Belt-operated adjusting device

Abstract

The invention relates to a belt-operated adjusting device (10) for adjusting the orientation and / or position of a plant or machine part (12), in particular for adjusting the orientation of a rotor blade of a wind turbine, having an adjusting belt (14) which is connected to the plant or machine part (12) such that the orientation and / or position of the plant or machine part (12) can be varied by way of a belt movement (x).

Description

[0001] Belt-driven adjustment device

[0002] Description

[0003] The invention relates to a belt-driven adjustment device for adjusting the orientation and / or position of a system or machine part, in particular for adjusting the orientation of a rotor blade of a wind turbine, with an adjustment belt which is connected to the system or machine part in such a way that the orientation and / or position of the system or machine part can be changed by means of a belt movement.

[0004] Furthermore, the invention relates to a wind turbine with at least one rotor blade and an adjusting device for adjusting the orientation of the at least one rotor blade.

[0005] Furthermore, the invention relates to a method for determining the load of an adjustment belt of a belt-driven adjustment device for adjusting the orientation and / or position of a system or machine part, comprising the step of changing the orientation and / or position of the system or machine part by moving the adjustment belt connected to the system or machine part.

[0006] Belt-driven adjustment devices often have an electric drive motor to drive the adjustment belt. To determine the load on the adjustment belt, it was previously common practice to monitor the current consumption of the drive motor to determine the torque on the driven pulley based on the current consumption. Based on the measured torque, the load on the adjustment belt was calculated.

[0007] However, in many applications, gears with high gear ratios are used, which can range, for example, from 1:1000 to 1:3000. Due to these high gear ratios, determining the belt load based on the current consumption of the electric drive motor often leads to a comparatively inaccurate load determination. The expected belt wear cannot therefore be reliably determined. Furthermore, the state-of-the-art methods for determining the load on a timing belt do not determine the point at which the load is introduced into the belt. Therefore, the load cannot currently be determined for a specific belt segment.

[0008] The object underlying the invention is therefore to be able to determine the load on an adjustment belt of a belt-driven adjustment device more precisely.

[0009] The object is achieved by a belt-driven adjusting device of the type mentioned above, wherein the adjusting device according to the invention has a deflection pulley which is in contact with the adjustment belt and comprises a sensor arrangement, wherein the sensor arrangement is configured to provide sensor signals which are dependent on the mechanical load on the deflection pulley emanating from the first adjustment belt and on the rotational angle position of the deflection pulley. The adjusting device according to the invention further comprises an electronic data processing device which is configured to determine the rotational angle position of the deflection pulley and the load on the adjustment belt based on the sensor signals of the sensor arrangement and to assign the determined load on the adjustment belt to a belt segment of the adjustment belt based on the determined rotational angle position of the deflection pulley.

[0010] From the angular position of the idler pulley, the electronic data processing device can precisely determine the position of the belt segment engaging the driving pinion of a geared motor. The electronic data processing device thus determines the magnitude and location of the load on the adjustment belt, thus creating the conditions for predictive maintenance of the adjustment device. The electronic data processing device is preferably configured to calculate the angular position of the idler pulley and the load on the adjustment belt using a mathematical relationship, whereby the mathematical relationship may depend on assumptions. One assumption, for example, may be that virtually no slip occurs in the belt drive.For example, the mathematical relationship assumes that there is no slippage between the deflection pulley and a driving toothed belt pulley of a drive of the adjustment device that is connected to the adjustment belt.

[0011] The alignment of the system or machine component can be verified regularly, for example, every 24 hours. During verification, the revolutions of the idler pulley can be counted during a reference run, allowing the absolute position between the idler pulley and the driving gear to be determined. This then allows, for example, the meshing teeth of the timing belt, which is designed as a toothed belt, to be known, and a load spectrum can be derived. The electronic data processing device is therefore preferably configured to determine a belt-segment-specific load spectrum for the timing belt. The belt-specific load spectrum preferably describes the load on the belt segments over time.

[0012] In a preferred embodiment of the adjusting device according to the invention, the sensor arrangement comprises one or more sensors, wherein preferably one sensor, several sensors, or all of the sensors of the sensor arrangement are designed as force transducers. The sensors designed as force transducers are preferably configured to determine a transverse force load and / or a shear stress or shear stress on the deflection pulley. Individual sensors of the sensor arrangement can be spaced apart from one another in the axial direction of the deflection pulley. Individual sensors of the sensor arrangement can have a rotational angle offset from one another. Individual sensors of the sensor arrangement can have different orientations.

[0013] The adjustment device according to the invention is further advantageously developed in that one sensor, several sensors, or all of the sensors in the sensor arrangement comprise one or more interconnected strain gauges. The sensors can comprise strain gauge (strain gauge) full bridges or be designed as strain gauge full bridges. The strain gauges of a sensor are preferably arranged on opposite sides of the deflection pulley.

[0014] In another preferred embodiment of the adjustment device according to the invention, the sensor arrangement is configured to output sensor signals upon rotation of the deflection pulley caused by the adjustment belt. These sensor signals follow a sinusoidal signal curve dependent on the angle of rotation of the deflection pulley. The amplitude of the sinusoidal signal curve is preferably dependent on the load on the deflection pulley caused by the adjustment belt. The sinusoidal signal curves of the sensors are preferably offset from one another, i.e., have an angular offset from one another. Preferably, two sensors of the sensor arrangement form a sensor pair. The sensor arrangement preferably comprises two sensor pairs, i.e., a total of four sensors.

[0015] In a further preferred embodiment of the adjusting device according to the invention, the electronic data processing device is configured to calculate an axial force of the deflection pulley based on at least two sensor signals from the sensor arrangement. The electronic data processing device preferably calculates a first axial force of the deflection pulley based on at least two sensor signals from sensors arranged on a first side of the deflection pulley. The electronic data processing device preferably calculates a second axial force of the deflection pulley based on at least two sensor signals from sensors arranged on a second side of the deflection pulley. The electronic data processing device preferably calculates an axial force mean value based on the first axial force and the second axial force. The sensors arranged on the first side of the deflection pulley form a first sensor pair.The sensors arranged on the second side of the deflection pulley form a second sensor pair. The strain gauges of a first sensor of the first sensor pair and the strain gauges of a second sensor of the first sensor pair are preferably offset by 90° to each other. The strain gauges of a first sensor of the second sensor pair and the strain gauges of a second sensor of the second sensor pair are preferably offset by 90° to each other. The sensor pairs are preferably offset by 45° to each other. As the deflection pulley rotates, this creates four sine curves offset by 45° to each other. The strain gauge full bridges are electrically connected in such a way that they convert the shear stress on the deflection pulley into an electrical signal. The axial force or the averaged axial force is then converted into the strand force of the adjusting belt according to the wrap angle, so that the belt load can be determined.The wrap angle results from the design of the adjustment device and remains constant due to its geometry. The belt load values ​​serve as the basis for determining the load spectrum of the adjusting belt. In a further development of the adjustment device according to the invention, the electronic data processing device is configured to examine the signal curve of the sensor signals to detect signal errors and to correct them if a signal error is detected. A signal error can, for example, be a zero-point offset in the sinusoidal signal curve. A zero-point offset can be determined, for example, by detecting the inflection points in the sinusoidal signal curves. In this case, the signal curve can be shifted by the electronic data processing device to correct the signal error so that the inflection points of the sinusoidal signal curves once again run through the zero axis.Eliminating this source of error increases the accuracy of stress determination and position accuracy.

[0016] The object underlying the invention is further achieved by a wind turbine of the type mentioned above, wherein the adjustment device of the wind turbine according to the invention is designed according to one of the embodiments described above. With regard to the advantages and modifications of the wind turbine according to the invention, reference is therefore first made to the advantages and modifications of the adjustment device according to the invention.

[0017] The adjustment device of the wind turbine can be a pitch adjustment device, by means of which the inclination or orientation of one or more rotor blades can be adjusted.

[0018] The belt force can be measured directly through the idler pulley in the belt drive via the adjustment device. When the rotor blade is rotated in a first direction, the idler pulley is on the tension side, making it possible to measure the peak load that occurs when overcoming the breakaway torque, and the normal adjustment force (plus or minus the wind load). If the load limit of the adjustment belt is inadvertently exceeded, maintenance can be initiated, for example to replace the adjustment belt. When the rotor blade is rotated in a second direction, the idler pulley is on the slack side, making it possible to measure the minimum pretension of the belt, plus or minus the wind load. If the pretension falls below a critical limit, maintenance can be initiated to correct the pretension or replace the adjustment belt.Alternatively, the belt tension can be increased as needed using a belt tensioning mechanism. The belt tension can be increased manually or automatically.

[0019] The object underlying the invention is further achieved by a method of the type mentioned above, wherein, within the scope of the method according to the invention, sensor signals are provided by a sensor arrangement of a deflection pulley in contact with the adjustment belt, wherein the sensor signals are dependent on the mechanical load on the deflection pulley emanating from the adjustment belt and the rotational angle position of the deflection pulley. According to the invention, an electronic data processing device determines the rotational angle position of the deflection pulley and the load on the adjustment belt based on the sensor signals and assigns the determined load on the adjustment belt to a belt segment of the adjustment belt based on the determined rotational angle position of the deflection pulley.

[0020] The method according to the invention can be used to determine the load on an adjustment belt of a belt-driven adjustment device according to one of the embodiments described above. With regard to the advantages and modifications of the method according to the invention, reference is therefore first made to the advantages and modifications of the adjustment device according to the invention. In a preferred embodiment of the method according to the invention, when the deflection pulley rotates due to the adjustment belt, the sensor signals follow a sinusoidal signal curve that depends on the angle of rotation of the deflection pulley. The sinusoidal signal curves of the sensor signals have a fixed angular offset from one another. The angular offset of the sinusoidal signal curves can be used to determine the current angular position of the deflection pulley and thus also the belt segment of the adjustment belt that is engaged with the driving pulley.This means that, for example, a tooth-precise loading situation can be mapped.

[0021] Furthermore, a method according to the invention is advantageous in which the electronic data processing device calculates an axial force of the idler pulley based on at least two sensor signals. The forces emanating from the adjustment belt press the adjustment belt onto the idler pulley, thereby loading the idler pulley bearing. This bearing force of the idler pulley is referred to as the axial force and is in balance with the strand forces. Based on the axial forces, the strand forces can then be determined, which allows the belt load to be determined.

[0022] Preferred embodiments of the invention are explained and described in more detail below with reference to the accompanying figures. In the figures:

[0023] Fig. 1 shows a belt-driven adjusting device according to the invention in a schematic representation;

[0024] Fig. 2 shows a deflection pulley of a belt-driven adjusting device according to the invention in a schematic sectional view; Fig. 3 shows a hub of a deflection pulley of a belt-driven adjusting device according to the invention in a schematic perspective view; and

[0025] Fig. 4 Signal curves of sensors of a sensor arrangement of a deflection pulley of a belt-driven adjusting device according to the invention.

[0026] Figure 1 shows a belt-driven adjustment device 10 for adjusting the orientation of the system component 12. The system component 12 is a rotor blade of a wind turbine. The alignment of the rotor blade can be adjusted using the adjustment device 10. The adjustment device 10 is therefore a pitch adjustment device.

[0027] The adjustment device 10 comprises an adjustment belt 14, which is attached at its end sections to the attachment points 16a, 16b on the system part 12. The adjustment belt 14 rotates around a pulley 18, wherein the pulley 18 is connected to a drive of the adjustment device 10 for rotationally driving the pulley 18. The drive can be an electric motor. The adjustment belt 14 can be a toothed belt, so that the pulley 18 is designed as the driving toothed belt pulley of the drive of the adjustment device 10.

[0028] The adjustment device 10 further comprises a deflection pulley 20, which is in contact with the adjustment belt 14 between the pulley 18 and the attachment point 16b. The deflection pulley 20 comprises a sensor arrangement 24. The sensor arrangement 24 provides sensor signals S1-S4 to an electronic data processing device 22. The sensor signals S1-S4 depend on the mechanical load on the deflection pulley 20 emanating from the adjustment belt 14 and the rotational angle position of the deflection pulley 20. By a belt movement x, the system part 12 is rotated about the rotation axis R, so that the belt movement x results in a rotational movement <p des Anlagenteils 12 führt. Je nach Drehrichtung der Riemenscheibe 18 wird das Anlagenteil 12 entweder im Uhrzeigersinn oder gegen den Uhrzeigersinn gedreht.During a belt movement x, there is also a rotational movement at the deflection pulley 20, whereby there is a connection between the rotational angle position of the deflection pulley 20, the belt segment of the adjustment belt 14 in contact with the pulley 18 and the orientation of the system part 12.

[0029] The electronic data processing device 22 determines the angular position of the deflection pulley 20 and the load on the adjustment belt 14 based on the sensor signals S1-S4 of the sensor arrangement 24. Furthermore, the electronic data processing device 22 assigns the determined load on the adjustment belt 14 to a belt segment of the adjustment belt based on the determined angular position of the deflection pulley 20. From the angular position of the deflection pulley 20, the electronic data processing device 22 can precisely determine the belt segment of the adjustment belt 14 that is in engagement with the pulley 18. The electronic data processing device 22 thus determines the magnitude of the load and the location of the load on the adjustment belt 14, enabling predictive maintenance of the adjustment device 10. The belt force can therefore be measured directly via the deflection pulley 20.

[0030] When the system component 12, designed as a rotor blade, is rotated in a first direction, the deflection pulley 20 is located on the tension side, so that the peak load when overcoming the breakaway torque and the normal adjustment force can be measured. When the system component 12, designed as a rotor blade, is rotated in a second direction, the deflection pulley 20 is located on the slack side, so that the minimum pretension of the belt can be measured. The electronic data processing device 22 calculates the rotational angular position of the deflection pulley 20 and the load on the adjustment belt using a mathematical relationship. The electronic data processing device 22 determines a belt-segment-specific load spectrum for the adjustment belt 14, i.e., the load on the belt segments of the belt 14 over time.

[0031] Fig. 2 shows a pulley 20 having a hub 26 and a guide sleeve 28 extending around the hub 26. The guide sleeve 28 is pressed onto the hub 26. The guide sleeve 28 serves to guide the adjusting belt 14 and has two flanged pulleys 30a, 30b, which laterally delimit the belt guide area 32 located between the flanged pulleys 30a, 30b and ensure lateral belt guidance.

[0032] The hub 26 has a first circumferential indentation 34a on a first side 36a and a second circumferential indentation 34b on a second side 36b. Within the indentations 34a, 34b are pockets in which strain gauges 38a, 38b, 42a, 42b, 46a, 46b, 50a, 50b are arranged. The strain gauges 38a, 38b, 42a, 42b, 46a, 46b, 50a, 50b are components of sensors 40, 44, 48, 52 of the sensor assembly 24, which are designed as force transducers.

[0033] Figure 3 shows the arrangement of sensors 40, 44, 48, 52 and the arrangement of strain gauges 38a, 38b, 42a, 42b, 46a, 46b, 50a, 50b, respectively. Sensors 40, 44, 48, 52 are designed as strain gauge full bridges. The strain gauges 38a, 38b, 42a, 42b, 46a, 46b, 50a, 50b of the respective sensors 40, 44, 48, 52 are arranged on opposite sides of the deflection pulley 20.

[0034] The opposing strain gauges 38a, 38b form a first sensor 40. The opposing strain gauges 42a, 42b form a second sensor 44. The sensors 40, 44 form a sensor pair, whose strain gauges 38a, 38b, 42a, 42b are arranged in the recess 34a. The strain gauges 38a, 38b of sensor 40 and the strain gauges 42a, 42b of sensor 44 are arranged offset by 90° from each other.

[0035] The opposing strain gauges 46a, 46b form a third sensor 48. The opposing strain gauges 50a, 50b form a fourth sensor 52. The sensors 48, 52 form a sensor pair, whose strain gauges 46a, 46b, 50a, 50b are arranged in the recess 34b. The strain gauges 46a, 46b of sensor 48 and the strain gauges 50a, 50b of sensor 52 are arranged offset by 90° from each other.

[0036] The sensor pair consisting of sensors 40, 44 and the sensor pair consisting of sensors 48, 52 are arranged offset by 45° from each other. Thus, when the deflection pulley 20 rotates, four sine curves are created, offset by 45° from each other.

[0037] Fig. 4 shows that when the idler pulley 20 rotates due to the adjustment belt 14, the sensors 40, 44, 48, and 52 of the sensor arrangement 24 output sensor signals S1-S4, which follow a sinusoidal signal curve dependent on the angle of rotation of the idler pulley 20. Sensor 40 supplies the sensor signal S1. Sensor 44 supplies the sensor signal S2. Sensor 48 supplies the sensor signal S3. Sensor 52 supplies the sensor signal S4.

[0038] The electronic data processing device 22 calculates a first axial force Fa,i of the deflection roller 20 on the basis of the force measurement values ​​Fi, F2 of the sensors 40, 44 determined from the sensor signals S1, S2 based on the formula: Furthermore, the electronic data processing device 22 calculates a second axial force F on the basis of the force measurement values ​​F3, F4 of the sensors 48, 52 determined from the sensor signals S2, S3. a ,2 of the pulley 20 based on the formula:

[0039] The electronic data processing device 22 then calculates on the basis of the first axial force Fa,i and the second axial force F a ,2 an axle force mean value F a based on the following formula: The electronic data processing device 22 is further configured to calculate the strand force FT in the adjusting belt 14 and uses the following formula for this purpose: where ß in this case corresponds to the angle between the belt segments of the adjustment belt 14 in the area of ​​the deflection pulley 20.

[0040] List of reference symbols

[0041] 10 Adjustment device

[0042] 12 Plant section

[0043] 14 adjustment straps

[0044] 16a, 16b attachment points

[0045] 18 pulley

[0046] 20 pulley

[0047] 22 Data processing facility

[0048] 24 Sensor arrangement

[0049] 26 Hub

[0050] 28 Guide sleeve

[0051] 30a, 30b flanges

[0052] 32 Belt guide area

[0053] 34a, 34b indentations

[0054] 36a, 36b pages

[0055] 38a, 38b strain gauges

[0056] 40 sensors

[0057] 42a, 42b strain gauges

[0058] 44 Sensor

[0059] 46a, 46b strain gauges

[0060] 48 sensors

[0061] 50a, 50b strain gauges

[0062] 52 Sensor

[0063] R rotation axis

[0064] S1-S4 sensor signals x belt movement cp rotational movement

Claims

Claims 1. Belt-driven adjustment device (10) for adjusting the alignment and / or position of a plant or machine part (12), in particular for adjusting the alignment of a rotor blade of a wind turbine, with an adjustment belt (14) which is connected to the plant or machine part (12) in such a way that the alignment and / or position of the plant or machine part (12) can be changed by means of a belt movement (x); characterized by a deflection pulley (20) which is in contact with the adjustment belt (14) and comprises a sensor arrangement (24), wherein the sensor arrangement (24) is configured to provide sensor signals (S1-S4) which depend on the mechanical load on the deflection pulley (20) emanating from the adjustment belt (14) and the angular position of the deflection pulley (20);and an electronic data processing device (22) which is configured to determine the rotational angle position of the deflection pulley (20) and the load on the adjusting belt (14) on the basis of the sensor signals (S1-S4) of the sensor arrangement (24) and to assign the determined load on the adjusting belt (14) to a belt segment of the adjusting belt (14) on the basis of the determined rotational angle position of the deflection pulley (20).

2. Adjustment device (10) according to claim 1, characterized in that the sensor arrangement (24) comprises one or more sensors (40, 44, 48, 52), wherein preferably one sensor (40, 44, 48, 52), several or all Sensors (40, 44, 48, 52) of the sensor arrangement (24) are configured as force transducers. Adjustment device (10) according to claim 2, characterized in that one sensor (40, 44, 48, 52), several, or all sensors (40, 44, 48, 52) of the sensor arrangement (24) comprise one or more interconnected strain gauges (38a, 38b, 42a, 42b, 46a, 46b, 50a, 50b). Adjustment device (10) according to any one of the preceding claims, characterized in that the sensor arrangement (24) is configured to output sensor signals (S1-S4) when the deflection pulley (20) rotates due to the adjustment belt (14), the signals following a sinusoidal waveform that depends on the rotation angle of the deflection pulley (20).Adjustment device (10) according to one of the preceding claims, characterized in that the electronic data processing device (22) is configured to calculate an axle force of the deflection pulley (20) based on at least two sensor signals (S1-S4). Adjustment device (10) according to one of the preceding claims, characterized in that the electronic data processing device (22) is configured to examine the signal profile of the sensor signals (S1-S4) to detect signal errors and to correct them upon detection of a signal error. Wind turbine, comprising at least one rotor blade; and an adjustment device (10) for adjusting the orientation of the at least one rotor blade; characterized in that the adjustment device (10) is configured according to one of the preceding claims. Method for determining the load on an adjustment belt (14) of a belt-driven adjustment device (10) for adjusting the orientation and / or position of a plant or machine part (12), in particular an adjustment device (10) according to one of claims 1 to 6, comprising the step Changing the orientation and / or position of the plant or machine part (12) by moving the adjusting belt (14) connected to the plant or machine part (12); characterized by the step: Provision of sensor signals (S1-S4) by a sensor arrangement (24) of a deflection pulley (20) in contact with the adjusting belt (14), wherein the sensor signals (S1-S4) depend on the mechanical load on the deflection pulley (20) emanating from the adjusting belt (14) and the angular position of the deflection pulley (20); wherein an electronic data processing device (22) determines the angular position of the deflection pulley (20) and the load on the adjusting belt (14) based on the sensor signals (S1-S4) and assigns the determined load on the adjusting belt (14) to a belt segment of the adjusting belt (14) based on the determined angular position of the deflection pulley (20). A method according to claim 8, characterized in that the sensor signals (S1-S4) follow a sinusoidal signal curve dependent on the rotation angle of the deflection pulley (20) when the deflection pulley (20) is rotated by the adjusting belt (14). A method according to claim 8 or 9, characterized in that the electronic data processing device (22) calculates an axial force of the deflection pulley (20) based on at least two sensor signals (S1-S4).

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