阅读说明：本技术 一种智能型盘车控制装置及控制方法 (Intelligent barring control device and control method ) 是由 成涛 曾大光 艾军 于 2020-05-29 设计创作，主要内容包括：本发明涉及一种智能型盘车控制装置,所述控制装置包括盘车电机,电源接线盒,气缸,盘车齿轮位置刻度板,齿轮实际位置指针,离合连杆,万向节连接球体,机械手柄,转速传感器,机组大轴齿轮,驱动齿轮以及电机力矩检测开关,所述盘车电机垂直安装在机组大轴齿轮上方,机组大轴齿轮一侧加装转速传感器,另一侧加装电机电源接线盒,盘车电机包含驱动齿轮,盘车电机加装电机力矩检测开关,其中盘车电机驱动齿轮右侧延伸加装机械手柄,机械手柄内部包含万向节连接球体,气动离合挂档装置气缸内部包含的离合连杆延伸加装万向节连接球体,其中,离合连杆与机械手柄延伸万向节连接球体固定安装,可实现垂直拉伸或一定角度转向。(The invention relates to an intelligent jigger control device, which comprises a jigger motor, a power supply junction box, a cylinder, a jigger gear position scale plate, a gear actual position pointer, a clutch connecting rod, a universal joint connecting ball, a mechanical handle, a rotating speed sensor, a unit large shaft gear, a driving gear and a motor torque detection switch, wherein the jigger motor is vertically arranged above the unit large shaft gear, the rotating speed sensor is additionally arranged on one side of the unit large shaft gear, the motor power supply junction box is additionally arranged on the other side of the unit large shaft gear, the jigger motor comprises the driving gear, the jigger motor is additionally provided with the motor torque detection switch, the mechanical handle is additionally arranged on the right side of the jigger motor driving gear in an extending way, the universal joint connecting ball is arranged in the mechanical handle, the universal joint connecting ball is additionally arranged in the clutch connecting rod in the cylinder of a pneumatic clutch gear engaging device, wherein the clutch connecting rod and the mechanical handle extending universal joint connecting ball are fixedly arranged, vertical stretching or a certain angle of turning can be realized.)

1. An intelligent barring control device is characterized by comprising a barring motor, a power supply junction box, a cylinder, a barring gear position scale plate, a gear actual position pointer, a clutch connecting rod, a universal joint connecting ball, a mechanical handle, a rotation speed sensor, a unit large shaft gear, a driving gear and a motor torque detection switch, wherein the barring motor is vertically installed above the unit large shaft gear, the rotation speed sensor is additionally installed on one side of the unit large shaft gear, the motor power supply junction box is additionally installed on the other side of the unit large shaft gear, the barring motor comprises the driving gear, the motor torque detection switch is additionally installed on the barring motor, the mechanical handle is additionally installed on the right side of the barring motor driving gear in an extending mode, the universal joint connecting ball is installed inside the mechanical handle, the clutch connecting rod contained inside the cylinder of a pneumatic clutch gear engaging device is additionally installed in an extending mode, the clutch connecting rod and the mechanical handle extending universal joint connecting ball are fixedly installed, vertical stretching or a certain angle of turning can be realized.

2. The intelligent barring control device according to claim 1 wherein three sets of proximity switches included in the cylinder respectively detect three status signals of a gear back detection proximity switch, a gear-to-gear detection proximity switch, and a gear carry engagement detection proximity switch, and then transmit the signals to the barring operation control logic program.

3. The intelligent barring control device according to claim 2 wherein the mechanical handle fixedly attached to the barring drive gear extends to attach a gear actual position pointer, a barring gear position scale plate is fixedly attached to the right side of the pointer, the scale plate includes three sets of positions of gear carry, gear pair and gear retreat, and an image detector is attached to the right side of the barring gear position scale plate.

4. The intelligent barring control device according to claim 3, wherein the air inlet solenoid valve is actuated, air source pressure of the air cylinder pushes a clutch connecting rod to actuate, the clutch connecting rod drives a gear mechanical handle to actuate, and the mechanical handle drives a driving gear to actuate, so that a pneumatically controlled barring gear clutch gear shifting function is realized.

5. The control method adopting the intelligent barring control device according to any one of claims 1 to 4, wherein the intelligent barring control logic program is divided into three control modes:

the first mode is as follows: a turning gear normal operation control mode;

when the rotating speed sensor detects that a rotating speed signal of a large shaft of the unit is zero, a barring starting program starts to work, the electromagnetic valve is powered on to act, the air source pressure in the air cylinder drives the clutch connecting rod to drive the motor to drive the gear to carry out action, at the moment, after the gear carry signal arrives, the program drives the barring motor to be powered on, the barring starts to run, and the rotating speed sensor feeds back a barring running rotating speed signal of 30r/min to the barring control program to realize normal closed-loop control of the barring. If the electromagnetic valve is electrified, the gear carry meshing signal does not arrive, and the gear non-carry signal arrives, then the program is restarted, the electromagnetic valve is driven to be electrified again, the gear is driven to carry again, and the process is repeated for 2 times until the barring gear is in carry meshing with the big shaft gear of the unit, so that the starting condition of the barring motor is met.

And a second mode: turning a vehicle to run in a simulation operation control mode after the proximity switch fails;

the barring starting program starts to run, the electromagnetic valve is powered on to act, the air cylinder works, a gear meshing fault signal is received, namely the barring driving gear and the unit large shaft gear cannot carry out tooth-to-tooth meshing, at the moment, the image detector detects the actual gear position of the mechanical handle of the field barring gear, the actual gear position is judged to be in carry meshing, the program considers that the proximity switch is in fault, at the moment, the barring fault simulation program starts, the program continues to drive the barring motor to be powered on to work, and the barring normally runs. The starting interruption of the barring caused by the fault of the proximity switch of the cylinder is prevented, the safety of the unit is influenced, the stable work of the barring system is fully ensured through a simulation program, and the safety of the unit is ensured; at the moment, the image detector judges that the actual gear position does not carry out engagement by detecting the actual gear position of the mechanical handle of the on-site barring gear, and immediately interrupts a barring starting program to prevent the failure that the motor is continuously started to damage the gear due to the failure of the non-carry engagement of the barring gear;

and a third mode: a barring motor torque fault control mode;

the barring starting program starts to run, the electromagnetic valve is powered on to act, the air cylinder works, the barring gear carry meshing signal is normal, the barring motor is powered on to work, at the moment, the motor torque detection switch measures a signal to display that the motor torque is normal, the barring program continues to run, and the barring works normally;

at the moment, the motor torque detection switch measures signals to display that the motor torque is abnormal, and then the program immediately judges the failure of the turning motor, interrupts the turning program and prevents the motor burnout failure caused by the continuous operation of the motor over the torque.

Technical Field

The invention relates to a control device, in particular to an intelligent barring control device, and belongs to the technical field of barring control systems of turbine units.

Background

At present, the majority of the turning control system of the internal turbine unit is an electric turning, namely, the whole main shaft of the unit is driven to rotate by a motor gear to form a certain angle, the turning system must operate in the starting or stopping process of the unit, the turning is started in the warming process of the unit, the rotor is uniformly heated, the turning is started after the unit is stopped, the main shaft uniformly radiates heat, the thermal curvature of the rotor is eliminated, the dry friction of a moving part and a static part is avoided, and the equipment injury accident is caused. General barring starts all through the operation of manual operation barring motor, extracts the safety catch, pushes away the handle, gear engagement, travel switch closure switch-on barring power starts, is unfavorable for work efficiency to promote, and manual operation is dangerous strong, and intelligent degree is not enough, and the fault rate is high. Therefore, it is very necessary to invent an intelligent electric barring control device to realize the full-automatic operation of the unit barring and the realization of the fault judgment and identification function.

Disclosure of Invention

The invention provides an intelligent barring control device aiming at the problems in the prior art, and the technical scheme is characterized in that a pneumatic gear clutch device, a position detection device and an image recognition detection technology are additionally arranged, automatic logic judgment is carried out on the automatic operation of a motor of a barring control panel, manual intervention is not needed, intelligent control is realized, and meanwhile, the intelligent barring control device has the functions of fault recognition judgment alarm and bypass simulation operation, and the normal operation of a barring system of a unit is ensured.

In order to achieve the purpose, the technical scheme of the invention is that the intelligent barring control device comprises a barring motor, a power supply junction box, a cylinder, a barring gear position scale plate, a gear actual position pointer, a clutch connecting rod, a universal joint connecting ball, a mechanical handle, a rotating speed sensor, a unit main shaft gear, a driving gear and a motor torque detection switch, wherein the barring motor is vertically arranged above the unit main shaft gear, the rotating speed sensor is additionally arranged on one side of the unit main shaft gear, the motor power supply junction box is additionally arranged on the other side of the unit main shaft gear, the barring motor comprises the driving gear, the motor torque detection switch is additionally arranged on the barring motor, the mechanical handle is additionally arranged on the right side of the barring motor driving gear in an extending manner, the universal joint connecting ball is arranged in the mechanical handle, the universal joint connecting ball is additionally arranged in the clutch connecting rod in the cylinder of the pneumatic clutch gear-engaging device in an extending manner, the clutch connecting rod and the mechanical handle extension universal joint connecting ball body are fixedly arranged, and vertical stretching or steering at a certain angle can be realized.

As an improvement of the invention, three groups of proximity switches contained in the cylinder respectively detect three state signals of the gear back position detection proximity switch, the gear pair gear detection proximity switch and the gear carry position engagement detection proximity switch, and then the signals are transmitted to the turning operation control logic program.

As an improvement of the invention, a mechanical handle fixedly and additionally arranged on the jigger driving gear extends to additionally arrange a gear actual position pointer, a jigger gear position scale plate is fixedly and additionally arranged on the right side of the pointer, the scale plate comprises three groups of positions of gear carry, gear tooth alignment and gear retreat, and an image detector is arranged on the right side of the jigger gear position scale plate.

As an improvement of the invention, the air inlet electromagnetic valve acts, the air source pressure of the air cylinder pushes the clutch connecting rod to act, the clutch connecting rod drives the gear mechanical handle to act, and the mechanical handle drives the driving gear to act, so that the pneumatic control turning gear clutch gear-shifting function is realized.

The control method of the intelligent barring control device is characterized in that an intelligent barring control logic program is divided into three control modes:

the first mode is as follows: a turning gear normal operation control mode;

when the rotating speed sensor detects that a rotating speed signal of a large shaft of the unit is zero, a barring starting program starts to work, the electromagnetic valve is powered on to act, the air source pressure in the air cylinder drives the clutch connecting rod to drive the motor to drive the gear to carry out action, at the moment, after the gear carry signal arrives, the program drives the barring motor to be powered on, the barring starts to run, and the rotating speed sensor feeds back a barring running rotating speed signal of 30r/min to the barring control program to realize normal closed-loop control of the barring. If the electromagnetic valve is electrified, the gear carry meshing signal does not arrive, and the gear non-carry signal arrives, then the program is restarted, the electromagnetic valve is driven to be electrified again, the gear is driven to carry again, and the process is repeated for 2 times until the barring gear is in carry meshing with the big shaft gear of the unit, so that the starting condition of the barring motor is met.

And a second mode: turning a vehicle to run in a simulation operation control mode after the proximity switch fails;

the barring starting program starts to run, the electromagnetic valve is powered on to act, the air cylinder works, a gear meshing fault signal is received, namely the barring driving gear and the unit large shaft gear cannot carry out tooth-to-tooth meshing, at the moment, the image detector detects the actual gear position of the mechanical handle of the field barring gear, the actual gear position is judged to be in carry meshing, the program considers that the proximity switch is in fault, at the moment, the barring fault simulation program starts, the program continues to drive the barring motor to be powered on to work, and the barring normally runs. The starting interruption of the barring caused by the fault of the proximity switch of the cylinder is prevented, the safety of the unit is influenced, the stable work of the barring system is fully ensured through a simulation program, and the safety of the unit is ensured; at the moment, the image detector judges that the actual gear position does not carry out engagement by detecting the actual gear position of the mechanical handle of the on-site barring gear, and immediately interrupts a barring starting program to prevent the failure that the motor is continuously started to damage the gear due to the failure of the non-carry engagement of the barring gear;

and a third mode: a barring motor torque fault control mode;

the barring starting program starts to run, the electromagnetic valve is powered on to act, the air cylinder works, the barring gear carry meshing signal is normal, the barring motor is powered on to work, at the moment, the motor torque detection switch measures a signal to display that the motor torque is normal, the barring program continues to run, and the barring works normally;

at the moment, the motor torque detection switch measures signals to display that the motor torque is abnormal, and then the program immediately judges the failure of the turning motor, interrupts the turning program and prevents the motor burnout failure caused by the continuous operation of the motor over the torque.

Compared with the prior art, the invention has the advantages that 1) the technical scheme designs the pneumatic control barring gear clutch and gear engaging device, the control precision is high, and the gear carry engagement is ensured; 2) the technical scheme is that a rotating speed measuring sensor is additionally arranged, a 0(r/min) rotating speed signal is provided to start the barring, and a barring program is controlled in a closed loop mode through a 30(r/min) rotating speed signal; 3) according to the technical scheme, the position of a barring gear is detected by additionally arranging a proximity switch, so that the automatic control of the operation of the barring gear is realized, the position of a mechanical handle of the barring gear is identified by additionally arranging an image detector, the actual position of the barring gear is automatically judged, and an operation condition is provided for starting a fault simulation program of the proximity switch; 4) the technical scheme is additionally provided with a turning motor torque detection switch, so that the alarm is given in time, the program is interrupted, and the safe work of the turning motor is ensured; 5) the scheme is embodied in that a failure simulation control program of the proximity switch of the turning gear position is designed, so that the stable work of a turning system is fully ensured, and the safety of a unit is ensured; 6) according to the scheme, the pneumatic gear clutch device, the position detection device, the image recognition detection technology and the automatic logic judgment control program are additionally arranged and used in a combined mode, so that the motor of the control panel car can automatically run, manual intervention is not needed, and the running efficiency of the unit is improved. The beneficial part of this patent technique still further embodies in the operation of intelligent control barring, possesses fault identification simultaneously and judges warning and bypass emulation operation function, guarantees the normal work of unit barring system.

Drawings

Fig. 1 is a field layout diagram of an intelligent barring control device:

FIG. 2 is a schematic diagram of a measurement of proximity switches of an intelligent barring cylinder;

FIG. 3 is a block diagram of a control mode routine for turning over a vehicle in normal operation;

FIG. 4 is a block diagram of a proximity switch fault barring simulation operation control mode routine;

FIG. 5 is a block diagram of a control scheme for a turning gear motor torque failure mode;

in the figure: 1. barring motor, 2, power terminal box, 3, the cylinder, 4 gear carry meshing detection proximity switches, 5, tooth to tooth detection proximity switches, 6, the solenoid valve that admits air, 7, the gear moves back and detects proximity switches, 8, barring gear position scale, 9, image detector, 10, gear actual position pointer, 11, separation and reunion connecting rod, 12, universal joint connection spheroid, 13, machine handle, 14, speed sensor, 15, unit bull shaft gear, 16, drive gear, 17, motor moment detection switch 17.

The specific implementation mode is as follows:

for the purpose of enhancing an understanding of the present invention, the present embodiment will be described in detail below with reference to the accompanying drawings.

Example 1: referring to fig. 1, an intelligent barring control device comprises a barring motor 1, a power supply junction box 2, a cylinder 3, a barring gear position scale plate 8, a gear actual position pointer 10, a clutch connection rod 11, a universal joint connection ball 12, a mechanical handle 13, a rotation speed sensor 14, a unit large shaft gear 15, a drive gear 16 and a motor torque detection switch 17, wherein the barring motor 1 is vertically installed above the unit large shaft gear 15, the rotation speed sensor 14 is additionally installed on one side of the unit large shaft gear 15, the motor power supply junction box 2 is additionally installed on the other side of the unit large shaft gear 15, the barring motor 1 comprises the drive gear 16, the motor torque detection switch 17 is additionally installed on the barring motor 1, a mechanical handle 13 is additionally installed on the right side of the barring motor drive gear 16 in an extending manner, the universal joint connection ball 12 is installed inside the mechanical handle 13, the universal joint connection ball is additionally installed on the clutch connection rod 11 included inside the pneumatic clutch gear engaging device cylinder 3, wherein, the clutch connecting rod 11 and the mechanical handle 13 are fixedly installed to extend a universal joint connecting ball 12, vertical stretching or steering at a certain angle can be realized, three groups of proximity switches contained in the cylinder 3 respectively detect three state signals of the gear back position detection proximity switch 7, the gear-to-tooth detection proximity switch 5 and the gear carry engagement detection proximity switch 4, and then transmit the signals to the turning gear operation control logic program, the mechanical handle 13 fixedly installed on the turning gear driving gear 16 is extended and installed with the gear actual position pointer 10, the right side of the pointer 10 is fixedly installed with the turning gear position scale plate 8, the scale plate contains the gear carry position, the gear-to-tooth and the gear back position, the image detector 9 is installed on the right side of the turning gear position scale plate, the air inlet electromagnetic valve 6 acts, the air source pressure of the cylinder 3 pushes the clutch connecting rod 11 to act, the clutch connecting rod 11 drives the gear mechanical handle 13 to act, the mechanical handle 13 drives the driving gear 16 to act, and the pneumatic control turning gear clutch and gear shifting function is realized. When a barring operation program is started, the program controls the electromagnetic valve to be electrified to act, the air source of the air cylinder rapidly enters the air cylinder to control the clutch connecting rod to move upwards in a carry way, and the clutch connecting rod drives the mechanical gear handle to act so as to drive the barring gear to be meshed with the large shaft gear of the unit in a carry way; at the moment, after a gear carry signal is detected by a gear carry meshing proximity switch contained in the cylinder, the gear carry signal is immediately sent to a barring control logic program, the intelligent barring control program immediately starts a barring motor to operate, and the barring motor drives a large shaft gear of the unit to rotate at a rotating speed of 30r/min through a motor gear.

Example 2: referring to fig. 1, an intelligent barring control method, an intelligent barring control logic program is divided into three control modes:

the first mode is as follows: a turning gear normal operation control mode;

when the rotating speed sensor detects that a rotating speed signal of a large shaft of the unit is zero, a barring starting program starts to work, the electromagnetic valve is powered on to act, the air source pressure in the air cylinder drives the clutch connecting rod to drive the motor to drive the gear to carry out action, at the moment, after the gear carry signal arrives, the program drives the barring motor to be powered on, the barring starts to run, and the rotating speed sensor feeds back a barring running rotating speed signal of 30r/min to the barring control program to realize normal closed-loop control of the barring. If the electromagnetic valve is electrified, the gear carry meshing signal does not arrive, and the gear non-carry signal arrives, then the program is restarted, the electromagnetic valve is driven to be electrified again, the gear is driven to carry again, and the process is repeated for 2 times until the barring gear is in carry meshing with the big shaft gear of the unit, so that the starting condition of the barring motor is met.

And a second mode: turning a vehicle to run in a simulation operation control mode after the proximity switch fails;

the barring starting program starts to run, the electromagnetic valve is powered on to act, the air cylinder works, a gear meshing fault signal is received, namely the barring driving gear and the unit large shaft gear cannot carry out tooth-to-tooth meshing, at the moment, the image detector detects the actual gear position of the mechanical handle of the field barring gear, the actual gear position is judged to be in carry meshing, the program considers that the proximity switch is in fault, at the moment, the barring fault simulation program starts, the program continues to drive the barring motor to be powered on to work, and the barring normally runs. The starting interruption of the barring caused by the fault of the proximity switch of the cylinder is prevented, the safety of the unit is influenced, the stable work of the barring system is fully ensured through a simulation program, and the safety of the unit is ensured; at the moment, the image detector judges that the actual gear position does not carry out engagement by detecting the actual gear position of the mechanical handle of the on-site barring gear, and immediately interrupts a barring starting program to prevent the failure that the motor is continuously started to damage the gear due to the failure of the non-carry engagement of the barring gear;

and a third mode: a barring motor torque fault control mode;

the barring starting program starts to run, the electromagnetic valve is powered on to act, the air cylinder works, the barring gear carry meshing signal is normal, the barring motor is powered on to work, at the moment, the motor torque detection switch measures a signal to display that the motor torque is normal, the barring program continues to run, and the barring works normally;

at the moment, the motor torque detection switch measures signals to display that the motor torque is abnormal, and then the program immediately judges the failure of the turning motor, interrupts the turning program and prevents the motor burnout failure caused by the continuous operation of the motor over the torque.

Installation and working process: referring to fig. 1-5, when a barring operation program is started, the program controls the electromagnetic valve to be powered on to act, an air source of the air cylinder rapidly enters the air cylinder to control the clutch connecting rod to move upwards, the clutch connecting rod drives the gear mechanical handle to act, and then the barring gear is driven to be meshed with the large shaft gear of the unit in a carry way; at the moment, after a gear carry signal is detected by a gear carry meshing proximity switch contained in the cylinder, the gear carry signal is immediately sent to a barring control logic program, the intelligent barring control program immediately starts a barring motor to operate, and the barring motor drives a large shaft gear of the unit to rotate at a rotating speed of 30r/min through a motor gear.

When the barring starting program starts to run, the electromagnetic valve is powered on to act, the air cylinder works, a gear meshing fault signal arrives, the image detector judges that the actual gear position is in carry meshing, the program considers that the proximity switch is in fault, the barring fault simulation program starts at the moment, the program continues to drive the barring motor to be powered on to work, and the barring normally runs.

When the barring starting program starts to run, the electromagnetic valve is powered on to act, the air cylinder works, the barring gear carry meshing signal is normal, the barring motor is powered on to work, at the moment, the motor torque detection switch measures a signal to display that the motor torque is normal, the barring program continues to run, and the barring works normally.

In summary, the following steps: this brand-new turbine unit barring control system of patent technical design through installing pneumatic gear clutch additional, position detection device and image identification detection technique, and automatic logic judges control panel car motor automatic operation, need not artificial intervention, and intelligent control possesses fault identification simultaneously and judges warning and bypass emulation operation function, guarantees the normal work of unit barring system.

As shown in the measurement schematic diagram of the intelligent barring cylinder proximity switch in fig. 2: three groups of proximity switches contained in the cylinder 3 respectively detect three state signals of the gear retreating detection proximity switch 7, the gear-to-gear detection proximity switch 5 and the gear carry meshing detection proximity switch 4, and then the signals are transmitted to a turning operation control logic program.

As shown in the block diagram of the control mode program of the normal operation of the barring gear in fig. 3: when the rotating speed sensor detects that a rotating speed signal of a large shaft of the unit is 0(r/min), a barring pneumatic program starts to work, the electromagnetic valve is powered on to act, a gas source pressure in the cylinder drives the clutch connecting rod to drive the motor to drive the gear to carry out action, at the moment, after the gear carry signal arrives, the program drives the barring motor to be powered on, the barring starts to run, and the rotating speed sensor feeds back a barring running rotating speed 30(r/min) signal to the barring control program to realize normal closed-loop control of the barring. If the electromagnetic valve is electrified, the gear carry meshing signal does not arrive, and the gear non-carry signal arrives, then the program is restarted, the electromagnetic valve is driven to be electrified again, the gear is driven to carry again, and the process is repeated for 2 times until the barring gear is in carry meshing with the big shaft gear of the unit, so that the starting condition of the barring motor is met.

As shown in the program block diagram of the proximity switch fault barring simulation operation control mode in fig. 4: the barring starting program starts to run, the electromagnetic valve is powered on to act, the air cylinder works, a gear meshing fault signal is received, namely the barring driving gear and the unit large shaft gear cannot carry out tooth-to-tooth meshing, at the moment, the image detector detects the actual gear position of the mechanical handle of the field barring gear, the actual gear position is judged to be in carry meshing, the program considers that the proximity switch is in fault, at the moment, the barring fault simulation program starts, the program continues to drive the barring motor to be powered on to work, and the barring normally runs. The starting interruption of the barring caused by the fault of the cylinder proximity switch is prevented, the unit safety is influenced, the stable work of the barring system is fully ensured through a simulation program, and the unit safety is ensured.

At the moment, the image detector judges that the actual gear position does not carry out engagement by detecting the actual gear position of the mechanical handle of the field barring gear, and immediately interrupts a barring starting program to prevent the failure that the motor is continuously started to damage the gear due to the failure of the non-carry engagement of the barring gear.

As shown in the block diagram of the torque failure control mode of the turning gear motor in fig. 5: the barring starting program starts to run, the electromagnetic valve is powered on to act, the air cylinder works, the barring gear carry meshing signal is normal, the barring motor is powered on to work, at the moment, the motor torque detection switch measures a signal to display that the motor torque is normal, the barring program continues to run, and the barring works normally.

At the moment, the motor torque detection switch measures signals to display that the motor torque is abnormal, and then the program immediately judges the failure of the turning motor, interrupts the turning program and prevents the motor burnout failure caused by the continuous operation of the motor over the torque.

It should be noted that the above-mentioned embodiments are not intended to limit the scope of the present invention, and all equivalent modifications and substitutions based on the above-mentioned technical solutions are within the scope of the present invention as defined in the claims.