CN108016990B - Port crane trolley track fastener loosening detection device and detection method - Google Patents
Port crane trolley track fastener loosening detection device and detection method Download PDFInfo
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- CN108016990B CN108016990B CN201810003953.1A CN201810003953A CN108016990B CN 108016990 B CN108016990 B CN 108016990B CN 201810003953 A CN201810003953 A CN 201810003953A CN 108016990 B CN108016990 B CN 108016990B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
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- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a detection device for loosening of a trolley track fastener of a port crane, which comprises a port crane trolley, trolley wheels and a trolley track, wherein the trolley wheels are connected to the port crane trolley through trolley wheels, the port crane trolley moves on the trolley track through the trolley wheels, and a plurality of trolley track fasteners are further arranged on the trolley track, and the detection device is characterized in that: the system also comprises a vibration sensor, a trolley position sensor and a signal analysis device; the invention also discloses a method for detecting loosening of the rail fastener of the port crane trolley. The invention can detect and diagnose on line when the port crane trolley runs, and is convenient for popularization and use in various large ports.
Description
Technical Field
The invention relates to a port machinery health assessment technology, in particular to a device and a method for detecting loosening of a rail fastener of a port crane trolley.
Background
The port crane is widely applied in the port logistics field, mainly comprises a shore container crane, a track crane, a tire crane and the like, and is a factor of critical safety operation of the port crane, wherein the factor is whether a trolley track fastener component used on the port crane is loose or not. At present, the detection of the trolley track fastener mainly uses manual detection, a detector needs to hold a torque wrench, and the fasteners on the trolley track are measured and detected one by one in high altitude, so that the whole detection period is long in time consumption and low in efficiency, and huge potential safety hazards are also accompanied. For this reason, a method for detecting all loose fasteners on the rail of the trolley of the port crane on line, efficiently and accurately has been sought by the related technicians for a long time, but no substantial breakthrough has been made yet.
Among the detection techniques disclosed at home and abroad, there are two relatively prominent methods: an image recognition method and a vibration signal analysis method. The image recognition method can only diagnose whether the fastener falls off or not, and can not detect the tightness state of the fastener, so that the method can not meet the actual requirements. Existing vibration signal analysis methods have two types: the first type is that the track is continuously knocked when the knocking hammer is used along with the running of the trolley, and meanwhile, signals of knocking residual vibration are collected and analyzed, but the knocking hammer mechanism is complicated to develop and limits the running speed of the trolley when in detection; the other is to explore and adopt ODS (Operational Deflection Shape) mathematical model to analyze the vibration signal of the wheel passing through a certain track interval, and manually observe and screen out abnormal conditions of ODS values to identify the loosening interval of the fastener, so that the real automatic diagnosis is not realized, and the online diagnosis is not easy to realize.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a device and a method for detecting loosening of a rail fastener of a port crane trolley, which can detect and diagnose on line when the port crane trolley runs and is convenient to popularize and use in various ports.
In order to achieve the above purpose, the invention adopts the following technical scheme:
on the one hand, the detection device for loosening of the trolley track fasteners of the port crane comprises a port machine trolley, trolley wheels and a trolley track, wherein the trolley wheels are connected to the port machine trolley through trolley wheels, the port machine trolley moves on the trolley track through the trolley wheels, and the trolley track is also provided with a plurality of trolley track fasteners and further comprises a vibration sensor, a trolley position sensor and a signal analysis device;
the vibration sensor is arranged on the trolley wheel and used for collecting vibration signals generated by the movement of the trolley wheel on the trolley track and transmitting the signals to the signal analysis device;
the trolley position sensor is arranged on the port machine trolley and is used for collecting a travel position signal of the port machine trolley relative to the trolley track and transmitting the signal to the signal analysis device;
the signal analysis device is used for receiving signals of the vibration sensor and the trolley position sensor, analyzing and calculating the contact position of the trolley wheels and the trolley track, judging the loosening condition of the trolley track fastener and the position of the trolley track relative to the trolley track.
The trolley wheel is also provided with a trolley wheel shaft support, the vibration sensor is arranged on the trolley wheel shaft support, and the vibration sensor is aligned with the center line of the trolley wheel shaft in the vertical direction.
The car position sensor is a coding sensor, a magnetic induction sensor or an optical sensor.
The signal analysis device is arranged on the port machine trolley or at other positions outside the port machine trolley.
On the other hand, the detection method for loosening of the rail fastener of the port crane trolley is characterized by comprising the following steps of: the method comprises the following steps:
s1, under the condition that all trolley track fasteners are normal, a signal analysis device initially receives a vibration sensor signal and a trolley position sensor signal;
s2, according to the corresponding relation between the trolley position signal and the trolley track fastener position, the signal analysis device divides the initially received vibration sensor signal into n sections, namely
S3, calculating and obtaining the power spectral density of each segment vibration signal received initially by the signal analysis device as follows
S4, the signal analysis device analyzes the power spectral density of each segment vibration signal and determines the frequency band limit f at which the power distribution of each segment vibration signal is relatively concentrated i,k (i＝1,2,…,n；k＝1,2,…,m i )；
S5, the signal analysis device calculates that each segment vibration signal received initially is in [ f ] i,s ,f i,e ]Ratio of power to total power in frequency band
S6, the signal analysis device assigns the analysis diagnosis times j to be 1;
s7, the jth time of the signal analysis device receives the vibration sensor signal and the trolley position sensor signal;
s8, according to signals of a trolley position sensor and trolley tracksThe signal analysis device divides the j-th received vibration sensor signal into n sections according to the position of the initial vibration signal division, namely
S9, the signal analysis device calculates the power spectral density of each segment vibration signal received for the jth time as follows
S10, the signal analysis device calculates the j-th received segmented vibration signals in [ f ] i,s ,f i,e ]Ratio of power to total power in frequency band
S11, the signal analysis device judges the power ratio in the frequency band of receiving each sectional vibration signal for the j th timeRelative toIf the large change occurs, the set of the segment serial numbers which are recorded to be large is I, and the trolley track fastener at the trolley track position corresponding to the serial number in the segment serial number set I is diagnosed to be loose; if not, the signal analysis device reassigns j=j+1 to the analysis diagnosis number j, and returns to the step S7.
In the step S5, the signal analysis means calculates the number of the segment vibration signals received initially in [ f ] i,s ,f i,e ]The power ratio in the frequency band is calculated by the following formula:
in the formula, s, e epsilon {1,2, …, m i The method comprises the steps of carrying out a first treatment on the surface of the s < e } is the firstBand limit number, Δf of i-segment vibration signal power spectral density i For the minimum frequency interval of the power spectral density of the i-th segment of the vibration signal,for initially receiving the power spectral density value at frequency l, f of the i-th segment of the vibration signal i,max Is the frequency maximum of the power spectral density of the i-th segment vibration signal.
In the step S10, the signal analysis means calculates the j-th received segment vibration signals in [ f ] i,s ,f i,e ]The power ratio in the frequency band is calculated by the following formula:
in the formula (i),the step S5 is otherwise the same as the j-th reception of the power spectral density value at the frequency l of the i-th segment vibration signal.
According to the technical scheme, the device and the method for detecting the loosening of the rail fastener of the port crane trolley, provided by the invention, adopt the vibration sensor and the position sensor to synchronously acquire signals on line, perform sectional processing on the vibration signals to obtain the power spectrum density of the vibration signals, further judge whether the fastener is loosened according to the change of the power ratio in the frequency band and perform fastener positioning according to the signal sections, and can realize the detection and diagnosis of the loosening of the rail fastener of the port crane trolley on line, rapidly and accurately.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the installation of the trolley track and trolley track fastener of the present invention;
FIG. 3 is a flow chart of the detection of loosening of a trolley track fastener in accordance with the present invention;
FIG. 4a is a signal diagram of the signal analysis device of the present invention initially receiving the i-th vibration signal;
FIG. 4b is a signal diagram of the power spectral density of the i-th segment vibration signal initially received by the signal analysis device of the present invention;
FIG. 4c is a schematic diagram of a j-th receiving section of the vibration signal of the signal analysis device according to the present invention;
FIG. 4d is a signal diagram of the power spectral density of the j-th received i-th vibration signal of the signal analysis device according to the present invention.
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings and examples.
Referring to fig. 1, the device for detecting loosening of a rail fastener of a port crane trolley provided by the invention comprises a port crane trolley 1, trolley wheels 7 and a trolley rail 8, wherein the trolley wheels 7 are connected to the port crane trolley 1 through trolley wheel shafts 6, the port crane trolley 1 moves on the trolley rail 8 through the trolley wheels 7, a plurality of trolley rail fasteners 9 are further arranged on the trolley rail 8, and the device also comprises a vibration sensor 2, a trolley position sensor 3 and a signal analysis device 4.
Preferably, the trolley wheel 7 is further provided with a trolley wheel axle support 5, and the vibration sensor 2 is arranged on the trolley wheel axle support 5 and is used for collecting vibration signals generated in the process of moving the trolley wheel 7 on the trolley track 8 and transmitting the signals to the signal analysis device 4, and when the vibration sensor 2 is installed, the vibration sensor needs to be aligned with the center line of the trolley wheel axle 6 in the vertical direction.
Preferably, the trolley position sensor 3 is disposed on the port machine trolley 1, and is configured to collect a travel position signal of the port machine trolley 1 relative to the trolley track 8, and transmit the signal to the signal analysis device 4, where the trolley position sensor 3 may adopt any one of a coding sensor, a magnetic induction sensor, or an optical sensor.
Preferably, the signal analysis device 4 is configured to receive the signals of the vibration sensor 2 and the trolley position sensor 3, analyze and calculate the contact position between the trolley wheel 7 and the trolley rail 8, determine the loosening condition of the trolley rail fastener 9, and determine the position of the trolley rail fastener relative to the trolley rail 8, and the signal analysis device 4 is installed on the port machine trolley 1 or other positions outside the port machine trolley 1.
Referring to fig. 2, the trolley track fastener 9 is used to fix the trolley track 8 to the port machine structure 11, and the trolley track pad 10 is typically laid between the trolley track 8 and the port machine structure 11. While trolley track fastener 9 comprises:
a fastener base 901 for fixing a fastener bolt 903, wherein the top is attached to the fastener upper cover 902, and the bottom is welded to the port machine structure 11;
the fastener upper cover 902 is used for fixing the trolley track 8, and the bottom surface is pressed on the outer edge of the trolley track 8 and the top of the fastener base 901 at the same time;
a fastener bolt 903 for fixing the fastener upper cover 902, the screw passing through the fastener base 901 and the fastener upper cover 902;
the fastening nut 904 is used to engage with the fastening bolt 903, and presses the fastening upper cover 902 after a pretensioning torque is applied.
Referring to fig. 3, the method for detecting loosening of a rail fastener of a port crane trolley provided by the invention comprises the following steps:
s1, under the condition that all trolley track fasteners are normal, a signal analysis device initially receives a vibration sensor signal and a trolley position sensor signal;
s2, according to the corresponding relation between the trolley position signal and the trolley track fastener position, the signal analysis device divides the initially received vibration sensor signal into n sections, namely
S3, calculating and obtaining the power spectral density of each segment vibration signal received initially by the signal analysis device as follows
S4, the signal analysis device analyzes the power spectral density of each segment vibration signal and determines the frequency band limit f at which the power distribution of each segment vibration signal is relatively concentrated i,k (i＝1,2,…,n；k＝1,2,…,m i )；
S5, the signal analysis device calculates that each segment vibration signal received initially is in [ f ] i,s ,f i,e ]Ratio of power to total power in frequency band
S6, the signal analysis device assigns the analysis diagnosis times j to be 1;
s7, the jth time of the signal analysis device receives the vibration sensor signal and the trolley position sensor signal;
s8, according to the corresponding relation between the trolley position sensor signal and the trolley track fastener position, the signal analysis device divides the j-th received vibration sensor signal into n sections according to the initial vibration signal dividing position, namely
S9, the signal analysis device calculates the power spectral density of each segment vibration signal received for the jth time as follows
S10, the signal analysis device calculates the j-th received segmented vibration signals in [ f ] i,s ,f i,e ]Ratio of power to total power in frequency band
S11, the signal analysis device judges the power ratio in the frequency band of receiving each sectional vibration signal for the j th timeRelative toIf the large change occurs, the set of the segment serial numbers which are recorded to be large is I, and the trolley track fastener at the trolley track position corresponding to the serial number in the segment serial number set I is diagnosed to be loose; if not, the signal analysis device reassigns j=j+1 to the analysis diagnosis number j, and returns to the step S7.
Preferably, in the step S5, the signal analysis device calculates the initial received vibration signals of each segment in [ f ] i,s ,f i,e ]The power ratio in the frequency band is calculated by the following formula:
in the formula, s, e epsilon {1,2, …, m i The method comprises the steps of carrying out a first treatment on the surface of the s < e is the frequency band limit sequence number of the power spectrum density of the ith section vibration signal, delta f i For the minimum frequency interval of the power spectral density of the i-th segment of the vibration signal,for initially receiving the power spectral density value at frequency l, f of the i-th segment of the vibration signal i,max Is the frequency maximum of the power spectral density of the i-th segment vibration signal.
Preferably, in the step S10, the signal analysis device calculates the j-th received each segment vibration signal in [ f ] i,s ,f i,e ]The power ratio in the frequency band is calculated by the following formula:
in the formula (i),the step S5 is otherwise the same as the j-th reception of the power spectral density value at the frequency l of the i-th segment vibration signal.
FIG. 4 (a) shows the i-th segment of the vibration signal after the initial received vibration signal is segmented by the detection method of the present invention, and FIG. 4 (b) shows the detection method of the present invention, calculating the power spectral density of the initial received i-th segment of the vibration signal, and determining three band boundaries f i,1 ,f i,2 And f i,3 Fig. 4 (c) shows the ith vibration signal after the jth received vibration signal is segmented by the detection method of the present invention, and fig. 4 (d) shows the calculation of the power spectral density of the jth received ith vibration signal by the detection method of the present invention.
By adopting the method for detecting the loosening of the rail fastener of the port crane trolley, which is provided by the invention, each initially received segmented vibration signal is calculated in the frequency band [ f ] i,1 ,f i,2 ]Sum frequency band f i,2 ,f i,3 ]The medium power ratios are respectivelyAnd->Calculating the frequency band [ f ] of each segment vibration signal received by the jth time i,1 ,f i,2 ]Sum frequency band f i，2 ,f i，3 ]The medium power ratios are +.>Andcomparison finds the power ratio in the band +.>And->Relative to->And->The large change is generated, and the loosening of the trolley track fastener at the trolley track position corresponding to the ith section of vibration signal is diagnosed.
It will be appreciated by persons skilled in the art that the above embodiments are provided for illustration only and not for limitation of the invention, and that variations and modifications of the above described embodiments are intended to fall within the scope of the claims of the invention as long as they fall within the true spirit of the invention.
Claims (7)
1. The utility model provides a detection device that harbour hoist dolly track fastener is not hard up, includes harbour machine dolly, dolly wheel and dolly track, and the dolly wheel passes through the dolly axle and links on the harbour machine dolly, and the harbour machine dolly passes through the dolly wheel and removes on the dolly track, still is equipped with several dolly track fastener on the dolly track, its characterized in that: the system also comprises a vibration sensor, a trolley position sensor and a signal analysis device;
the vibration sensor is arranged on the trolley wheel and used for collecting vibration signals generated by the movement of the trolley wheel on the trolley track and transmitting the signals to the signal analysis device;
the trolley position sensor is arranged on the port machine trolley and is used for collecting a travel position signal of the port machine trolley relative to the trolley track and transmitting the signal to the signal analysis device;
the signal analysis device is used for receiving signals of the vibration sensor and the trolley position sensor, analyzing and calculating the contact position of the trolley wheels and the trolley track, judging the loosening condition of the trolley track fastener and the position of the trolley track relative to the trolley track,
the detection device for loosening the port crane trolley track fastener executes the following detection method for loosening the port crane trolley track fastener, and the detection method comprises the following steps:
s1, under the condition that all trolley track fasteners are normal, a signal analysis device initially receives a vibration sensor signal and a trolley position sensor signal;
s2, according to the corresponding relation between the trolley position signal and the trolley track fastener position, the signal analysis device divides the initially received vibration sensor signal into n sections, namely
S3, calculating and obtaining the power spectral density of each segment vibration signal received initially by the signal analysis device as follows
S4, analyzing each part by using a signal analysis deviceDetermining the frequency band limit f at which the power distribution of each segment vibration signal is relatively concentrated i,k (i＝1,2,…,n；k＝1,2,…,m i )；
S5, the signal analysis device calculates that each segment vibration signal received initially is in [ f ] i,s ,f i,e ]Ratio of power to total power in frequency band
S6, the signal analysis device assigns the analysis diagnosis times j to be 1;
s7, the jth time of the signal analysis device receives the vibration sensor signal and the trolley position sensor signal;
s8, according to the corresponding relation between the trolley position sensor signal and the trolley track fastener position, the signal analysis device divides the j-th received vibration sensor signal into n sections according to the initial vibration signal dividing position, namely
S9, the signal analysis device calculates the power spectral density of each segment vibration signal received for the jth time as follows
S10, the signal analysis device calculates the j-th received segmented vibration signals in [ f ] i,s ,f i,e ]Ratio of power to total power in frequency band
S11, the signal analysis device judges the power ratio in the frequency band of receiving each sectional vibration signal for the j th timeRelative to->If the large change occurs, the set of the segment serial numbers which are recorded to be large is I, and the trolley track fastener at the trolley track position corresponding to the serial number in the segment serial number set I is diagnosed to be loose; if not, the signal analysis device reassigns j=j+1 to the analysis diagnosis number j, and returns to the step S7.
2. The device for detecting loosening of rail fasteners of port crane trolley according to claim 1, wherein: the trolley wheel is also provided with a trolley wheel shaft support, the vibration sensor is arranged on the trolley wheel shaft support, and the vibration sensor is aligned with the center line of the trolley wheel shaft in the vertical direction.
3. The device for detecting loosening of rail fasteners of port crane trolley according to claim 1, wherein: the car position sensor is a coding sensor, a magnetic induction sensor or an optical sensor.
4. The device for detecting loosening of rail fasteners of port crane trolley according to claim 1, wherein: the signal analysis device is arranged on the port machine trolley or at other positions outside the port machine trolley.
5. A detection method for loosening of a rail fastener of a port crane trolley is characterized by comprising the following steps of: the method comprises the following steps:
s1, under the condition that all trolley track fasteners are normal, a signal analysis device initially receives a vibration sensor signal and a trolley position sensor signal;
s2, according to the corresponding relation between the trolley position signal and the trolley track fastener position, the signal analysis device divides the initially received vibration sensor signal into n sections, namely
S3, calculating and obtaining the power spectral density of each segment vibration signal received initially by the signal analysis device as follows
S4, the signal analysis device analyzes the power spectral density of each segment vibration signal and determines the frequency band limit f at which the power distribution of each segment vibration signal is relatively concentrated i,k (i＝1,2,…,n；k＝1,2,…,m i )；
S5, the signal analysis device calculates that each segment vibration signal received initially is in [ f ] i,s ,f i,e ]Ratio of power to total power in frequency band
S6, the signal analysis device assigns the analysis diagnosis times j to be 1;
s7, the jth time of the signal analysis device receives the vibration sensor signal and the trolley position sensor signal;
s8, according to the corresponding relation between the trolley position sensor signal and the trolley track fastener position, the signal analysis device divides the j-th received vibration sensor signal into n sections according to the initial vibration signal dividing position, namely
S9, the signal analysis device calculates the power spectral density of each segment vibration signal received for the jth time as follows
S10, the signal analysis device calculates the j-th received segmented vibration signals in [ f ] i,s ,f i,e ]Ratio of power to total power in frequency band
S11, the signal analysis device judges the power ratio in the frequency band of receiving each sectional vibration signal for the j th timeRelative to->If the large change occurs, the set of the segment serial numbers which are recorded to be large is I, and the trolley track fastener at the trolley track position corresponding to the serial number in the segment serial number set I is diagnosed to be loose; if not, the signal analysis device reassigns j=j+1 to the analysis diagnosis number j, and returns to the step S7.
6. The method for detecting loosening of rail fasteners of port crane trolley as claimed in claim 5, wherein the method comprises the following steps: in the step S5, the signal analysis means calculates the number of the segment vibration signals received initially in [ f ] i,s ,f i,e ]The power ratio in the frequency band is calculated by the following formula:
in the formula, s, e epsilon {1,2, …, m i ；s<e is the frequency band limit sequence number of the power spectrum density of the ith vibration signal, delta f i For the minimum frequency interval of the power spectral density of the i-th segment of the vibration signal,for initially receiving the power spectral density value at frequency l, f of the i-th segment of the vibration signal i,max Is the frequency maximum of the power spectral density of the i-th segment vibration signal.
7. The method for detecting loosening of rail fasteners of port crane trolley as claimed in claim 5, wherein the method comprises the following steps: in the step S10, the signal analysis means calculates the j-th received segment vibration signals in [ f ] i,s ,f i,e ]The power ratio in the frequency band is calculated by the following formula:
in the formula, s, e epsilon {1,2, …, m i ；s<e is the frequency band limit sequence number of the power spectrum density of the ith vibration signal, delta f i For the minimum frequency interval of the power spectral density of the i-th segment of the vibration signal,for the j-th reception of the power spectral density value at frequency l, f of the i-th vibration signal i,max Is the frequency maximum of the power spectral density of the i-th segment vibration signal.
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| CN110422201A (en) * | 2019-08-25 | 2019-11-08 | 华东交通大学 | A kind of rail clip failure real-time monitoring device |
| CN113911912B (en) * | 2021-12-13 | 2022-04-29 | 太原矿机电气科技有限公司 | Intelligent driving comprehensive safety protection method and device for monorail crane |
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| JPH0518436A (en) * | 1991-07-09 | 1993-01-26 | Mitsubishi Heavy Ind Ltd | Vibration isolating device using crane |
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