CN114802510A - Wind turbine generator set outer surface detection device and working method thereof - Google Patents
Wind turbine generator set outer surface detection device and working method thereof Download PDFInfo
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- CN114802510A CN114802510A CN202210324956.1A CN202210324956A CN114802510A CN 114802510 A CN114802510 A CN 114802510A CN 202210324956 A CN202210324956 A CN 202210324956A CN 114802510 A CN114802510 A CN 114802510A
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- 238000001179 sorption measurement Methods 0.000 claims abstract description 146
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- 238000009434 installation Methods 0.000 claims description 21
- 238000006243 chemical reaction Methods 0.000 claims description 17
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D17/00—Monitoring or testing of wind motors, e.g. diagnostics
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The application provides a wind turbine generator system surface detection device and working method thereof, including bearing the piece, one side of bearing the piece sets up a plurality of adsorption equipment, so that bear the piece and meet with wind turbine generator system's surface, and follow wind turbine generator system's surface motion, one of them adsorption equipment with be connected through universal converting part between the piece, other adsorption equipment with be connected through the elastic component between the piece of bearing, adsorption equipment includes link, adsorption component and a plurality of installed part, and is a plurality of the installed part install in the inside of link, all install on the installed part adsorption component, adsorption component passes the link solves wind turbine generator system's detection device when detecting and maintaining other subassemblies of wind turbine generator system, and detection device can't move in a flexible way, and then leads to detection device's adsorption capacity, and, Poor bearing capacity, motion stability and obstacle crossing capability.
Description
Technical Field
The application belongs to the technical field of operation and maintenance of wind turbine generators, and particularly relates to a wind turbine generator outer surface detection device and a working method thereof.
Background
At present, the installed capacity of wind turbines in China is increased year by year, the number of the on-service wind turbines in China is increased year by year, a part of the wind turbines starts to enter the second half of the life cycle or the end sound, the states of the wind turbines are degraded day by day, a large number of regular detection and maintenance are needed, and huge economic pressure and working pressure are caused to a wind power plant.
The detection and maintenance of the wind turbine mainly comprise: frequent maintenance, special maintenance and regular maintenance. Frequent maintenance is typically performed with the rounds of inspection, including inspection, cleaning, adjustment, oil injection, and removal of temporary faults. The special maintenance is carried out under the condition that a great potential safety hazard exists in the unit or main components are damaged. Such maintenance techniques are complex, work intensive, long-lived, consume large amounts of equipment, are expensive, or require significant adjustments to system equipment. The regular maintenance is also called regular maintenance, and different periods have different maintenance contents. The regular maintenance work must strictly execute the equipment maintenance standard, and the accurate and timely equipment maintenance is favorable for maintaining and improving the reliability of the equipment, reducing the failure rate of the equipment and prolonging the service life of the equipment. The motor set comprises components such as a tower barrel, a cabin and an impeller, the appearance, the material, the dimension and the like of the outer surfaces of different components are different, and the environment for maintenance and detection is relatively complex.
At present, a detection device of a wind turbine generator is only suitable for the outer surface of a tower barrel and can only move up and down along the outer surface of the tower barrel, and when other components of the wind turbine generator are detected and maintained, the detection device cannot move flexibly, so that the adsorption capacity, the bearing capacity, the motion stability and the obstacle crossing capacity of the detection device are poor.
Disclosure of Invention
Therefore, the technical problem to be solved by the application is to provide a wind turbine outer surface detection device and a working method thereof, and the problem that the detection device of the wind turbine cannot move flexibly when detecting and maintaining other components of the wind turbine, so that the adsorption capacity, the bearing capacity, the motion stability and the obstacle crossing capacity of the detection device are poor can be solved.
In order to solve the problem, the application provides a wind turbine generator system surface detection device, including bearing the carrier, one side that bears the carrier sets up a plurality of adsorption equipment to the messenger holds the surface that the carrier meets with wind turbine generator system, and follows wind turbine generator system's surface motion, one of them adsorption equipment with hold and be connected through universal converting part between the carrier, other adsorption equipment with hold and be connected through the elastic component between the carrier.
Optionally, the adsorption device includes a connecting frame, an adsorption piece and a plurality of installation pieces, the installation pieces are installed inside the connecting frame, the adsorption piece is installed on each installation piece, and the adsorption piece penetrates through the connecting frame so that the adsorption piece is connected with the outer surface of the wind turbine generator;
the connecting frame is connected with the universal conversion piece and the elastic piece;
install pressure sensor on the installed part, pressure sensor signal connection negative pressure motor, negative pressure motor intercommunication adsorbs the piece, and negative pressure motor is used for controlling the adsorption affinity who adsorbs the piece.
Optionally, the adsorption device further comprises a lifting structure, the lifting structure is arranged inside the connecting frame, a plurality of driving wheels are arranged on the lifting structure, the driving wheels are arranged in parallel with the adsorption part and penetrate through the connecting frame, and driving control devices are arranged on the driving wheels so that the driving wheels are in contact with the outer surface of the wind turbine generator and move on the outer surface of the wind turbine generator and are in signal connection with the control unit.
Optionally, the driving wheel includes a plurality of first driving wheels, a plurality of second driving wheels and a plurality of third driving wheels, the first driving wheel is located in the middle of the connecting frame, the second driving wheel and the third driving wheel are located at the circumferential edge of the connecting frame, and the second driving wheel and the third driving wheel are located at two sides of the first driving wheel.
Optionally, the lifting structure comprises a power part, a screw rod and a lifting part, one end of the power part is connected with the connecting frame, the other end of the power part is connected with the screw rod, one end, far away from the power part, of the screw rod is connected with the lifting part, a limiting part is arranged between the lifting part and the screw rod so that the lifting part can move linearly, the lifting part is connected with the driving wheel, and the power part is in signal connection with the control unit.
Optionally, a tension sensor is installed on the installation part, a position sensor is installed on the connecting frame, the tension sensor and the position sensor are in signal connection with each other through a control unit, the tension sensor is used for collecting the adsorption force of the adsorption part, and the position sensor is used for collecting the movement position of the driving wheel.
Optionally, a plurality of the adsorption devices are connected through a flexible member.
Another aspect of the present application provides a working method of a wind turbine generator external surface detection device, for using the wind turbine generator external surface detection device described above, the working method includes:
the adsorption device comprises a connecting frame, an adsorption piece, an installation piece and a lifting structure, wherein the lifting structure is provided with a driving wheel, the adsorption piece is communicated with a negative pressure motor, the installation piece is provided with a pressure sensor, and the connecting frame is provided with a position sensor;
s1: adsorbing the adsorption piece and a preset detection position on the outer surface of the wind turbine generator;
s2: the distance between the driving wheel and the bottom of the connecting frame is adjusted through the lifting structure, the driving wheel runs on the outer surface of the wind turbine generator, and meanwhile position information of the driving wheel is obtained through the position sensor;
s3: acquiring a pressure value of the adsorption piece based on the pressure sensor to obtain an actual adsorption force of the adsorption piece, and adjusting the actual adsorption force through a negative pressure motor;
s4: the bearing piece moves on the outer surface of the wind turbine generator set by controlling the movement speed and the movement direction of the driving wheel.
Optionally, the driving wheels include a first driving wheel, a second driving wheel and a third driving wheel;
when the bearing piece moves along the horizontal circumferential direction of the outer surface of the wind turbine generator:
s2 includes: the driving wheel is driven to move close to the outer surface direction of the wind turbine generator through the lifting structure, and the position information of the driving wheel is obtained through the position sensor;
s4 includes: the driving wheel is controlled to move along the horizontal circumferential direction of the outer surface of the wind turbine generator by controlling the same movement speed of the driving wheel;
when the bearing piece moves along the direction of the outer surface vertical horizontal plane of the wind turbine generator:
s2 includes: the driving wheel is driven by the lifting structure to move away from the outer surface direction of the wind turbine generator, and the position information of the driving wheel is obtained through the position sensor;
s4 includes: the driving wheel is controlled to move along the direction of the outer surface of the wind turbine generator vertical to the horizontal plane by controlling the same movement speed of the driving wheel;
when the bearing piece rotates along the outer surface of the wind turbine generator:
s2 includes: the lifting structure drives the driving wheel to move away from the outer surface direction of the wind turbine generator, and the position sensor acquires the position information of the driving wheel;
s4 includes: when the movement speed of the first driving wheel is kept unchanged, wherein the movement speed of the second driving wheel is higher than that of the first driving wheel, and the movement speed of the third driving wheel is lower than that of the first driving wheel, the bearing piece moves clockwise along the outer surface of the wind turbine generator;
when the movement speed of the first driving wheel is kept unchanged, the movement speed of the second driving wheel is lower than that of the first driving wheel, and the movement speed of the third driving wheel is higher than that of the first driving wheel, the bearing piece moves along the outer surface of the wind turbine generator in a counterclockwise mode.
Advantageous effects
According to the outer surface detection device for the wind turbine generator and the working method thereof, provided by the embodiment of the invention, the device is adsorbed on the outer surface of the wind turbine generator through the adsorption piece, the adsorption devices are arranged in a modularized and dispersed manner, the deformation of the adsorption devices is reasonably adapted through the rigid and flexible connection between the bearing piece and the adsorption devices, each adsorption device moves independently without coupling movement, the bearing piece is completely attached to the outer surface of the wind turbine generator, the number of modules is increased or decreased to adapt to various sizes, and the efficient and rapid maintenance and detection of the tower drum are realized. The adsorption capacity, the bearing capacity and the flexible movement capacity of the device are improved. The device mainly completes tightening and fitting work, and then moves along the outer surface horizontal circumferential direction of the wind turbine generator in the maintenance process, and the whole device is upwards pulled by moving along the outer surface vertical horizontal plane direction of the wind turbine generator to reach a specified monitoring height, and is tightened up in real time through the feedback of a tension sensor.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present application;
FIG. 2 is a schematic cross-sectional view of an embodiment of the present application;
fig. 3 is a schematic workflow diagram according to an embodiment of the present application.
The reference numerals are represented as:
1. a carrier; 2. a universal conversion member; 3. an elastic member; 4. a connecting frame; 5. an adsorbing member; 6. a mounting member; 7. a lifting structure; 8. a drive wheel; 80. a first drive wheel; 81. a second drive wheel; 82. a third drive wheel; 9. a flexible member.
Detailed Description
In the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral connections; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Referring to fig. 1, according to the embodiment of the application, a wind turbine generator external surface detection device includes a bearing part 1, and one side of the bearing part 1 is provided with a plurality of adsorption devices, so that the bearing part 1 is connected with the external surface of the wind turbine generator and moves along the external surface of the wind turbine generator, one of the adsorption devices is connected with the bearing part 1 through a universal conversion part 2, and the other adsorption devices are connected with the bearing part 1 through an elastic part 3. The universal conversion part 2 is used for connecting the outer surfaces of the bearing part 1 and the wind turbine generator, the bearing part 1 is realized under the action of the adsorption device, multi-angle movement is realized, meanwhile, under the action of the elastic part 3, the bearing part 1 and the adsorption device are flexibly connected, the adsorption device can have deformation capacity with the bearing part 1, a plurality of adsorption devices are connected with the outer surface of the wind turbine generator and can move on the outer surface of the wind turbine generator, movement stability is realized, the bearing part 1 is modularly connected with the outer surface of the wind turbine generator through the scattered arrangement of the adsorption devices, the bearing part 1 is connected with the outer surface of the wind turbine generator through the rigid universal conversion part 2 and the flexible elastic part 3, the detection device is suitable for different detection environments, the detection device can flexibly move on the outer surfaces of different detection environments, and the adsorption capacity of the detection device is improved, Bearing capacity, motion stability and obstacle crossing ability, extensive applicability.
Further, the bearing part 1 is a bearing platform or an installation platform, and the application does not limit the bearing part 1 further, so that the bearing part 1 can be ensured to have the functions of installation and support. The bearing part 1 is used for mounting a negative pressure motor, a circuit board, a power supply and distribution device and elements for supplying and distributing air, and the bearing part 1 plays a role in supporting and fixing.
Further, hold carrier 1 and be the upper strata, a plurality of adsorption equipment are the lower floor, are connected through universal conversion part 2 between upper strata and the lower floor, are connected through elastic component 3 between upper strata and the lower floor simultaneously. Rigidity and flexible bonding between upper strata and the lower floor are connected, have good laminating ability to big-and-middle-sized fan tower section of thick bamboo curved surface to reasonable adaptation lower floor adsorption equipment's deformation, bear the cooperation of carrier 1 and lower extreme modular adsorption equipment, all can the portable device accomplish detection and maintenance work to the wind turbine generator system surface.
Further, the lower side of the bearing part 1 is provided with a plurality of adsorption devices, the number of the adsorption devices is 9, the adsorption devices are distributed in a 3 x 3 mode, the number of the adsorption devices can be increased or decreased at will, selection is carried out according to actual use, and good laminating capacity can be ensured. The adsorption device is modularized and independent and does not move in a coupling mode, so that the whole detection device is stable in movement, high in bearing capacity and convenient to maintain. Wherein, a certain distance is reserved between the bearing part 1 and the 9 adsorption devices for installing the universal conversion part 2 and the elastic part 3. The adsorption device is connected with the outer surface of the wind turbine generator in an adsorption mode, and can move on the outer surface of the wind turbine generator, so that the outer surface of the wind turbine generator can be detected and maintained by an unmanned system.
Further, a universal conversion part 2 is mounted on the adsorption device located at the center of the bearing part 1, wherein the universal conversion part 2 is a universal joint, and the specific bearing capacity and the supporting capacity are selected according to the actual use environment, which is not further limited in the present application. Wherein universal conversion 2 has 3 degrees of freedom, not only plays the effect of supporting carrier 1, and according to the amount of exercise of universal conversion 2 in the direction of degree of freedom, the relative position relation between upper strata and the lower floor can be obtained simultaneously, and then obtains the deflection, and then can improve the stability of device motion.
Further, the elastic member 3 is a connected spring, and the specific elastic force and the supporting force are not further limited in the present application and are selected according to the actual use environment. Wherein, the elastic component 3 will bear the weight of 1 and be connected with remaining 8 adsorption equipment, not only play the effect of support, simultaneously under adsorption equipment's effect, can bear on the surface of the motion of bearing the weight of 1 in different environment.
Furthermore, the universal conversion part 2 in the center plays a supporting role, the elastic part 3 on the periphery has deformability, good applicability between an upper layer and a lower layer is guaranteed, the adsorption device can be suitable for various severe environments which are not suitable for human operation, such as vertical wall surface operation, inclined wall surface operation or curved surface wall surface operation, and the bearing part 1 runs stably under the action of the adsorption device.
The adsorption device comprises a connecting frame 4, an adsorption piece 5 and a plurality of installation pieces 6, the installation pieces 6 are installed inside the connecting frame 4, the adsorption piece 5 is installed on each installation piece 6, and the adsorption piece 5 penetrates through the connecting frame 4 so that the adsorption piece 5 is connected with the outer surface of the wind turbine generator; as shown in fig. 2.
The connecting frame 4 is connected with the universal conversion piece 2 and the elastic piece 3;
install pressure sensor on the installed part 6, pressure sensor signal connection negative pressure motor, negative pressure motor intercommunication adsorption element 5, negative pressure motor is used for controlling the adsorption affinity of adsorption element 5. Through adsorbing 5 and wind turbine generator system surface through adsorption affinity interconnect, will hold carrier 1 and wind turbine generator system surface interconnect, not only guarantee to hold carrier 1 and have stable fixed power in the environment of use, measure the size of adsorption affinity through pressure sensor simultaneously, adjust the adsorption affinity in real time according to negative pressure motor, ensure that adsorb 5 stable absorption at wind turbine generator system surface.
Furthermore, the connecting frame 4 is a rigid connecting framework and plays a role in supporting and fixing.
Further, the mounting member 6 is a mounting plate for mounting the suction member 5 and the pressure sensor. Wherein the number of the mounting members 6 is consistent with the number of the suction members 5.
Further, the adsorption piece 5 is a vacuum negative pressure sucker and is connected with the outer surface of the wind turbine generator through negative pressure, namely adsorption force.
Further, adsorb upside and the installed part 6 fixed connection of piece 5, the downside of adsorbing 5 adsorbs the mouth promptly and faces the wind turbine generator system surface to pass link 4 and meet with the wind turbine generator system surface. Wherein, adsorb piece 5 and negative pressure motor and be linked together through gas circuit distributor and trachea to signal connection manometer on adsorbing piece 5 for real-time measurement adsorbs the pressure of piece 5.
Furthermore, the adsorption port on the lower side of the adsorption piece 5 is a certain distance away from the outer surface of the wind turbine generator, the real negative pressure of the sucker is measured through a pressure gauge, and then the real-time negative pressure feedback of the negative pressure of the sucker is obtained through the relation between the negative pressure of the pressure sensor and the voltage, so that the negative pressure of the sucker can be actually adjusted by adjusting the negative pressure of the negative pressure motor, wherein the negative pressure is adsorption force.
Further, the adsorption piece 5 is adsorbed on the outer surface of the wind turbine generator, so that the distance between equipment carried by the detection device and the outer surface of the wind turbine generator can be shortened on the one hand, the engineering requirements of approaching maintenance and detection on the outer surface of the wind turbine generator are met, on the other hand, the gravity center and the fulcrum height of the detection device can be reduced to the maximum extent, and the influence of the overturning moment on the stability of the detection motion is reduced.
Further, the connecting frame 4 is connected with the universal conversion part 2 and the elastic part 3 by welding or riveting, and the specific connection mode is not further limited in the application and is selected according to actual installation and use.
Adsorption equipment is still including promoting structure 7, promotes structure 7 and sets up the inside at link 4, is provided with a plurality of drive wheels 8 on promoting structure 7, drive wheel 8 and 5 parallel arrangement of absorption piece, and drive wheel 8 passes link 4, all is equipped with drive control device on the drive wheel 8 to make the surface contact of drive wheel 8 and wind turbine generator system, and at the surface motion of wind turbine generator system, drive control device and the control unit signal connection. Drive 8 linear motion of drive wheel through promoting structure 7, and then realize the surface contact of drive wheel 8 with wind turbine generator system, under drive control device's effect, drive wheel 8 is at the motion of wind turbine generator system surface, improves the stability of motion.
Furthermore, the lifting structure 7 is connected with the connecting frame 4 through welding, so that a stable supporting effect is achieved.
Further, promote structure 7 and install a plurality of drive wheels 8 towards the surface direction of wind turbine generator system, the quantity of concrete drive wheel 8 is not further limited in this application, selects according to the environment of in-service use. Wherein the driving wheel 8 is the same as the adsorption piece 5, penetrates through the connecting frame 4 and contacts with the outer surface of the wind turbine generator, and then the driving wheel 8 moves on the outer surface of the wind turbine generator.
Furthermore, the drive control device adopts a BOARD coding mode through the raspberry group, and controls the TB6612 drive chip to further adjust the direct-current speed reduction motor to drive and control the drive wheel 8 to move through the communication of the IIC and the STM8 single chip microcomputer. And each driving wheel 8 is provided with a driving control device, and each driving control device is independent, so that the movement speed and the running direction of the driving wheels 8 at different positions can be controlled conveniently. The control unit can calculate the related speed and acceleration of the driving wheel 8 in real time, and feeds the speed and acceleration back to a control system in the control unit and transmits the speed and acceleration to the upper computer, so that the movement speed and acceleration of the driving wheel 8 are implemented within a reasonable range, and impact can be effectively avoided. The control unit calculates the relative position relationship between the center of mass of the bearing piece 1 and the lower-layer adsorption device according to the movement amount of each module in all the freedom directions, so as to calculate the deviation amount of the center of mass of the bearing piece 1 relative to the balance position. The control system takes the deviation as feedback to correct the motion amount of the driving wheel 8 in all the freedom directions in real time, so that the device realizes the dynamic control of motion stability.
Further, realize the integral type wheel through promotion structure 7 and drive wheel 8, realize that drive wheel 8 stretches out the link 4 outside and withdraws the motion in the link 4, good support nature is ensured to link 4, promote structure 7 and drive wheel 8 and realize that the integral type wheel improves the driving force, improve the functioning speed, and through the stretching out and withdrawing of modular promotion structure 7, can change rapidly and hold carrier 1 along the horizontal circumferential direction motion of the surface of wind turbine generator system, along the perpendicular horizontal plane direction motion of the surface of wind turbine generator system and along the surface rotary motion's of wind turbine generator system operational mode.
Furthermore, the control unit realizes that the upper computer is connected with the controller through the local area network by the Jupyter lab control end and the PCHMI interface, and further controls the lifting structure 7, the negative pressure motor, the driving control device, the pressure sensor, the tension sensor and the position sensor. The controller connecting module automatically receives data of the pressure sensor, the tension sensor and the position sensor, stores the data in the database, uploads the data to the cloud server, and then reasonably controls the complex surface adaptive type omnidirectional motion rigid-flexible combination detection device for maintaining the outer surface of the wind turbine generator.
The driving wheel 8 includes a plurality of first driving wheels 80, a plurality of second driving wheels 81 and a plurality of third driving wheels 82, the first driving wheels 80 are located at the middle of the link frame 4, the second driving wheels 81 and the third driving wheels 82 are located at the circumferential edge of the link frame 4, and the second driving wheels 81 and the third driving wheels 82 are located at both sides of the first driving wheels 80. Be located link 4 middle part through first drive wheel 80, and second drive wheel 81 and third drive wheel 82 are located the both sides of first drive wheel 80, not only can firmly drive and hold carrier 1 at the motion of wind turbine generator system surface, conveniently change the functioning speed of the second drive wheel 81 and the third drive wheel 82 of edge simultaneously, conveniently change the traffic direction that holds carrier 1.
Furthermore, the elastic member 3 is connected between the bearing member 1 and the connecting frame 4, which is not only convenient for different outer surfaces, but also has good adaptability for improving the deformation of the lower layer under the action of the elastic member 3 by changing the running speeds of the second driving wheel 81 and the third driving wheel 82 at the edge.
Further, link 4 of lower floor is the array of modularization, and all have power on every drive wheel 8, under the effect of absorption piece 5, the functioning speed of the drive wheel 8 on the different positions of reasonable control, acquire the speed difference between the drive wheel 8 on the different positions, and then control turning to of drive wheel 8, realize that carrier 1 holds the operation of piece 1 at wind turbine generator system surface multi-angle, improve detection device's nimble operation, improve the motion performance, and have stronger obstacle crossing ability and wall transition ability.
Further, when the movement speed of the first driving wheel 80 is kept unchanged, wherein the movement speed of the second driving wheel 81 is higher than that of the first driving wheel 80, and the movement speed of the third driving wheel 82 is lower than that of the first driving wheel 80, the carrier 1 moves clockwise along the outer surface of the wind turbine generator;
when the carrier 1 moves along the outer surface of the wind turbine generator counterclockwise by keeping the moving speed of the first driving wheel 80 constant, wherein the moving speed of the second driving wheel 81 is lower than the moving speed of the first driving wheel 80, and the moving speed of the third driving wheel 82 is higher than the moving speed of the first driving wheel 80.
Promote structure 7 and include power spare, lead screw and promotion piece, the one end of power spare is connected with link 4, and the other end of power spare is connected with the lead screw, and the one end that the power spare was kept away from to the lead screw is connected with the promotion piece, sets up the locating part between promotion piece and the lead screw to make promotion piece linear motion, promote the piece and be connected with drive wheel 8, power spare and the control unit signal connection. The power part in the lifting structure 7 drives the screw rod to rotate, and under the action of the limiting part, the lifting part is driven to move linearly, so that the driving wheel 8 is driven to move linearly, and the movement stability of the driving wheel 8 is improved.
Furthermore, the power part is a small motor, the small motor is connected with the connecting frame 4 in a welding mode, and the connection fixation is enhanced.
Furthermore, the locating part is a guide rail, wherein the lifting part is in threaded connection with the screw rod, the screw rod rotates, the lifting part moves, the lifting part is located in the guide rail, and under the action of the guide rail, the lifting part can only move up and down linearly.
Further, an upper stop and a lower stop are fixed to the connecting frame 4, wherein the upper stop is located on the upper side of the lifting member, the lower stop is located on the lower side of the lifting member, and a certain distance is provided between the upper stop and the lower stop, wherein the distance is enough to ensure the lifting member to move up and down. The upper stop block and the lower stop block are used for avoiding derailing movement of the lifting piece and improving safety.
Install force sensor on the installed part 6, install position sensor on the link 4, force sensor and force sensor equal the control unit signal connection, force sensor is used for gathering the adsorption affinity of adsorbing 5, and position sensor is used for gathering the motion position of drive wheel 8. Data transmission that acquires through force sensor and position sensor gives the control unit, and then improves adsorption equipment's operating position and operating speed's precision, improves the stability of operation.
Further, when bearing piece 1 moves along the horizontal circumference direction of the outer surface of wind turbine generator system, change the direction of operation, change into the motion along the vertical horizontal plane direction of the outer surface of wind turbine generator system, reach appointed monitoring height at adsorption piece 5 and drive wheel 8, during horizontal circumference adjustment in this process, can tighten up adsorption piece 5 in real time according to tension sensor's feedback data, treat to appointed position after, detect once more and pass to the host computer. In the operation process, the detection device is provided with an instant control unit for controlling so as to realize the visualization and the controllability of the flaw detection process.
Further, the vertical horizontal plane operation of the bearing part 1 adjusts the relative position of the bearing part 1 on the outer surface of the wind turbine generator in the horizontal circumferential direction in real time according to the feedback of the tension sensor, and the working requirements that all detection modules are at the same horizontal height are met. And the stability of the outer surface of the wind turbine generator in the horizontal circumferential direction is mainly adjusted by the relative position between the modules through the universal conversion part 2 and the position adjustment compensation of the circumferential motion system. And the synchronism and stability among the modules are ensured through double guarantee.
Furthermore, the position sensor can monitor the position of the driving wheel 8 of the bearing part 1 in horizontal circumferential operation in real time, determine the distance from the outer surface of the wind turbine generator if the position sensor reaches a specified position, record the position information of operation, and drive the driving wheel 8 to extend or contract through the lifting structure 7.
The plurality of adsorption devices are connected through a flexible piece 9. The flexible parts 9 are connected to play a role in traction and have certain flexibility at the same time, so that the position clearance compensation in the steering process of each module is realized.
Furthermore, the flexible part 9 is an air bag, wherein a small amount of air is filled in the air bag, so that the air bag plays a role in traction, drives the adsorption devices to move mutually, has certain flexibility, realizes position gap compensation in the steering process of each module, ensures stable operation, improves operation stability and has stronger obstacle crossing capability.
This application adsorbs the device at the wind turbine generator system surface through adsorbing 5, a plurality of adsorption equipment modularization dispersion are arranged, through holding rigidity and the flexible connection between carrier 1 and the adsorption equipment, the reasonable deformation that has adapted to adsorption equipment, and each adsorption equipment independent motion, no coupling motion, make and hold carrier 1 attached in wind turbine generator system's surface completely, in order to adapt to various sizes through increase and decrease module quantity, realize high-efficient, quick maintenance detection to a tower section of thick bamboo. The adsorption capacity, the bearing capacity and the flexible movement capacity of the device are improved. The device mainly finishes tightening and fitting work by moving along the horizontal circumferential direction of the outer surface of the wind turbine generator in the maintenance process, upwards pulls the whole device by moving along the vertical horizontal plane direction of the outer surface of the wind turbine generator to reach a specified monitoring height, and tightens up in real time through the feedback of the tension sensor.
Another aspect of the present application provides a working method of a wind turbine generator external surface detection device, for using the wind turbine generator external surface detection device, the working method includes:
the adsorption device comprises a connecting frame 4, an adsorption piece 5, an installation piece 6 and a lifting structure 7, wherein a driving wheel 8 is installed on the lifting structure 7, the adsorption piece 5 is communicated with a negative pressure motor, a pressure sensor is installed on the installation piece 6, and a position sensor is installed on the connecting frame 4;
the method is shown in figure 3:
s1: adsorbing the adsorption piece 5 and a preset detection position on the outer surface of the wind turbine generator;
s2: the distance between the driving wheel 8 and the bottom of the connecting frame 4 is adjusted through the lifting structure 7, the driving wheel 8 runs on the outer surface of the wind turbine generator, and meanwhile, the position information of the driving wheel 8 is obtained through a position sensor;
s3: acquiring a pressure value of the adsorption piece 5 based on the pressure sensor to obtain an actual adsorption force of the adsorption piece 5, and adjusting the actual adsorption force through a negative pressure motor;
s4: the bearing piece 1 moves on the outer surface of the wind turbine generator by controlling the movement speed and the movement direction of the driving wheel 8.
Firstly, an engineer is required to install the detection device at a preset position to be detected on the outer surface of the wind turbine generator. The installation requirement is as follows: and the relative position precision of each mechanical device is ensured. And debugging is carried out to detect whether each part works normally and whether the working state and the information transmission of the sensor are smooth. After the installation and debugging are finished, normal maintenance and detection work can be carried out.
Furthermore, the adsorption part 5 is adsorbed at a preset detection position, the negative pressure of the adsorption part 5 is controlled to achieve the purpose of overall adsorption according to the movement position of the driving wheel 8, and the overall device can move in the horizontal circumferential direction and the vertical horizontal plane direction of the outer surface of the wind turbine generator when the driving wheel 8 operates at a constant speed. The speed difference of the driving wheels 8 at different positions is obtained by reasonably adjusting the running speed of the driving wheels 8, and then the driving wheels 8 are controlled to realize steering. The device during operation laminating nature is good, the adsorptivity is strong, and the motion flexibility is strong, is applicable to different service environment surfaces, has stronger obstacle-surmounting ability. Wherein, lifting structure 7, drive wheel 8, negative pressure motor, pressure sensor and position sensor all with the control unit signal connection, ensure that the information of feedback is accurate.
The drive wheels 8 include a first drive wheel 80, a second drive wheel 81, and a third drive wheel 82;
when the carrier 1 moves along the outer surface of the wind turbine in the horizontal circumferential direction:
s2 includes: the driving wheel 8 is driven to move close to the outer surface direction of the wind turbine generator through the lifting structure 7, and the position information of the driving wheel 8 is obtained through a position sensor; drive wheel 8 through promoting structure 7 and go beyond the certain distance in link 4 bottoms to real-time supervision positional information ensures that when horizontal circumferential motion, drive wheel 8 can be in real time with the contact of wind turbine generator system surface, improves the stability and the good laminating nature of operation.
S4 includes: the driving wheel 8 is controlled to move along the horizontal circumferential direction of the outer surface of the wind turbine generator by controlling the same movement speed of the driving wheel 8; under the condition that each driving wheel 8 is in a constant speed, the driving wheels 8 only move in one direction, and the running stability and the adsorption capacity are improved. I.e. the specific speed is selected according to the actual use, and the application is not further limited.
When the carrier 1 moves along the vertical horizontal plane of the outer surface of the wind turbine:
s2 includes: the driving wheel 8 is driven by the lifting structure 7 to move away from the outer surface direction of the wind turbine generator, and the position information of the driving wheel 8 is obtained through a position sensor; drive wheel 8 through promoting structure 7 and withdraw link 4 bottom certain distance to real-time supervision position information ensures when the motion of perpendicular horizontal plane direction, and drive wheel 8 can be in real time with wind turbine generator system surface contact, improves the stability and the good laminating nature of operation.
S4 includes: the driving wheel 8 is controlled to move along the direction of the outer surface of the wind turbine generator vertical to the horizontal plane by controlling the same movement speed of the driving wheel 8; under the condition that each driving wheel 8 is in a constant speed, the driving wheels 8 only move in one direction, and the running stability and the adsorption capacity are improved. I.e. the specific speed is selected according to the actual use, and the application is not further limited
When the carrier 1 moves in rotation along the outer surface of the wind turbine: based on the movement state along the direction of the outer surface of the wind turbine generator vertical to the horizontal plane,
s2 includes: the driving wheel 8 is driven by the lifting structure 7 to move away from the outer surface direction of the wind turbine generator, and the position information of the driving wheel 8 is obtained through a position sensor; drive wheel 8 through promoting structure 7 and withdraw link 4 bottom certain distance to real-time supervision position information ensures when the motion of perpendicular horizontal plane direction, and drive wheel 8 can be in real time with wind turbine generator system surface contact, improves the stability and the good laminating nature of operation.
S4 includes: when the movement speed of the first driving wheel 80 is kept unchanged, wherein the movement speed of the second driving wheel 81 is higher than that of the first driving wheel 80, and the movement speed of the third driving wheel 82 is lower than that of the first driving wheel 80, the bearing member 1 moves clockwise along the outer surface of the wind turbine generator; wherein, first drive wheel 80 is located the link 4 middle part, and the functioning speed of the first drive wheel 80 in middle part maintains unchangeably, and second drive wheel 81 is located the left side of first drive wheel 80, increases the functioning speed of left second drive wheel 81 promptly and reaches reasonable constant value, and third drive wheel 82 is located the right side of first drive wheel 80, reduces the functioning speed of third drive wheel 82 promptly and reaches reasonable constant value, and certain angle is rotated clockwise to carrier 1, and then realizes the operation of multi-angle. The obstacle crossing capability and the flexible steering capability of the device are improved.
When the movement speed of the first driving wheel 80 is kept unchanged, wherein the movement speed of the second driving wheel 81 is lower than that of the first driving wheel 80, and the movement speed of the third driving wheel 82 is higher than that of the first driving wheel 80, the bearing member 1 moves along the outer surface of the wind turbine generator counterclockwise; wherein, first drive wheel 80 is located the link 4 middle part, and the functioning speed of the first drive wheel 80 in middle part maintains unchangeably, and second drive wheel 81 is located the left side of first drive wheel 80, reduces the functioning speed of left second drive wheel 81 promptly and reaches reasonable constant value, and third drive wheel 82 is located the right side of first drive wheel 80, increases the functioning speed of third drive wheel 82 promptly and reaches reasonable constant value, and certain angle is rotated to carrier 1 anticlockwise, and then realizes the operation of multi-angle. The obstacle crossing capability and the flexible steering capability of the device are improved.
The first embodiment is as follows:
when the carrier 1 moves along the outer surface of the wind turbine in the horizontal circumferential direction:
adsorb the detection position absorption of predetermineeing of piece 5 and wind turbine generator's surface, drive wheel 8 through promoting structure 7 and cross a certain distance in link 4 bottoms to real-time supervision positional information ensures that when horizontal circumferential direction moves, drive wheel 8 can be in real time with wind turbine generator surface contact, and through position sensor's detection drive wheel 8 positional information. Meanwhile, the negative pressure of the adsorption part 5 is changed, the real negative pressure of the adsorption part 5 is measured through a pressure gauge, then the real-time negative pressure feedback of the negative pressure of the adsorption part 5 is obtained through the relation between the negative pressure of the pressure sensor and the voltage, and information is collected and recorded, so that the adjustment of the negative pressure of the adsorption part 5 can be realized through adjusting the negative pressure of the negative pressure motor. Under the condition of constant speed of each driving wheel 8, the driving wheels 8 move along the horizontal circumferential direction of the outer surface of the wind turbine generator, and meanwhile, the negative pressure motor is adjusted, so that the whole device can be attached to a curved surface in an adsorption mode through the adsorption piece 5, and the running speed can be increased. In the process, the connection parts between the adsorption devices are connected by adopting the flexible parts 9, namely the air bags are connected, and a small amount of air is reasonably filled into the air bags, so that the connection parts have a traction effect and certain flexibility, and the position clearance compensation in the steering process of each module is realized.
Example two:
when the bearing piece 1 moves along the direction of the outer surface vertical horizontal plane of the wind turbine generator:
adsorb the detection position absorption of predetermineeing of piece 5 and wind turbine generator's surface, drive wheel 8 through promoting structure 7 and withdraw link 4 bottom certain distance to real-time supervision positional information ensures that when the motion of perpendicular horizontal plane direction, drive wheel 8 can be in real time with wind turbine generator surface contact, and through position sensor's detection drive wheel 8 positional information. Meanwhile, the negative pressure of the adsorption part 5 is changed, the real negative pressure of the adsorption part 5 is measured through a pressure gauge, then the real-time negative pressure feedback of the negative pressure of the adsorption part 5 is obtained through the relation between the negative pressure of a pressure sensor and the voltage, and information is collected and recorded, so that the negative pressure of the adsorption part 5 can be adjusted by adjusting the negative pressure of a negative pressure motor. Under the condition that each driving wheel 8 is at a constant speed, the driving wheels 8 move along the direction of the outer surface of the wind turbine generator vertical to the horizontal plane, and the negative pressure motor is adjusted at the same time, so that the whole device can be adsorbed and attached to the curved surface through the adsorption piece 5, and the running speed can be higher. In the process, the connection parts between the adsorption devices are connected by adopting the flexible parts 9, namely the air bags are connected, and a small amount of air is reasonably filled into the air bags, so that the connection parts have a traction effect and certain flexibility, and the position clearance compensation in the steering process of each module is realized.
Example three:
when the carrier 1 is moved in rotation along the outer surface of the wind turbine:
under the surface vertical horizontal plane direction motion state along wind turbine generator system, when the velocity of motion through keeping being located the first drive wheel 80 in the middle part of link 4 is unchangeable, the velocity of motion of the left second drive wheel 81 that is located first drive wheel 80 is greater than the velocity of motion of first drive wheel 80, and reach reasonable constant value, the velocity of motion of the third drive wheel 82 that is located the right side of first drive wheel 80 is less than the velocity of motion of first drive wheel 80, and reach reasonable constant value, realize the speed difference promptly, certain angle is rotated clockwise to carrier 1, and then realize the operation of multi-angle. The obstacle crossing capability and the flexible steering capability of the device are improved. Meanwhile, the negative pressure motor is adjusted, so that the whole device can be attached to the curved surface through the adsorption piece 5, and the running speed can be higher. In the process, the connection parts between the adsorption devices are connected by adopting the flexible parts 9, namely the air bags are connected, and a small amount of air is reasonably filled into the air bags, so that the connection parts have a traction effect and certain flexibility, and the position clearance compensation in the steering process of each module is realized.
Under the perpendicular horizontal plane direction motion state of surface along wind turbine generator system, when the velocity of motion through keeping being located the first drive wheel 80 in the middle part of link 4 unchangeable, the velocity of motion of the left second drive wheel 81 that is located first drive wheel 80 is less than the velocity of motion of first drive wheel 80, and reach reasonable constant value, the velocity of motion of the third drive wheel 82 that is located the right side of first drive wheel 80 is greater than the velocity of motion of first drive wheel 80, and reach reasonable constant value, realize the speed difference promptly, certain angle of carrier 1 anticlockwise rotation, and then realize the operation of multi-angle. The obstacle crossing capability and the flexible steering capability of the device are improved. Meanwhile, the negative pressure motor is adjusted, so that the whole device can be attached to the curved surface through the adsorption piece 5, and the running speed can be higher. In the process, the connection parts between the adsorption devices are connected by adopting the flexible parts 9, namely the air bags are connected, and a small amount of air is reasonably filled into the air bags, so that the connection parts have a traction effect and certain flexibility, and the position clearance compensation in the steering process of each module is realized.
It is readily understood by a person skilled in the art that the advantageous ways described above can be freely combined, superimposed without conflict.
The present invention is not intended to be limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed. The foregoing is only a preferred embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present application, and these modifications and variations should also be considered as the protection scope of the present application.
Claims (9)
1. The utility model provides a wind turbine generator system surface detection device, its characterized in that, holds carrier (1) including holding, one side that holds carrier (1) sets up a plurality of adsorption equipment, so that hold carrier (1) and meet with the surface of wind turbine generator system, and follow the surface motion of wind turbine generator system, one of them adsorption equipment with hold and be connected through universal conversion part (2) between the carrier (1), other adsorption equipment with hold and be connected through elastic component (3) between the carrier (1).
2. The wind turbine generator external surface detection device according to claim 1, wherein the adsorption device comprises a connecting frame (4), an adsorption piece (5) and a plurality of installation pieces (6), the installation pieces (6) are installed inside the connecting frame (4), the adsorption piece (5) is installed on each installation piece (6), and the adsorption piece (5) penetrates through the connecting frame (4) so that the adsorption piece (5) is connected with the external surface of the wind turbine generator;
the connecting frame (4) is connected with the universal conversion piece (2) and the elastic piece (3);
install pressure sensor on installed part (6), this pressure sensor signal connection negative pressure motor, negative pressure motor intercommunication adsorbs piece (5), and negative pressure motor is used for controlling the adsorption affinity that adsorbs piece (5).
3. The wind turbine generator external surface detection device according to claim 2, wherein the adsorption device further comprises a lifting structure (7), the lifting structure (7) is arranged inside the connecting frame (4), a plurality of driving wheels (8) are arranged on the lifting structure (7), the driving wheels (8) and the adsorption piece (5) are arranged in parallel, the driving wheels (8) penetrate through the connecting frame (4), driving control devices are arranged on the driving wheels (8) so that the driving wheels (8) are in contact with the external surface of the wind turbine generator and move on the external surface of the wind turbine generator, and the driving control devices are in signal connection with the control unit.
4. The wind turbine generator external surface detection device according to claim 3, wherein the driving wheel (8) comprises a plurality of first driving wheels (80), a plurality of second driving wheels (81) and a plurality of third driving wheels (82), the first driving wheels (80) are located in the middle of the connecting frame (4), the second driving wheels (81) and the third driving wheels (82) are located at the circumferential edge of the connecting frame (4), and the second driving wheels (81) and the third driving wheels (82) are located on two sides of the first driving wheels (80).
5. The wind turbine generator external surface detection device according to claim 3, wherein the lifting structure (7) comprises a power part, a screw rod and a lifting part, one end of the power part is connected with the connecting frame (4), the other end of the power part is connected with the screw rod, one end of the screw rod, which is far away from the power part, is connected with the lifting part, a limiting part is arranged between the lifting part and the screw rod so that the lifting part can move linearly, the lifting part is connected with the driving wheel (8), and the power part is in signal connection with the control unit.
6. The wind turbine generator external surface detection device according to claim 2, wherein the mounting member (6) is provided with a tension sensor, the connecting frame (4) is provided with a position sensor, the tension sensor and the position sensor are in signal connection with a control unit, the tension sensor is used for acquiring the adsorption force of the adsorption member (5), and the position sensor is used for acquiring the movement position of the driving wheel (8).
7. The wind turbine generator external surface detection device according to claim 1, wherein a plurality of the adsorption devices are connected through a flexible member (9).
8. An operation method of the wind turbine generator external surface detection device, which is used for using the wind turbine generator external surface detection device of any one of claims 1 to 7, and comprises the following steps:
the adsorption device comprises a connecting frame (4), an adsorption piece (5), an installation piece (6) and a lifting structure (7), wherein a driving wheel (8) is installed on the lifting structure (7), the adsorption piece (5) is communicated with a negative pressure motor, a pressure sensor is installed on the installation piece (6), and a position sensor is installed on the connecting frame (4);
s1: adsorbing the adsorption piece (5) and a preset detection position on the outer surface of the wind turbine generator;
s2: the distance between the driving wheel (8) and the bottom of the connecting frame (4) is adjusted through the lifting structure (7), the driving wheel (8) runs on the outer surface of the wind turbine generator, and meanwhile, the position information of the driving wheel (8) is obtained through a position sensor;
s3: acquiring a pressure value of the adsorption piece (5) based on the pressure sensor to obtain the actual adsorption force of the adsorption piece (5), and adjusting the actual adsorption force through a negative-pressure motor;
s4: the bearing piece (1) moves on the outer surface of the wind turbine generator by controlling the movement speed and the movement direction of the driving wheel (8).
9. The method for operating an external surface detection device for wind turbines according to claim 8, characterized in that said driving wheel (8) comprises a first driving wheel (80), a second driving wheel (81) and a third driving wheel (82);
when the bearing piece (1) moves along the horizontal circumferential direction of the outer surface of the wind turbine generator:
s2 includes: the lifting structure (7) drives the driving wheel (8) to move close to the outer surface direction of the wind turbine generator, and the position sensor acquires the position information of the driving wheel (8);
s4 includes: the driving wheel (8) is controlled to move along the horizontal circumferential direction of the outer surface of the wind turbine generator by controlling the same movement speed of the driving wheel (8);
when the bearing piece (1) moves along the direction of the outer surface vertical horizontal plane of the wind turbine generator:
s2 includes: the lifting structure (7) drives the driving wheel (8) to move away from the outer surface direction of the wind turbine generator, and the position sensor acquires the position information of the driving wheel (8);
s4 includes: the driving wheel (8) is controlled to move along the direction of the outer surface of the wind turbine generator vertical to the horizontal plane by controlling the same movement speed of the driving wheel (8);
when the bearing (1) is in rotary motion along the outer surface of the wind turbine generator:
s2 includes: the lifting structure (7) drives the driving wheel (8) to move away from the outer surface direction of the wind turbine generator, and the position sensor acquires the position information of the driving wheel (8);
s4 includes: when the movement speed of the first driving wheel (80) is kept unchanged, wherein the movement speed of the second driving wheel (81) is higher than that of the first driving wheel (80), and the movement speed of the third driving wheel (82) is lower than that of the first driving wheel (80), the bearing piece (1) moves clockwise along the outer surface of the wind turbine generator;
when the movement speed of the first driving wheel (80) is kept unchanged, wherein the movement speed of the second driving wheel (81) is lower than that of the first driving wheel (80), and the movement speed of the third driving wheel (82) is higher than that of the first driving wheel (80), the carrier (1) moves along the outer surface of the wind turbine generator counterclockwise.
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Effective date of registration: 20240409 Address after: Room 402, Office Building, No. 5 Xingzhong Road, Pulandian District, Dalian City, Liaoning Province, 116000 Patentee after: DALIAN JIAYUN ELECTRONIC TECHNOLOGY CO.,LTD. Country or region after: China Address before: 110870 No. 111 Shenyang West Road, Shenyang economic and Technological Development Zone, Liaoning Patentee before: SHENYANG University OF TECHNOLOGY Country or region before: China |