CN105181315A - High-strength wind power tower cylinder bolt state early warning method in wind power generation - Google Patents
High-strength wind power tower cylinder bolt state early warning method in wind power generation Download PDFInfo
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- CN105181315A CN105181315A CN201510563612.6A CN201510563612A CN105181315A CN 105181315 A CN105181315 A CN 105181315A CN 201510563612 A CN201510563612 A CN 201510563612A CN 105181315 A CN105181315 A CN 105181315A
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Abstract
The invention relates to a high-strength wind power tower cylinder bolt state early warning method in wind power generation, which comprises the steps of: step 1, arranging a predetermined number of sensors on each layer of flange of a wind power tower cylinder; step 2, acquiring load data and vibration data by utilizing the sensors and sending the data to a data processing department; step 3, processing the received data and storing the processed data through the data processing department; step 4, analyzing the data according to a preset rule, and judging whether early warning is required; step 5, if so, sending out the early warning; step 6, and if not, returning to the step 3 for processing the received data continuously. By arranging the predetermined number of sensors on the flanges, the high-strength wind power tower cylinder bolt state early warning method provided by the embodiment of the invention overcomes the problem that bolt state cannot be judged effectively in the prior art, and can achieve high-strength wind power tower cylinder bolt state early warning at a lower cost.
Description
Technical field
The present invention relates to wind power generation field, particularly relate to high strength wind-power tower bolt state method for early warning in a kind of wind-power electricity generation.
Background technology
Wind-power electricity generation is exactly that the kinetic energy of keeping watch becomes mechanical kinetic energy, then is the process of electric energy changes mechanical energy.Device required for wind-power electricity generation, is called wind power generating set.Key components and parts mainly blade, wheel hub, main shaft, tower cylinder, frame and connection high-strength bolt in wind power generating set.
High-strength bolt, as the most frequently used a kind of parts, compares plain bolt when same specification, and have bearing load large, stress performance is good, endurance and the advantage such as not easily to loosen under dynamic loading effect, is widely used in steel construction.Equally, in Large-scale Wind Turbines, high-strength bolt is adopted in a large number.
The high-strength bolt fatigue of wind-power tower is a kind of under the repeat function of pulsating stress and strain, and the failure mode of cracking or fracture occurs for bolt one place or a few place.Fatigue is the process of a mechanical damage accumulation, Delay failure.Fatigue comprises crack initiation and Crack Extension two processes, occurs under lower than the yield strength of material, catastrophic failure under nothing obviously distortion.Such as, wind power generating set Service Environment is complicated and badly, not only bear dynamic load impact but also bear corrosion environment, and coupling bolt fatigue break used is up to 85%, and the dominant failure mode of high-strength bolt is tired.
In prior art, the size often through bolt tension judges bolt looseness situation, usually can arrange a secure threshold, after bolt fatigue, survey bolt strained meeting and change, can warning be sent when exceeding threshold range.But judge that the bolt looseness situation on whole flange does not possess representativeness in theory only by the monitoring of single bolt, bolts all on flange are all monitored, does not meet economy principle.In view of this, the technical problem to be solved in the present invention is, proposes a kind of method that can effectively utilize a small amount of sensor to determine the bolt looseness situation on tower cylinder.
solution
In order to solve the problems of the technologies described above, according to one embodiment of the invention, provide high strength wind-power tower bolt state method for early warning in a kind of wind-power electricity generation, comprising: the sensor arranging predetermined quantity on every one deck flange of described wind-power tower; Described sensor is utilized to gather the load data of described sensor and vibration data and be sent to data processing division; Described data processing division processes the described data received and stores; According to preset rules to described data analysis, judge whether to need early warning, if so, then send early warning; If not, then return continuation to process the described described data received.
For said method, in a kind of possible implementation, described preset rules comprises: absolute value decision rule, when the load data measured value of described sensor exceeds predetermined safe range, is then judged to need early warning.
For said method, in a kind of possible implementation, the load data measured value of described sensor exceeds predetermined safe range and comprises: if described load data measured value exceeds the upper limit of described safe range, then send giving fatigue pre-warning; If described load data measured value lower than the lower limit of described safe range, then sends loosening early warning.
For said method, in a kind of possible implementation, described safe range is: the 70%-80% of bolt maximum load.
For said method, in a kind of possible implementation, described preset rules also comprises: planar process decision rule, when the load data measured value of described sensor deviate from by the load data measured value of sensor described in remaining X, Y-axis form Flange Plane and Z axis be load measurement value three-dimensional system of coordinate in carry out projecting the plane of row exceed predetermined threshold time, send loosening early warning.
For said method, in a kind of possible implementation, described preset rules also comprises: times of fatigue decision rule, when the described vibration data of described sensor exceedes vibration number corresponding to vibration life point of inflexion on a curve place, sends giving fatigue pre-warning.
For said method, in a kind of possible implementation, described sensor is intelligent bolt, can Real-Time Monitoring its load born and current vibration data.
For said method, in a kind of possible implementation, described predetermined quantity is no less than 4.
For said method, in a kind of possible implementation, described predetermined quantity is not less than 5% of the sum of all bolts on described flange.
beneficial effect
By the high strength wind-power tower bolt state method for early warning of proposition of the present invention, judgement bolt that can be accurate and effective loosen and/or tired, and early warning is carried out to loosening and/or fatigue state, the generation of the accident of falling tower caused due to the loosening or tired of bolt can be avoided.
According to below with reference to the accompanying drawings to detailed description of illustrative embodiments, further feature of the present invention and aspect will become clear.
Summary of the invention
technical matters
Accompanying drawing explanation
Comprise in the description and form the accompanying drawing of a part for instructions and instructions together illustrates exemplary embodiment of the present invention, characteristic sum aspect, and for explaining principle of the present invention.
Fig. 1 illustrates the process flow diagram of high strength wind-power tower bolt state method for early warning in wind-power electricity generation according to an embodiment of the invention.
Fig. 2 illustrates the process flow diagram of high strength wind-power tower bolt looseness state and fatigue state method for early warning in wind-power electricity generation according to another embodiment of the present invention.
Fig. 3 illustrates the process flow diagram of high strength wind-power tower bolt looseness status early warning method in wind-power electricity generation according to another embodiment of the present invention.
Fig. 4 illustrates the process flow diagram of high strength wind-power tower bolt fatigue state method for early warning in wind-power electricity generation according to another embodiment of the present invention.
Fig. 5 illustrates the process flow diagram of high strength wind-power tower bolt looseness state and fatigue state method for early warning in wind-power electricity generation according to another embodiment of the present invention.
Embodiment
Various exemplary embodiment of the present invention, characteristic sum aspect is described in detail below with reference to accompanying drawing.The same or analogous element of Reference numeral presentation function identical in accompanying drawing.Although the various aspects of embodiment shown in the drawings, unless otherwise indicated, accompanying drawing need not be drawn in proportion.
Word " exemplary " special here means " as example, embodiment or illustrative ".Here need not be interpreted as being better than or being better than other embodiment as any embodiment illustrated by " exemplary ".
In addition, in order to better the present invention is described, in embodiment hereafter, give numerous details.It will be appreciated by those skilled in the art that do not have some detail, the present invention can implement equally.In some instances, the method known for those skilled in the art, means, element and circuit are not described in detail, so that highlight purport of the present invention.
embodiment 1
Fig. 1 illustrates the process flow diagram of high strength wind-power tower bolt state method for early warning in wind-power electricity generation according to an embodiment of the invention.As shown in Figure 1, described method mainly comprises:
Step S101, on every one deck flange, arrange the sensor of predetermined quantity.
The tower cylinder of wind-power electricity generation is connected to form by the bolt of flange and high strength by multistage split cylindrical shell.The flange of every one deck junction is all furnished with the high-strength bolt of some, different according to aerogenerator capacity, the high-strength bolt quantity of the diameter of flange and its upper layout is also different, the high-strength bolt quantity on every one deck flange from tens to up to a hundred not etc.By adding intelligent bolt as sensor in high-strength bolt, the load of intelligent bolt Real-Time Monitoring carrying on it can be utilized, and load data is sent to data processing division by wired or wireless mode carries out processing and storing.One deck flange being arranged, the concrete quantity of intelligent bolt confirms according to flange diameter and bolt quantity, and its principle is that the ratio that intelligent bolt accounts for all bolts on this layer of flange is not less than 5%, such as, arrange on one deck flange and be no less than 4 intelligent bolt.For the distribution of intelligent bolt, in order to the force-bearing situation of bolt on whole flange better can be detected, general employing is equally distributed mode on whole flange, also can according to the needs of application scenarios, such as, in the multiple intelligent bolt of the location arrangements needing individually emphasis to monitor.
Step S102, sensor is utilized to gather load data and vibration data and be sent to data processing division.
Each intelligent bolt, with unique identification number, can add the positional information of intelligent bolt, thus uniquely can navigate to which position of described intelligent bolt at which layer flange in the load data of its transmission and vibration data.According to the data structure preset, location field is increased before the valid data of load data and vibration data, the positional information of sensor relative to predetermined initial position is added in described location field, such as, for the 2nd layer of flange counterclockwise (counterclockwise) the 3rd data that Sensor monitoring arrives, in its location field, increase " 2-cc3 " represent.
As the intelligent bolt of sensor, can load of its burden of Real-Time Monitoring and the vibration data of current bolt, and the load data measured and vibration data are sent to data processing division by wired or wireless mode.The technology that described wired or wireless mode can adopt any one known is carried out, and does not do too much restriction at this, if can safely, fast and accurately by Sensor monitoring to data be sent to data processing division.
Step S103, data processing division process the data received and store.
Data processing division is connected with all the sensors in each tower cylinder in whole wind power plant by wired or wireless mode, the load data of all the sensors real-time Transmission in whole wind power plant can be focused on, simultaneously, described data processing division also comprises storage part, can store the data received.
Described data processing division extracts the important informations such as load data, vibration data and sensing station, and the data of different Sensor monitorings are carried out classification store according to affiliated tower cylinder, affiliated flange.
Step S104, according to preset rules to data analysis, judge whether to need early warning, if so, then perform step S105 send early warning; If not, then return step S103 to continue to process the data received.Wherein, described preset rules comprises absolute value decision rule, planar process decision rule and times of fatigue decision rule etc., and concrete decision principle is described in detail in following embodiment.
Step S105, send early warning alarm.
According to the analysis judged result in step S104, in step S105, send early warning to operator on duty, remind and in time corresponding process is made to the bolt of early warning position.Wherein, described early warning comprises loosening early warning and giving fatigue pre-warning.
Like this, by arranging the sensor of predetermined quantity on flange, method according to the above embodiment of the present invention can realize high strength wind-power tower bolt status early warning with lower cost.
embodiment 2
Fig. 2 illustrates the process flow diagram of high strength wind-power tower bolt looseness state and fatigue state method for early warning in wind-power electricity generation according to another embodiment of the present invention.The assembly that in Fig. 2, label is identical with Fig. 1 has identical function, for simplicity's sake, omits the detailed description to these assemblies.As shown in Figure 2, described method mainly comprises:
Step S101, on every one deck flange, arrange the sensor of predetermined quantity.
Step S102, sensor is utilized to gather load data and vibration data and be sent to data processing division.
Step S103, data processing division process the data received and store.
Step S1041, according to absolute value decision rule to the load data received carry out analysis judge.When the load measurement value of sensor exceeds predetermined safe range, be then judged to need early warning, perform step S1042; Otherwise return step S103 to continue to process the data received.
Step S1042, judge the load measurement value of sensor and the relation of predetermined safe range.If load measurement value exceeds the upper limit of described safe range, then think as the intelligent bolt of sensor or occurred bolt strained excessive situation near it, fatigue rate is aggravated, and now performs step S1051 and sends giving fatigue pre-warning; If load measurement value is lower than the lower limit of described safe range, then thinks as the intelligent bolt of sensor or near it, occurred the situation of bolt looseness, now performing step S1052 and send loosening early warning.Described safe range is normally defined the 70%-80% of bolt maximum load, or manually can set the upper and lower bound of safe range according to the application scenarios of reality.
By adopting absolute value decision rule, method according to the above embodiment of the present invention simply fast can carry out early warning for loosening with fatigue state.
embodiment 3
Fig. 3 illustrates the process flow diagram of high strength wind-power tower bolt looseness status early warning method in wind-power electricity generation according to another embodiment of the present invention.The assembly that in Fig. 3, label is identical with Fig. 1 has identical function, for simplicity's sake, omits the detailed description to these assemblies.As shown in Figure 3, described method mainly comprises:
Step S101, on every one deck flange, arrange the sensor of predetermined quantity.
Step S102, sensor is utilized to gather load data and vibration data and be sent to data processing division.
Step S103, data processing division process the data received and store.
Step S1043, according to planar process decision rule to the load data received carry out analysis judge.Described planar process decision rule, it is the rule of successively decreasing along prevailing wind direction to leeward position linearity based on the forced position of wind-power tower, if the load data of all bolts on flange is projected in the three-dimensional system of coordinate that X, Y-axis composition Flange Plane, Z axis are load value, the load data of all bolts can form a plane tilted, and this plane just represents the load diatibution when the bolt on forward flange under normal operating conditions.When the load value of Sensor monitoring is also projected in above-mentioned three-dimensional system of coordinate, if measure the numerical value obtained to depart from the distance of above-mentioned plane more than a predetermined threshold, representing that current sensor or the bolt near it exist loosens extremely, now performs step S1052 and sends loosening early warning; Otherwise return step S103 to continue to process the data received.Described predetermined threshold can by manually setting according to practical application scene.
By adopting planar process decision rule, method according to the above embodiment of the present invention can carry out early warning for the loosening state of certain limit inner bolt accurately.
embodiment 4
Fig. 4 illustrates the process flow diagram of high strength wind-power tower bolt fatigue state method for early warning in wind-power electricity generation according to another embodiment of the present invention.The assembly that in Fig. 4, label is identical with Fig. 1 has identical function, for simplicity's sake, omits the detailed description to these assemblies.As shown in Figure 4, described method mainly comprises:
Step S101, on every one deck flange, arrange the sensor of predetermined quantity.
Step S102, sensor is utilized to gather load data and vibration data and be sent to data processing division.
Step S103, data processing division process the data received and store.
Step S1044, according to times of fatigue decision rule to the vibration data received carry out analysis judge.Due to aerogenerator work under bad environment, the impacts such as the vibration that simultaneously wind-force effect and blade rotary and generator itself bring, tower cylinder will bear very large dynamic load impact.Under such working environment, bolt itself also vibrates (operation) under the effect of dynamic load impact.For bolt, in its designed life, a very important index is exactly vibration life curve, when the vibration number of bolt exceedes vibration number corresponding to vibration life point of inflexion on a curve place, although from may not seeing that bolt itself has tired sign on the surface, but, likely there is fatigue break at any time in the work of the not competent high strength of bolt now.Therefore, when judging that vibration data exceedes vibration number corresponding to vibration life point of inflexion on a curve place, representing that the phenomenon of fatigue break may appear in current sensor or the bolt near it, now performing step S1051 and sending giving fatigue pre-warning; Otherwise return step S103 to continue to process the data received.
By adopting times of fatigue decision rule, method according to the above embodiment of the present invention can carry out early warning for the fatigue state of certain limit inner bolt accurately.
embodiment 5
How above embodiment carries out giving fatigue pre-warning or loosening early warning to high strength wind-power tower bolt state in wind-power electricity generation if respectively describing, but embodiment 2-4 can also be in conjunction with, is used for carrying out giving fatigue pre-warning and loosening early warning to bolt state more accurately.In the method described by embodiment 2, add planar process judgment rule and times of fatigue judgment rule, thus the more accurate fatigue state to bolt and loosening state can carry out early warning.Planar process judgment rule and times of fatigue judgment rule also can individually with the methods combining described by embodiment 2, in order to strengthen the degree of accuracy of loosening early warning or giving fatigue pre-warning.Detailed description planar process judgment rule and times of fatigue judgment rule are all attached to the scheme in embodiment 2 below, and the scheme that planar process judgment rule and times of fatigue judgment rule are individually combined with embodiment 2 is similar with the scheme all combined, do not repeat them here.
Fig. 5 illustrates the process flow diagram of high strength wind-power tower bolt looseness state and fatigue state method for early warning in wind-power electricity generation according to another embodiment of the present invention.The assembly that in Fig. 5, label is identical with Fig. 1 has identical function, for simplicity's sake, omits the detailed description to these assemblies.As shown in Figure 5, described method mainly comprises:
Step S101, on every one deck flange, arrange the sensor of predetermined quantity.
Step S102, sensor is utilized to gather load data and vibration data and be sent to data processing division.
Step S103, data processing division process the data received and store.
After data processing division to process the data received and stores, the data after process are carried out simultaneously step S1041 absolute value judges, step S1043 planar process judges and rapid S1044 times of fatigue judges.
Step S1041, according to absolute value decision rule to the load data received carry out analysis judge.
When the load measurement value of sensor exceeds predetermined safe range, be then judged to need early warning, perform step S1042; Otherwise return step S103 to continue to process the data received.
Step S1042, judge the load measurement value of sensor and the relation of predetermined safe range.If load measurement value exceeds the upper limit of described safe range, then perform step S1051 and send giving fatigue pre-warning; If load measurement value is lower than the lower limit of described safe range, then performs step S1052 and send loosening early warning.
Step S1043, according to planar process decision rule to the load data received carry out analysis judge.
If measure the numerical value obtained to depart from the distance of above-mentioned plane more than a predetermined threshold, then perform step S1052 and send loosening early warning; Otherwise return step S103 to continue to process the data received.
Step S1044, according to times of fatigue decision rule to the vibration data received carry out analysis judge.
If judge, vibration data exceedes vibration number corresponding to vibration life point of inflexion on a curve place, then perform step S1051 and send giving fatigue pre-warning; Otherwise return step S103 to continue to process the data received.
By the mode adopting multiple decision rule to combine, make use of the advantage of various judgment rule, method according to the above embodiment of the present invention effectively can be supplemented for absolute value decision procedure, improves the early warning effect for bolt looseness state and fatigue state.
Those of ordinary skill in the art can recognize, each exemplary cell in embodiment described herein and algorithm steps, can realize with the combination of electronic hardware or computer software and electronic hardware.These functions realize with hardware or software form actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can realize described function for specific application choice diverse ways, but this realization should not thought and exceeds scope of the present invention.
If using the form of computer software realize described function and as independently production marketing or use time, then can think that all or part of (such as to the part that prior art contributes) of technical scheme of the present invention embodies in form of a computer software product to a certain extent.Described computer software product is stored in the non-volatile memory medium of embodied on computer readable usually, comprises all or part of step of some instructions in order to make computer equipment (can be personal computer, server or the network equipment etc.) perform various embodiments of the present invention method.And aforesaid storage medium comprises USB flash disk, portable hard drive, ROM (read-only memory) (ROM, Read-OnlyMemory), random access memory (RAM, RandomAccessMemory), magnetic disc or CD etc. various can be program code stored medium.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; change can be expected easily or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of described claim.
Claims (10)
1. a high strength wind-power tower bolt state method for early warning in wind-power electricity generation, is characterized in that, comprising:
Every one deck flange of described wind-power tower is arranged the sensor of predetermined quantity;
Described sensor is utilized to gather the load data of described sensor and vibration data and be sent to data processing division;
Described data processing division processes the described data received and stores;
According to preset rules to described data analysis, judge whether to need early warning, if so, then send early warning; If not, then return continuation to process the described described data received.
2. method according to claim 1, is characterized in that, described preset rules comprises:
Absolute value decision rule, when the load data measured value of described sensor exceeds predetermined safe range, is then judged to need early warning.
3. method according to claim 2, is characterized in that, the load data measured value of described sensor exceeds predetermined safe range and comprises:
If described load data measured value exceeds the upper limit of described safe range, then send giving fatigue pre-warning;
If described load data measured value lower than the lower limit of described safe range, then sends loosening early warning.
4. method according to claim 3, is characterized in that, described safe range is: the 70%-80% of bolt maximum load.
5. method according to claim 1 and 2, is characterized in that, described preset rules comprises:
Planar process decision rule, when the load data measured value of described sensor deviate from by the load data measured value of sensor described in remaining X, Y-axis form Flange Plane and Z axis be load measurement value three-dimensional system of coordinate in carry out projecting the plane of row exceed predetermined threshold time, send loosening early warning.
6. method according to claim 1 and 2, is characterized in that, described preset rules comprises:
Times of fatigue decision rule, when the described vibration data of described sensor exceedes vibration number corresponding to vibration life point of inflexion on a curve place, sends giving fatigue pre-warning.
7. method according to claim 5, is characterized in that, described preset rules comprises:
Times of fatigue decision rule, when the described vibration data of described sensor exceedes vibration number corresponding to vibration life point of inflexion on a curve place, sends giving fatigue pre-warning.
8. the method according to any one of claim 1-4 or 7, is characterized in that, described sensor is intelligent bolt, can Real-Time Monitoring its load born and current vibration data.
9. the method according to any one of claim 1-4 or 7, is characterized in that, described predetermined quantity is no less than 4.
10. the method according to any one of claim 1-4 or 7, is characterized in that, described predetermined quantity is not less than 5% of the sum of all bolts on described flange.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510563612.6A CN105181315B (en) | 2015-09-07 | 2015-09-07 | High intensity wind-power tower bolt state method for early warning in a kind of wind-power electricity generation |
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| CN201510563612.6A CN105181315B (en) | 2015-09-07 | 2015-09-07 | High intensity wind-power tower bolt state method for early warning in a kind of wind-power electricity generation |
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| CN106568562A (en) * | 2016-10-19 | 2017-04-19 | 中国电力科学研究院 | Test method and device of power transmission tower cross-arm bolt anti-loosening property |
| CN107153002A (en) * | 2017-05-17 | 2017-09-12 | 中国地震局工程力学研究所 | Wind power generation stepped connector aeration level detection method and detection means |
| CN107449529A (en) * | 2017-08-01 | 2017-12-08 | 济南大学 | A kind of leaf spring Cyclic Stress monitoring system and its method |
| CN108759918A (en) * | 2018-05-30 | 2018-11-06 | 中国人民解放军国防科技大学 | Vibration-stress composite sensor for monitoring flange bolt of wind power tower |
| CN110080951A (en) * | 2019-05-29 | 2019-08-02 | 曾杰 | Tower frame for wind generating set, tower connection monitoring method, terminal and readable storage medium storing program for executing |
| CN112576455A (en) * | 2020-12-14 | 2021-03-30 | 江阴市恒润重工股份有限公司 | Wind power flange bolt pressure detection failure prevention device and detection method thereof |
| CN114323398A (en) * | 2021-12-29 | 2022-04-12 | 广西建工集团智慧制造有限公司 | Real-time detection method and device for pre-tightening force of main limb bolt of tower crane tower body |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106568562A (en) * | 2016-10-19 | 2017-04-19 | 中国电力科学研究院 | Test method and device of power transmission tower cross-arm bolt anti-loosening property |
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| CN107153002A (en) * | 2017-05-17 | 2017-09-12 | 中国地震局工程力学研究所 | Wind power generation stepped connector aeration level detection method and detection means |
| CN107449529A (en) * | 2017-08-01 | 2017-12-08 | 济南大学 | A kind of leaf spring Cyclic Stress monitoring system and its method |
| CN108759918A (en) * | 2018-05-30 | 2018-11-06 | 中国人民解放军国防科技大学 | Vibration-stress composite sensor for monitoring flange bolt of wind power tower |
| CN108759918B (en) * | 2018-05-30 | 2020-10-23 | 中国人民解放军国防科技大学 | Vibration-stress composite sensor for monitoring flange bolt of wind power tower |
| CN110080951A (en) * | 2019-05-29 | 2019-08-02 | 曾杰 | Tower frame for wind generating set, tower connection monitoring method, terminal and readable storage medium storing program for executing |
| CN110080951B (en) * | 2019-05-29 | 2020-04-21 | 曾杰 | Wind turbine tower, tower connection monitoring method, terminal and readable storage medium |
| CN112576455A (en) * | 2020-12-14 | 2021-03-30 | 江阴市恒润重工股份有限公司 | Wind power flange bolt pressure detection failure prevention device and detection method thereof |
| CN112576455B (en) * | 2020-12-14 | 2022-06-28 | 江阴市恒润重工股份有限公司 | Wind power flange bolt pressure detection failure prevention device and detection method thereof |
| CN114323398A (en) * | 2021-12-29 | 2022-04-12 | 广西建工集团智慧制造有限公司 | Real-time detection method and device for pre-tightening force of main limb bolt of tower crane tower body |
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| CN105181315B (en) | 2018-02-06 |
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