A dynamic detection and fastening device and method for motor bolts

Abstract

The present invention belongs to the field of dynamic detection of motor bolts, and provides a dynamic detection and tightening device and method for motor bolts. The device includes a sensing part for collecting vibration data of motor bolts, vibration data of motor body and housing; a detection and tightening part is fixed on the motor; a data processing part is used to compare the vibration data of motor bolts with historical vibration data, and when the amplitude difference between the two exceeds a preset threshold value, and the amplitude difference between the vibration data of the motor body and the housing exceeds a preset tolerance value, a visual locking instruction is issued to the detection and tightening part, and the motor bolt area is dynamically locked by the detection and tightening part; the motor bolt position is searched based on the dynamically locked motor bolt area image, and a tightening instruction is issued to the detection and tightening part, and when the amplitude difference between the vibration data of the motor bolt and the historical vibration data is within a normal range, and the amplitude difference between the vibration data of the motor body and the housing does not exceed the preset tolerance value, a tightening deceleration instruction is issued to the detection and tightening part.

Description

Technical Field

[0001] The invention belongs to the field of dynamic detection of motor bolts, and in particular relates to a dynamic detection and fastening device and method for motor bolts. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] During the operation of the motor, the accessories on the motor will also vibrate slightly with the operation of the motor. As the motor runs for a long time, the bolts on the motor may become loose. Usually, in order to ensure the stable operation of the motor, the loose bolts are generally detected and tightened after the motor is shut down. This may result in the failure to detect the loose bolts in time, or even the loose bolts may fall off before the motor is shut down, affecting the stability and safety of the motor operation. Summary of the invention

[0004] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a dynamic detection and tightening device and method for motor bolts, which can achieve the purpose of dynamic detection and dynamic tightening of bolts without stopping the motor.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] A first aspect of the present invention provides a dynamic detection and tightening device for motor bolts, comprising:

[0007] The sensor part is used to collect vibration data of the motor bolts, the motor body and the housing;

[0008] A detection and fastening part, which is fixed on the motor;

[0009] The data processing unit is used to:

[0010] Compare the vibration data of the motor bolt with the historical vibration data. When the amplitude difference between the two exceeds the preset threshold, and the amplitude difference between the vibration data of the motor body and the housing exceeds the preset tolerance value, send a visual locking command to the detection and fastening unit, and let it dynamically lock the motor bolt area to obtain the corresponding image;

[0011] The motor bolt position is found based on the dynamically locked motor bolt area image, and a tightening instruction is sent to the detection and tightening department. When the amplitude difference between the vibration data of the motor bolt and the historical vibration data is within the normal range, and the amplitude difference between the vibration data of the motor body and the casing does not exceed the preset tolerance value, a tightening deceleration instruction is sent to the detection and tightening department.

[0012] As an implementation manner, the data processing unit is further used to obtain the rotational electric power value uploaded by the detection and tightening unit, and determine whether to stop tightening according to the rotational electric power value.

[0013] As an embodiment, the detection and fastening part includes a robotic arm, on which a visual perception mechanism and a fastening mechanism are installed.

[0014] As an implementation manner, a power metering module is also provided on the fastening mechanism for measuring the rotational electric power value.

[0015] As an embodiment, the fastening mechanism includes a sleeve with an adjustable inner diameter.

[0016] As an implementation manner, the process of the data processing unit searching for the motor bolt position based on the dynamically locked motor bolt area image is as follows:

[0017] Take a screenshot of the image of the motor bolt area that is dynamically locked, locate the first vertex in a single area, and then locate the symmetrical vertex of the first vertex again according to the symmetrical area of ​​the single area, draw a connecting line through the distance between the two vertices, and mark and record the coordinates of the first symmetrical center point;

[0018] Find the adjacent single area in the counterclockwise direction and locate the second vertex, locate the symmetrical vertex of the second vertex according to the symmetrical area of ​​the adjacent single area, mark and record the coordinates of the second symmetrical center point, find the adjacent single area in this order to locate the corresponding vertex, and finally form a concentric star pattern;

[0019] The central part of the concentric star pattern is shrunk to gather the three vertices of the central triangle to the central point, which is the motor bolt position.

[0020] As an implementation manner, the sensing unit includes a plurality of triaxial vibration sensors.

[0021] A second aspect of the present invention provides a method for dynamic detection and tightening of motor bolts, comprising:

[0022] Obtain vibration data of motor bolts, motor body and housing;

[0023] Compare the vibration data of the motor bolt with the historical vibration data. When the amplitude difference between the two exceeds the preset threshold, and the amplitude difference between the vibration data of the motor body and the housing exceeds the preset tolerance value, send a visual locking command to the detection and fastening unit, and let it dynamically lock the motor bolt area to obtain the corresponding image;

[0024] The motor bolt position is found based on the dynamically locked motor bolt area image, and a tightening instruction is sent to the detection and tightening department. When the amplitude difference between the vibration data of the motor bolt and the historical vibration data is within the normal range, and the amplitude difference between the vibration data of the motor body and the casing does not exceed the preset tolerance value, a tightening deceleration instruction is sent to the detection and tightening department.

[0025] As an implementation method, the process of finding the motor bolt position based on the dynamically locked motor bolt area image is as follows:

[0026] Take a screenshot of the image of the motor bolt area that is dynamically locked, locate the first vertex in a single area, and then locate the symmetrical vertex of the first vertex again according to the symmetrical area of ​​the single area, draw a connecting line through the distance between the two vertices, and mark and record the coordinates of the first symmetrical center point;

[0027] Find the adjacent single area in the counterclockwise direction and locate the second vertex, locate the symmetrical vertex of the second vertex according to the symmetrical area of ​​the adjacent single area, mark and record the coordinates of the second symmetrical center point, find the adjacent single area in this order to locate the corresponding vertex, and finally form a concentric star pattern;

[0028] The central part of the concentric star pattern is shrunk to gather the three vertices of the central triangle to the central point, which is the motor bolt position.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] The present invention compares the vibration data of the motor bolts with the historical vibration data and the data of the motor body and the housing to determine whether to start the detection and fastening part to dynamically lock the motor bolt area. Since the detection and fastening part is fixed on the motor, it vibrates with the vibration of the motor, thereby improving the dynamic accuracy of obtaining the motor bolt area image;

[0031] The present invention also searches for motor bolt positions based on the dynamically locked motor bolt area image, thereby improving the accuracy of the bolt tightening position and realizing dynamic detection and dynamic tightening of the bolts without stopping the machine.

[0032] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0034] Figure 11 is a schematic structural diagram of a dynamic detection and fastening device for motor bolts according to an embodiment of the present invention;

[0035] Figure 2 is a concentric star pattern of an embodiment of the present invention;

[0036] Figure 3 is a diagram of a vertex shrinking process according to an embodiment of the present invention;

[0037] Figure 4 It is a flow chart of a dynamic detection and tightening method of motor bolts according to an embodiment of the present invention. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0039] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0040] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0041] Embodiment 1

[0042] Reference Figure 1 , this embodiment provides a dynamic detection and tightening device for motor bolts, which includes a sensing part, a detection and tightening part and a data processing part.

[0043] In a specific implementation, the sensor unit is used to collect vibration data of the motor bolts, the motor body and the housing.

[0044] Specifically, the sensing part includes a plurality of three-axis vibration sensors, wherein the three-axis vibration sensors are arranged at the bolt setting positions to be monitored, on the motor body and on the casing.

[0045] It is understandable that those skilled in the art may select a specific model of the triaxial vibration sensor according to actual accuracy requirements, which will not be described in detail here.

[0046] In other embodiments, the sensor may also adopt other existing vibration sensors to collect the vibration data of the motor bolts, the motor body and the housing.

[0047] In a specific implementation, the detection and fastening part is fixed on the motor.

[0048] In one or more embodiments, the detection and fastening part includes a robotic arm, on which a visual perception mechanism and a fastening mechanism are installed.

[0049] Specifically, the visual perception mechanism can be implemented by a camera to obtain video image information of the dynamic locking bolt area.

[0050] The fastening mechanism is also provided with a power metering module for measuring the rotational electric power value. The fastening mechanism includes a sleeve with an adjustable inner diameter, which can better match the bolt to be fastened to improve the fastening efficiency.

[0051] Among them, the structure of the power metering module is an existing structure, and its core component is a power metering chip. Those skilled in the art can specifically select a corresponding model of product according to actual conditions.

[0052] In a specific implementation, the data processing unit is used to:

[0053] Compare the vibration data of the motor bolt with the historical vibration data. When the amplitude difference between the two exceeds the preset threshold, and the amplitude difference between the vibration data of the motor body and the housing exceeds the preset tolerance value, send a visual locking command to the detection and fastening unit, and let it dynamically lock the motor bolt area to obtain the corresponding image;

[0054] The motor bolt position is found based on the dynamically locked motor bolt area image, and a tightening instruction is sent to the detection and tightening department. When the amplitude difference between the vibration data of the motor bolt and the historical vibration data is within the normal range, and the amplitude difference between the vibration data of the motor body and the casing does not exceed the preset tolerance value, a tightening deceleration instruction is sent to the detection and tightening department.

[0055] In one or more embodiments, the data processing unit is further used to obtain the rotational electric power value uploaded by the detection and tightening unit, and determine whether to stop tightening based on the rotational electric power value.

[0056] The data processing unit determines to stop tightening according to the rotational electric power value and withdraws the tightening robot arm along the original route, and performs the conventional detection movement again.

[0057] In a specific implementation, the process of the data processing unit searching for the motor bolt position based on the dynamically locked motor bolt area image is as follows:

[0058] Take a screenshot of the dynamically locked motor bolt area image, locate the first vertex 1 in a single area, and then locate the symmetrical vertex of the first vertex 1 again according to the symmetrical area of ​​the single area, draw a connecting line through the distance between the two vertices, and mark and record the coordinates of the first symmetrical center point;

[0059] Find the adjacent single area in the counterclockwise direction and locate the second vertex 2. According to the symmetric area of ​​the adjacent single area, locate the symmetric vertex of the second vertex 2. Mark and record the coordinates of the second symmetric center point. Find the adjacent single area in this order to locate the corresponding vertex. Finally, form a concentric star pattern, such as Figure 2 As shown;

[0060] The center of the concentric star pattern is shrunk, such as Figure 3 As shown, the three vertices of the central triangle are gathered to the center point, and the center point is the motor bolt position.

[0061] based on Figure 3 , the principle of vertex shrinkage is:

[0062] First, lock the three vertices of the triangle through range scanning and record the coordinates. Then draw a virtual line segment from the line connecting one vertex and the center points of the other two vertices, and then draw another virtual line segment from the counterclockwise adjacent vertex and the center points of the corresponding other two points. The intersection of the two virtual line segments is the center point of the "vertex shrinkage method".

[0063] This embodiment uses the vibration data of the motor bolt to compare with the historical vibration data and the data comparison between the motor body and the casing to determine whether to start the detection and tightening part to dynamically lock the motor bolt area. Since the detection and tightening part is fixed on the motor, it vibrates with the vibration of the motor, thereby improving the dynamic accuracy of obtaining the motor bolt area image; the motor bolt position is also found based on the dynamically locked motor bolt area image, thereby improving the accuracy of the bolt tightening position and realizing non-stop dynamic detection and dynamic tightening of bolts.

[0064] Embodiment 2

[0065] like Figure 4 As shown, a dynamic detection and tightening method of a motor bolt in this embodiment specifically includes the following steps:

[0066] S101: Acquire vibration data of motor bolts, and vibration data of the motor body and the housing;

[0067] S102: Compare the vibration data of the motor bolt with the historical vibration data. When the amplitude difference between the two exceeds a preset threshold, and the amplitude difference between the vibration data of the motor body and the housing exceeds a preset tolerance value, send a visual locking instruction to the detection and fastening part, and let it dynamically lock the motor bolt area to obtain a corresponding image.

[0068] S103: Search for the position of the motor bolt based on the dynamically locked image of the motor bolt area, and send a tightening instruction to the detection and tightening part. When the amplitude difference between the vibration data of the motor bolt and the historical vibration data is within the normal range, and the amplitude difference between the vibration data of the motor body and the casing does not exceed the preset tolerance value, send a tightening deceleration instruction to the detection and tightening part.

[0069] In a specific implementation, the process of finding the motor bolt position based on the dynamically locked motor bolt area image is as follows:

[0070] Take a screenshot of the image of the motor bolt area that is dynamically locked, locate the first vertex in a single area, and then locate the symmetrical vertex of the first vertex again according to the symmetrical area of ​​the single area, draw a connecting line through the distance between the two vertices, and mark and record the coordinates of the first symmetrical center point;

[0071] Find the adjacent single area in the counterclockwise direction and locate the second vertex, locate the symmetrical vertex of the second vertex according to the symmetrical area of ​​the adjacent single area, mark and record the coordinates of the second symmetrical center point, find the adjacent single area in this order to locate the corresponding vertex, and finally form a concentric star pattern;

[0072] The central part of the concentric star pattern is shrunk to gather the three vertices of the central triangle to the central point, which is the motor bolt position.

[0073] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A dynamic detection and tightening device for motor bolts, characterized in that: include: The sensor part is used to collect vibration data of the motor bolts, the motor body and the housing; A detection and fastening part, which is fixed on the motor; The data processing unit is used to: Compare the vibration data of the motor bolt with the historical vibration data. When the amplitude difference between the two exceeds the preset threshold, and the amplitude difference between the vibration data of the motor body and the housing exceeds the preset tolerance value, send a visual locking command to the detection and fastening unit, and let it dynamically lock the motor bolt area to obtain the corresponding image; Find the position of the motor bolt based on the dynamically locked motor bolt area image, and send a tightening instruction to the detection and tightening part. When the amplitude difference between the vibration data of the motor bolt and the historical vibration data is within the normal range, and the amplitude difference between the vibration data of the motor body and the housing does not exceed the preset tolerance value, send a tightening deceleration instruction to the detection and tightening part; Screenshot the image of the motor bolt area that is dynamically locked, locate the first vertex in a single area, and then locate the symmetrical vertex of the first vertex again according to the symmetrical area of ​​the single area, draw a connecting line through the distance between the two vertices, and mark and record the coordinates of the first symmetrical center point; Find the adjacent single area in the counterclockwise direction and locate the second vertex, locate the symmetrical vertex of the second vertex according to the symmetrical area of ​​the adjacent single area, mark and record the coordinates of the second symmetrical center point, find the adjacent single area in this order to locate the corresponding vertex, and finally form a concentric star pattern; The central part of the concentric star pattern is shrunk to gather the three vertices of the central triangle to the central point, which is the motor bolt position.

2. The dynamic detection and tightening device for motor bolts according to claim 1, characterized in that: The data processing unit is further used to obtain the rotational electric power value uploaded by the detection and fastening unit, and determine whether to stop fastening according to the rotational electric power value.

3. The dynamic detection and tightening device for motor bolts according to claim 1, characterized in that: The detection and fastening part comprises a mechanical arm, on which a visual perception mechanism and a fastening mechanism are installed.

4. The dynamic detection and tightening device for motor bolts according to claim 3, characterized in that: The fastening mechanism is also provided with a power metering module for measuring the rotational electric power value.

5. The dynamic detection and tightening device for motor bolts according to claim 3, characterized in that: The fastening mechanism comprises a sleeve with an adjustable inner diameter.

6. The dynamic detection and tightening device for motor bolts according to claim 1, characterized in that: The process of the data processing unit searching for the motor bolt position based on the dynamically locked motor bolt area image is as follows: Screenshot the image of the motor bolt area that is dynamically locked, locate the first vertex in a single area, and then locate the symmetrical vertex of the first vertex again according to the symmetrical area of ​​the single area, draw a connecting line through the distance between the two vertices, and mark and record the coordinates of the first symmetrical center point; Find the adjacent single area in the counterclockwise direction and locate the second vertex, locate the symmetrical vertex of the second vertex according to the symmetrical area of ​​the adjacent single area, mark and record the coordinates of the second symmetrical center point, find the adjacent single area in this order to locate the corresponding vertex, and finally form a concentric star pattern; The central part of the concentric star pattern is shrunk to gather the three vertices of the central triangle to the central point, which is the motor bolt position.

7. The dynamic detection and tightening device for motor bolts according to claim 1, characterized in that: The sensing part includes a plurality of three-axis vibration sensors.

8. A method for dynamic detection and tightening of motor bolts, characterized in that: include: Obtain vibration data of motor bolts, motor body and housing; Compare the vibration data of the motor bolt with the historical vibration data. When the amplitude difference between the two exceeds the preset threshold, and the amplitude difference between the vibration data of the motor body and the housing exceeds the preset tolerance value, send a visual locking command to the detection and fastening unit, and let it dynamically lock the motor bolt area to obtain the corresponding image; Find the position of the motor bolt based on the dynamically locked motor bolt area image, and send a tightening instruction to the detection and tightening part. When the amplitude difference between the vibration data of the motor bolt and the historical vibration data is within the normal range, and the amplitude difference between the vibration data of the motor body and the housing does not exceed the preset tolerance value, send a tightening deceleration instruction to the detection and tightening part; Screenshot the image of the motor bolt area that is dynamically locked, locate the first vertex in a single area, and then locate the symmetrical vertex of the first vertex again according to the symmetrical area of ​​the single area, draw a connecting line through the distance between the two vertices, and mark and record the coordinates of the first symmetrical center point; Find the adjacent single area in the counterclockwise direction and locate the second vertex, locate the symmetrical vertex of the second vertex according to the symmetrical area of ​​the adjacent single area, mark and record the coordinates of the second symmetrical center point, find the adjacent single area in this order to locate the corresponding vertex, and finally form a concentric star pattern; The central part of the concentric star pattern is shrunk to gather the three vertices of the central triangle to the central point, which is the motor bolt position.

9. The method for dynamic detection and tightening of motor bolts according to claim 8, characterized in that: The process of finding the motor bolt position based on the dynamic locked motor bolt area image is as follows: Screenshot the image of the motor bolt area that is dynamically locked, locate the first vertex in a single area, and then locate the symmetrical vertex of the first vertex again according to the symmetrical area of ​​the single area, draw a connecting line through the distance between the two vertices, and mark and record the coordinates of the first symmetrical center point; Find the adjacent single area in the counterclockwise direction and locate the second vertex, locate the symmetrical vertex of the second vertex according to the symmetrical area of ​​the adjacent single area, mark and record the coordinates of the second symmetrical center point, find the adjacent single area in this order to locate the corresponding vertex, and finally form a concentric star pattern; The central part of the concentric star pattern is shrunk to gather the three vertices of the central triangle to the central point, which is the motor bolt position.

10. The method for dynamic detection and tightening of motor bolts according to claim 8, characterized in that: The dynamic detection and tightening method of the motor bolts also includes obtaining the rotational electric power value uploaded by the detection and tightening part, and confirming whether to stop tightening according to the rotational electric power value.

Images