CN114061460B - Axial displacement monitoring device for gear box of main shaft built-in wind generating set - Google Patents

Abstract

The invention discloses an axial displacement monitoring device of a gear box of a wind generating set with a built-in main shaft, which belongs to the technical field of axial displacement monitoring and comprises a first assembly half ring, wherein a second assembly half ring is arranged above the first assembly half ring, and one end of the first assembly half ring and one end of the second assembly half ring are symmetrically connected with two connecting rotating shafts; compared with the prior art, the device integrates the detection and warning structure, the data transmission is rapid and accurate, the problem that the remote transmission data of the existing device has external interference is solved, the inner walls of the first assembly half ring and the second assembly half ring of the device are provided with the rubber gaskets, and meanwhile, the connecting springs are arranged in the mounting cylinder body, so that the rubber gaskets and the connecting springs can absorb vibration generated during the working of the gear box at the same time, the influence of the vibration generated during the working of the gear box on the laser ranging sensor is avoided, and the two are combined, so that the error of the measured data can be reduced, and the monitoring effect of the device is improved.

Description

An axial displacement monitoring device for a wind turbine gearbox with a built-in main shaft

technical field

The invention belongs to the technical field of axial displacement monitoring, and in particular relates to an axial displacement monitoring device for a gearbox of a wind power generating set with a built-in main shaft.

Background technique

Wind power generation refers to the conversion of wind kinetic energy into electrical energy. The device required for wind power generation is called a wind turbine, and the gearbox is an important mechanical component in a wind turbine. Its main function is to turn the wind wheel under the action of wind The generated power is transmitted to the generator and makes it obtain the corresponding speed.

Long-term use of the main shaft of the gearbox will cause fatigue damage and even cracks. If it is not repaired in time, it will cause the main shaft to break, and the hub and blades will fall, resulting in huge losses. In other words, since the main shaft is covered by the gearbox shell, the staff cannot find the condition of the main shaft in time, that is, they cannot repair the cracked main shaft in time, the main shaft breaks, the hub and the blades fall, and the probability of huge losses will follow. increase, in order to solve this problem, the research and development personnel have developed the axial displacement monitoring device of the wind turbine gearbox with a built-in main shaft. Digitize the data measured by the laser ranging sensor and transmit it to the computer, and use the computer to store and analyze the digitized data of the microcontroller to realize the monitoring of the axial displacement of the spindle. The possibility of interfering with the data. At the same time, the ranging sensor of the device is directly installed on the gearbox shell. The vibration of the gearbox during operation will affect the detection of the laser ranging sensor, causing errors in the detection data of the laser ranging sensor. , the combination of the two reduces the monitoring effect of the device.

Contents of the invention

In order to solve the problems raised in the above-mentioned background technology. The invention provides a monitoring device for the axial displacement of a gearbox of a wind power generating set with a built-in main shaft, which has the characteristics of reducing the error of measurement data and improving the monitoring effect of the device.

In order to achieve the above object, the present invention provides the following technical solutions: a monitoring device for the axial displacement of the gearbox of a wind turbine with a built-in main shaft, which includes a first assembly half ring, and a second assembly half ring is arranged above the first assembly half ring. One end of the first assembly half-ring is symmetrically connected to one end of the second assembly half-ring with two connection shafts, the first assembly half-ring and the second assembly half-ring are close to the side of the connection shaft and the first assembly Both the half ring and the second assembly half ring are provided with assembly grooves on the side away from the connecting shaft, the internal threads of the assembly grooves are connected with assembly bolts, and the inner walls of the first assembly half ring and the second assembly half ring are connected with Rubber gaskets, the positions corresponding to the corresponding assembly bolts on the rubber gaskets are all provided with through holes, and the assembly bolts extend out of the through holes on the corresponding rubber gaskets, the first assembly half ring and the second assembly half ring The outer walls of the two installation cylinders are symmetrically connected with two installation cylinders, and the four installation cylinders are distributed at equal intervals along the circumference. The bottom of the installation cylinder is provided with a cable connector perforation. There is a laser ranging sensor, a fixed structure is arranged between the laser ranging sensor and the installation cylinder, the fixed structure fixes the laser ranging sensor in the installation cylinder, and the terminal of the laser ranging sensor is connected with a cable connector, The cable connector pierces through the cable connector and extends to the outside of the installation cylinder and is connected with a connecting cable. The outer wall of the second assembly half-ring is provided with an installation groove, and the inside of the installation groove is connected with a micro-control warning by screws. device, and the end of the connection cable away from the cable connector is connected to the port of the miniature control alarm.

Further in the present invention, the fixing structure includes a plurality of fixing plates distributed at equal intervals in the circumferential direction, the plurality of fixing plates are located inside the installation cylinder and the wall surface close to the laser ranging sensor is in contact with the laser ranging sensor. A plurality of connecting springs are connected between each of the fixing plates and the inner wall of the installation cylinder.

Further in the present invention, the micro-control alarm includes a housing, the housing is connected to the installation groove through screws, a processing module is installed in the housing, and the input port of the processing module is connected to a man-machine interaction module. The input port and the output port of the processing module are connected with a setting data storage module, the input port of the processing module is connected with a receiving serial port module, the connecting port of the receiving serial port module is connected with a connecting cable, and the output ports of the processing module are respectively A warning module and a wireless transceiver module are connected, and the power ports of the receiving serial port module, the human-computer interaction module, the processing module, the setting data storage module, the warning module and the wireless transceiver module are all connected with a power supply module.

Further in the present invention, the human-computer interaction module is a touch screen, and the warning module is an alarm.

Further in the present invention, the inside of the first assembly half-ring and the second assembly half-ring are both provided with cable routing channels, and the positions corresponding to the connecting cables on the first assembly half-ring and the second assembly half-ring are set There is a cable hole, and the cable hole communicates with the corresponding cable routing channel, and the connecting cable passes through the corresponding cable hole and enters the cable routing channel to connect with the receiving serial port module of the miniature control alarm.

Further in the present invention, a top plate is provided on the side of the installation cylinder close to the bottom of the cylinder, and a connecting hole is provided on the top plate corresponding to the hole of the cable connector, and the cable connector can pass through the pair The connecting hole and the cable connector are perforated and extended to the outside of the installation cylinder. The side wall of the installation cylinder is provided with a moving channel, and the inside of the moving channel is provided with a moving rod. The end of the moving rod close to the top plate is connected to the The top plate is connected, and the connecting section between the moving rod and the top plate is located in the gap corresponding to the two fixed plates.

Further in the present invention, it also includes a gearbox casing, the interior of the gearbox casing is connected with a main shaft, and the end of the main shaft away from the gearbox casing is connected with a spindle end, and the first assembly half ring and the second assembly half ring pass through The assembly bolts are assembled on the outer side of the gearbox housing close to the end of the main shaft, and the detection ends of the four laser ranging sensors face the end of the main shaft and are perpendicular to the end of the main shaft.

Compared with prior art, the beneficial effect of the present invention is:

1. The present invention detects the distance from the main shaft end surface through four laser ranging sensors, and feeds back the detected data to the miniature control warning device through the cable, and the miniature control warning device will receive the distance measurement data, the setting data and the initial distance The data is compared and analyzed, and when the displacement of the detected data exceeds the threshold of the set data, the warning module is controlled to alarm to realize the monitoring function of the axial displacement of the main shaft in the gearbox of the main shaft built-in wind turbine. In terms of technology, the detection and warning structures are integrated together, and the data transmission is fast and accurate, which solves the problem of external interference in the remote transmission data existing in the existing device, and the first assembly half-ring and the second assembly half-ring of the device Rubber gaskets are set on the inner wall of the installation cylinder, and connecting springs are installed in the installation cylinder, so the rubber gaskets and connecting springs can absorb the vibration generated by the gearbox at the same time, and avoid the vibration generated by the gearbox during operation from affecting the laser distance sensor. The combination of the two can reduce the error of the measurement data and improve the monitoring effect of the device.

2. The present invention realizes the fixing of the laser ranging sensor in the installation cylinder through a plurality of fixing plates squeezed and connected by a plurality of connecting springs. This fixing method not only has a good fixing effect, but also has a The distance measuring sensor produces a large gap, which can well help the laser ranging sensor to dissipate heat and prolong the service life of the laser ranging sensor.

3. The cable connected to the cable connector of the laser ranging sensor in the present invention will enter the cable routing channel through the cable hole and be connected to the receiving serial port module of the miniature control alarm. This connection method can well hide the cable. Improve the use safety of the device.

4. When the present invention needs to maintain or overhaul the laser ranging sensor, it only needs to disassemble the connected cable, and by pulling the moving rod, the moving rod moves in the moving channel to drive the connected top plate to move in the installation cylinder. The laser ranging sensor is pushed out of the installation cylinder, and it is convenient and quick to maintain or overhaul it.

Description of drawings

Fig. 1 is the structural representation of assembly position of the present invention;

Fig. 2 is a perspective view of the present invention;

Fig. 3 is a perspective view of another viewing angle of the present invention;

Fig. 4 is a cross-sectional view of the installation cylinder of the present invention;

Fig. 5 is a schematic structural view of the first assembly half-ring of the present invention;

Fig. 6 is the system diagram of the miniature control warning device of the present invention;

In the figure: 1. Gear box shell; 2. First assembly half ring; 3. Main shaft; 4. Main shaft end; 5. Connecting shaft; 6. Second assembly half ring; 7. Installation groove; 8. Micro control warning device; 81. receiving serial port module; 82. human-computer interaction module; 83. processing module; 84. setting data saving module; 85. power supply module; 86. warning module; 87. wireless transceiver module; 9. assembly slot; Assembly bolts; 11. Installation cylinder; 12. Rubber gasket; 13. Connecting cable; 14. Perforation of cable connector; 15. Cable connector; 16. Connecting spring; 17. Fixing plate; 18. Laser ranging sensor; 19. Top plate; 20. Moving rod; 21. Moving slot; 22. Cable routing channel; 23. Cable hole; 24. Docking hole.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Example 1

Please refer to Figures 1-6, the present invention provides the following technical solutions: a monitoring device for the axial displacement of a wind turbine gearbox with a built-in main shaft, including a first assembly half ring 2, and a second assembly ring 2 is arranged above the first assembly half ring 2 Assembly half ring 6, one end of the first assembly half ring 2 and an end of the second assembly half ring 6 are symmetrically connected with two connection shafts 5, the first assembly half ring 2 and the second assembly half ring 6 are close to one end of the connection shaft 5 The side and the side of the first assembly half ring 2 and the second assembly half ring 6 away from the connecting shaft 5 are all provided with an assembly groove 9, and the internal thread of the assembly groove 9 is connected with an assembly bolt 10, the first assembly half ring 2 and the second assembly half ring The inner walls of the assembly half-rings 6 are connected with rubber gaskets 12, and the rubber gaskets 12 are provided with through holes corresponding to the positions of the corresponding assembly bolts 10, and the assembly bolts 10 extend out of the through holes on the corresponding rubber gaskets 12. The first assembly The outer walls of the half-ring 2 and the second assembly half-ring 6 are symmetrically connected with two installation cylinders 11, and the four installation cylinders 11 are distributed at equal intervals along the circumference, and the bottom of the installation cylinder 11 is provided with holes for cable connectors 14. A laser distance measuring sensor 18 is arranged inside the installation cylinder 11, and a fixed structure is arranged between the laser distance measurement sensor 18 and the installation cylinder 11, and the fixed structure fixes the laser distance measurement sensor 18 in the installation cylinder 11. The terminal of the distance sensor 18 is connected with a cable connector 15, the cable connector 15 passes through the cable connector perforation 14 and extends to the outside of the installation cylinder 11 and is connected with a connecting cable 13, the outer wall of the second assembly half ring 6 is provided with a mounting Groove 7, the inside of installation groove 7 is connected with miniature control warning device 8 by screw, and connecting cable 13 is connected with the port of miniature control warning device 8 far away from an end of cable connector 15.

Specifically, the fixing structure includes a plurality of fixing plates 17 distributed at equal intervals in the circumferential direction. The plurality of fixing plates 17 are located inside the installation cylinder 11 and are in contact with the laser ranging sensor 18 near the wall surface of the laser ranging sensor 18. The plurality of fixing plates 17 A plurality of connection springs 16 are connected between the plate 17 and the inner wall of the installation cylinder 11 .

Specifically, the miniature control alarm 8 includes a housing, the housing is connected to the mounting groove 7 by screws, a processing module 83 is installed in the housing, the input port of the processing module 83 is connected to the man-machine interaction module 82, the input port of the processing module 83 and Output port is connected with setting data preservation module 84, and the input port of processing module 83 is connected with receiving serial port module 81, and the connection port of receiving serial port module 81 is connected with connection cable 13, and the output port of processing module 83 is connected with warning module 86 and wireless respectively. The power supply ports of the transceiver module 87, the receiving serial port module 81, the human-computer interaction module 82, the processing module 83, the setting data saving module 84, the warning module 86 and the wireless transceiver module 87 are all connected to the power supply module 85.

Specifically, the human-computer interaction module 82 is a touch screen, and the warning module 86 is an alarm.

Specifically, it also includes a gearbox housing 1, the interior of the gearbox housing 1 is connected with a main shaft 3, the end of the main shaft 3 away from the gearbox housing 1 is connected with a main shaft end 4, the first assembly half-ring 2 and the second assembly half-ring 6 The assembly bolts 10 are assembled on the outside of the end of the gearbox housing 1 close to the main shaft end 4 , and the detection ends of the four laser distance measuring sensors 18 face the main shaft end 4 and are perpendicular to the main shaft end 4 .

The working principle of this embodiment:

Before monitoring, place four laser distance measuring sensors 18 into four installation cylinders 11 in sequence, and a plurality of fixed plates 17 squeezed and connected by a plurality of connection springs 16 in four installation cylinders 11 will measure the four laser distance sensors. Limit the distance from the sensor 18 to realize the installation of four laser distance measuring sensors 18. At this time, the cable connectors 15 on the four laser distance measuring sensors 18 respectively pass through the cable connector perforations 14 on the corresponding installation cylinder 11 and extend To the outside of the corresponding installation cylinder 11, one end of the four connecting cables 13 is connected to the four cable connectors 15 respectively, and the other end of the four connecting cables 13 is connected to the receiving serial port module 81 of the miniature control alarm 8, and the miniature The housing of the control alarm 8 is installed in the installation groove 7 of the second assembly half-ring 6 by screws, and the first assembly half-ring 2 and the second assembly half-ring 6 are opened by two connecting shafts 5, and the first assembly half-ring 2 and the second assembly half-ring 6 are opened. The half-ring 2 and the second assembly half-ring 6 are sleeved on the outside of the end of the gearbox housing 1 close to the main shaft end 4, and the positions of the first assembly half-ring 2 and the second assembly half-ring 6 are adjusted so that the first assembly half-ring 2 and the detecting ends of the four laser ranging sensors 18 on the second assembly half ring 6 face the main shaft end 4 and are perpendicular to the main shaft end 4, and the first assembly half ring 2 and the second assembly half ring are connected by four assembly bolts 10. The ring 6 is installed on the gearbox housing 1;

Before monitoring, set the maximum displacement distance between the four laser ranging sensors 18 and the 4 faces of the spindle head through the human-computer interaction module 82 (the data for this setting is summarized from a large number of historical data that do not need to be overhauled and need to be overhauled), The human-computer interaction module 82 feeds back the set data to the processing module 83, and the processing module 83 feeds back the set data to the setting data saving module 84, and the setting data saving module 84 saves the set data;

During monitoring, before the gear box is started, the four laser ranging sensors 18 detect the distance between the 4 faces of the main shaft end, and feed back the detected data to the processing module 83 through the connecting cable 13 in real time, and the processing module 83 will The data is fed back to the setting data saving module 84 as the initial distance data, and the setting data saving module 84 saves the initial distance data. During the startup process of the gearbox, four laser ranging sensors 18 detect the distance between the 4 surfaces of the main shaft end, And in real time, the detected data is fed back to the processing module 83 through the connecting cable 13, and the processing module 83 extracts the setting data and the initial distance data stored in the setting data saving module 84 and compares and analyzes the real-time data, if the real-time data does not shift or shift If the distance is within the range of the set data, the processing module 83 feeds back the real-time data to the computer for storage through the wireless transceiver module 87. If the real-time data displacement distance exceeds the range of the set data, the processing module 83 sends a control instruction to the warning module 86, The warning module 86 warns and reminds the staff to carry out maintenance, and the processing module 83 feeds back the real-time data through the wireless transceiver module 87 to the computer for storage;

The detection principle of the laser ranging sensor 18:

The laser ranging sensor 18 emits laser light through the laser source, and detects the laser reflected by the 4 surfaces of the spindle end through the reflective detection port. The distance L between the laser ranging sensor 18 and the 4 surfaces of the spindle end satisfies the following formula: L=ct /2, where t is the time difference from emitting the laser to detecting the reflected laser, and c is the propagation speed of light in the air.

Example 2

The difference of this embodiment compared with embodiment 1 is:

Specifically, the inside of the first assembly half-ring 2 and the second assembly half-ring 6 are provided with a cable routing channel 22, and the positions corresponding to the connecting cables 13 on the first assembly half-ring 2 and the second assembly half-ring 6 are all provided with The cable hole 23 communicates with the corresponding cable routing channel 22, and the connecting cable 13 passes through the corresponding cable hole 23 and enters the cable routing channel 22 to be connected with the receiving serial port module 81 of the miniature control alarm 8.

The working principle of this embodiment:

Before the monitoring, one end of the four connection cables 13 is connected to the four cable connectors 15 respectively, and the other end of the four connection cables 13 is extended to the cable routing channel 22 through the cable hole 23 at the nearest position and is installed from the installation. Extend in the slot 7, connect the other end of the four connection cables 13 with the receiving serial port module 81 of the miniature control alarm 8, insert the four connection cables 13 into the cable routing channel 22 through the installation slot 7, and connect the miniature control The housing of the alarm 8 is installed in the installation groove 7 of the second assembly half-ring 6 by screws.

Example 3

The difference of this embodiment compared with embodiment 2 is:

Specifically, the inside of the installation cylinder 11 is provided with a top plate 19 on the side close to the bottom of the cylinder. On the top plate 19, a corresponding through hole 14 of the cable connector is provided with a through hole 24, and the cable connector 15 can pass through the through hole. 24 and the cable connector perforate 14 and extend to the outside of the installation cylinder 11, the side wall of the installation cylinder 11 is provided with a moving through groove 21, and the inside of the moving through groove 21 is provided with a moving rod 20, and the end of the moving rod 20 close to the top plate 19 Connected with the top plate 19 , the connecting section between the moving rod 20 and the top plate 19 is located in the gap between the two fixed plates 17 .

The working principle of this embodiment:

When long-term use needs to maintain or overhaul four laser ranging sensors 18 and miniature control warning devices 8, remove the connecting cables 13 connected on the four cable connectors 15, and place the four moving rods 20 in the corresponding moving channels 21 Move inwards close to the openings of the four installation cylinders 11, the four moving rods 20 drive the connected top plates 19 to move in the same direction, and the four top plates 19 push the corresponding laser distance measuring sensors 18 out of the installation cylinder 11 during the movement process , at this time, the laser ranging sensor 18 can be maintained or overhauled, the screws on the housing of the micro-control alarm 8 are removed, the micro-control alarm 8 is taken out, and the receiving serial port module 81 connected to the micro-control alarm 8 is dismantled. Connecting the cable 13, the micro control alarm 8 can be maintained or overhauled, which is convenient and quick.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (7)

1. A monitoring device for the axial displacement of a wind turbine gearbox with a built-in main shaft, comprising a first assembly half-ring (2), characterized in that a second assembly half-ring (2) is arranged above the first assembly half-ring (2) ring (6), one end of the first assembly half-ring (2) is symmetrically connected to one end of the second assembly half-ring (6) with two connection shafts (5), the first assembly half-ring (2) and The side of the second assembly half-ring (6) close to the connection shaft (5) and the side of the first assembly half-ring (2) and the second assembly half-ring (6) away from the connection shaft (5) are all provided with assembly grooves ( 9), the internal threads of the assembly groove (9) are connected with assembly bolts (10), and the inner walls of the first assembly half ring (2) and the second assembly half ring (6) are connected with rubber gaskets (12 ), the outer walls of the first assembly half ring (2) and the second assembly half ring (6) are symmetrically connected with two installation cylinders (11), and the bottom of the installation cylinder (11) is provided with a cable The connector is perforated (14), and a laser distance measuring sensor (18) is arranged inside the installation cylinder (11), and a fixed structure is arranged between the laser distance measurement sensor (18) and the installation cylinder (11). The structure fixes the laser ranging sensor (18) in the installation cylinder (11), the terminal of the laser ranging sensor (18) is connected with a cable connector (15), and the cable connector (15) passes through The cable connector perforates (14) and extends to the outside of the installation cylinder (11) and is connected with a connecting cable (13). The outer wall of the second assembly half-ring (6) is provided with an installation groove (7), and the installation groove The inside of (7) is connected with miniature control warning device (8) by screw, and described connection cable (13) is connected with the port of miniature control warning device (8) away from an end of cable connector (15). 2. A monitoring device for axial displacement of a wind turbine gearbox with a built-in main shaft according to claim 1, characterized in that: the fixing structure includes a plurality of fixing plates (17) distributed at equal intervals in the circumferential direction, and a plurality of The fixed plate (17) is located inside the installation cylinder (11) and the wall near the laser distance measuring sensor (18) is in contact with the laser distance measurement sensor (18), and a plurality of the fixing plates (17) are in contact with the installation cylinder A plurality of connection springs (16) are connected between the inner walls of (11). 3. A monitoring device for axial displacement of a wind turbine gearbox with a built-in main shaft according to claim 1, characterized in that: the miniature control alarm (8) includes a housing, and the housing is installed with screws The slot (7) is connected, and a processing module (83) is assembled in the housing, and the input port of the processing module (83) is connected to a human-machine interaction module (82), and the input port and the output port of the processing module (83) It is connected with a setting data storage module (84), and the input port of the processing module (83) is connected with a receiving serial port module (81), and the connecting port of the receiving serial port module (81) is connected with a connection cable (13), and the The output port of processing module (83) is connected with warning module (86) and wireless transceiver module (87) respectively, described receiving serial port module (81), human-computer interaction module (82), processing module (83), setting data preservation The power supply ports of the module (84), warning module (86) and wireless transceiver module (87) are all connected with a power supply module (85). 4. The axial displacement monitoring device of a wind turbine gearbox with a built-in main shaft according to claim 3, characterized in that: the human-computer interaction module (82) is a touch screen, and the warning module (86) is siren. 5. A monitoring device for axial displacement of a wind turbine gearbox with a built-in main shaft according to claim 3, characterized in that: the inside of the first assembly half-ring (2) and the second assembly half-ring (6) Both are provided with cable routing channels (22), and the positions corresponding to the connecting cables (13) on the first assembly half-ring (2) and the second assembly half-ring (6) are all provided with cable holes (23), so The cable passage (23) is communicated with the corresponding cable routing channel (22), and the connecting cable (13) passes through the corresponding cable routing port (23) and enters the cable routing channel (22) to communicate with the miniature control alarm ( 8) The receiving serial port module (81) is connected. 6. A monitoring device for axial displacement of a wind turbine gearbox with a built-in main shaft according to claim 2, characterized in that: a top plate (19 ), the position corresponding to the cable connector perforation (14) on the top plate (19) is provided with a through hole (24), and the cable connector (15) can pass through the through hole (24) and the cable connection The head pierces (14) and extends to the outside of the installation cylinder (11), the side wall of the installation cylinder (11) is provided with a moving channel (21), and the inside of the moving channel (21) is provided with a moving rod (20), the moving rod (20) is connected to the top board (19) near one end of the top board (19), and the connection section between the moving rod (20) and the top board (19) is located at the corresponding two fixed boards (17) gap location. 7. A monitoring device for axial displacement of a wind turbine gearbox with a built-in main shaft according to claim 1, characterized in that it further comprises a gearbox casing (1), and the interior of the gearbox casing (1) is connected with The main shaft (3), the end of the main shaft (3) away from the gearbox housing (1) is connected with the main shaft end (4), the first assembly half-ring (2) and the second assembly half-ring (6) through the assembly bolt ( 10) Assembled on the outside of the end of the gearbox housing (1) close to the spindle end (4), the detection ends of the four laser ranging sensors (18) face the spindle end (4) and are perpendicular to the spindle end (4).

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