of the two mark positions according to the preset mark position coordinates of the two mark positions (the default preset mark position coordinates comprise the midpoint coordinates), and determining the distance between the target operation position corresponding to each screw hole to be locked and the current position of the two mark positions according to the preset operation position coordinates corresponding to each screw hole to be locked and the preset median coordinates, wherein the distance can be recorded as the offset of the target operation position corresponding to each screw hole to be locked. Such calculation can reduce variation floating caused by individual differences, thereby improving accuracy of variation calculation.

As shown in fig. 6, according to the preset operation position coordinates and the preset median coordinates (coordinates of a point a') corresponding to each screw hole to be locked, a distance between the target operation position corresponding to each screw hole to be locked and the current midpoint (point a) of the two mark positions, for example, a distance D between A-A3 in fig. 6, may be determined. The coordinates of A3 can be calculated based on the distance D (D equals D') between a-A3, the arc θ3 of the straight line a-A3, and the coordinates of the current midpoint a of the two marker positions. Specifically, among the coordinates of the A3 point, the X-axis coordinate A3 of the A3 point _X X-axis coordinate of =d×cos θ3+a point, Y-axis coordinate of A3 pointLabel A3 _Y =d×sin θ3+a point Y-axis coordinates.

Further, the preset mark may include at least two target screw holes to be locked. In this way, the step of determining the amount of change of the current placement position of the target workpiece compared to the preset placement position according to the preset marker position and the current marker position may include the following steps: respectively determining preset mark position coordinates and current mark position coordinates of screw holes to be locked of two targets according to the preset mark positions and the current mark positions; and determining the current position of the target workpiece and the variation of the preset position based on the preset mark position coordinates and the current mark position coordinates of the screw holes to be locked of the two targets.

The preset mark position coordinates and the current mark position coordinates are based on the same coordinate origin and coordinate system, and the coordinate origin and the coordinate system can be preset into a control system and can be called for use when position calculation is needed. The coordinates of the screw holes to be locked may be understood as the center coordinates of the hole openings of the screw holes to be locked, or may be the center coordinates of the whole screw holes to be locked, or the coordinates of other positions of the screw holes, which are not particularly limited in this embodiment, so as to improve the accuracy of calculation, and in this embodiment, the coordinates of the screw holes to be locked are the coordinates of the same positions of the corresponding screw holes to be locked.

According to the method, the two screw holes to be locked are directly used as preset marks, so that the calculated amount of the two screw holes to be locked can be saved, the speed of calculating the target operation position subsequently is improved, and the operation efficiency of the method is further improved.

Step S2, determining target operation positions for screwing the screw holes to be locked each time according to a preset screwing sequence based on the variation and the preset operation positions of the screw holes to be locked on the target workpiece.

The target operation position of the tightening operation for each screw hole to be locked can be calculated based on the preset operation position and the above-mentioned change amount. Further, the preset operation position may further include a hole diameter corresponding to the screw hole to be locked, a related parameter (such as a tightening force, a tightening direction) corresponding to the tightening operation, and the like, so that the control system of the tightening tool controls the tightening tool to perform the automatic screw tightening operation according to the obtained preset operation position.

In the assembly process, the tightening sequence of the screw holes can be controlled, so that the stress uniformity of the workpiece in the assembly process is improved, and the assembly structure is more stable and reliable. Specifically, the locking sequence of each screw hole to be locked can be preset in the control system, and then each screw hole to be locked is screwed down in sequence according to the sequence, so that the stress of the target workpiece is more uniform. Therefore, the present embodiment determines the target operation position of each tightening operation in the preset tightening order based on the variation and the preset operation position of the screw hole to be locked on the target workpiece after determining the variation.

In some embodiments of the present application, in the step of determining the target operation position of each tightening operation according to the preset tightening sequence, the current operation position of each screw hole to be locked may be determined according to the variable amount and the preset operation position of the screw hole to be locked on the target workpiece. And then determining a target operation position for tightening the screw holes to be locked according to a preset tightening sequence based on the current operation position.

The current operation position is understood to be a position where the tightening tool should be when the screw hole to be locked is tightened, where the target workpiece is at the current placement position, and the target operation position is any one of the current operation positions. The tightening sequence may be a determined numerical sequence, such as 0-1-2-3-or the like, or may be a sequence rule like "diagonal first then middle then each side", which is not particularly limited in this embodiment, so long as tightening is performed according to the sequence, so that the uniformity of stress of the target workpiece in the assembly process can be improved.

In this embodiment, when determining the target operation position of each tightening operation, the current operation position of each screw hole to be locked may be sequentially calculated first, and then the target operation position of each tightening operation may be determined according to the preset tightening sequence, so that the calculation of the current operation position and the control of the tightening sequence may be asynchronously processed and separately controlled, so as to implement more intelligent automatic operation, and further improve the overall control efficiency.

It should be noted that, the above-mentioned method of calculating the current operation position of each screw hole to be locked and determining the target operation position of each tightening operation according to the preset tightening sequence is an implementation manner of this embodiment, and this embodiment is not limited to this, for example, the screw holes to be locked for each tightening operation may be determined in sequence according to the preset tightening sequence according to the variable quantity and the preset operation position of the screw hole to be locked on the target workpiece, and then the target operation position corresponding to the screw hole to be locked may be calculated. Thus, one operation position determining process can be saved, and the calculation speed can be improved to a certain extent.

Further, in the step of determining the current operation position of each screw hole to be locked according to the variation and the preset operation position of the screw hole to be locked on the target workpiece, the offset and the deflection angle of the operation position of each screw hole to be locked may be determined when the target workpiece is switched from the preset placement position to the current placement position according to the variation; and determining the current operation position of each screw hole to be locked based on the offset, the deflection angle and the preset operation position.

In practical application, the operation position of each screw hole to be locked is a vector element, and the variation of each screw hole to be locked comprises an offset and a deflection angle under the condition that the target workpiece is converted from a preset placement position to a current placement position. The calculated variation can include the variation of each screw hole to be locked including the offset and the deflection angle, and the step can be directly obtained and applied. When determining the current operation position of each screw hole to be locked based on the offset, the deflection angle and the preset operation position, the offset and the deflection angle can be added to the coordinates of the preset operation position, so that the change amount of the operation position of the screw hole to be locked is calculated through two aspects of the offset and the deflection direction, and the current operation position coordinates of each screw hole to be locked are obtained more accurately.

It will be appreciated that the above addition of the coordinates of the preset operating position to the offset and deflection angle is not merely a numerical addition, but a vector addition, and may be calculated in combination with the trigonometric theorem.

Specifically, when the offset of each to-be-locked screw hole corresponding to the target operation position is the change of the distance between the midpoint of the two marking positions and the corresponding target operation position of each to-be-locked screw hole, the following formula can be referred to accurately calculate the current operation position coordinates of the to-be-locked screw hole.

X-axis coordinates of the current operation position of the screw hole to be locked=cos (# data table [ #i+900 ]) x# data table [ #i+600 ] + # data table [9];

y-axis coordinate of current operation position of screw hole to be locked=sin (# data table [ #i+900 ]) # data table [ #i+600 ] + # data table [10].

Wherein, the deflection angles of the target operation positions corresponding to the screw holes to be locked are stored in a data table [ # I+900 ]; the data table [ # I+600 ] stores the distance between the target operation position corresponding to each screw hole to be locked on the target workpiece and the midpoint of the current two marking positions; the data table [9] stores the median value of the X coordinates of the two mark positions, namely the X coordinates of the middle point; the median value of the Y coordinates of the two marker positions, i.e. the Y coordinates of the midpoint, is stored in the data table [10].

Step S3, acquiring an actual operation position of the tightening tool, and providing forward rotation enabling for the tightening tool under the condition that the distance between the actual operation position and the target operation position of the current screw hole to be locked is within a preset deviation interval.

The preset deviation interval may include only a numerical value, or may include a numerical value and a direction, so as to better define the position of the tightening tool, further reduce the possibility of false locking and missing locking of the tightening tool, and in this embodiment, the specific numerical value of the preset deviation interval is not specifically limited, and a person skilled in the art can perform actual setting according to the actual working condition requirement. The forward rotation enabling is understood as the enabling required for tightening the screw hole to be locked, and correspondingly, the enabling required for loosening the locked screw is the reverse rotation enabling.

In this embodiment, after determining the actual operation position of the tightening tool and the target operation position of the current screw hole to be locked, before performing the current tightening operation, it may be determined whether the distance between the actual operation position and the target operation position is within a preset deviation interval, if so, forward rotation enabling is provided to the tightening tool, and if not, forward rotation enabling is not provided to the tightening tool. Therefore, the logic control program is added with the enabling control logic, so that each tightening operation corresponds to the screw hole to be locked in the current sequence, the locking sequence of each screw hole to be locked is controlled, and the occurrence probability of phenomena such as screw hole locking omission and screw locking misplacement is effectively reduced.

In other embodiments, as shown in fig. 7, the embodiment of the present application may determine the operation parameters of the current tightening operation before each tightening operation, and may enter a tightening exception handling state, that is, close the forward rotation enabling of the tightening tool, if the operation parameters do not conform to the preset parameter range. Wherein the operating parameters include at least a tightening force and a tightening direction.

According to the embodiment, before the tightening operation, the operation parameters of the tightening operation are checked, and the abnormal tightening can be found in time, so that the occurrence probability of phenomena such as screw hole locking omission and screw locking misplacement is further reduced. And the normal rotation enabling of the tightening gun is closed after the abnormal tightening state, and the normal rotation enabling cannot be provided for the tightening tool again under the condition that the abnormal tightening state is not relieved, so that the controlled management of the abnormal tightening state is realized.

After the tightening abnormality processing state is entered, the tightening abnormality point can be marked, and alarm information is sent out to prompt relevant personnel to follow up.

In other embodiments, as shown in FIG. 8, the method may further include the following: receiving a reset request for resetting the current tightening operation; acquiring current user information of a reset user sending a reset request; in case the current user information belongs to the preset user information, a reverse enabling is provided to the tightening tool.

The screwing operation is reset, namely, the locked screw (which can be in a locked state or an unlocked state) is further unscrewed. A reset user may be understood as a user who resets the tightening operation.

In this embodiment, user information of a reset user capable of resetting the tightening operation may be stored in advance, and the system may only allow users who have already belonged to the user information to release the abnormal tightening state when the tightening gun is enabled after the abnormal tightening, thereby implementing rights management of the tightening reset process. Therefore, after receiving a reset request for resetting the current tightening operation, current user information of a reset user who sends the reset request can be acquired first; and providing inversion enabling to the tightening tool in case the current user information belongs to the preset user information.

In practical application, the terminal device may receive the current user information of the user currently performing the reset (for example, the card swiping device may acquire the current user information of the reset user), then determine whether the acquired current user information belongs to the preset user information, and provide reverse rotation enabling for the tightening tool if the current user information belongs to the preset user information, and then reset the abnormality, and may provide forward rotation enabling for the tightening tool.

In addition, as shown in fig. 8, after the tightening operation is performed this time, the number of tightening operations may be counted, and it is further determined whether the current number of tightening operations meets the preset number of screw holes to be locked, if yes, the target workpiece is allowed to be out of the station; if not, the next tightening control operation is continued.

According to some embodiments of the present application, referring to fig. 9, embodiments of the present application provide a screw tightening method comprising the steps of:

after a new target workpiece is replaced, before screw tightening operation is to be performed, the program is switched to a calibration mode, then screw holes to be locked are screwed according to a predefined tightening sequence, the PLC synchronously records coordinates of all tightening points (tightening operation positions) when the screw tightening is completed, when the coordinate recording of the tightening points corresponding to all screw holes to be locked is completed, the coordinates (XY coordinates) of all the tightening points can be converted into vector coordinates (distance plus angle) taking the midpoint of the coordinates of the previous two tightening points as a reference, and then calibration is completed until the calibration mode is completed. And then entering a tightening control mode, after the target workpiece enters a station, recording coordinates of the first two tightening points, calculating the current tightening center (the centers of the two tightening points) and the deflection angle, and calculating XY coordinates of the rest tightening points according to a predefined tightening sequence through calibrated vector coordinates of the tightening points. And when the tightening operation of the remaining tightening points is performed, the tightening operation is controlled to be performed in accordance with a preset tightening sequence by comparing whether the real-time position of the tightening gun is within + -15 mm of the calculated XY coordinates of the tightening points, and if not, not providing a tightening enable.

The operation parameters of the current tightening operation can be confirmed again before each tightening, and in the case that the operation parameters do not accord with the preset parameter range, the abnormal tightening state can be entered, namely, the normal rotation enabling of the tightening tool is closed. And marking the abnormal tightening point and sending out alarm information to prompt related personnel to follow up.

Furthermore, the server side can be additionally provided with an allocation function of abnormal tightening release authority of the tightening task, for the core tightening task, the abnormal release authority of an operator can be recovered for the task, if the abnormal tightening of the core tightening task occurs in the operation process, the operator cannot release the abnormality, the operator needs to unlock after confirming by a more authority person on site, and then the operator can execute the return work, so that the abnormal tightening management is realized. The current user information of the reset user can be acquired through the card swiping device, whether the acquired current user information belongs to preset user information or not is then determined, reverse rotation enabling is provided for the tightening tool under the condition that the current user information belongs to the preset user information, then the abnormal state is reset, and forward rotation enabling can be provided for the tightening tool.

After each tightening operation, the number of tightening operations can be counted, whether the current number of tightening operations accords with the preset number of screw holes to be locked or not is further determined, and if yes, the target workpiece is allowed to be out of the station; if not, the next tightening control operation is continued.

It will be appreciated that the foregoing description of the various embodiments is intended to highlight differences between the various embodiments, and that the same or similar features may be referenced to each other for brevity and so will not be repeated herein.

According to the screw tightening method, the change amount of the current placement position of the target workpiece compared with the preset placement position is determined, and then the target operation position of the screw hole to be locked can be accurately calculated according to the sequence based on the change amount and the preset operation position of the screw hole to be locked on the target workpiece. And then, whether the tightening tool is provided with tightening enabling is controlled by comparing the currently calculated distance between the target operation position of the screw hole to be locked and the actual operation position of the tightening tool to be within a preset deviation interval, so that each tightening operation can be controlled to truly correspond to the calculated screw hole to be locked for operation, the possibility of phenomena such as screw hole locking omission and screw locking misplacement in the screw tightening operation process is reduced, the accuracy of the screw tightening sequence and the high efficiency of the tightening process are improved, and the integral assembly efficiency of workpieces is improved.

Based on the same conception as the above-mentioned screw tightening method, the embodiment of the application also provides a screw tightening method applied to the battery assembly process, and the screw tightening method is applied to the screw tightening operation on the battery.

It can be appreciated that, in the screw tightening method applied to the battery assembly procedure provided in this embodiment, the screw tightening operation is performed on the screw on the battery by using the screw tightening method, so at least the beneficial effects that the screw tightening method can achieve can be achieved are not repeated here.

Based on the same concept as the above-mentioned screw tightening method, the embodiment of the present application further provides a screw tightening device for implementing the above-mentioned screw tightening method, as shown in fig. 10, where the device includes:

the operation position determining module is used for determining target operation positions for screwing the screw holes to be locked each time based on the variation and the preset operation positions of the screw holes to be locked on the target workpiece and the preset screwing sequence;

the enabling control module is used for acquiring the actual operation position of the tightening tool and providing forward rotation enabling for the tightening tool under the condition that the distance between the actual operation position and the target operation position of the current screw hole to be locked is located in a preset deviation interval.

It can be appreciated that the screw tightening device provided in this embodiment is configured to perform the screw tightening method, so that at least the beneficial effects that the screw tightening method can achieve can be achieved, and will not be described herein.

Based on the same conception of the above screw tightening method, the embodiment of the application also provides a screw tightening jig, which comprises a jig body and the screw tightening device.

In some embodiments, as shown in fig. 2, the jig body 200 may include a fixing frame for fixing to a battery for screw tightening operation, and a guide mechanism, which may include an X-axis truss (or rail) 211 and a Y-axis truss (or rail) 212 for integrally fixing and supporting the guide mechanism. The guiding mechanism is respectively connected with the fixing frame and the screw tightening device and is used for receiving target operation positions of each tightening operation sent by the screw tightening device and guiding the tightening tool to the target operation positions.

The jig body 200 with the structure is arranged in the embodiment, accurate and rapid guiding of the tightening gun is completed through the guiding mechanism, tightening operation can be completed with higher quality, and automation degree and automation efficiency of the tightening operation are improved.

Specifically, the guide mechanism may include an X-axis guide mechanism 221 and a Y-axis guide mechanism 222, and a Z-axis guide mechanism 223 for guiding the tightening tool in the X-axis direction, the Y-axis direction, and the Z-axis direction, respectively. The specific directions of the X-axis direction, the Y-axis direction, and the Z-axis direction are shown in fig. 2, and the X-axis direction and the Y-axis direction are two perpendicular directions on the same plane, for example, may be two arrangement directions of the screw holes to be locked (in the case that the screw holes to be locked are respectively arranged along two perpendicular directions), the plane is the mounting surface where each screw hole to be locked is located, or is parallel to the mounting surface, and the Z-axis direction is the perpendicular direction of the plane.

Further, the screw tightening tool may further include an encoder for detecting an operation position of the tightening tool. Specifically, a pull-wire encoder, a belt+encoder (through a belt transmission encoder) or the like can be adopted for position closed-loop feedback. For example, the closed-loop feedback of the gun tightening position is performed in the X-axis direction by adopting a belt and encoder mode, and the closed-loop feedback of the gun tightening position is performed in the Y-axis direction by adopting a stay wire encoder mode.

In addition, the jig may also be provided with a tightening tool 300, the tightening tool 300 including, but not limited to, a tightening gun.

The embodiment of the application also provides electronic equipment for executing the screw tightening method. Referring to fig. 11, a schematic diagram of an electronic device according to some embodiments of the present application is shown. As shown in fig. 11, the electronic device 8 includes: processor 800, memory 801, bus 802 and communication interface 803, processor 800, communication interface 803 and memory 801 being connected by bus 802; the memory 801 stores a computer program executable on the processor 800, and the processor 800 executes the screw tightening method according to any of the embodiments described above when the computer program is executed.

The memory 801 may include a high-speed random access memory (RAM: random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the device network element and the at least one other network element is achieved through at least one communication interface 803 (which may be wired or wireless), the internet, a wide area network, a local network, a metropolitan area network, etc. may be used.

Bus 802 may be an ISA bus, a PCI bus, or an EISA bus, among others. The buses may be divided into address buses, data buses, control buses, etc. The memory 801 is configured to store a program, and the processor 800 executes the program after receiving an execution instruction, and the screwing method disclosed in any of the foregoing embodiments of the present application may be applied to the processor 800 or implemented by the processor 800.

The processor 800 may be an integrated circuit chip with signal processing capabilities. In implementation, the steps of the methods described above may be performed by integrated logic circuitry in hardware or instructions in software in processor 800. The processor 800 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 801, and the processor 800 reads information in the memory 801 and performs the steps of the above method in combination with its hardware.

The electronic device provided by the embodiment of the application and the screw tightening method provided by the embodiment of the application are the same in the invention conception, and have the same beneficial effects as the method adopted, operated or realized by the electronic device.

The present embodiment also provides a computer readable storage medium corresponding to the screw tightening method provided in the foregoing embodiment, referring to fig. 12, the computer readable storage medium is shown as an optical disc 30, on which a computer program (i.e. a program product) is stored, which when executed by a processor, performs the screw tightening method provided in any of the foregoing embodiments.

It should be noted that examples of the computer readable storage medium may also include, but are not limited to, a phase change memory (PRAM), a Static Random Access Memory (SRAM), a Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a flash memory, or other optical or magnetic storage medium, which will not be described in detail herein.

The computer readable storage medium provided by the embodiments of the present application and the screw tightening method provided by the embodiments of the present application have the same advantageous effects as the method adopted, operated or implemented by the application program stored therein, because of the same inventive concept.

Those skilled in the art will appreciate that in the above-described methods of the specific embodiments. The order of composition of the steps is not meant to imply a strict order of execution but rather any limitations on the implementation. The particular order of execution of the steps should be determined by their function and possible inherent logic.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the embodiments, and are intended to be included within the scope of the claims and description. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present application is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.

Claims

1. A screw tightening method, comprising:

determining target operation positions for screwing the screw holes to be locked each time based on the variation and the preset operation positions of the screw holes to be locked on the target workpiece and a preset screwing sequence; the preset operation position is the position of the screwing tool when the screw hole to be locked is screwed in the preset placement position of the target workpiece; the target operation position is the specific position of the tightening tool in the current placement position of the target workpiece according to the tightening sequence when the tightening operation is performed every time;

acquiring an actual operation position of a tightening tool, and providing forward rotation enabling for the tightening tool when the distance between the actual operation position and a target operation position of a current screw hole to be locked is within a preset deviation interval; the actual operation position is the actual position of the tightening tool at present;

the determining, based on the variable amount and the preset operation position of the screw hole to be locked on the target workpiece and the preset tightening sequence, the target operation position of each tightening operation on the screw hole to be locked includes:

Determining the current operation position of each screw hole to be locked according to the variation and the preset operation position of the screw hole to be locked on the target workpiece; the current operation position is the current placement position of the target workpiece, the position of the tightening tool should be located when the screw hole to be locked is tightened, and the target operation position is any one of the current operation positions;

and determining a target operation position for each tightening operation based on the current operation position of each screw hole to be locked and the preset tightening sequence.

2. The method of claim 1, wherein determining the current operating position of each screw hole to be locked based on the variation and the preset operating position of the screw hole to be locked on the target workpiece comprises:

determining the offset and the deflection angle of the operation positions of the screw holes to be locked under the condition that the target workpiece is converted from the preset placement position to the current placement position according to the variation;

and determining the current operation position of each screw hole to be locked based on the offset, the deflection angle and the preset operation position.

3. The method of claim 1, wherein determining the amount of change in the current placement position of the target workpiece as compared to the preset placement position comprises:

Acquiring a preset mark position and a current mark position of a preset mark on the target workpiece;

and determining the change amount of the current placement position of the target workpiece compared with the preset placement position according to the preset marking position and the current marking position.

4. A method according to claim 3, wherein the predetermined mark comprises at least two mark positions; the determining, according to the preset mark position and the current mark position, a variation of the current placement position of the target workpiece compared with the preset placement position includes:

respectively determining the current coordinate difference value of the two mark positions, the preset coordinate difference value of the two mark positions, and the current midpoint coordinate and the preset midpoint coordinate of the two mark positions according to the preset mark position coordinate and the current mark position coordinate;

determining a deflection angle of the current placement position of the target workpiece compared with a preset placement position based on the current coordinate difference value and the preset coordinate difference value;

and respectively determining the offset between the corresponding target operation position of each screw hole to be locked and the current midpoint of the two marking positions under the condition that the target workpiece is converted from the preset placing position to the current placing position based on the current midpoint coordinates and the preset midpoint coordinates.

5. The method of claim 3, wherein the predetermined mark comprises at least two target screw holes to be locked; the determining, according to the preset mark position and the current mark position, a variation of the current placement position of the target workpiece compared with the preset placement position includes:

respectively determining the current coordinate difference value of the two target screw holes to be locked, the preset coordinate difference value of the two target screw holes to be locked, and the current midpoint coordinate and the preset midpoint coordinate of the two target screw holes to be locked according to the preset mark position coordinate and the current mark position coordinate;

and respectively determining the offset between the corresponding target operation position of each screw hole to be locked and the current midpoints of the two target screw holes to be locked under the condition that the target workpiece is converted from the preset placement position to the current placement position based on the current midpoint coordinates and the preset midpoint coordinates.

6. The method of claim 1, wherein the method further comprises:

Determining an operating parameter of a current tightening operation; the operating parameters include at least a tightening force and a tightening direction;

and closing the forward rotation enabling of the tightening tool under the condition that the operation parameters do not accord with the preset parameter range.

7. The method of claim 6, wherein after said turning off the positive rotation enabling of the tightening tool, further comprising:

receiving a reset request for resetting the current tightening operation;

acquiring current user information of a reset user sending the reset request;

and providing inversion enabling to the tightening tool in the case that the current user information belongs to preset user information.

8. The method according to any one of claims 1 to 7, wherein the screw tightening method is applied to a battery assembling process for performing a tightening operation of screws on a battery.

9. A screw tightening device, characterized by comprising:

the operation position determining module is used for determining target operation positions for screwing the screw holes to be locked according to a preset screwing sequence based on the variation and the preset operation positions of the screw holes to be locked on the target workpiece; the preset operation position is the position of the screwing tool when the screw hole to be locked is screwed in the preset placement position of the target workpiece; the target operation position is the specific position of the tightening tool in the current placement position of the target workpiece according to the tightening sequence when the tightening operation is performed every time;

The enabling control module is used for acquiring the actual operation position of the tightening tool, and providing forward rotation enabling for the tightening tool when the distance between the actual operation position and the target operation position of the current screw hole to be locked is within a preset deviation interval; the actual operation position is the actual position of the tightening tool at present;

the operation position determining module is specifically configured to:

10. A screw tightening jig comprising a jig body, and the screw tightening device of claim 9.

11. The screw-down jig of claim 10, wherein the jig body comprises a mount and a guide mechanism;

The fixing frame is used for being fixed on a battery for screw tightening operation;

the guide mechanism is respectively connected with the fixing frame and the screw tightening device, and is used for receiving target operation positions of each tightening operation sent by the screw tightening device and guiding a tightening tool to the target operation positions.

12. The screw-down jig of claim 11, further comprising an encoder for detecting an operational position of the screw-down tool.

13. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor runs the computer program to implement the method of any one of claims 1-8.

14. A computer readable storage medium having stored thereon a computer program, wherein the program is executed by a processor to implement the method of any of claims 1-8.