CN115817518A - Multi-dimensional safety control device and control method for wind power tower crawling device - Google Patents
Multi-dimensional safety control device and control method for wind power tower crawling device Download PDFInfo
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- CN115817518A CN115817518A CN202211615158.0A CN202211615158A CN115817518A CN 115817518 A CN115817518 A CN 115817518A CN 202211615158 A CN202211615158 A CN 202211615158A CN 115817518 A CN115817518 A CN 115817518A
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The invention relates to the technical field of equipment safety maintenance, in particular to a multi-dimensional safety control device and a control method for a wind power tower crawling device.
Description
Technical Field
The invention relates to the technical field of equipment safety maintenance, in particular to a multi-dimensional safety control device and a control method for a wind power tower crawling device.
Background
Each part of the wind power generator needs to be periodically overhauled and maintained, and particularly the blade bearing and other parts working at high altitude. In order to reduce manual work at high altitudes, a plurality of devices for overhauling each part of the wind driven generator by using robots instead of manual work appear. In order to enable the robot device to comprehensively and completely overhaul and maintain the wind driven generator components, the crawling device is designed to be connected with the robot device, so that the robot device can freely crawl up and down on a tower. When this kind of device of crawling function, the system of crawling of the device of crawling has the influence that is corroded the harm by natural weather, freezes to skid, and sleet hail damage and other extreme conditions freeze, and there is the trouble risk in its driving system and the pressure system of crawling. In order to avoid the fault of the crawling device in the up-and-down crawling process, the stability and the safety of the crawling device also need to be guaranteed, so that the crawling device can normally operate.
At present, in the prior art, emergency measures and preventive control measures are not taken under the condition that the climbing robot has a fault, such as: when climbing robot power, driving system, pressure system, perhaps tensioning belt broke down, climbing robot probably caused the damage to a tower section of thick bamboo or cylindricality building, more possibly caused self to fall to lead to attaching spraying device or other devices on climbing robot and receive the harm in the lump, the security can not obtain effectual guarantee. Therefore, how to design a multi-dimensional safety control device and a control method for a tower crawling device is a technical problem to be solved in the field.
Disclosure of Invention
The invention provides a multi-dimensional safety control device and a control method for a tower tube crawling device, aiming at the defects in the prior art, and aims to solve the technical problem that the tower tube crawling device in the prior art is low in safety.
The technical scheme for solving the technical problems is as follows:
the utility model provides a multidimension safety control device for wind power tower cylinder crawls device which characterized in that: comprises that
The power system monitoring module is used for monitoring the running state of a power system of the tower crawling device;
the tensioning device monitoring module is used for monitoring the running state of a tensioning belt of the tower crawling device;
the rotating shaft monitoring module comprises a torque sensor, a rotating speed sensor and a temperature sensor which are arranged on the rotating shaft of the tensioning belt and are respectively used for monitoring the rotating shaft torque, the rotating speed and the temperature of the tower tube crawling device;
and the control module receives monitoring information from the power system monitoring module, the tensioning device monitoring module and the rotating shaft monitoring module, and controls the tower cylinder crawling device to act after fault analysis and judgment.
Furthermore, a wire is laid on a tensioning belt of the tower tube crawling device, and the tensioning device monitoring module is electrically connected with the wire.
Furthermore, the emergency speed limiting device further comprises an emergency speed limiting module, wherein the emergency speed limiting module comprises a tension limiter and an emergency safety belt, and the tension limiter is arranged on two sides of the emergency safety belt.
Further, the tower crawling device further comprises a standby power supply system for providing standby power when the conventional power supply system of the tower crawling device fails.
Furthermore, the device also comprises a hydraulic oil pressure monitoring module which is used for monitoring the pressure of a hydraulic system of the tower cylinder crawling device.
The invention also provides a multidimensional safety control method for the wind power tower crawling device, which adopts the multidimensional safety control device and is characterized in that:
the control module receives monitoring information from the tensioning device monitoring module in real time, and if the signals of the tensioning device monitoring module are normal, the control module does not act;
if the signal of the tension device monitoring module is disconnected, the working state of the tower cylinder crawling device is judged,
if the tower tube crawling device is in a stop state, cutting off a power supply system of the tower tube crawling device;
and if the tower tube crawling device is in a working state, sending an instruction to a crawler crawling machine of the tower tube crawling device, and controlling the tower tube crawling device to descend to the bottom end of the tower tube.
Further, the control module receives monitoring information from the rotating shaft monitoring module in real time, if the torque of the rotating shaft is larger than a normal torque range and the rotating speed is zero, the rotating shaft is judged to be in a blocking state, and the control module gives an alarm;
if the torque of the rotating shaft is smaller than the normal torque range and the rotating speed is not zero, judging the rotating shaft to be in a slipping state, sending a control signal by the control module to enable the rotating shaft to slowly stop rotating and properly rotate in a reverse direction, monitoring whether the tensioning belt relaxes or not, and if the tensioning belt relaxes, rotating forward again;
and continuously judging whether the device is in a slipping state, if not, continuing normal operation of the tower cylinder crawling device, and if so, controlling the tensioning belt to slowly relax so that the tower cylinder crawling device descends to the bottom end of the tower cylinder.
Further, the control module receives monitoring information from the rotating shaft monitoring module in real time, if the temperature of the rotating shaft is more than or equal to 1.1 times and less than or equal to 1.25 times of the allowable temperature, the rotating shaft is judged to be overheated, a control instruction is sent out to control the rotating shaft to stop working, and if the temperature of the rotating shaft returns to normal, a control instruction is sent out to control the rotating shaft to continue working;
if the temperature of the rotating shaft is more than 1.25 times of the allowable temperature, the short circuit is judged, a control instruction is sent out to control the tensioning belt to slowly relax, and the tower tube crawling device is made to descend to the bottom end of the tower tube.
Further, the control module receives monitoring information from a power system monitoring module in real time, and if the power system is monitored to be damaged or broken down, the control module controls a shaft wheel of the tensioning belt to rotate, so that the tensioning belt is contracted and clamped, and continuously applies pressure to the tensioning belt to keep the tensioning belt locked.
Further, the control module monitors the height information of the tower tube crawling device in real time, and when the falling speed of the tower tube crawling device is judged to exceed a normal range, the control module controls the emergency speed limiting module to start a pre-tightening device and a tension limiter of the emergency safety belt, so that the emergency safety belt is instantly tightened and clamped.
The beneficial effects of the invention are:
through setting up driving system monitoring module, overspeed device tensioner monitoring module, pivot monitoring module, urgent speed limit module, standby power system and hydraulic oil pressure monitoring module, but real-time supervision the running state of tower section of thick bamboo device of crawling, when taking place unusually, control module carries out fault analysis and judges the back, can be directed against different trouble or unusual type, controls the tower section of thick bamboo device of crawling implements corresponding action to the guarantee the safety of tower section of thick bamboo device of crawling.
Drawings
FIG. 1 is a schematic structural view of a tower crawling apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a hydraulic configuration of an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an emergency speed limiting module according to an embodiment of the present invention;
FIG. 4 is a schematic view of a tensioner monitoring module according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a control device according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a control method according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a control method according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a control method according to an embodiment of the present invention.
In the figure, 1-a crawler crawling machine, 2-a tension belt, 21-a filament wire, 3-a tension belt rotating shaft, 4-a hydraulic arm, 5-a hydraulic oil tank, 6-a hydraulic arm telescopic rod, 7-an emergency safety belt and 8-a tension limiter.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
In the description of the present invention, 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", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but 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.
Referring to fig. 1, a tower crawling apparatus in the prior art generally includes a plurality of sets of crawler crawling machines 1 arranged along the inner side of a hydraulic arm 4, each set of crawler crawling machine 1 has two crawlers, three crawling wheels are arranged inside the crawlers, and the crawler crawling machines 1 can move along the outer contour surface of the tower; the tensioning belt 2 is used for binding the tower crawling device on a tower; when the device falls down, the electric pulse transmits information to the tensioning belt rotating shaft 3, and the tensioning belt rotating shaft 3 rotates to tighten the tensioning belt 2; the hydraulic oil tank 5 is a container for storing oil required by the work of the hydraulic system, and a pressure sensor is arranged in the hydraulic oil tank; and the hydraulic arm telescopic rod 6 is used for adjusting the bending degree of the hydraulic arm so as to better fit with the tower barrel.
Referring to the attached drawings 2-4, the hydraulic arm 4 is provided with a section of emergency safety belt 7 which is made of aluminum alloy aluminum section and can contract and extend when moving up and down along with the device; tension limiters 8 are arranged at two ends of the emergency safety belt 7, and the emergency safety belt 7 is fixed after the tower tube crawling device rapidly falls for 10 seconds and is opened.
Referring to the attached drawings 5-8, the invention discloses a multidimensional safety control device for a crawling device of a wind power tower, which is characterized in that: the method comprises the following steps:
the power system monitoring module is used for monitoring the running state of a power system of the tower crawling device;
the tensioning device monitoring module is used for monitoring the running state of a tensioning belt of the tower crawling device;
the rotating shaft monitoring module comprises a torque sensor, a rotating speed sensor and a temperature sensor which are arranged on the rotating shaft of the tensioning belt and are respectively used for monitoring the rotating shaft torque, the rotating speed and the temperature of the tower tube crawling device;
and the control module receives monitoring information from the power system monitoring module, the tensioning device monitoring module and the rotating shaft monitoring module, and controls the tower cylinder crawling device to act after fault analysis and judgment.
In the crawling process of the tower crawling device, if a power system fails, the tower crawling device is stopped on a tower, even the tower crawling device falls, is damaged, and other dangerous conditions occur.
The monitoring device comprises a tension device monitoring module and a control module, wherein the tension device monitoring module is used for monitoring the running state of a tension belt of the tower crawling device, particularly, in the running process of the tower crawling device, the situation that a crack is generated on the local part of the tension belt may occur, if the crack is continuously developed and the tension belt is broken, the tension belt cannot fix the tower crawling device on a tower, and serious safety accidents occur. When the tension belt 2 is locally cracked when the tower crawling device runs, the filament wires 21 are broken, the tension device monitoring module is opened, if the tension device monitoring module is opened, the tower crawling device cannot be allowed to continue working, the working device slowly descends to the bottom end of the tower, and the device which is stopped cannot climb again.
The emergency speed limiting device comprises a tension limiter 8 and an emergency safety belt 7, wherein the tension limiter 8 is arranged at two ends of the emergency safety belt 7, when the device speed limiting module detects that the device rapidly drops, the device speed limiting controller acts within 1.25s, a pre-tightening device of the emergency safety belt connected with two pressure arms in an extension assembly and the tension limiter are started, so that the emergency safety belt is instantly tightened and clamped, the tower crawling device is prevented from falling, the tower crawling device is fixed on a tower, and a worker waits for maintenance. It is to be added that the tension limiter 8 itself is a state of the art mature technology, and here, its principle is briefly stated: the inside probe and the gas generator that can respond to displacement and transmission electric pulse that are equipped with of tension limiter 8, one side of gas generator is a row of ball chains, and ball chain one side is the pawl dish, and the probe is responsible for collecting the information that falls, then releases the electric pulse, and on this pulse transmission gas generator, the gas that gas generator produced expanded rapidly in the pipeline, pressed to the ball chain, made the ball move forward in the pipe, drives the pawl dish and changes. The pawl disc is connected with the uranium into a whole, and the emergency safety belt 7 is wound on a shaft, so that the pre-tightening function of the emergency safety belt 7 is realized.
Fixed mounting has power battery, stand-by power supply and can provide the hydraulic tank 5 of pressure to the tower section of thick bamboo outer wall in the hydraulic arm 4, and stand-by power supply can replace conventional power, for crawling the device and provide electric power, avoids single power failure. The hydraulic oil tank 5 is connected with the hydraulic telescopic rod 6 in a conduction mode, and the hydraulic telescopic rod 6 can be adjusted to stretch through the hydraulic oil tank 5, so that the diameter of an annular structure formed by the hydraulic arms 4 changes. Hydraulic tank 5 and hydraulic telescoping rod 6 constitute drive arrangement, can use hydraulic tank 5 to drive hydraulic telescoping rod 6 flexible, make hydraulic arm 4 to the internal contraction of tower section of thick bamboo then, adjust the bending degree of hydraulic arm 4, make it agree with the tower section of thick bamboo and provide extrusion pressure, realize preventing weighing down's function. The standby power supply system is used for providing standby power when the conventional power supply system of the tower crawling device fails. The tower section of thick bamboo crawls the device at the in-process of crawling, when conventional electrical power generating system broke down, conventional electrical power generating system sent signal to control system, and control system sends actuating signal to stand-by power generating system immediately, and stand-by power switch opens this moment, and stand-by power generating system replaces conventional electrical power generating system, provides electric power for the tower section of thick bamboo device of crawling, and the tower section of thick bamboo device of crawling stops the operation immediately and automatic crawls to tower section of thick bamboo bottom downwards this moment, waits for ground work people to overhaul.
The device also comprises a hydraulic oil pressure monitoring module which is used for monitoring the pressure of a hydraulic system of the tower crawling device. When the tower tube crawling device crawls, a hydraulic system breaks down, such as: an overflow valve in the hydraulic oil tank is blocked, and the discharge capacity of an oil pump is overlarge, so that the pressure is overlarge. At the moment, the hydraulic oil tank controls the telescopic rod to enable the hydraulic arm to lock the tower barrel, the tower barrel is possibly damaged, and the hydraulic oil tank of the hydraulic system is also likely to cause liquid overflowing explosion. According to the invention, the pressure sensor is arranged in the oil tank, and when the pressure is too high, the sensor automatically cuts off the oil tank to work, so that the surrounding pressure of the hydraulic arm on the tower barrel is reduced or even disappears. Tensioning belt tightens this moment to prevent that tower section of thick bamboo crawling device from falling, make tower section of thick bamboo crawling device fixed on a tower section of thick bamboo, treat that the staff overhauls.
When the hydraulic oil pressure monitoring module detects that hydraulic pressure is too big, hydraulic system stops to pressurize to suitably reduce the pressure, if the tower section of thick bamboo crawl the device can open slowly and press from both sides the newspaper crawler arm of crawling, then the tower section of thick bamboo crawl the device and descend slowly to tower section of thick bamboo bottom, wait for the staff to change the overflow valve. If the device can not complete the pressure relief, the device is fixed at the original position to wait for the maintenance of workers.
When hydraulic pressure monitoring module detects hydraulic pressure when too big, tower section of thick bamboo crawl device hydraulic system stops the pressurization to suitably reduce the pressure, if tower section of thick bamboo crawl device can slowly open and press from both sides the crawler arm of reporting of crawling, then tower section of thick bamboo crawl device slowly descends to tower section of thick bamboo bottom, waits for the staff to change the overflow valve. An overflow valve in the hydraulic oil tank is blocked, and the discharge capacity of an oil pump is overlarge, so that the pressure is overlarge. The hydraulic tank control telescopic link makes the hydraulic arm lock the tower section of thick bamboo by lock this moment, probably leads to the tower section of thick bamboo to damage, and the flash explosion also probably appears in hydraulic system hydraulic tank. According to the invention, the pressure sensor is arranged in the oil tank, when the pressure is too high, the sensor automatically cuts off the oil tank to work, so that the surrounding pressure of the hydraulic arm on the tower cylinder is reduced or even disappears, the tensioning belt is tightened at the moment to prevent the device from falling, the device is fixed on the tower cylinder, and a worker waits for overhauling.
The invention also provides a multidimensional safety control method for the wind power tower crawling device, which adopts the multidimensional safety control device and is characterized in that:
the control module receives monitoring information from the tensioning device monitoring module in real time, and if the signals of the tensioning device monitoring module are normal, the control module does not act;
if the signal of the tension device monitoring module is disconnected, the working state of the tower cylinder crawling device is judged,
if the tower tube crawling device is in a stop state, cutting off a power supply system of the tower tube crawling device;
if the tower tube crawling device is in the working state, an instruction is sent to a crawler crawling machine of the tower tube crawling device, and the tower tube crawling device is controlled to descend to the bottom end of the tower tube.
Further, the control module receives monitoring information from the rotating shaft monitoring module in real time, and if the torque of the rotating shaft is larger than a normal torque range and the rotating speed is zero, the rotating shaft is judged to be in a blocking state, and then the control module gives an alarm;
if the torque of the rotating shaft is smaller than the normal torque range and the rotating speed is not zero, judging the rotating shaft to be in a slipping state, sending a control signal by the control module to enable the rotating shaft to slowly stop rotating and properly rotate in a reverse direction, monitoring whether the tensioning belt relaxes or not, and if the tensioning belt relaxes, rotating forward again;
and continuously judging whether the device is in a slipping state or not, if not, continuing normal operation of the tower crawling device, and if not, controlling the tensioning belt to slowly relax so that the tower crawling device descends to the bottom end of the tower.
Further, the control module receives monitoring information from the rotating shaft monitoring module in real time, if the temperature of the rotating shaft is more than or equal to 1.1 times and less than or equal to 1.25 times of the allowable temperature, the rotating shaft is judged to be overheated, a control instruction is sent out to control the rotating shaft to stop working, and if the temperature of the rotating shaft returns to normal, a control instruction is sent out to control the rotating shaft to continue working;
if the temperature of the rotating shaft is more than 1.25 times of the allowable temperature, the short circuit is judged, a control instruction is sent out to control the tensioning belt to slowly relax, and the tower tube crawling device is made to descend to the bottom end of the tower tube.
Further, the control module receives monitoring information from a power system monitoring module in real time, and if the power system is monitored to be damaged or broken, the control module controls the shaft wheel of the tension belt to rotate so that the tension belt is contracted and clamped, and continuously applies pressure to the tension belt to keep the tension belt locked.
Further, the control module monitors the height information of the tower tube crawling device in real time, and when the falling speed of the tower tube crawling device is judged to exceed a normal range, the control module controls the emergency speed limiting module to start a pre-tightening device and a tension limiter of the emergency safety belt, so that the emergency safety belt is instantly tightened and clamped.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The utility model provides a multidimension safety control device for wind power tower cylinder crawls device which characterized in that: comprises that
The power system monitoring module is used for monitoring the running state of a power system of the tower crawling device;
the tensioning device monitoring module is used for monitoring the running state of a tensioning belt of the tower crawling device;
the rotating shaft monitoring module comprises a torque sensor, a rotating speed sensor and a temperature sensor which are arranged on the rotating shaft of the tensioning belt and are respectively used for monitoring the rotating shaft torque, the rotating speed and the temperature of the tower tube crawling device;
and the control module receives monitoring information from the power system monitoring module, the tensioning device monitoring module and the rotating shaft monitoring module, and controls the tower crawling device to act after fault analysis and judgment are performed.
2. The multi-dimensional safety control device for the wind tower crawling apparatus according to claim 1, wherein: and a wire is laid on a tension belt of the tower cylinder crawling device, and the tension device monitoring module is electrically connected with the wire.
3. The multi-dimensional safety control device for the wind tower crawling apparatus according to claim 1, wherein: the emergency speed limiting device is characterized by further comprising an emergency speed limiting module, wherein the emergency speed limiting module comprises a tension limiter and an emergency safety belt, and the tension limiter is arranged at two ends of the emergency safety belt.
4. The multi-dimensional safety control device for the wind tower crawling apparatus according to claim 1, wherein: the tower crawling device further comprises a standby power supply system used for providing standby power when a conventional power supply system of the tower crawling device fails.
5. The multi-dimensional safety control device for the wind tower crawling apparatus according to claim 1, wherein: the device also comprises a hydraulic oil pressure monitoring module which is used for monitoring the pressure of a hydraulic system of the tower cylinder crawling device.
6. A multidimensional safety control method for a wind power tower crawling device, which adopts the multidimensional safety control device as claimed in any one of claims 1 to 5, and is characterized in that:
the control module receives monitoring information from the tensioning device monitoring module in real time, and if the signals of the tensioning device monitoring module are normal, the control module does not act;
if the signal of the tension device monitoring module is disconnected, the working state of the tower cylinder crawling device is judged,
if the tower tube crawling device is in a stop state, cutting off a power supply system of the tower tube crawling device;
and if the tower tube crawling device is in a working state, sending an instruction to a crawler crawling machine of the tower tube crawling device, and controlling the tower tube crawling device to descend to the bottom end of the tower tube.
7. The multi-dimensional safety control method for the wind power tower crawling device according to claim 6, wherein: the control module receives monitoring information from the rotating shaft monitoring module in real time, and if the torque of the rotating shaft is larger than a normal torque range and the rotating speed is zero, the rotating shaft is judged to be in a blocking state, and the control module gives an alarm;
if the torque of the rotating shaft is smaller than the normal torque range and the rotating speed is not zero, judging the rotating shaft to be in a slipping state, sending a control signal by the control module to enable the rotating shaft to slowly stop rotating and properly rotate in a reverse direction, monitoring whether the tensioning belt relaxes or not, and if the tensioning belt relaxes, rotating forward again;
and continuously judging whether the device is in a slipping state, if not, continuing normal operation of the tower cylinder crawling device, and if so, controlling the tensioning belt to slowly relax so that the tower cylinder crawling device descends to the bottom end of the tower cylinder.
8. The multi-dimensional safety control method for the wind power tower crawling device according to claim 7, wherein: the control module receives monitoring information from the rotating shaft monitoring module in real time, if the temperature of the rotating shaft is more than or equal to 1.1 time of the allowable temperature and less than or equal to 1.25 times of the allowable temperature, the rotating shaft is judged to be overheated, a control instruction is sent to control the rotating shaft to stop working, and if the temperature of the rotating shaft returns to normal, the control instruction is sent to control the rotating shaft to continue working;
if the temperature of the rotating shaft is more than 1.25 times of the allowable temperature, the short circuit is judged, a control instruction is sent out to control the tensioning belt to slowly relax, and the tower tube crawling device is made to descend to the bottom end of the tower tube.
9. The multi-dimensional safety control method for the wind power tower crawling device according to claim 6, wherein: the control module receives monitoring information from the power system monitoring module in real time, and if the power system is monitored to be damaged or broken, the control module controls the shaft wheel of the tensioning belt to rotate so that the tensioning belt is contracted and clamped, and continuously applies pressure to the tensioning belt to keep the tensioning belt locked.
10. The multi-dimensional safety control method for the wind power tower crawling device according to claim 9, wherein: the control module monitors the height information of the tower tube crawling device in real time, and when the falling speed of the tower tube crawling device is judged to exceed a normal range, the control module controls the emergency speed limiting module to start a pre-tightening device and a tension limiter of an emergency safety belt, so that the emergency safety belt is instantaneously tightened and clamped.
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