CN112734716B - Automatic bolt detection method and device - Google Patents
Automatic bolt detection method and device Download PDFInfo
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Abstract
The invention discloses an automatic bolt detection method and device, comprising the following steps of S1, detecting and obtaining an image of a nut on a bolt of a wind turbine and a stress value of the nut; s2, processing to obtain the rotation angle and stress state of the nut; s3, judging whether the rotation angle accords with a standard angle or not; if not, sending out an alarm; s4, judging whether the stress value accords with a standard stress state; if yes, detecting the next bolt of the wind turbine generator to be detected; if not, an alarm is sent out. The technical scheme of the invention has the beneficial effects that: the sensor technology is used for carrying out full-automatic online real-time detection on each bolt, timely finding out a problem bolt and giving an alarm to inform maintenance personnel to carry out inspection or replacement, so that early diagnosis and early warning effects of bolt faults in the wind turbine generator set are completely realized, the manual investment of detection is greatly reduced, and the overall detection cost is reduced while the defect of manual torque detection precision is avoided.
Description
Technical Field
The invention relates to the technical field of wind power facility maintenance, in particular to a bolt automatic detection method and device.
Background
Because the number of bolts used for interstage fastening connection in the wind turbine is numerous, according to the operation rules of the wind turbine's inspection maintenance, after the wind turbine runs for 500 hours for the first time, all bolts pretightening force must be comprehensively checked, 10% -20% of all bolts need to be inspected periodically every year later, the work of the spot check is huge, the bolts of the wind turbine are used for interstage fastening connection, loosening or breaking of the bolts is a main cause of failure collapse of the wind turbine, and the periodic inspection of the interstage fastening bolts is a key for avoiding the failure of the wind turbine.
At present, the spot check work is mainly based on moment check, in the prior art, a hydraulic moment spanner is generally adopted to perform manual moment test on the spot check bolt, the workload is very huge, and the requirements on the skills and attitudes of operators are very high; in the ideal case that all the sampling bolts have no faults, the workload of the link accounts for half of the whole fixed inspection workload, and if one moment is found to be insufficient in the sampled bolts, 100% of the whole inspection and reloading of all the fastening bolts are required, in this case, the fixed inspection workload is multiplied by several times, the workload of the moment beating workload accounts for more than 90% of the whole fixed inspection maintenance total, and the input labor cost is huge.
Disclosure of Invention
According to the problems in the prior art, an automatic bolt detection method and device are provided, and the purpose is to provide a simple and rapid bolt detection scheme so as to save human resources and reduce the overall cost while improving the detection efficiency.
The technical scheme specifically comprises the following steps:
the automatic bolt detection method is used for detecting a wind turbine generator bolt on a wind power tower and comprises the following steps:
S1, acquiring an image of a nut on a bolt of the wind turbine to be detected, identifying the image to obtain a position value of the nut, and carrying out stress detection on the bolt of the wind turbine to obtain a stress value of a main bolt of the wind turbine;
s2, processing according to the position value to obtain a rotation angle of the nut, and processing according to the stress value to obtain a stress state of the nut;
s3, judging whether the rotation angle accords with a standard angle or not;
if yes, step S4 is carried out;
If not, sending out an alarm;
s4, judging whether the stress value accords with a standard stress state or not;
if yes, detecting the next bolt of the wind turbine generator to be detected;
if not, an alarm is sent out.
Preferably, step S1 further includes a position correction process, including:
step S11, judging whether the position value accords with a standard position value or not;
if yes, step S2 is carried out;
if not, go to step S12;
And S12, acquiring images of a plurality of positions of the bolts of the wind turbine until the position numerical value meets the standard position numerical value.
Preferably, the automatic bolt detection device includes:
the sliding platform is arranged on a flange platform of the wind power tower and can move along the arrangement direction of the bolts of the wind power unit;
The sensor device is fixedly arranged on the sliding platform, and detects the bolts of the wind turbine generator when the sliding platform moves, and the sensor device specifically comprises:
The visual detection module is used for visually detecting the single wind turbine bolts so as to identify the position values of the wind turbine bolts and nuts positioned on the wind turbine bolts;
The stress detection module is used for detecting stress of the single wind turbine generator bolt so as to obtain a stress value received by the wind turbine generator bolt;
The sensor device is also connected with a processing system and is used for packaging and sending the position value and the stress value to the processing system;
and the processing system processes the rotation angle of the nut according to the position value, and processes the stress state of the wind turbine generator bolt according to the stress value.
Preferably, the sliding platform includes:
The annular sliding rail is provided with a lower groove which is used for being embedded into a chain;
The mounting platform, the concrete installation that is provided with on the mounting platform:
The positioning guide wheels are embedded into the upper grooves of the annular sliding rails, and the upper grooves are arranged on two sides of the annular sliding rails and are positioned on the upper sides of the lower grooves;
The driving chain wheel is in meshed connection with the chain;
The driving motor is fixedly arranged on the driving sprocket and used for providing power for the driving sprocket, and the driving sprocket moves along the chain according to the power provided by the driving motor so that the mounting platform moves along the annular sliding rail.
Preferably, the sensor device further comprises:
The linear module is fixedly arranged on a mounting bracket on the surface of the mounting platform and is provided with a sliding table capable of moving up and down;
the stress detection module and the visual detection module are fixedly installed on the sliding table, and the visual detection module is located on the upper side of the stress detection module.
Preferably, the stress detection module includes:
The first driving unit is fixedly arranged on the sliding table and provided with a first driving shaft, and the first driving unit is used for rotating around the first driving shaft to move the position of a stress sensor;
The stress sensor is arranged on the first driving unit through a first connecting piece, and when the sensor device moves to a preset detection position of the wind turbine generator bolt along with the sliding platform, the stress sensor is used for carrying out stress detection on the wind turbine generator bolt to obtain the stress value.
Preferably, the visual detection module includes:
the second driving unit is fixedly arranged on the sliding table and provided with a second driving shaft, and the second driving unit is used for rotating around the second driving shaft to move the position of a vision sensor;
The visual sensor is mounted on the second driving unit through a second connecting piece, and when the sensor device moves to a preset detection position of the wind turbine screw bolt along with the sliding platform, the visual sensor is used for collecting current images of the wind turbine screw bolt and the nut and identifying the current images so as to obtain a position value.
Preferably, the processing system comprises:
The upper computer is connected to the sensor device and used for acquiring the stress value and the position value and processing the stress value and the position value;
The transmitting device is connected to the upper computer and used for transmitting the stress value and the position value to an external monitoring device;
The monitoring device is used for processing the rotation angle of the nut according to the position numerical value, processing the stress state of the wind turbine generator bolt according to the stress numerical value, and judging whether the wind turbine generator bolt has a problem or not according to the rotation angle and the stress state.
Preferably, the upper computer includes:
the first database is pre-stored with standard position values corresponding to a plurality of wind turbine generator bolts one by one;
the first acquisition unit is connected to the sensor device and is used for acquiring and storing the stress value and the position value;
the first comparison unit is connected to the first acquisition unit and the first database and is used for comparing the position value of the wind turbine generator bolt with the standard position value and outputting a first comparison result;
The calculation unit is connected to the first acquisition unit and the first comparison unit and is used for calculating according to the position numerical value of the wind turbine generator bolt and outputting a calculation result to a control unit when the first comparison result indicates that the position numerical value of the wind turbine generator bolt is not matched with the standard position numerical value;
The control unit is connected to the sliding platform and is used for controlling the sensor device to move according to the calculation result until the first comparison result indicates that the position value of the wind turbine generator bolt accords with the standard position value;
And the output unit is connected to the first comparison unit and is used for transmitting the stress value and the position value to the monitoring device through the transmitting device when the first comparison result shows that the position value of the wind turbine generator bolt is consistent with the standard position value.
Preferably, the monitoring device comprises:
The second database is pre-stored with standard stress states corresponding to a plurality of wind turbine generator bolts one by one and standard rotation angles corresponding to the nuts one by one;
The second acquisition unit is connected to the sending device in a wireless connection mode and is used for receiving and storing the stress value and the position value;
The second comparison unit is connected to the second database and the second acquisition unit and is used for processing the position numerical value of the nut to obtain the rotation angle of the nut, comparing the rotation angle with the standard rotation angle and outputting a second comparison result;
the third comparison unit is connected to the second database and the second acquisition unit and is used for processing the stress value to obtain the stress state, comparing the stress state with the standard stress state and outputting a third comparison result;
The alarm unit is connected to the second comparison unit and the third comparison unit, and is used for pre-storing an alarm action and executing the alarm action to prompt a user to check or replace the wind turbine generator bolts when the second comparison result indicates that the rotation angle is not consistent with the standard rotation angle and/or the third comparison result indicates that the stress state is not consistent with the standard stress state;
and the display unit is connected to the second acquisition unit and is used for displaying the stress value and the position value to a user.
The technical scheme of the invention has the beneficial effects that: the sensor technology is used for carrying out full-automatic online real-time detection on each bolt, timely finding out a problem bolt and giving an alarm to inform maintenance personnel to carry out inspection or replacement, so that early diagnosis and early warning effects of bolt faults in the wind turbine generator set are completely realized, the manual investment of detection is greatly reduced, and the overall detection cost is reduced while the defect of manual torque detection precision is avoided.
Drawings
Embodiments of the present invention will now be described more fully with reference to the accompanying drawings. The drawings, however, are for illustration and description only and are not intended as a definition of the limits of the invention.
FIG. 1 is a schematic diagram of a system flow of an automatic bolt detection method according to an embodiment of the invention;
FIG. 2 is a system flow diagram of a position correction method according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a specific implementation structure of an automatic bolt detection device according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an embodiment of a sliding platform according to the present invention;
FIG. 5 is a schematic diagram of an embodiment of a sensor device;
FIG. 6 is a schematic diagram of a power supply unit according to an embodiment of the present invention;
FIG. 7 is a diagram showing the structural components of an upper computer according to an embodiment of the present invention;
fig. 8 is a structural diagram of a monitoring device according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
The invention is further described below with reference to the drawings and specific examples, which are not intended to be limiting.
As shown in fig. 1, the present technical solution provides a method for automatically detecting a bolt of a wind turbine on a wind power tower, where the method includes:
S1, acquiring an image of a nut 101 on a wind turbine bolt 103 to be detected, identifying the image to obtain a position value of the nut 101, and carrying out stress detection on the wind turbine bolt to obtain a stress value of a wind turbine main bolt;
Step S2, processing according to the position value to obtain the rotation angle of the nut 101, and processing according to the stress value to obtain the stress state of the nut 101;
s3, judging whether the rotation angle accords with a standard angle or not;
if yes, step S4 is carried out;
If not, sending out an alarm;
s4, judging whether the stress value accords with a standard stress state;
if yes, detecting a next wind turbine generator bolt 103 to be detected;
if not, an alarm is sent out.
In a preferred embodiment, as shown in fig. 2, step S1 further includes a position correction process, including:
Step S11, judging whether the position value accords with a standard position value;
if yes, step S2 is carried out;
if not, go to step S12;
And S12, acquiring images of a plurality of positions of the bolts of the wind turbine generator until the position numerical value accords with the standard position numerical value.
As shown in fig. 3, the invention provides an automatic bolt detection device for detecting a wind turbine bolt 103 on a wind turbine tower 10; wherein, include:
The sliding platform is arranged on the flange platform 102 of the wind power tower and can move along the arrangement direction of the bolts 103 of the wind power generation set;
a sensor device is fixedly installed on the sliding platform, and when the sliding platform moves, the sensor device detects the wind turbine bolts 103, and the sensor device specifically comprises:
The visual detection module is used for visually detecting the single wind turbine bolts 103 to identify the position values of the wind turbine bolts 103 and nuts 101 positioned on the wind turbine bolts;
The stress detection module is used for detecting stress of the single wind turbine generator bolt 103 so as to obtain a stress value of the wind turbine generator bolt 103;
the sensor device is also connected with a processing system and used for packaging and sending the position value and the stress value to the processing system;
The processing system obtains the rotation angle of the nut 101 according to the position numerical processing and obtains the stress state of the wind turbine bolt 103 according to the stress numerical processing.
Specifically, nut 101 is coupled into wind tower flange 102 by wind turbine bolts 103.
In a preferred embodiment, as shown in fig. 4, the sliding platform comprises:
The annular slide rail 1 is provided with a lower groove 11, and the lower groove 11 is used for embedding a chain 2;
the mounting platform 3, the specific mounting platform 3 is provided with:
The positioning guide wheels 31 are embedded into the upper grooves 12 of the annular slide rail 1, and the upper grooves 12 are arranged on two sides of the annular slide rail 1 and are positioned on the upper sides of the lower grooves 11;
A drive sprocket 32, the drive sprocket 32 being in meshed connection with the chain 2;
The driving motor 33 is fixedly arranged on the driving sprocket 32 and is used for providing power for the driving sprocket 32, and the driving sprocket 32 moves along the chain 2 according to the power provided by the driving motor 33, so that the mounting platform 3 moves along the annular sliding rail 1.
Specifically, the upper surface of the mounting platform 3 has a through hole, and the driving motor 33 is fixedly connected with the mounting platform 3 through the through hole, and when the driving motor 33 drives the driving sprocket 32 to rotate, the driving sprocket 32 moves along the chain 2, and meanwhile, the driving motor 33 and the mounting platform 3 are driven to move.
Specifically, the positioning guide wheel 31 is used for positioning and guiding, supporting the whole installation platform 3, and the positioning guide wheel 31 is internally provided with a rolling bearing, so that the installation platform 3 can smoothly move on the upper groove 12.
Specifically, the upper groove 12 may be a V-shaped groove, and the positioning guide wheel 31 is also V-shaped and is correspondingly embedded into the upper groove 12, and the upper groove 12 may also be circular arc-shaped, but the precision requirement of the circular arc-shaped upper groove 12 may be higher than that of the V-shaped upper groove 12, so that the positioning effect of the V-shaped structure is good, the positioning guide wheel 31 can be supported, and the positioning guide wheel 31 cannot be separated from the upper groove 12.
In a preferred embodiment, as shown in fig. 5, the sensor device further comprises:
the linear module 4 is fixedly arranged on a mounting bracket 34 on the surface of the mounting platform 3, and the linear module 4 is provided with a sliding table 41 capable of moving up and down;
The stress detection module and the visual detection module are fixedly mounted on the sliding table 41, and the visual detection module is located on the upper side of the stress detection module.
In a preferred embodiment, the stress detection module comprises:
a first driving unit 5 fixedly installed on the sliding table 41 and having a first driving shaft, the first driving unit 5 being for rotating around the first driving shaft to move the position of the stress sensor 6;
The stress sensor 6 is mounted on the first driving unit 5 through a first connecting piece 7, and when the sensor device moves to a preset detection position of the wind turbine generator bolt 103 along with the sliding platform, the stress sensor 6 is used for carrying out stress detection on the wind turbine generator bolt 103 to obtain a stress value.
Specifically, the first driving unit 5 is a stress sensor driver.
In a preferred embodiment, the visual detection module comprises:
A second driving unit 8 fixedly installed on the sliding table 41 and having a second driving shaft, the second driving unit 8 being for rotating around the second driving shaft to move the position of a vision sensor 9;
The vision sensor 9 is mounted on the second driving unit 8 through a second connecting piece 10, and when the sensor device moves to a preset detection position of the wind turbine generator bolt 103 along with the sliding platform, the vision sensor 9 is used for collecting and identifying the current image of the nut 101 so as to obtain a position value.
In particular, the second drive unit 8 is a vision sensor driver.
In a preferred embodiment, as shown in FIG. 3, the processing system comprises:
The upper computer 5 is connected to the sensor device and used for acquiring and obtaining a stress value and a position value and processing the stress value and the position value;
The transmitting device 6 is connected to the upper computer 5 and is used for transmitting the stress value and the position value to an external monitoring device 7;
the monitoring device 7 is configured to obtain a rotation angle of the nut 101 according to the position numerical processing, obtain a stress state of the wind turbine bolt 103 according to the stress numerical processing, and determine whether the wind turbine bolt 103 has a problem according to the rotation angle and the stress state.
Specifically, the transmitting device 6 is a signal transmitter, and transmits the stress value and the position value to the monitoring device 7 through a wireless transmission mode.
In particular, the monitoring device 7 may be a computer.
In a preferred embodiment, as shown in fig. 7, the upper computer 5 includes:
the first database 51 is pre-stored with standard position values corresponding to the plurality of wind turbine generator bolts 103 one by one;
a first acquisition unit 52, connected to the sensor device, for acquiring and storing the stress value and the position value;
The first comparing unit 53 is connected to the first collecting unit 52 and the first database 51, and is configured to compare the position value of the wind turbine bolt 103 with the standard position value, and output a first comparison result;
the calculating unit 54 is connected to the sliding platform, the first collecting unit 52 and the first comparing unit 53, and is configured to calculate according to the position value of the wind turbine bolt 103 and output a calculation result to a control unit 55 when the first comparison result indicates that the position value of the wind turbine bolt 103 does not match the standard position value;
The control unit 55 is connected to the sliding platform and is used for controlling the sensor device to move according to the calculation result until the first comparison result indicates that the position value of the wind turbine bolt 103 accords with the standard position value;
And an output unit 56 connected to the first comparison unit 53 for transmitting the stress value and the position value to the monitoring device 7 via the transmitting device 6 when the first comparison result indicates that the position value of the wind turbine bolt 103 and the standard position value are identical.
In a preferred embodiment, as shown in fig. 8, the monitoring device 7 comprises:
The second database 71 is pre-stored with standard stress states corresponding to the plurality of wind turbine generator bolts 103 one by one and standard rotation angles corresponding to the nuts 101 one by one;
the second acquisition unit 72 is connected to the sending device 6 by a wireless connection manner, and is used for receiving and storing the stress value and the position value;
The second comparing unit 73 is connected to the second database 71 and the second collecting unit 72, and is configured to process the position value of the nut to obtain a rotation angle of the nut 101, compare the rotation angle with a standard rotation angle, and output a second comparison result;
The third comparison unit 74 is connected to the second database 71 and the second acquisition unit 72, and is configured to process the stress value to obtain a stress state, compare the stress state with a standard stress state, and output a third comparison result;
The alarm unit 75 is connected to the second comparison unit 73 and the third comparison unit 74, and pre-stores an alarm action for executing the alarm action to prompt the user to check or replace the wind turbine bolts 103 when the second comparison result indicates that the rotation angle is not coincident with the standard rotation angle and/or the third comparison result indicates that the stress state is not coincident with the standard stress state;
A display unit 76, coupled to the second acquisition unit 72, for displaying the stress value and the position value to a user.
Specifically, the technical scheme further includes a power supply module 8, and the power supply module 8 includes:
A power source 81, a transmitting-end coil 82, a receiving-end coil 83, and a rechargeable battery 84; the power supply module 8 is used for supplying power to the driving motor 33, the upper computer 5 and the transmitting device 6 by adopting an electromagnetic induction technology.
The concrete using process of the bolt automatic detection method in the technical scheme is as follows:
The user outputs a detection signal to the upper computer 5 through the sending device 6 at the monitoring device 7, the upper computer 5 outputs a control signal to the driving motor 33 according to the detection signal, the driving motor 33 drives the driving sprocket 32 to rotate according to the control signal, the driving sprocket 32 moves a preset length along the chain 2, and meanwhile, the driving motor 33 and the mounting platform 3 are driven to move.
Specifically, the predetermined length of movement of the drive sprocket 32 along the chain 2 is determined according to the distance between the bolts of the wind tower.
Further, step S1 is implemented according to the following implementation steps, after the driving of the driving motor 33 is finished, a finishing signal is output to the upper computer 5, the upper computer 5 outputs a shooting signal to the vision sensor 9, the vision sensor 9 shoots according to the shooting signal and transmits the shot image of the bolt to the upper computer 5, the upper computer 5 processes the image to obtain the position values of the wind turbine bolts 103 and the nuts 101 on the wind turbine bolts 103 and the stress values of the bolts,
Further, step S11 is implemented according to the following implementation steps: the first comparison unit 53 compares the position value of the wind turbine 103 with the standard position value and judges whether the position value is in line with the standard position value;
If not, the step S12 is implemented according to the following implementation steps: the calculation unit 54 calculates according to the position value and the standard position value of the wind turbine bolt 103 to obtain a calculation result, and the control unit 55 controls the second driving unit 8 and the linear module 4 to move the vision sensor 9 according to the calculation result until the position value of the wind turbine bolt 103 accords with the standard position value;
The control unit 55 is connected to the sliding platform and is used for controlling the sensor device to move according to the calculation result until the first comparison result indicates that the position value of the wind turbine bolt 103 accords with the standard position value;
if so, the output unit 56 sends the stress value and the position value to the monitoring device 7 through the sending device 6, and the display unit 76 in the monitoring device 7 displays the stress value and the position value to the user.
Further, step S2 is implemented according to the following implementation steps: the second comparing unit 73 in the monitoring device 7 processes the position value of the nut 101 to obtain the rotation angle of the nut 101, compares the rotation angle with the standard rotation angle and judges whether the rotation angle is in line with the standard rotation angle or not so as to realize step S3; the third comparing unit 74 in the monitoring device 7 processes the stress value to obtain a stress state, and compares the stress state with a standard stress state and determines whether the stress state is consistent with the standard stress state to implement step S4.
If the rotation angle does not conform to the standard rotation angle and/or the stress state does not conform to the standard stress state, the alarm unit 75 executes an alarm action to prompt a user to check or replace the wind turbine bolts 103;
If the rotation angle is in accordance with the standard rotation angle and the stress state is in accordance with the standard stress state, the monitoring device 7 outputs a coincidence signal to the upper computer 5 through the transmitting device 6, and the upper computer 5 outputs a moving signal to the driving motor 33 according to the coincidence signal, so that the driving motor 33 drives the driving sprocket 32 to rotate again according to the driving signal, and the driving sprocket 32 moves again along the chain 2 for a preset length to detect the next wind turbine generator system bolt 103.
The technical scheme of the invention has the beneficial effects that: the sensor technology is used for carrying out full-automatic online real-time detection on each bolt, timely finding out a problem bolt and giving an alarm to inform maintenance personnel to carry out inspection or replacement, so that early diagnosis and early warning effects of bolt faults in the wind turbine generator set are completely realized, the manual investment of detection is greatly reduced, and the overall detection cost is reduced while the defect of manual torque detection precision is avoided.
The foregoing description is only illustrative of the preferred embodiments of the present invention and is not to be construed as limiting the scope of the invention, and it will be appreciated by those skilled in the art that equivalent substitutions and obvious variations may be made using the description and illustrations of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. An automatic bolt detection device, characterized by comprising:
The sliding platform is arranged on a flange platform of the wind power tower and can move along the arrangement direction of bolts of the wind turbine;
The sensor device is fixedly arranged on the sliding platform, and detects the bolts of the wind turbine generator when the sliding platform moves, and the sensor device specifically comprises:
The visual detection module is used for visually detecting the single wind turbine bolts so as to identify the position values of the wind turbine bolts and nuts positioned on the wind turbine bolts;
The stress detection module is used for detecting stress of the single wind turbine generator bolt so as to obtain a stress value received by the wind turbine generator bolt;
The sensor device is also connected with a processing system and is used for packaging and sending the position value and the stress value to the processing system;
and the processing system processes the rotation angle of the nut according to the position value, and processes the stress state of the wind turbine generator bolt according to the stress value.
2. The automatic bolt detection apparatus according to claim 1, wherein the slide platform includes:
The annular sliding rail is provided with a lower groove which is used for being embedded into a chain;
The mounting platform, the concrete installation that is provided with on the mounting platform:
The positioning guide wheels are embedded into the upper grooves of the annular sliding rails, and the upper grooves are arranged on two sides of the annular sliding rails and are positioned on the upper sides of the lower grooves;
The driving chain wheel is in meshed connection with the chain;
The driving motor is fixedly arranged on the driving sprocket and used for providing power for the driving sprocket, and the driving sprocket moves along the chain according to the power provided by the driving motor so that the mounting platform moves along the annular sliding rail.
3. The automatic bolt detection apparatus according to claim 1, wherein the sensor apparatus further comprises:
The linear module is fixedly arranged on a mounting bracket on the surface of the mounting platform and is provided with a sliding table capable of moving up and down;
the stress detection module and the visual detection module are fixedly installed on the sliding table, and the visual detection module is located on the upper side of the stress detection module.
4. The automatic bolt detection apparatus according to claim 3, wherein the stress detection module includes:
The first driving unit is fixedly arranged on the sliding table and provided with a first driving shaft, and the first driving unit is used for rotating around the first driving shaft to move the position of a stress sensor;
The stress sensor is arranged on the first driving unit through a first connecting piece, and when the sensor device moves to a preset detection position of the wind turbine generator bolt along with the sliding platform, the stress sensor is used for carrying out stress detection on the wind turbine generator bolt to obtain the stress value.
5. The automatic bolt detection apparatus according to claim 3, wherein the visual detection module includes:
the second driving unit is fixedly arranged on the sliding table and provided with a second driving shaft, and the second driving unit is used for rotating around the second driving shaft to move the position of a vision sensor;
The visual sensor is mounted on the second driving unit through a second connecting piece, and when the sensor device moves to a preset detection position of the wind turbine screw bolt along with the sliding platform, the visual sensor is used for collecting current images of the wind turbine screw bolt and the nut and identifying the current images so as to obtain a position value.
6. The automatic bolt detection apparatus of claim 1, wherein the processing system comprises:
The upper computer is connected to the sensor device and used for acquiring the stress value and the position value and processing the stress value and the position value;
The transmitting device is connected to the upper computer and used for transmitting the stress value and the position value to an external monitoring device;
The monitoring device is used for processing the rotation angle of the nut according to the position numerical value, processing the stress state of the wind turbine generator bolt according to the stress numerical value, and judging whether the wind turbine generator bolt has a problem or not according to the rotation angle and the stress state.
7. The automatic bolt detection apparatus according to claim 6, wherein the upper computer includes:
the first database is pre-stored with standard position values corresponding to a plurality of wind turbine generator bolts one by one;
the first acquisition unit is connected to the sensor device and is used for acquiring and storing the stress value and the position value;
the first comparison unit is connected to the first acquisition unit and the first database and is used for comparing the position value of the wind turbine generator bolt with the standard position value and outputting a first comparison result;
The calculation unit is connected to the first acquisition unit and the first comparison unit and is used for calculating according to the position numerical value of the wind turbine generator bolt and outputting a calculation result to a control unit when the first comparison result indicates that the position numerical value of the wind turbine generator bolt is not matched with the standard position numerical value;
The control unit is connected to the sliding platform and is used for controlling the sensor device to move according to the calculation result until the first comparison result indicates that the position value of the wind turbine generator bolt accords with the standard position value;
And the output unit is connected to the first comparison unit and is used for transmitting the stress value and the position value to the monitoring device through the transmitting device when the first comparison result shows that the position value of the wind turbine generator bolt is consistent with the standard position value.
8. The automatic bolt detection apparatus according to claim 6, wherein the monitoring device includes:
The second database is pre-stored with standard stress states corresponding to a plurality of wind turbine generator bolts one by one and standard rotation angles corresponding to the nuts one by one;
The second acquisition unit is connected to the sending device in a wireless connection mode and is used for receiving and storing the stress value and the position value;
The second comparison unit is connected to the second database and the second acquisition unit and is used for processing the position numerical value of the nut to obtain the rotation angle of the nut, comparing the rotation angle with the standard rotation angle and outputting a second comparison result;
the third comparison unit is connected to the second database and the second acquisition unit and is used for processing the stress value to obtain the stress state, comparing the stress state with the standard stress state and outputting a third comparison result;
The alarm unit is connected to the second comparison unit and the third comparison unit, and is used for pre-storing an alarm action and executing the alarm action to prompt a user to check or replace the wind turbine generator bolts when the second comparison result indicates that the rotation angle is not consistent with the standard rotation angle and/or the third comparison result indicates that the stress state is not consistent with the standard stress state;
and the display unit is connected to the second acquisition unit and is used for displaying the stress value and the position value to a user.
9. The automatic bolt detection method is used for detecting a wind turbine generator bolt on a wind power tower; the automatic bolt detection method is applied to the automatic bolt detection device according to any one of claims 1 to 8, and comprises the following steps:
S1, acquiring an image of a nut on a bolt of the wind turbine to be detected, identifying the image to obtain a position value of the nut, and carrying out stress detection on the bolt of the wind turbine to obtain a stress value of a main bolt of the wind turbine;
s2, processing according to the position value to obtain a rotation angle of the nut, and processing according to the stress value to obtain a stress state of the nut;
s3, judging whether the rotation angle accords with a standard angle or not;
if yes, step S4 is carried out;
If not, sending out an alarm;
s4, judging whether the stress value accords with a standard stress state or not;
if yes, detecting the next bolt of the wind turbine generator to be detected;
if not, an alarm is sent out.
10. The automatic bolt detecting method according to claim 9, wherein step S1 further includes a position correcting process including:
step S11, judging whether the position value accords with a standard position value or not;
if yes, step S2 is carried out;
if not, go to step S12;
And S12, acquiring images of a plurality of positions of the bolts of the wind turbine until the position numerical value meets the standard position numerical value.
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