CN115325929A - Device and method for detecting fastener loosening based on magnetic field change and robot - Google Patents
Device and method for detecting fastener loosening based on magnetic field change and robot Download PDFInfo
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- CN115325929A CN115325929A CN202210856750.3A CN202210856750A CN115325929A CN 115325929 A CN115325929 A CN 115325929A CN 202210856750 A CN202210856750 A CN 202210856750A CN 115325929 A CN115325929 A CN 115325929A
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 32
- 238000004891 communication Methods 0.000 claims description 3
- 238000013139 quantization Methods 0.000 abstract description 4
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 230000007613 environmental effect Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000004743 Polypropylene Substances 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- -1 polypropylene Polymers 0.000 description 1
- 229920001155 polypropylene Polymers 0.000 description 1
- 238000012372 quality testing Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The invention relates to a device, a method and a robot for detecting fastener looseness based on magnetic field change, wherein the device comprises a carrying platform and a bolt sleeve sleeved outside a fastener nut; the top of the bolt sleeve is connected with a magnet, and the upper surface of the magnet is connected with an electronic tag; the carrying platform is provided with a mechanical arm, the tail end of the mechanical arm is connected with a magnetic coding angle sensor, and the detection end of the magnetic coding angle sensor faces the top surface of the bolt sleeve. The mechanical arm with the magnetic encoding angle sensor at the tail end runs on a track, a bolt sleeve embedded with an electronic tag and a magnet is installed on a fastener of the fastener, when the fastener is loosened, a nut rotates slightly to drive the bolt sleeve to rotate, the direction of a magnetic field formed by the magnet changes, a bridge formed by a GMR element in the magnetic encoding sensor generates sine wave output with a phase difference of 90 degrees, an ADC samples the output of the bridge to carry out digital quantization, finally, a true rotation angle value can be calculated by using a corresponding function, and the loosening condition of the fastener is determined by using the rotation angle value.
Description
Technical Field
The invention relates to the technical field of rail fastener detection and maintenance, in particular to a device and a method for detecting fastener loosening based on magnetic field change and a robot.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The fastener is the important subassembly of railway track, has the important function that keeps track connection closely, stable, produces the great effect to maintaining train safe operation. The connection quality that needs regular inspection fastener after the fastener installation finishes avoids it to take place not hard up, and at present, traditional fastener quality testing mode is patrolled and examined for the manual work, and not only work load is big, and work efficiency is low and easily leak to examine and occupy a large amount of manpower resources. A emerging fastener quality detection mode is a machine vision detection method, the quality of a fastener is detected by utilizing digital photographing equipment, and the problems of difficult identification of the characteristics of the fastener and poor imaging effect exist. Therefore, the prior art is difficult to meet the requirement of the current stage of rail transit on the detection of the quality of the fastener.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a device, a method and a robot for detecting the loosening of a fastener based on the change of a magnetic field, wherein a mechanical arm with a magnetic encoding angle sensor at the tail end runs on a track, a bolt sleeve embedded with an electronic tag and a magnet is installed on the fastener of the fastener, when the fastener looses, a nut slightly rotates to drive the bolt sleeve to rotate, the direction of the magnetic field formed by the magnet also changes, a bridge formed by a GMR element in the magnetic encoding sensor generates sine wave output with the phase difference of 90 degrees, then an ADC samples the output of the bridge to carry out digital quantization, finally, the true rotating angle value can be calculated by using a corresponding function, and the loosening condition of the fastener is determined by using the rotating angle value.
In order to achieve the purpose, the invention adopts the following technical scheme:
a first aspect of the invention provides apparatus for detecting fastener loosening based on changes in magnetic field, comprising: the bolt sleeve is sleeved outside the fastener nut; the top of the bolt sleeve is connected with a magnet, and the upper surface of the magnet is connected with an electronic tag; the carrying platform is provided with a mechanical arm, the tail end of the mechanical arm is connected with a magnetic coding angle sensor, and the detection end of the magnetic coding angle sensor faces the top surface of the bolt sleeve.
The magnetic encoding angle sensor is also provided with a ground workstation, and the ground workstation is in communication connection with the magnetic encoding angle sensor to obtain and process data acquired by the magnetic encoding angle sensor.
Arm and delivery platform swing joint, the arm can carry out the full angle rotation in level and the vertical direction.
The cross-sectional shape of bolt cover is unanimous with the cross-sectional shape of fastener nut, and the top is equipped with the recess that holds magnet and electronic tags, and the diameter of recess is the same with the diameter of fastener bolt.
And the magnet and the electronic tag at the top of the bolt sleeve rotate along with the fastener nut.
The electronic note stores the position information of the fastener.
The second aspect of the present invention provides a method for detecting fastener looseness based on the above device, comprising the following steps:
the fastener nut drives the bolt sleeve to rotate, the magnet and the electronic tag on the top of the bolt sleeve rotate along with the bolt sleeve, and the direction of a magnetic field formed by the magnet changes along with the rotation;
the magnetic encoding sensor acquires the change of a magnetic field, sine angle and cosine angle components of the obtained magnetic field signal are processed to obtain a magnetic field direction, and the initial magnetic field direction and the changed magnetic field direction are compared to obtain the rotation angle of the fastener nut;
when the rotation angle exceeds the set range, the fastener loosens.
After the fastener is installed, a related constructed fastener database is formed by the magnetic field direction and the fastener position information which are acquired for the first time, and the related constructed fastener database is the initial magnetic field direction.
A third aspect of the present invention provides a robot mounting the above apparatus: the method comprises the following steps: the robot body is connected on the carrying platform, the side part of the robot is provided with a mechanical arm, the robot runs on a track to be detected through the carrying platform, and the magnetic coding angle sensor at the tail end of the mechanical arm is positioned right above a track fastener.
After the fasteners are installed, the robot runs along the track direction for the first time, and the magnetic field direction acquired by the magnetic encoding angle sensor is associated with the fastener position information in the electronic tag to construct a database.
Compared with the prior art, the above one or more technical schemes have the following beneficial effects:
1. detection efficiency is high, the precision is high, and the carrying platform traveles along the track, and magnetic encoding angle sensor acquires angle and positional information of each group fastener nut and bolt cover, and when the fastener took place to become flexible, the fastener nut produced small rotation and drives the bolt cover rotation, and the magnetic field direction that magnet formed among the bolt cover also changed thereupon to obtain by magnetic encoding sensor, through twice at least detection, whether take place to become flexible and the position of not hard up fastener fast definite fastener.
2. The process that magnetic encoding angle sensor acquires the change magnetic field does not rely on ambient light to when having the greasy dirt on the fastener, the magnetic field still can pass the greasy dirt layer and be acquireed by magnetic encoding angle sensor, makes detection effect be difficult for receiving the environmental factor influence, avoids the problem that prior art adopted the image recognition mode to exist.
3. The ground station can be controlled to advance manually, and human resources are occupied little.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are included to illustrate an exemplary embodiment of the invention and not to limit the invention.
Fig. 1 is a schematic structural diagram of a fastening looseness detection apparatus according to one or more embodiments of the present disclosure;
FIG. 2 is a schematic diagram of a fastening loosening detection device disposed on a track according to one or more embodiments of the present invention;
FIG. 3 is a flow chart of a method for detecting a loosening of a rail clip according to one or more embodiments of the present invention;
in the figure: 1. a screw; 2. a nut; 3. a bolt sleeve; 4. a magnet; 5. an electronic tag; 6. a magnetically encoded angle sensor; 7. a fastener; 8. a carrying platform; 9. crossties; 10. a track.
Detailed Description
The invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. 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 this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Just as described in the background art, the quality of the fasteners installed on the rails is detected in the prior art through a manual inspection mode or an image recognition mode so as to prevent the fasteners from loosening during operation, and the mode occupies more human resources, and the image recognition mode is limited by the environmental environment and is difficult to obtain a good recognition result, for example, some fasteners operating in a tunnel influence the image recognition effect due to lack of ambient light.
Therefore, the following embodiments provide a device, a method and a robot for detecting fastener looseness based on magnetic field changes, wherein a carrying platform traveling on a track is provided with a magnetic encoding angle sensor, a fastener of the fastener is provided with a bolt sleeve embedded with an electronic tag and a magnet, when the fastener looses, a nut generates micro rotation to drive the bolt sleeve to rotate, the direction of a magnetic field formed by the magnet changes, a bridge formed by a GMR element in the magnetic encoding sensor generates sine wave output with a phase difference of 90 degrees, then an ADC samples the output of the bridge to carry out digital quantization, finally, a true rotating angle value can be calculated by using a corresponding function, and the loosening condition of the fastener is determined by using the rotating angle value.
The first embodiment is as follows:
as shown in fig. 1-2, the device for detecting fastener loosening based on magnetic field variation comprises:
the bolt sleeve 3 is sleeved on the outer side of the fastener nut (the nut 2), the top of the bolt sleeve 3 is connected with the magnet 4, and the upper surface of the magnet 4 is connected with the electronic tag 5;
the carrying platform 8 runs on the track 10 and is provided with a mechanical arm, the tail end of the mechanical arm is connected with the magnetic coding angle sensor 6, and the detection end of the magnetic coding angle sensor 6 faces the top surface of the bolt sleeve 3.
And the ground workstation is in communication connection with the magnetic coding angle sensor 6 and is used for acquiring and processing data acquired by the magnetic coding angle sensor 6.
In this embodiment, the ground workstation controls the carrying platform 8 to travel and detect by using a wireless signal, so that the ground workstation may be disposed in an area far from the carrying platform, for example, may be disposed outside a tunnel.
The arm and 8 swing joint of delivery platform, the arm can carry out the level and the vertical direction is gone up the full angle rotation.
The cross-sectional shape of bolt cover 3 is unanimous with the cross-sectional shape of fastener nut (nut 2), and the top is equipped with the recess that holds magnet and electronic tags, and the diameter of recess is the same with the diameter of fastener bolt. In the embodiment, the cross section of the fastener nut (the nut 2) is hexagonal, the bolt sleeve is hexagonal, the inner diameter of the groove in the top is consistent with that of the bolt, the bolt sleeve can be tightly attached to the bolt and rotate along with the bolt, the bolt sleeve 3 can be made of polypropylene materials, and the bolt sleeve is ageing-resistant and can be tightly attached to the bolt for a long time and cannot fall off.
The carrying platform is controlled by a stepping motor, can perform operations such as braking, speed change and the like, and has a speed of 20-30 km/h.
The magnetic coding angle sensor 6 is arranged at the tail end of the outward extending mechanical arm and can rotate along with the mechanical arm.
The magnetic encoding angle sensor 6 in the present embodiment has a hall sensor and a circuit board.
Specifically, the method comprises the following steps:
the fasteners 7 fix the rails 10 at both ends of the sleepers 9 by bolts, and when a train runs on the rails 10, the bolts in the fasteners are loosened by slight vibration of the fasteners 7, so that the stability of the railway rails cannot be maintained continuously, and the bolt loosening is represented by rotation between the fastener nuts and the fastener bolts. When the bolt sleeve 3 is sleeved on the fastener nut (nut 2), the bolt sleeve rotates on a horizontal plane along with the fastener nut (nut 2), and the direction of a magnetic field formed by the magnet 4 changes along with the rotation, so that the magnetic field is captured by the magnetic encoding angle sensor 6.
In this embodiment, the magnetic encoding angle sensor 6 may be an english flying ice (Infineon) T LE5012B angle sensor. The sensor is based on that GMR giant magneto-resistance is a magnetic sensing element, four independent GMR elements are connected into a Wheatstone bridge, and the change of the magnetic field causes the change of the GMR giant magneto-resistance, so that the GMR elements can sense sine and cosine components of the applied magnetic field, and further the detection of the direction of the magnetic field is realized. The embedded electronic tag and the bolt sleeve 3 of the magnet are tightly attached to the nut 2 in the fastener 7, when the nut 2 rotates, the bolt sleeve 3 tightly attached to the nut rotates along with the nut 2, and the magnet 4 embedded in the bolt cap and tightly attached to the bolt cap rotates along with the nut in the same direction with the same angle, so that the direction of a formed magnetic field is changed.
The magnetic coding angle sensor 6 scans the magnet 4 in the bolt sleeve 3 tightly attached to the nut 2 to obtain the rotation angle value of the magnet. When the bolt sleeve 3 rotates, the bridge formed by the GMR element in the magnetic coding sensor 1 generates sine wave output with the phase difference of 90 degrees, then the ADC samples the output of the bridge, carries out digital quantization, and finally calculates the true rotating angle value by using the corresponding function.
After the angle value of the magnet in the bolt sleeve 3 of each embedded electronic tag and magnet is recorded after the first scanning, the second fastener loosening detection is carried out according to a set time interval, and the rotation angle value of the bolt sleeve 3 during the second detection is obtained. Through data processing, the loosening degree of the fastener 7 can be judged by comparing the rotation angle value of the nut 2 obtained in the two-time detection. Meanwhile, in order to judge the position of the loosened fastener 7, the bolt sleeve 3 with the magnetic embedded electronic tag and the magnet is scanned while the attached electronic note 5 is scanned, and the position information of the fastener is stored in the electronic note, so that the position of the loosened fastener 7 can be obtained.
The second embodiment:
the embodiment provides a method for realizing fastener looseness detection based on the device of the first embodiment, which comprises the following steps:
the fastener nut drives the bolt sleeve to rotate, the magnet and the electronic tag on the top of the bolt sleeve rotate along with the bolt sleeve, and the direction of a magnetic field formed by the magnet changes along with the rotation;
the magnetic encoding sensor acquires magnetic field change, sine angle and cosine angle components of the obtained magnetic field signal are processed to obtain a magnetic field direction, and the initial magnetic field direction and the changed magnetic field direction are compared to obtain the rotation angle of the fastener nut;
when the rotation angle exceeds the set range, the fastener loosens.
Specifically, the method comprises the following steps:
step one, establishing an initial fastener detection database. The overhanging mechanical arm is adjusted to the posture that the magnetic encoding angle sensor can easily identify the magnetic bolt sleeve, the rapid carrying platform is controlled to run along the track to carry out first fastener loosening detection, and when the rapid carrying platform runs along the track, the magnetic encoding angle sensor can identify the current angle information of the magnet embedded with the electronic tag and the magnet in the bolt sleeve and transmit the information to the ground workstation for storage. Meanwhile, the electronic tag receiver can rapidly identify the electronic tag in the bolt sleeve so as to acquire the positioning data of the bolt sleeve and the corresponding fastener.
And step two, perfecting a fastener detection database, and when the identification data is not accurate or data is missing, adjusting the posture of the overhanging mechanical arm to carry out all-dimensional identification on the track fastener so as to judge whether the magnetic bolt cap is lost or the magnetic field is weakened.
And step three, establishing a fastener secondary detection database, and after the primary fastener looseness detection, performing secondary fastener looseness detection according to the detection time specified by the state to obtain angle data of the magnet in the bolt sleeve embedded with the electronic tag and the magnet. And comparing the angle data twice to judge the loosening condition of the fastener.
When the fastener is loosened, the nut rotates slightly to drive the bolt sleeve to rotate, the direction of a magnetic field formed by the magnet changes, and a GMR element in the magnetic coding sensor can detect the change of an external magnetic field parallel to the surface of the GMR element and output cosine and sine signals. The magnetic field signal is AD converted, and the CORDIC module in the sensor is used for performing arc tangent calculation to obtain a required angle value, and finally, the magnetic field angle value information is output through different signal protocols, so that the loosening condition of the fastener is determined through the rotating angle value.
The detection efficiency is high, the precision is high, the carrying platform can rapidly run along the track, the magnetic coding angle sensor and the electronic tag receiver can rapidly acquire the angle and position information of the bolt cap, and therefore whether the fastener is loosened or not and the position of the loosened fastener are rapidly determined through two times of comparison. In addition, the magnetic coding angle sensor has high angle identification precision, and the resolution can reach 0.01 degrees.
The detection effect is not limited by environmental factors. The tunnel interior light is dim, and the image recognition mode needs to provide a light source with enough brightness for the camera to guarantee the photographing detection precision, so that the method is not limited by the illumination condition; secondly, the oil stain on the fastener is more, so that the edge profile of the hexagonal nut is not clear, the identification and the processing of the digital photographing detection technology on the profile characteristics are influenced, and the detection method can avoid the problem.
The detection is less humanized and intelligent, the ground workstation can be manually utilized to control the moving, and the occupied human resources are less.
Example three:
the present embodiment provides a robot having the apparatus of the first embodiment installed thereon, including: the robot body of connection on the delivery platform, the robot lateral part has the arm, and the robot passes through the delivery platform operation and waits to detect on the track, and the terminal magnetic encoding angle sensor of arm is located directly over the track fastener.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. Detect the device that fastener is not hard up based on magnetic field variation, its characterized in that: comprises a carrying platform and a bolt sleeve sleeved outside a fastener nut; the top of the bolt sleeve is connected with a magnet, and the upper surface of the magnet is connected with an electronic tag; the carrying platform is provided with a mechanical arm, the tail end of the mechanical arm is connected with a magnetic coding angle sensor, and the detection end of the magnetic coding angle sensor faces the top surface of the bolt sleeve.
2. The apparatus for detecting fastener loosening according to claim 1, wherein: the magnetic encoding angle sensor is also provided with a ground workstation, and the ground workstation is in communication connection with the magnetic encoding angle sensor to obtain and process data acquired by the magnetic encoding angle sensor.
3. The apparatus for detecting fastener loosening according to claim 1, wherein: the mechanical arm is movably connected with the carrying platform and can rotate in the horizontal direction and the vertical direction at all angles.
4. The apparatus for detecting fastener loosening according to claim 1, wherein: the cross-sectional shape of the bolt sleeve is consistent with that of the fastener nut, the top of the bolt sleeve is provided with a groove for accommodating the magnet and the electronic tag, and the diameter of the groove is the same as that of the fastener bolt.
5. The apparatus for detecting fastener loosening according to claim 4, wherein: and the magnet and the electronic tag at the top of the bolt sleeve rotate along with the fastener nut.
6. The apparatus for detecting fastener loosening according to claim 4, wherein: the electronic note stores position information of the fastener.
7. Method for detecting loosening of fasteners based on a device according to any of claims 1 to 6, characterized in that: the method comprises the following steps:
the fastener nut drives the bolt sleeve to rotate, the magnet and the electronic tag on the top of the bolt sleeve rotate along with the bolt sleeve, and the direction of a magnetic field formed by the magnet changes along with the rotation;
the magnetic encoding sensor acquires the change of a magnetic field, sine angle and cosine angle components of the obtained magnetic field signal are processed to obtain a magnetic field direction, and the initial magnetic field direction and the changed magnetic field direction are compared to obtain the rotation angle of the fastener nut;
when the rotation angle exceeds the set range, the fastener loosens.
8. The method of claim 7 for detecting fastener loosening based on changes in magnetic field, wherein: after the fastener is installed, a related constructed fastener database is formed by the magnetic field direction and the fastener position information which are acquired for the first time, and the related constructed fastener database is the initial magnetic field direction.
9. Fastener loosening robot, including: an apparatus according to any one of claims 1-6 is installed.
10. The fastener loosening detection robot of claim 9, wherein: after the fasteners are installed, the robot runs along the track direction for the first time, and the magnetic field direction acquired by the magnetic encoding angle sensor is associated with the fastener position information in the electronic tag to construct a database.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210856750.3A CN115325929A (en) | 2022-07-20 | 2022-07-20 | Device and method for detecting fastener loosening based on magnetic field change and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210856750.3A CN115325929A (en) | 2022-07-20 | 2022-07-20 | Device and method for detecting fastener loosening based on magnetic field change and robot |
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| CN202210856750.3A Pending CN115325929A (en) | 2022-07-20 | 2022-07-20 | Device and method for detecting fastener loosening based on magnetic field change and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115452444A (en) * | 2022-11-14 | 2022-12-09 | 极限人工智能有限公司 | Medical surgical robot angle performance detection device and method |
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| CN103913183A (en) * | 2013-01-09 | 2014-07-09 | 江苏多维科技有限公司 | Magnetic angle encoder and electronic water meter |
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