Orientation sensor for guided operation of hydraulic torque wrench

Abstract

A hydraulic torque wrench system includes an object including a plurality of fasteners and a hydraulic torque wrench. A wrench includes an orientation sensor and a controller having an electronic processor and a memory. The controller is configured to determine a desired sequence in which the wrench should tighten a plurality of fasteners on an object, receive a first measurement signal from the orientation sensor, and determine a first orientation value of the wrench based on the first measurement signal. The controller is further configured to compare the first orientation value to a first target orientation value associated with a first target orientation of the wrench for tightening a first fastener in the desired sequence, inhibit operation of the wrench if the first orientation value is not within a tolerance of the first target orientation value

1 . A hydraulic torque wrench system comprising:
 a hydraulic torque wrench including
 an orientation sensor, and 
 a controller having an electronic processor and a memory, the controller being configured to
 determine a sequence for the wrench to tighten a plurality of fasteners on an object, 
 receive a first measurement signal from the orientation sensor, 
 determine a first orientation value of the wrench based on the first measurement signal, 
 compare the first orientation value to a first target orientation value associated with a first target orientation of the wrench for tightening a first fastener in the sequence, 
 inhibit operation of the wrench in response to the first orientation value not being within a tolerance of the first target orientation value, and 
 enable the wrench to tighten the first fastener in response to the first orientation value being within the tolerance of the first target orientation value. 
 
   
     
     
         2 . The hydraulic torque wrench system of  claim 1 , wherein the controller is further configured to activate an indicator to alert an operator that the plurality of fasteners is not being tightened in the sequence in response to the first orientation value not being within the tolerance of the first target orientation value. 
     
     
         3 . The hydraulic torque wrench system of  claim 1 , wherein the controller is further configured to
 after the first fastener is tightened, receive a second measurement signal from the orientation sensor,   determine a second orientation value of the wrench based on the second measurement signal,   compare the second orientation value to a second target orientation value associated with a second target orientation of the wrench for tightening a second fastener in the sequence,   inhibit operation of the wrench in response to the second orientation value not being within the tolerance of the second target orientation value, and   enable the wrench to tighten the second fastener in response to the second orientation value being within the tolerance of the second target orientation value.   
     
     
         4 . The hydraulic torque wrench system of  claim 1 , wherein the orientation sensor measures an orientation of the wrench with respect to one selected from a group consisting of gravity and Earth's magnetic field. 
     
     
         5 . The hydraulic torque wrench system of  claim 1 , wherein the orientation sensor measures rotational acceleration of the wrench with respect to three mutually orthogonal axes fixed in relation to the wrench. 
     
     
         6 . The hydraulic torque wrench system of  claim 1 , wherein the sequence in which the wrench should tighten the plurality of fasteners is stored in the memory of the controller. 
     
     
         7 . The hydraulic torque wrench system of  claim 1 , wherein the controller is further configured to activate an indicator to alert the operator to a fastener of the plurality of fasteners to be tightened next in the sequence. 
     
     
         8 . A method of tightening a plurality of fasteners with a hydraulic torque wrench, the hydraulic torque wrench including an orientation sensor and a controller having an electronic processor and a memory, the method comprising:
 determining, by the controller, a sequence in which the wrench should tighten the plurality of fasteners;   receiving, by the controller, a first measurement signal from the orientation sensor;   determining, by the controller, a first orientation value of the wrench based on the first measurement signal;   comparing, by the controller, the first orientation value to a first target orientation value associated with a first target orientation of the wrench for tightening a first fastener in the sequence;   inhibiting, by the controller, operation of the wrench in response to the first orientation value not being within a tolerance of the first target orientation value; and   enabling, by the controller, the wrench to tighten the first fastener in response to the first orientation value being within the tolerance of the first target orientation value.   
     
     
         9 . The method of  claim 8 , further comprising activating, by the controller, an indicator to alert an operator that the plurality of fasteners is not being tightened in the sequence in response to the first orientation value not being within the tolerance of the first target orientation value. 
     
     
         10 . The method of  claim 8 , further comprising:
 receiving, by the controller, a second measurement signal from the orientation sensor after the first fastener is tightened;   determining, by the controller, a second orientation value of the wrench based on the second measurement signal;   comparing, by the controller, the second orientation value to a second target orientation value associated with a second target orientation of the wrench for tightening a second fastener in the sequence;   inhibiting, by the controller, operation of the wrench in response to the second orientation value not being within the tolerance of the second target orientation value; and   enabling, by the controller, the wrench to tighten the second fastener in response the second orientation value being within the tolerance of the second target orientation value.   
     
     
         11 . The method of  claim 8 , wherein receiving, by the controller, a first measurement signal includes receiving, by the controller, a first measurement signal measured by the orientation sensor with respect to one selected from a group consisting of gravity and Earth's magnetic field. 
     
     
         12 . The method of  claim 8 , wherein receiving, by the controller, a first measurement signal includes receiving, by the controller, a first measurement signal measured by the orientation sensor with respect to three mutually orthogonal axes fixed in relation to the wrench. 
     
     
         13 . The method of  claim 8 , further comprising storing in the memory the sequence in which the wrench should tighten the plurality of fasteners. 
     
     
         14 . The method of  claim 8 , further comprising, activating, by the controller, an indicator to alert the operator to the fastener of the plurality of fasteners to be tightened next in the sequence. 
     
     
         15 . A method of tightening a plurality of fasteners with a hydraulic torque wrench, the hydraulic torque wrench including an orientation sensor and a controller having an electronic processor and a memory, the method comprising:
 determining, by the controller, a sequence in which the wrench should tighten the plurality of fasteners;   receiving, by the controller, a first measurement signal from the orientation sensor;   determining, by the controller, a first orientation value of the wrench based on the first measurement signal;   comparing, by the controller, the first orientation value to a first target orientation value associated with a first target orientation of the wrench for tightening a first fastener in the sequence;   activating, by the controller, an indicator to alert an operator that the plurality of fasteners is not being tightened in the sequence in response to the first orientation value not being within a tolerance of the first target orientation value; and   enabling, by the controller, the wrench to tighten the first fastener in response the first orientation value being within the tolerance of the first target orientation value.   
     
     
         16 . The method of  claim 15 , further comprising inhibiting, by the controller, operation of the wrench in response to the first orientation value not being within the tolerance of the first target orientation value. 
     
     
         17 . The method of  claim 15 , further comprising:
 receiving, by the controller, a second measurement signal from the orientation sensor after the first fastener is tightened;   determining, by the controller, a second orientation value of the wrench based on the second measurement signal;   comparing, by the controller, the second orientation value to a second target orientation value associated with a second target orientation of the wrench for tightening a second fastener in the sequence;   activating, by the controller, an indicator to alert an operator that the plurality of fasteners is not being tightened in the sequence in response to the second orientation value not being within the tolerance of the second target orientation value; and   enabling, by the controller, the wrench to tighten the second fastener in response to the second orientation value being within the tolerance of the second target orientation value.   
     
     
         18 . The method of  claim 15 , wherein receiving, by the controller, a first measurement signal includes receiving, by the controller, a first measurement signal measured by the orientation sensor with respect to one selected from a group consisting of gravity and Earth's magnetic field. 
     
     
         19 . The method of  claim 15 , wherein receiving, by the controller, a first measurement signal includes receiving, by the controller, a first measurement signal measured by the orientation sensor with respect to three mutually orthogonal axes fixed in relation to the wrench. 
     
     
         20 . The method of  claim 15 , further comprising, activating, by the controller, an indicator to alert the operator to the fastener of the plurality of fasteners to be tightened next in the sequence. 
     
     
         21 . A hydraulic torque wrench system comprising:
 a hydraulic torque wrench including
 an orientation sensor, and 
 a controller having an electronic processor and a memory, the controller being configured to 
 determine a sequence for the wrench to tighten a plurality of fasteners on an object, 
 receive a first acceleration measurement signal from the orientation sensor, 
 determine a first acceleration value of the wrench based on the first acceleration measurement signal, 
 compare the first acceleration value to a target acceleration value associated with moving the wrench from a first fastener to a second fastener, 
 inhibit operation of the wrench in response to the first orientation value not being within a tolerance of the first target acceleration value, and 
 enable the wrench to tighten the second fastener in response to the first acceleration value being within the tolerance of the first target acceleration value. 
   
     
     
         22 . The hydraulic torque wrench system of  claim 21 , wherein the controller is further configured to
 determine the first target acceleration value when the wrench is moved from the first fastener to the second fastener, and   store the first target acceleration value in the memory.   
     
     
         23 . The hydraulic torque wrench system of  claim 21 , wherein the controller is further configured to activate an indicator to alert an operator that the plurality of fasteners is not being tightened in the sequence in response to the first acceleration value not being within the tolerance of the first target acceleration value. 
     
     
         24 . The hydraulic torque wrench system of  claim 21 , wherein the controller is further configured to
 after the second fastener is tightened, receive a second acceleration measurement signal from the orientation sensor,   determine a second acceleration value of the wrench based on the second acceleration measurement signal,   compare the second acceleration value to a second target acceleration value associated with moving the wrench from the second fastener to a third fastener,   inhibit operation of the wrench in response to the second acceleration value not being within the tolerance of the second target acceleration value, and   enable the wrench to tighten the third fastener in response to the second acceleration value being within the tolerance of the second target acceleration value.   
     
     
         25 . The hydraulic torque wrench system of  claim 24 , wherein the controller is further configured to
 determine the second target acceleration value when the wrench is moved from the second fastener to the third fastener and   store the second target acceleration value in the memory.   
     
     
         26 . A method of tightening a plurality of fasteners with a hydraulic torque wrench, the hydraulic torque wrench including an orientation sensor and a controller having an electronic processor and a memory, the method comprising:
 determining, by the controller, a sequence in which the wrench should tighten the plurality of fasteners;   receiving, by the controller, a first acceleration measurement signal from the orientation sensor;   determining, by the controller, a first acceleration value of the wrench based on the first acceleration measurement signal;   comparing, by the controller, the first acceleration value to a first target acceleration value associated with moving the wrench from a first fastener to a second fastener;   inhibiting, by the controller, operation of the wrench in response to the first acceleration value not being within a tolerance of the first target acceleration value; and   enabling, by the controller, the wrench to tighten the second fastener in response to the first acceleration value being within the tolerance of the first target orientation value.   
     
     
         27 . The method of  claim 26 , further comprising:
 determining, by the controller, the first target acceleration value when the wrench is moved from the first fastener to a second fastener; and   storing, by the controller, the first target acceleration value in the memory.   
     
     
         28 . The method of  claim 26 , further comprising activating, by the controller, an indicator to alert an operator that the plurality of fasteners is not being tightened in the sequence in response to the first acceleration value not being within the tolerance of the first target acceleration value. 
     
     
         29 . The method of  claim 26 , further comprising:
 receiving, by the controller, a second acceleration measurement signal from the orientation sensor after the second fastener is tightened;   determining, by the controller, a second acceleration value of the wrench based on the second acceleration measurement signal;   comparing, by the controller, the second acceleration value to a second target acceleration value associated with moving the wrench from the second fastener to a third fastener;   inhibiting, by the controller, operation of the wrench in response to the second acceleration value not being within the tolerance of the second target acceleration value; and   enabling, by the controller, the wrench to tighten the third fastener in response to the second acceleration value being within the tolerance of the second target acceleration value.   
     
     
         30 . The method of  claim 29 , further comprising:
 determining, by the second controller, the second target acceleration value when the wrench is moved from the second fastener to the third fastener; and   storing, by the controller, the second target acceleration value in the memory.   
     
     
         31 . A method of tightening a plurality of fasteners with a hydraulic torque wrench, the hydraulic torque wrench including an orientation sensor and a controller having an electronic processor and a memory, the method comprising:
 determining, by the controller, a sequence in which the wrench should tighten the plurality of fasteners;   receiving, by the controller, a first acceleration measurement signal from the orientation sensor;   determining, by the controller, a first acceleration value of the wrench based on the first acceleration measurement signal;   comparing, by the controller, the first acceleration value to a first target acceleration value associated with moving the wrench from a first fastener to a second fastener;   activating, by the controller, an indicator to alert an operator that the plurality of fasteners is not being tightened in the sequence in response to the first acceleration value not being within the tolerance of the first target acceleration value; and   enabling, by the controller, the wrench to tighten the second fastener in response to the first acceleration value being within the tolerance of the first target orientation value.   
     
     
         32 . The method of  claim 31 , further comprising:
 determining, by the controller, the first target acceleration value when the wrench is moved from the first fastener to a second fastener; and   storing, by the controller, the first target acceleration value in the memory.   
     
     
         33 . The method of  claim 30 , further comprising:
 receiving, by the controller, a second acceleration measurement signal from the orientation sensor after the second fastener is tightened;   determining, by the controller, a second acceleration value of the wrench based on the second acceleration measurement signal;   comparing, by the controller, the second acceleration value to a second target acceleration value associated with moving the wrench from the second fastener to a third fastener;   activating, by the controller, an indicator to alert an operator that the plurality of fasteners is not being tightened in the sequence in response to the second acceleration value not being within the tolerance of the second target acceleration value; and   enabling, by the controller, the wrench to tighten the third fastener in response to the second acceleration value being within the tolerance of the second target acceleration value.   
     
     
         34 . The method of  claim 33 , further comprising:
 determining, by the second controller, the second target acceleration value when the wrench is moved from the second fastener to the third fastener; and   storing, by the controller, the second target acceleration value in the memory.