CN114166479A - Dynamic detection and fastening device and method for motor bolt - Google Patents
Dynamic detection and fastening device and method for motor bolt Download PDFInfo
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- CN114166479A CN114166479A CN202111247600.4A CN202111247600A CN114166479A CN 114166479 A CN114166479 A CN 114166479A CN 202111247600 A CN202111247600 A CN 202111247600A CN 114166479 A CN114166479 A CN 114166479A
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- 238000001514 detection method Methods 0.000 title claims abstract description 57
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000000007 visual effect Effects 0.000 claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims description 16
- 230000008569 process Effects 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000016776 visual perception Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
- B25B27/14—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for for assembling objects other than by press fit or detaching same
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H1/00—Measuring characteristics of vibrations in solids by using direct conduction to the detector
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Abstract
The invention belongs to the field of dynamic detection of motor bolts, and provides a dynamic detection and fastening device and method of a motor bolt. The device comprises a sensing part, a control part and a control part, wherein the sensing part is used for acquiring vibration data of a motor bolt and vibration data of a motor body and a shell; the detection and fastening part is fixed on the motor; the data processing part is used for comparing the vibration data of the motor bolt with historical vibration data, and when the amplitude difference value of the vibration data of the motor body and the shell exceeds a preset tolerance value and the amplitude difference value of the vibration data of the motor body and the shell exceeds a preset threshold value, a visual locking instruction is issued to the detection and fastening part and the motor bolt area is dynamically locked by the detection and fastening part; and searching the position of the motor bolt based on the dynamically locked motor bolt area image, issuing a fastening instruction to the detection and fastening part, and issuing a fastening deceleration instruction to the detection and fastening part when the amplitude difference value of the vibration data of the motor bolt and the historical vibration data is within a normal range and the amplitude difference value of the vibration data of the motor body and the shell is not more than a preset tolerance value.
Description
Technical Field
The invention belongs to the field of dynamic detection of motor bolts, and particularly relates to a dynamic detection and fastening device and method of a motor bolt.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
During the operation of the motor, the accessories on the motor can also slightly vibrate along with the operation of the motor. Along with the long-term operation of motor, the bolt condition that can take place to become flexible on the motor. Generally, in order to ensure the stable operation of the motor, the motor is generally stopped and then the bolt is loosened to be detected and fastened, so that the bolt loosening condition cannot be found timely, and even before the motor is stopped, the bolt is loosened to fall off, so that the stability and the safety of the motor operation are affected.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides a dynamic detection and fastening device and method for a motor bolt, which can achieve the purpose of dynamic detection and dynamic fastening of the bolt without stopping the motor.
In order to achieve the purpose, the invention adopts the following technical scheme:
a first aspect of the present invention provides a dynamic detection and fastening device for a motor bolt, comprising:
the sensing part is used for acquiring vibration data of the motor bolt and vibration data of the motor body and the shell;
a detection and fastening part fixed on the motor;
a data processing section for:
comparing the vibration data of the motor bolt with historical vibration data, and when the amplitude difference value of the vibration data of the motor bolt and the historical vibration data exceeds a preset threshold value and the amplitude difference value of the vibration data of the motor body and the shell exceeds a preset tolerance value, issuing a visual locking instruction to the detection and fastening part and dynamically locking a motor bolt area by the visual locking instruction to acquire a corresponding image;
and searching the position of the motor bolt based on the dynamically locked motor bolt area image, issuing a fastening instruction to the detection and fastening part, and issuing a fastening deceleration instruction to the detection and fastening part when the amplitude difference value of the vibration data of the motor bolt and the historical vibration data is within a normal range and the amplitude difference value of the vibration data of the motor body and the shell is not more than a preset tolerance value.
In one embodiment, the data processing unit is further configured to acquire the rotation electric power value uploaded by the detection and fastening unit, and determine whether to stop fastening according to the rotation electric power value.
In one embodiment, the detecting and fastening portion includes a robot arm, and the robot arm is provided with a visual sensing mechanism and a fastening mechanism.
In one embodiment, a power metering module is further disposed on the fastening mechanism for metering the value of the rotating electric power.
In one embodiment, the fastening mechanism includes a sleeve having an adjustable inner diameter.
As an embodiment, the process of the data processing part searching the position of the motor bolt based on the dynamically locked motor bolt area image is as follows:
performing screenshot on a dynamically locked motor bolt area image to perform first vertex positioning on a single area, performing symmetrical vertex positioning on the first vertex again according to a symmetrical area of the single area, drawing a connecting line according to the distance between the two vertexes, and identifying and recording coordinates of a first symmetrical center point;
finding out the adjacent single areas according to the anticlockwise direction and carrying out second vertex positioning, carrying out symmetrical vertex positioning of a second vertex according to the symmetrical areas of the adjacent single areas, recording coordinates of a second symmetrical central point by identification, finding out the adjacent single areas according to the sequence and carrying out corresponding vertex positioning, and finally forming a concentric star-shaped pattern;
and performing vertex center shrinkage on the central part of the concentric star-shaped pattern to realize that three vertexes of a triangle at the center are converged on a central point, wherein the central point is the position of the motor bolt.
As an embodiment, the sensing part includes a plurality of three-axis vibration sensors.
The second aspect of the present invention provides a dynamic detection and fastening method for a motor bolt, which includes:
acquiring vibration data of a motor bolt and vibration data of a motor body and a shell;
comparing the vibration data of the motor bolt with historical vibration data, and when the amplitude difference value of the vibration data of the motor bolt and the historical vibration data exceeds a preset threshold value and the amplitude difference value of the vibration data of the motor body and the shell exceeds a preset tolerance value, issuing a visual locking instruction to the detection and fastening part and dynamically locking a motor bolt area by the visual locking instruction to acquire a corresponding image;
and searching the position of the motor bolt based on the dynamically locked motor bolt area image, issuing a fastening instruction to the detection and fastening part, and issuing a fastening deceleration instruction to the detection and fastening part when the amplitude difference value of the vibration data of the motor bolt and the historical vibration data is within a normal range and the amplitude difference value of the vibration data of the motor body and the shell is not more than a preset tolerance value.
As an embodiment, the process of searching for the position of the motor bolt based on the dynamically locked motor bolt region image is as follows:
performing screenshot on a dynamically locked motor bolt area image to perform first vertex positioning on a single area, performing symmetrical vertex positioning on the first vertex again according to a symmetrical area of the single area, drawing a connecting line according to the distance between the two vertexes, and identifying and recording coordinates of a first symmetrical center point;
finding out the adjacent single areas according to the anticlockwise direction and carrying out second vertex positioning, carrying out symmetrical vertex positioning of a second vertex according to the symmetrical areas of the adjacent single areas, recording coordinates of a second symmetrical central point by identification, finding out the adjacent single areas according to the sequence and carrying out corresponding vertex positioning, and finally forming a concentric star-shaped pattern;
and performing vertex center shrinkage on the central part of the concentric star-shaped pattern to realize that three vertexes of a triangle at the center are converged on a central point, wherein the central point is the position of the motor bolt.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the vibration data of the motor bolt is compared with the historical vibration data and the data of the motor body and the shell are compared, whether the detection and fastening part is started to dynamically lock the motor bolt area is determined, and the detection and fastening part is fixed on the motor and vibrates along with the vibration of the motor, so that the dynamic accuracy of obtaining the image of the motor bolt area is improved;
the invention also searches the position of the motor bolt according to the dynamically locked motor bolt area image, improves the accuracy of the bolt fastening position, and realizes the dynamic detection and dynamic fastening of the bolt without stopping.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
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 incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a schematic structural diagram of a dynamic detection and fastening device for a motor bolt according to an embodiment of the present invention;
FIG. 2 is a concentric star pattern of an embodiment of the present invention;
FIG. 3 is a diagram of a vertex coring process according to an embodiment of the present invention;
fig. 4 is a flowchart of a dynamic detection and fastening method for a motor bolt according to an embodiment of the present invention.
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.
Example one
Referring to fig. 1, the present embodiment provides a dynamic detection and fastening device for a motor bolt, which includes a sensing portion, a detection and fastening portion, and a data processing portion.
In specific implementation, the sensing part is used for collecting vibration data of a motor bolt and vibration data of a motor body and a shell.
Specifically, the sensing part includes a plurality of three-axis vibration sensors. Wherein, these triaxial vibration sensor settings are in the bolt setting position of waiting to monitor, on the motor body and the casing.
It is understood that the specific model of the three-axis vibration sensor can be selected by those skilled in the art according to the actual accuracy requirement, and will not be described in detail herein.
In other embodiments, the sensor may also adopt other existing vibration sensors to acquire vibration data of the motor bolt and vibration data of the motor body and the casing.
In a specific implementation, the detection and fastening portion is fixed to the motor.
In one or more embodiments, the detecting and fastening portion includes a robot arm on which a visual perception mechanism and a fastening mechanism are mounted.
Specifically, the visual perception mechanism may be implemented by using a camera to acquire video image information of the dynamic locking bolt region.
And the fastening mechanism is also provided with a power metering module for metering the value of the rotating electric power. The fastening mechanism comprises a sleeve with an adjustable inner diameter, so that the fastening mechanism can be better matched with a bolt to be fastened to improve fastening efficiency.
The power metering module has an existing structure, the core component of the power metering module is a power metering chip, and a person skilled in the art can specifically select a product with a corresponding model according to actual conditions.
In a specific implementation, the data processing section is configured to:
comparing the vibration data of the motor bolt with historical vibration data, and when the amplitude difference value of the vibration data of the motor bolt and the historical vibration data exceeds a preset threshold value and the amplitude difference value of the vibration data of the motor body and the shell exceeds a preset tolerance value, issuing a visual locking instruction to the detection and fastening part and dynamically locking a motor bolt area by the visual locking instruction to acquire a corresponding image;
and searching the position of the motor bolt based on the dynamically locked motor bolt area image, issuing a fastening instruction to the detection and fastening part, and issuing a fastening deceleration instruction to the detection and fastening part when the amplitude difference value of the vibration data of the motor bolt and the historical vibration data is within a normal range and the amplitude difference value of the vibration data of the motor body and the shell is not more than a preset tolerance value.
In one or more embodiments, the data processing unit is further configured to acquire the rotation electric power value uploaded by the detection and fastening unit, and determine whether to stop fastening according to the rotation electric power value.
The data processing unit determines that the fastening is stopped based on the rotation electric power value, withdraws the fastening robot according to the original route, and performs a normal detection motion again.
In a specific implementation, the process of the data processing part searching the position of the motor bolt based on the dynamically locked motor bolt area image is as follows:
performing screenshot on a dynamically locked motor bolt area image, performing first vertex positioning 1 on a single area, performing symmetrical vertex positioning on the first vertex 1 again according to a symmetrical area of the single area, drawing a connecting line according to the distance between the two vertexes, and identifying and recording coordinates of a first symmetrical center point;
finding out the adjacent single areas in the anticlockwise direction and carrying out second vertex positioning 2, carrying out symmetrical vertex positioning of the second vertex 2 according to the symmetrical areas of the adjacent single areas, recording coordinates of a second symmetrical central point by identification, finding out the adjacent single areas according to the sequence and carrying out corresponding vertex positioning, and finally forming a concentric star-shaped pattern as shown in figure 2;
the center portion of the concentric star pattern is vertex-truncated as shown in fig. 3 to achieve the convergence of the three vertices of the central triangle onto the center point, which is the motor bolt position.
Based on fig. 3, the principle of vertex pinching is:
three vertexes of the triangle are locked through range scanning, and coordinate recording is carried out. And then drawing a virtual line segment by using a connecting line of the center points of one vertex and the other two vertexes, and then drawing another virtual line segment by using the connecting line of the centers of the counterclockwise adjacent vertex and the corresponding other two points, wherein the intersection point of the two virtual line segments is the center point of the vertex center reducing method.
In the embodiment, the vibration data of the motor bolt is compared with the historical vibration data and the data of the motor body and the shell are compared, whether the detection and fastening part is started to dynamically lock the motor bolt area is determined, and the detection and fastening part is fixed on the motor and vibrates along with the vibration of the motor, so that the dynamic accuracy of acquiring the image of the motor bolt area is improved; and the position of the motor bolt is searched according to the dynamically locked motor bolt area image, so that the accuracy of the bolt fastening position is improved, and the dynamic detection and dynamic fastening of the bolt without stopping are realized.
Example two
As shown in fig. 4, the method for dynamically detecting and fastening a motor bolt of the present embodiment specifically includes the following steps:
s101: acquiring vibration data of a motor bolt and vibration data of a motor body and a shell;
s102: comparing the vibration data of the motor bolt with historical vibration data, and when the amplitude difference value of the vibration data of the motor bolt and the historical vibration data exceeds a preset threshold value and the amplitude difference value of the vibration data of the motor body and the shell exceeds a preset tolerance value, issuing a visual locking instruction to the detection and fastening part and dynamically locking a motor bolt area by the visual locking instruction to acquire a corresponding image;
s103: and searching the position of the motor bolt based on the dynamically locked motor bolt area image, issuing a fastening instruction to the detection and fastening part, and issuing a fastening deceleration instruction to the detection and fastening part when the amplitude difference value of the vibration data of the motor bolt and the historical vibration data is within a normal range and the amplitude difference value of the vibration data of the motor body and the shell is not more than a preset tolerance value.
In specific implementation, the process of searching the position of the motor bolt based on the dynamically locked motor bolt area image is as follows:
performing screenshot on a dynamically locked motor bolt area image to perform first vertex positioning on a single area, performing symmetrical vertex positioning on the first vertex again according to a symmetrical area of the single area, drawing a connecting line according to the distance between the two vertexes, and identifying and recording coordinates of a first symmetrical center point;
finding out the adjacent single areas according to the anticlockwise direction and carrying out second vertex positioning, carrying out symmetrical vertex positioning of a second vertex according to the symmetrical areas of the adjacent single areas, recording coordinates of a second symmetrical central point by identification, finding out the adjacent single areas according to the sequence and carrying out corresponding vertex positioning, and finally forming a concentric star-shaped pattern;
and performing vertex center shrinkage on the central part of the concentric star-shaped pattern to realize that three vertexes of a triangle at the center are converged on a central point, wherein the central point is the position of the motor bolt.
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. The utility model provides a dynamic detection and fastener of motor bolt which characterized in that includes:
the sensing part is used for acquiring vibration data of the motor bolt and vibration data of the motor body and the shell;
a detection and fastening part fixed on the motor;
a data processing section for:
comparing the vibration data of the motor bolt with historical vibration data, and when the amplitude difference value of the vibration data of the motor bolt and the historical vibration data exceeds a preset threshold value and the amplitude difference value of the vibration data of the motor body and the shell exceeds a preset tolerance value, issuing a visual locking instruction to the detection and fastening part and dynamically locking a motor bolt area by the visual locking instruction to acquire a corresponding image;
and searching the position of the motor bolt based on the dynamically locked motor bolt area image, issuing a fastening instruction to the detection and fastening part, and issuing a fastening deceleration instruction to the detection and fastening part when the amplitude difference value of the vibration data of the motor bolt and the historical vibration data is within a normal range and the amplitude difference value of the vibration data of the motor body and the shell is not more than a preset tolerance value.
2. The dynamic motor bolt detecting and tightening device according to claim 1, wherein the data processing unit is further configured to obtain a rotation electric power value uploaded by the detecting and tightening unit, and determine whether to stop tightening according to the rotation electric power value.
3. The dynamic motor bolt detection and tightening mechanism according to claim 1, wherein the detection and tightening part comprises a robot arm on which a visual sensing mechanism and a tightening mechanism are mounted.
4. The dynamic motor bolt detecting and tightening device according to claim 3, wherein the tightening mechanism is further provided with a power metering module for metering the value of the rotating electrical power.
5. The dynamic detection and tightening device of a motor bolt of claim 3, wherein the tightening mechanism comprises a sleeve with an adjustable inner diameter.
6. The dynamic detection and fastening device of motor bolt according to claim 1, wherein the process of the data processing part for searching the position of the motor bolt based on the dynamically locked motor bolt area image is:
performing screenshot on a dynamically locked motor bolt area image to perform first vertex positioning on a single area, performing symmetrical vertex positioning on the first vertex again according to a symmetrical area of the single area, drawing a connecting line according to the distance between the two vertexes, and identifying and recording coordinates of a first symmetrical center point;
finding out the adjacent single areas according to the anticlockwise direction and carrying out second vertex positioning, carrying out symmetrical vertex positioning of a second vertex according to the symmetrical areas of the adjacent single areas, recording coordinates of a second symmetrical central point by identification, finding out the adjacent single areas according to the sequence and carrying out corresponding vertex positioning, and finally forming a concentric star-shaped pattern;
and performing vertex center shrinkage on the central part of the concentric star-shaped pattern to realize that three vertexes of a triangle at the center are converged on a central point, wherein the central point is the position of the motor bolt.
7. The dynamic motor bolt detection and tightening mechanism of claim 1, wherein the sensing portion comprises a plurality of three-axis vibration sensors.
8. A dynamic detection and fastening method of a motor bolt is characterized by comprising the following steps:
acquiring vibration data of a motor bolt and vibration data of a motor body and a shell;
comparing the vibration data of the motor bolt with historical vibration data, and when the amplitude difference value of the vibration data of the motor bolt and the historical vibration data exceeds a preset threshold value and the amplitude difference value of the vibration data of the motor body and the shell exceeds a preset tolerance value, issuing a visual locking instruction to the detection and fastening part and dynamically locking a motor bolt area by the visual locking instruction to acquire a corresponding image;
and searching the position of the motor bolt based on the dynamically locked motor bolt area image, issuing a fastening instruction to the detection and fastening part, and issuing a fastening deceleration instruction to the detection and fastening part when the amplitude difference value of the vibration data of the motor bolt and the historical vibration data is within a normal range and the amplitude difference value of the vibration data of the motor body and the shell is not more than a preset tolerance value.
9. The dynamic detection and fastening method of a motor bolt according to claim 8, wherein the process of finding the position of the motor bolt based on the dynamically locked motor bolt area image is:
performing screenshot on a dynamically locked motor bolt area image to perform first vertex positioning on a single area, performing symmetrical vertex positioning on the first vertex again according to a symmetrical area of the single area, drawing a connecting line according to the distance between the two vertexes, and identifying and recording coordinates of a first symmetrical center point;
finding out the adjacent single areas according to the anticlockwise direction and carrying out second vertex positioning, carrying out symmetrical vertex positioning of a second vertex according to the symmetrical areas of the adjacent single areas, recording coordinates of a second symmetrical central point by identification, finding out the adjacent single areas according to the sequence and carrying out corresponding vertex positioning, and finally forming a concentric star-shaped pattern;
and performing vertex center shrinkage on the central part of the concentric star-shaped pattern to realize that three vertexes of a triangle at the center are converged on a central point, wherein the central point is the position of the motor bolt.
10. The method for dynamically detecting and tightening a motor bolt according to claim 8, further comprising obtaining a rotation electric power value uploaded by the detecting and tightening part, and determining whether to stop tightening according to the rotation electric power value.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111247600.4A CN114166479A (en) | 2021-10-26 | 2021-10-26 | Dynamic detection and fastening device and method for motor bolt |
| ZA2021/08814A ZA202108814B (en) | 2021-10-26 | 2021-11-09 | Device and method for dynamic detection and fastening of motor bolts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111247600.4A CN114166479A (en) | 2021-10-26 | 2021-10-26 | Dynamic detection and fastening device and method for motor bolt |
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| Publication Number | Publication Date |
|---|---|
| CN114166479A true CN114166479A (en) | 2022-03-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111247600.4A Pending CN114166479A (en) | 2021-10-26 | 2021-10-26 | Dynamic detection and fastening device and method for motor bolt |
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| Country | Link |
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| CN (1) | CN114166479A (en) |
| ZA (1) | ZA202108814B (en) |
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| EP2184136A1 (en) * | 2008-11-11 | 2010-05-12 | Vilnius Gediminas Technical University | Method and equipment of control of detail connection by threaded joint |
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| KR101819711B1 (en) * | 2016-07-22 | 2018-01-29 | 충북대학교 산학협력단 | Apparatus and method for detecting nut locking using machine vision |
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| CN111189624A (en) * | 2020-01-08 | 2020-05-22 | 中国工程物理研究院总体工程研究所 | Method for identifying loosening state of bolt connection structure based on vibration signal time-frequency characteristics |
| CN112414683A (en) * | 2019-12-24 | 2021-02-26 | 湖南科技大学 | Mean mahalanobis distance-based loose bolt position positioning method and system |
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2021
- 2021-10-26 CN CN202111247600.4A patent/CN114166479A/en active Pending
- 2021-11-09 ZA ZA2021/08814A patent/ZA202108814B/en unknown
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2184136A1 (en) * | 2008-11-11 | 2010-05-12 | Vilnius Gediminas Technical University | Method and equipment of control of detail connection by threaded joint |
| CN104880291A (en) * | 2015-05-29 | 2015-09-02 | 四川鸿舰重型机械制造有限责任公司 | Diagnosis method for large axial vibration of bearing pedestal due to foundation loosening |
| KR101819711B1 (en) * | 2016-07-22 | 2018-01-29 | 충북대학교 산학협력단 | Apparatus and method for detecting nut locking using machine vision |
| CN108414075A (en) * | 2018-03-09 | 2018-08-17 | 国网陕西省电力公司电力科学研究院 | A kind of high-voltage circuitbreaker fastening bolt loosens detection device and detection method |
| CN110595745A (en) * | 2019-04-26 | 2019-12-20 | 深圳市豪视智能科技有限公司 | Detection method for abnormality of fixing screw of equipment and related product |
| CN112414683A (en) * | 2019-12-24 | 2021-02-26 | 湖南科技大学 | Mean mahalanobis distance-based loose bolt position positioning method and system |
| CN111189624A (en) * | 2020-01-08 | 2020-05-22 | 中国工程物理研究院总体工程研究所 | Method for identifying loosening state of bolt connection structure based on vibration signal time-frequency characteristics |
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| Publication number | Publication date |
|---|---|
| ZA202108814B (en) | 2022-05-25 |
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