CN111874798A - Control method and system for blade lifting appliance - Google Patents

Abstract

A control method and a system for a blade sling are provided, wherein the control method for the blade sling comprises the following steps: in response to determining that an angular difference of a first pitch angle of the blade spreader and a first target pitch angle exceeds a first angular difference range based on first pitch angle information received from the first pitch angle sensor, controlling a telescoping rod of a telescoping mechanism to move to drive a boom to move along a rail to reduce the angular difference; and in response to determining that the angle difference between the first inclination angle of the blade lifting appliance and the first target inclination angle is kept within the first angle difference range based on the first inclination angle information received from the first inclination angle sensor, controlling the telescopic rod of the telescopic mechanism to stop moving so as to ensure that the flange surface of the blade root of the first blade clamped by the blade clamp is approximately parallel to the preset flange surface of the hub on which the first blade is installed. Based on the blade lifting appliance provided by the invention, the telescopic rod of the telescopic mechanism can be controlled to move according to the detected inclination angle information of the lifting appliance, so that the high-precision micro-angle adjustment of the blade lifting appliance is realized.

Description

Control method and system for blade lifting appliance

Technical Field

The invention relates to the technical field of wind power generation. More particularly, the present invention relates to a method and system for controlling a blade sling.

Background

With the increasing single-machine capacity of wind generating sets, the size of blades of the wind generating sets is gradually increased, for example, the length of the blades of offshore wind generating sets exceeds 90 meters, and the weight of the blades exceeds 35 tons.

Along with the rapid development of offshore wind power generation technology in China. Offshore wind power is rapidly developed and the technology is mature day by day, and new high-power 8MW and 10MW models of different models are continuously released, so that the hoisting process of the wind generating set is continuously perfected, and the requirements on hoisting equipment and hoisting time required in the installation process of the wind generating set are higher and higher. At present, the hoisting mode of a single blade of a high-power machine type is usually horizontal installation and needs to be matched with an impeller of a wind generating set to rotate. The impeller of the direct-drive permanent magnet wind generating set is complex in rotation and much in time consumption, so that the hoisting cost of the offshore unit is high. The installation efficiency of the offshore wind power is improved, the service time of the ship is saved, the installation speed of the offshore wind power can be improved, and the investment cost of the offshore wind power is saved.

At the in-process of current hoist and mount blade, the too much or the not enough condition of angle of probably taking place when blade rotation angle is close required blade angle, can't be accurate in the short time with blade angular adjustment to required angle, need adjust to the required angle many times for a long time to it is relevant with hoist operating personnel's experience, the control degree of difficulty is great, thereby it is longer to lead to the installation, and the commonality is relatively poor.

Disclosure of Invention

Exemplary embodiments of the present invention provide a control method and system of a blade hanger to achieve high-precision minute angle adjustment of a blade clamp.

In one aspect of the invention, a control method of a blade lifting appliance is provided, the blade lifting appliance comprises a counterweight unit, a blade clamp, a lifting point connecting beam, a lifting rod and a telescopic mechanism, wherein the blade clamp is used for clamping a blade; a guide rail is formed on the hoisting point connecting beam, the first end of the suspender is used for being connected with the lifting hook, and the second end of the suspender is connected with the guide rail in a sliding way; the counterweight unit and the blade clamp are positioned on different sides of the suspender in the extending direction of the guide rail and are respectively connected with the hoisting point connecting beam; the first end of the telescopic mechanism is connected to the counterweight unit, and the second end of the telescopic mechanism is connected to the second end of the suspender, so that the suspender is driven to move along the guide rail through the telescopic rod movement of the telescopic mechanism;

the control method comprises the following steps: in response to determining that an angular difference of a first pitch angle of the blade spreader and a first target pitch angle exceeds a first angular difference range based on first pitch angle information received from the first pitch angle sensor, controlling a telescoping rod of a telescoping mechanism to move to drive a boom to move along a rail to reduce the angular difference; in response to determining that the angle difference between the first inclination angle of the blade lifting appliance and the first target inclination angle is kept within the first angle difference range based on the first inclination angle information received from the first inclination angle sensor, controlling the telescopic rod of the telescopic mechanism to stop moving so as to ensure that the flange surface of the blade root of the first blade clamped by the blade clamp is approximately parallel to the preset flange surface of the hub on which the first blade is mounted; the blade lifting appliance is provided with a first datum line perpendicular to the extending direction of the guide rail, and the first inclination angle is an included angle formed by the first datum line at the current position and the first datum line at the vertical position.

In one embodiment of the invention, in response to determining that an angular difference of a first pitch angle of the blade spreader from a first target pitch angle exceeds a first angular difference range based on first pitch angle information received from a first pitch angle sensor, controlling movement of a telescoping rod of a telescoping mechanism to drive a boom to move along a rail to reduce the angular difference, comprises: in response to determining that an angular difference between a first pitch angle of the blade spreader and a first target pitch angle exceeds a first angular difference range and the first pitch angle is greater than the first target pitch angle based on first pitch angle information received from the first pitch angle sensor, controlling a telescoping rod of a telescoping mechanism to perform an extension motion to drive a second end of the boom to move along the rail in a first movement direction to reduce the angular difference; in response to determining that an angular difference between a first pitch angle of the blade spreader and a first target pitch angle exceeds a first angular difference range and the first pitch angle is less than the first target pitch angle based on first pitch angle information received from the first pitch angle sensor, the telescoping rod of the telescoping mechanism is controlled to perform a telescoping motion to drive the second end of the boom to move along the rail in a second direction of movement to reduce the angular difference.

In one embodiment of the present invention, controlling the telescopic rod of the telescopic mechanism to move to drive the boom to move along the guide rail so as to reduce the angle difference comprises: the extending length of a telescopic rod of the telescopic mechanism is controlled to be changed into a preset length so as to drive the hanging rod to move along the guide rail, and therefore the angle difference is reduced; if the reduced angle difference still exceeds the first angle difference range, the telescopic rod of the telescopic mechanism is continuously controlled to move to drive the suspender to move along the guide rail so as to continuously reduce the angle difference.

In one embodiment of the present invention, in response to determining that an angle difference between a first inclination angle of a blade hanger and a first target inclination angle is maintained within a first angle difference range based on first inclination angle information received from a first inclination angle sensor, controlling a telescopic link of a telescopic mechanism to stop moving to ensure that a flange surface of a blade root of a first blade clamped by a blade clamp is substantially parallel to a preset flange surface of a hub on which the first blade is mounted, includes: and controlling a telescopic rod of the telescopic mechanism to stop moving in response to the fact that the angle difference between the first inclination angle of the blade lifting appliance and the first target inclination angle is zero based on the first inclination angle information received from the first inclination angle sensor, so as to ensure that the flange surface of the blade root of the first blade is parallel to the preset flange surface.

In one embodiment of the present invention, the control method further includes: and controlling the telescopic rod of the telescopic mechanism to stop moving in response to receiving a limit switch trigger signal from a limit switch sensor arranged on the guide rail.

In one embodiment of the invention, a first tilt sensor is provided at the counterweight unit for detecting and transmitting first tilt information of the blade sling.

The invention provides a control method of a blade lifting appliance, which comprises a counterweight unit, a blade clamp, a lifting rod, a first winch, a second winch, a first wind collecting rod and a second wind collecting rod, wherein the blade clamp is used for clamping a blade; the counterweight unit and the blade clamp are connected with the suspender and positioned on different sides of the suspender, and the first winch and the second winch are arranged on the counterweight unit; the first end of the first wind-holding rod and the first end of the second wind-holding rod are both connected with the counterweight unit, and the second end of the first wind-holding rod and the second end of the second wind-holding rod respectively point to different sides far away from the counterweight unit along opposite directions; the first winch and the second winch are respectively provided with a wind cable rope, and the second end of the first wind cable rod and the second end of the second wind cable rod are respectively provided with a guide wheel; after being led out from the first winch, the wind-collecting rope of the first winch is connected to a suspension arm of the hoisting equipment through a guide wheel of a first wind-collecting rod; after being led out from the second winch, the wind cable of the second winch is connected to a suspension arm of the hoisting equipment through a guide wheel of a second wind cable rod; the control method comprises the following steps: in response to determining that the difference in the lead-out lengths of the two guy wires exceeds the first length difference range based on the lead-out length information of the guy wire of the first winch received from the first length sensor and the lead-out length information of the guy wire of the second winch received from the second length sensor, controlling the first winch and the second winch to adjust the lead-out lengths of the corresponding guy wires to adjust the lead-out length difference, thereby changing the second inclination angle of the blade hanger; in response to determining that the lead-out length difference of the two guy wires is kept within a first length difference range based on the lead-out length information of the guy wire of the first winch received from the first length sensor and the lead-out length information of the guy wire of the second winch received from the second length sensor, controlling the first winch and the second winch to stop adjusting the lead-out length of the corresponding guy wire so as to ensure that the flange surface of the blade root of the first blade clamped by the blade clamp is approximately parallel to the preset flange surface of the hub on which the first blade is mounted; the blade lifting appliance is provided with a second datum line parallel to the extending direction of the first wind collecting rod and the second wind collecting rod, and the second inclination angle is an included angle formed by the second datum line at the current position and the second datum line at the initial position.

In one embodiment of the present invention, in response to determining that a difference in drawn-out lengths of two guy wires exceeds a first length difference range based on the drawn-out length information of the guy wire of the first winch received from the first length sensor and the drawn-out length information of the guy wire of the second winch received from the second length sensor, controlling the first winch and the second winch to adjust the drawn-out lengths of the corresponding guy wires to adjust the drawn-out length difference includes: in response to determining that the difference in the lead-out lengths of the two guy wires exceeds the lower limit of the first length difference range based on the lead-out length information of the guy wire of the first winch received from the first length sensor and the lead-out length information of the guy wire of the second winch received from the second length sensor, controlling the first winch and the second winch to adjust the lead-out lengths of the corresponding guy wires to increase the lead-out length difference; in response to determining that the difference in the lead-out lengths of the two guy wires exceeds the upper limit of the first length difference range based on the lead-out length information of the guy wire of the first winch received from the first length sensor and the lead-out length information of the guy wire of the second winch received from the second length sensor, controlling the first winch and the second winch to adjust the lead-out lengths of the corresponding guy wires to reduce the lead-out length difference.

In one embodiment of the present invention, controlling the first winch and the second winch to adjust the lead-out lengths of the corresponding guy wires to adjust the lead-out length difference includes: and controlling the first winch to adjust the leading-out length of the cable wind rope to a first preset length, and controlling the second winch to adjust the leading-out length of the cable wind rope to a second preset length, so that the leading-out length difference is kept within a first length difference range.

In one embodiment of the present invention, in response to determining that a difference in the lead-out lengths of the two guy wires is maintained within a first length difference range based on the lead-out length information of the guy wire of the first winch received from the first length sensor and the lead-out length information of the guy wire of the second winch received from the second length sensor, controlling the first winch and the second winch to stop adjusting the lead-out lengths of the corresponding guy wires to ensure that a flange surface of a blade root of a first blade clamped by the blade clamp is substantially parallel to a preset flange surface of a hub on which the first blade is mounted, the method includes: and in response to the fact that the lead-out length difference of the two cable wires is determined to be a first difference value based on the lead-out length information of the cable wire of the first winch received from the first length sensor and the lead-out length information of the cable wire of the second winch received from the second length sensor, controlling the first winch and the second winch to stop adjusting the lead-out length of the corresponding cable wire, so as to ensure that the flange surface of the blade root of the blade is parallel to the preset flange surface.

In one embodiment of the invention, the first length sensor is arranged on the first winch and used for detecting and sending the lead-out length information of the cable rope of the first winch; the second length sensor is arranged on the second winch and used for detecting and sending the lead-out length information of the guy rope of the second winch.

In one embodiment of the present invention, the control method further includes: and in response to determining that the second inclination angle exceeds the preset angle range based on the second inclination angle information received from the second inclination angle sensor, controlling the first winch and the second winch to stop adjusting the leading-out length of the corresponding guy rope, and/or sending alarm information.

In one embodiment of the invention, a second tilt sensor is arranged at the counterweight unit for detecting and transmitting second tilt information of the blade sling.

In another aspect of the invention, a control system of a blade sling is provided, the blade sling comprises a counterweight unit, a blade clamp, a hoisting point connecting beam, a suspender and a telescopic mechanism, wherein the blade clamp is used for clamping a blade; a guide rail is formed on the hoisting point connecting beam, the first end of the suspender is used for being connected with the lifting hook, and the second end of the suspender is connected with the guide rail in a sliding way; the counterweight unit and the blade clamp are positioned on different sides of the suspender in the extending direction of the guide rail and are respectively connected with the hoisting point connecting beam; the first end of the telescopic mechanism is connected to the counterweight unit, and the second end of the telescopic mechanism is connected to the second end of the suspender, so that the suspender is driven to move along the guide rail through the telescopic rod movement of the telescopic mechanism; the control system includes a controller configured to: in response to determining that an angular difference of a first pitch angle of the blade spreader and a first target pitch angle exceeds a first angular difference range based on first pitch angle information received from the first pitch angle sensor, controlling a telescoping rod of a telescoping mechanism to move to drive a boom to move along a rail to reduce the angular difference; in response to determining that the angle difference between the first inclination angle of the blade lifting appliance and the first target inclination angle is kept within the first angle difference range based on the first inclination angle information received from the first inclination angle sensor, controlling the telescopic rod of the telescopic mechanism to stop moving so as to ensure that the flange surface of the blade root of the first blade clamped by the blade clamp is approximately parallel to the preset flange surface of the hub on which the first blade is mounted; the blade lifting appliance is provided with a first datum line perpendicular to the extending direction of the guide rail, and the first inclination angle is an included angle formed by the first datum line at the current position and the first datum line at the vertical position.

In another aspect of the invention, a control system of a blade lifting appliance is provided, the blade lifting appliance comprises a counterweight unit, a blade clamp, a lifting rod, a first winch, a second winch, a first wind collecting rod and a second wind collecting rod, wherein the blade clamp is used for clamping a blade; the counterweight unit and the blade clamp are connected with the suspender and positioned on different sides of the suspender, and the first winch and the second winch are arranged on the counterweight unit; the first end of the first wind-holding rod and the first end of the second wind-holding rod are both connected with the counterweight unit, and the second end of the first wind-holding rod and the second end of the second wind-holding rod respectively point to different sides far away from the counterweight unit along opposite directions; the first winch and the second winch are respectively provided with a wind cable rope, and the second end of the first wind cable rod and the second end of the second wind cable rod are respectively provided with a guide wheel; after being led out from the first winch, the wind-collecting rope of the first winch is connected to a suspension arm of the hoisting equipment through a guide wheel of a first wind-collecting rod; after being led out from the second winch, the wind cable of the second winch is connected to a suspension arm of the hoisting equipment through a guide wheel of a second wind cable rod; the control system includes a controller configured to: in response to determining that the difference in the lead-out lengths of the two guy wires exceeds the first length difference range based on the lead-out length information of the guy wire of the first winch received from the first length sensor and the lead-out length information of the guy wire of the second winch received from the second length sensor, controlling the first winch and the second winch to adjust the lead-out lengths of the corresponding guy wires to adjust the lead-out length difference, thereby changing the second inclination angle of the blade hanger; in response to determining that the lead-out length difference of the two guy wires is kept within a first length difference range based on the lead-out length information of the guy wire of the first winch received from the first length sensor and the lead-out length information of the guy wire of the second winch received from the second length sensor, controlling the first winch and the second winch to stop adjusting the lead-out length of the corresponding guy wire so as to ensure that the flange surface of the blade root of the first blade clamped by the blade clamp is approximately parallel to the preset flange surface of the hub on which the first blade is mounted; the blade lifting appliance is provided with a second datum line parallel to the extending direction of the first wind collecting rod and the second wind collecting rod, and the second inclination angle is an included angle formed by the second datum line at the current position and the second datum line at the initial position.

The control method and the system for the blade lifting appliance have the following beneficial effects: according to the blade lifting appliance provided by the invention, the telescopic rod of the telescopic mechanism can be controlled to move according to the detected inclination angle information of the lifting appliance, or the first winch and the second winch are controlled to adjust the leading-out length of the corresponding guy rope, so that the high-precision micro-angle adjustment of the blade lifting appliance is realized, the flange surface at the root of the blade can be kept approximately parallel to the preset flange surface of the hub, and the connection work of the blade and the hub is conveniently and smoothly carried out.

Additional aspects and/or advantages of the present general inventive concept will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the general inventive concept.

Drawings

The above and other objects and features of the present invention will become more apparent from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:

fig. 1 is a perspective view illustrating a blade hanger according to an exemplary embodiment of the present invention.

Fig. 2 is a perspective view showing a part of the structure of a blade hanger according to an exemplary embodiment of the present invention.

Fig. 3 is an enlarged view of a portion a of fig. 2.

Fig. 4 is a perspective view showing a boom of a blade spreader of an exemplary embodiment of the present invention.

Fig. 5 is a front view showing a boom of a blade spreader of an exemplary embodiment of the present invention.

Fig. 6 is a perspective view illustrating a suspension point connection cross member according to an exemplary embodiment of the present invention.

Fig. 7 is a front view illustrating a suspension point connection cross member according to an exemplary embodiment of the present invention.

Fig. 8 is a schematic view illustrating a blade hanger lifting a blade according to an exemplary embodiment of the present invention.

Fig. 9 is an application scenario diagram illustrating a control method of a blade hanger according to an exemplary embodiment of the present invention.

Fig. 10 is a flowchart illustrating a control method of a blade hanger according to an exemplary embodiment of the present invention.

Fig. 11 is a schematic view illustrating an application of the control method of the blade sling to the first flange face of the hub according to an exemplary embodiment of the present invention.

Fig. 12 is a flowchart illustrating another control method of a blade hanger according to an exemplary embodiment of the present invention.

Fig. 13 is a schematic view illustrating an application of the control method of the blade sling to the second flange face of the hub according to an exemplary embodiment of the present invention.

Fig. 14 is a schematic view showing an application of the control method of the blade sling according to the exemplary embodiment of the present invention to the third flange surface of the hub.

The reference numbers illustrate:

10: a blade clamp; 11: a clamp beam; 12: a clamping portion;

21: a boom; 22: the hoisting point is connected with the beam; 221: a substrate; 222: a first outer flange; 223: a second outer flange; 241 a: an auxiliary groove; 222a, 223 a: an auxiliary track; 244a, 245 a: a limiting protrusion; 222b, 223 b: a limiting groove; 23: lifting lugs; 241: a top wall; 242: a first side wall; 243: a second side wall; 244: a first inner flange; 245: a second inner flange; 246: connecting a hinged support; 25: a rolling member; 225: an accommodating recess;

30: a telescoping mechanism; 40: a counterweight unit; 41: a hydraulic station; 42: a generator; 50: a drive assembly; 51: a first winch; 52: a second winch; 61: a first cable wind lever; 62: and a second cable wind rod.

Detailed Description

Embodiments in accordance with the present invention will now be described in detail with reference to the drawings, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.

First, a blade hanger provided according to an exemplary embodiment of the present invention is described in detail with reference to fig. 1 to 7. As shown in fig. 1, the blade sling may comprise some or all of the following components: blade clamp 10, boom 21, hoisting point connection beam 22, telescoping mechanism 30, counterweight unit 40, first winch 51, second winch 52, first cable bar 61 and second cable bar 62.

For example, the blade hanger may comprise a counterweight unit 40, a blade clamp 10, a hanging point connecting beam 22, a boom 21 and a telescoping mechanism 30, the blade clamp 10 being used to clamp the blade. A guide rail is formed on the hoisting point connecting beam 22, a first end of the hoisting rod 21 is used for being connected with a hoisting hook, and a second end of the hoisting rod 21 is connected with the guide rail in a sliding way; the counterweight unit 40 and the blade clamp 10 are located on different sides of the boom 21 in the extending direction of the guide rail, and are connected to the hoisting point connecting cross beam 22, respectively; a first end of the telescopic mechanism 30 is connected to the counterweight unit 40, and a second end of the telescopic mechanism 30 is connected to a second end of the boom 21 to drive the boom 21 to move along the guide rail by telescopic rod movement of the telescopic mechanism 30.

Alternatively, more than two telescoping mechanisms 30 may be provided, and the telescoping rods of the more than two telescoping mechanisms 30 may be moved simultaneously to drive the boom 21 along the rail.

For another example, the blade hanger may include a counterweight unit 40, a blade clamp 10, a boom 21, a first winch 51, a second winch 52, a first wind receiving bar 61, and a second wind receiving bar 62, wherein the blade clamp 10 is used for clamping the blade. The counterweight unit 40 and the blade clamp 10 are both connected with the boom 21 and located on different sides of the boom 21, and the first winch 51 and the second winch 52 are arranged on the counterweight unit 40; the first end of the first wind-holding rod 61 and the first end of the second wind-holding rod 62 are both connected with the counterweight unit 40, and the second end of the first wind-holding rod 61 and the second end of the second wind-holding rod 62 respectively point to different sides far away from the counterweight unit 40 along opposite directions; the first winch 51 and the second winch 52 are respectively provided with a wind cable rope, and the second end of the first wind-holding rod 61 and the second end of the second wind-holding rod 62 are respectively provided with a guide wheel; after being led out from the first winch 51, the wind-pulling rope of the first winch 51 is connected to the boom of the hoisting equipment through the guide wheel of the first wind-pulling rod 61; the wind-pulling rope of the second winch 52 is led out from the second winch 52 and then connected to the boom of the lifting device through the guide wheel of the second wind-pulling rod 62.

The hanger bar 21 may include a first end connected to a hook of a lifting device and a second end for coupling with a hanging point connecting cross beam 22 on the counterweight unit 40. The hanger bar 21 may be provided at a first end thereof with a lifting lug 23 for coupling with a lifting hook, and at a second end thereof with a catching groove for coupling with the lifting point connection cross member 22. As shown in fig. 2, the hanger bar 21 may be formed to include an a-shaped body and a catching groove formed below the a-shaped body, as an example. A first end (i.e., an upper end) of the a-shaped body of the hanger bar 21 may be formed with a lifting lug 23 for connection with a lifting hook of a lifting device. A catching groove may be formed at a second end (i.e., a lower end) of the a-shaped body of the hanger bar 21. The opening of the snap groove may face downward to face the hanger point connecting beam 22 so that the guide rail of the hanger point connecting beam 22 is received therein and the hanger bar 21 may slide along the guide rail.

Specifically, as shown in fig. 2 to 5, the catching groove may include a top wall 241, first and second side walls 242 and 243 extending downward from both sides of the top wall 241, respectively, and first and second inner flanges 244 and 245 extending from ends of the first and second side walls 242 and 243 distant from the top wall 241 by a predetermined length toward each other in a horizontal direction, respectively. In addition, a middle portion of a top wall 241 of the catching groove may be formed inward with a connection hinge base 246, a second end of the telescopic mechanism 30 such as a hydraulic cylinder or the like may be connected to the connection hinge base 246, and the catching groove may be capable of rolling along a guide rail of the hanging point connection beam 22 (described later in detail).

The suspension point connecting cross member 22 may be integrally formed as a guide rail, for example, the suspension point connecting cross member 22 may be a T-beam. As shown in fig. 2, 3, and 6, the guide rail may include a base 221 and first and second outer flanges 222, 223 extending laterally from the base 221. The first and second outer flanges 222 and 223 may be inserted into the catching grooves of the hanger bar 21 and supported by the first and second inner flanges 244 and 245, respectively. The first and second inner flanges 244, 245 may slide along the first and second outer flanges 222, 223 under the telescoping action of the telescoping mechanism 30.

In addition, a receiving groove 225 may be formed on the base 221, and the second end of the telescopic mechanism 30 rolls along a rail in the receiving groove 225. As an example, the second end of the telescopic mechanism 30 may be formed as or provided with a roller, the connecting hinge seat 246 provided in the catching groove of the boom 21 may be formed as two connecting legs, and an ear hole may be provided, and the roller may be provided between the two connecting legs and connected by a rotating shaft. By providing the receiving groove 225, the telescoping mechanism 30 can be hidden under the boom 21, so that the telescoping mechanism 30 can be prevented from being exposed to rain and corrosion, and the service life of the telescoping mechanism 30 can be prolonged.

Optionally, rolling members 25 may be respectively disposed between an upper surface of the first inner flange 244 and a lower surface of the first outer flange 222 and between an upper surface of the second inner flange 245 and a lower surface of the second outer flange 223 to reduce frictional resistance when the first and second inner flanges 244 and 245 slide along the first and second outer flanges 222 and 223. The rolling member 25 may be a cylindrical roller or other similar member.

In the case where the rolling members 25 are provided, when the rollers of the second end of the telescopic mechanism 30 roll along the rails in the accommodation grooves 225, the rolling members 25 may roll simultaneously, and thus, the sliding motion between the boom 21 and the rail may be further optimized to a rolling motion, so that a reduction in friction may be achieved, stress safety may be ensured, and the effective load of the telescopic mechanism 30 may be improved.

In addition, as shown in fig. 3, two auxiliary grooves 241a may be formed on the inner surface of the top wall 241 along the length direction of the engagement groove. Accordingly, an upper surface of the first outer flange 222 may be formed with an auxiliary rail 222a along a length direction of the hanger connecting beam 22, and an upper surface of the second outer flange 223 may be formed with an auxiliary rail 223a along a length direction of the hanger connecting beam 22. The auxiliary groove 241a can accommodate the auxiliary rails 222a and 223a and can slide relative to the auxiliary rails 222a and 223a by the telescopic mechanism 30. Alternatively, the auxiliary groove 241a may be formed as an arc-shaped groove (e.g., semicircular in cross section), and the auxiliary rails 222a and 223a may be formed as arc-shaped protrusions (e.g., semicircular in cross section) that are fitted with the auxiliary groove 241a, but is not limited thereto.

By providing the auxiliary groove 241a and the auxiliary rails 222a and 223a, not only can it be facilitated for the engaging groove of the suspension bar 21 to slide along the guide rail, but also the movement of the engaging groove can be guided to some extent since the auxiliary rails 222a and 223a are received in the auxiliary groove 241a, so that the engaging groove can be prevented from being shifted in the lateral direction (i.e., the width direction of the engaging groove), so that the suspension point moving process is more stable.

Although it is shown in fig. 3 that the auxiliary groove 241a is formed on the inner surface of the top wall 241 and the auxiliary rails 222a and 223a are formed on the upper surfaces of the first and second outer flanges 222 and 223, the positions of the auxiliary groove 241a and the auxiliary rails 222a and 223a may be interchanged as necessary.

Further, stopper protrusions 244a and 245a protruding upward may be formed at end portions of upper surfaces of the first inner flange 244 and the second inner flange 245, respectively, along a length direction of the engagement groove. Accordingly, the first and second outer flanges 222 and 223 may have stopper recesses 222b and 223b formed on the lower surfaces thereof to be engaged with the stopper protrusions 244a and 245 a. The stopper protrusions 244a and 245a may be received in the stopper recesses 222b and 223b and may be slid with respect to the stopper recesses 222b and 223b by the telescopic mechanism 30. Of course, the forming positions of the stopper protrusions 244a and 245a and the stopper recesses 222b and 223b may be interchanged.

By further providing the stopper projections 244a and 245a and the stopper grooves 222b and 223b, the deviation of the catching grooves in the lateral direction can be further avoided. That is, by providing the stopper protrusions 244a and 245a and the stopper grooves 222b and 223b, it is possible to limit the lateral eccentric load stress that may exist during the hoisting process to the stopper grooves 222b and 223b, and it is ensured that the engagement groove of the hanger bar 21 is not displaced in the lateral direction or even one side of the engagement groove is disengaged from the rail when the lateral stress is unbalanced.

Alternatively, as shown in fig. 5 and 7, the distance between the surfaces of the first and second side walls 242 and 243 facing each other is D1, the distance between the stopper groove 222b of the first outer flange 222 and the stopper groove 223b of the second outer flange 223 is D2, the distance between the end surfaces of the first and second outer flanges 222 and 223 facing away from each other is D3, the distance between the stopper protrusion 244a of the first inner flange 244 and the stopper protrusion 245a of the second inner flange 245 is D4, and D1, D2, D3, and D4 may be designed as (D1-D3) < (D4-D2).

By designing D1, D2, D3 and D4 to satisfy (D1-D3) < (D4-D2), it is ensured that when the lateral unbalance loading is stressed, the force is transmitted to the first outer flange 222 and the second outer flange 223 instead of the limiting groove 222b and the limiting groove 223b, so that under the condition that the force is directly transmitted to the surfaces of the first outer flange 222 and the second outer flange 223 instead of the edges of the limiting groove 222b and the limiting groove 223b, the stressed area can be increased, the situation that the edges of the limiting groove 222b and the limiting groove 223b are damaged due to stress to cause the clamping groove to displace in the lateral direction can be avoided, and the hoisting safety can be further ensured.

In addition, in addition to the driving assembly 50, a power source (such as a hydraulic station, a pump station, or a generator) for supplying power to the telescopic mechanism 30, and the like may be provided in the counterweight unit 40. Optionally, a counterweight (not shown) may be disposed in the counterweight unit 40 as needed.

When the telescopic mechanism 30 is a hydraulic cylinder, as shown in the figure, the blade sling may comprise a hydraulic station 41, the hydraulic station 41 being provided at the counterweight unit 40, the hydraulic station 41 being adapted to provide hydraulic oil to the telescopic mechanism 30. When the telescoping mechanism 30 is an air cylinder, the blade sling may include an air pump (not shown) that may be provided to the weight unit 40 for supplying pressurized air to the telescoping mechanism 30 and the spare telescoping mechanism 470. When the telescoping mechanism 30 is a power ram having a motor that drives the motion of the telescoping rod 422, as shown, the blade hanger may include a generator 42, and the generator 42 may provide power to the power ram.

Each winch (e.g., first winch 51 or second winch 52) may include a motor, a reducer, and a winch on which the cable is wound. When the motor is controlled to operate, the motor drives the winch to rotate forwards or reversely through the speed reducer, so that the guy rope is released or retracted, and the leading-out length of the guy rope is adjusted.

Optionally, the start and stop of the motor may be controlled by a frequency converter, or may be controlled by a soft starter.

A schematic view of a blade sling according to an embodiment of the invention for lifting a blade is shown in fig. 8. When hoisting the blade, the two clamping parts 12 can respectively clamp different parts of the blade. The position of the lifting point can be adjusted according to the weight of the blade by the blade lifting appliance, and then the posture of the blade in the lifting process can be adjusted, so that the balance in the lifting process of the blade can be improved, and an expected posture can be obtained. In addition, a required counterweight (not shown) may be provided to bring the blade to the desired attitude through the dual action of the counterweight and the adjustment of the lifting point.

The blade clamp 10 may include a clamp beam 11 and clamping portions 12 provided at both ends of the clamp beam 11. The blade sling may further comprise a drive assembly 50, which drive assembly 50 may be arranged on the counterweight unit 40 and is adapted to drive the blade clamp 10 to rotate relative to the counterweight unit 40, thereby adjusting the pitch angle of the blade clamp 10. The clamp beam 11 is rotatably coupled to the driving assembly 50 so that the clamping portion 12 can be rotated by the rotation of the clamp beam 11.

The driving assembly 50 can drive the blade clamp 10 to rotate at a larger angle (for example, 360 degrees) relative to the counterweight unit 40, so that the blade clamp 10 can reach any desired angle, turning of a hub is not needed in the blade installation process, the blade hoisting time is saved, and the cost is reduced.

The exemplary embodiment of the invention provides two control methods of a blade sling, and the two control methods are applied to different scenes. Fig. 9 is an application scenario diagram illustrating a control method of a blade hanger according to an exemplary embodiment of the present invention, and an application scenario of the control method will be described below with reference to fig. 9.

The hub to which the blade is to be mounted comprises a first flange face, a second flange face and a third flange face, wherein the first flange face faces downwards and the axis of the first flange face is in the same vertical plane as the axis of rotation of the hub, which vertical plane is perpendicular to the direction of view of fig. 9 and parallel to the axial direction of the tower. The hub may remain stationary during the mounting of the blade.

Scene one: the blade clamped by the blade clamp is adjusted to the flange face of its blade root, close to and facing the first flange face of the hub.

Scene two: the blade clamped by the blade clamp is adjusted to the flange surface of its blade root, close to and facing the second or third flange surface of the hub.

In the first scenario, a control method of a blade sling according to an exemplary embodiment of the present invention is performed to make a flange surface of a blade root of a blade clamped by a blade clamp substantially parallel to a first flange surface of a hub on which the blade is mounted.

In scenario two, another control method of a blade sling according to an exemplary embodiment of the present invention is performed, so that a flange surface of a blade root of a blade clamped by a blade clamp is substantially parallel to a second flange surface or a third flange surface of a hub on which the blade is mounted.

Fig. 10 is a flowchart illustrating a control method of a blade hanger according to an exemplary embodiment of the present invention, which is applied to scenario one.

Referring to fig. 10, in response to determining that an angle difference of a first inclination angle of the blade hanger from a first target inclination angle exceeds a first angle difference range based on first inclination information received from a first inclination sensor, the telescopic link of the telescopic mechanism 30 is controlled to move to drive the boom 21 to move along the rail so as to reduce the angle difference at step S710.

The blade lifting appliance is provided with a first datum line perpendicular to the extending direction of the guide rail, and the first inclination angle is an included angle formed by the first datum line at the current position and the first datum line at the vertical position.

Fig. 11 is a schematic view illustrating an application of the control method of the blade sling to the first flange face of the hub according to an exemplary embodiment of the present invention. Referring to fig. 11, a straight line L1 represents a first reference line of the current position, a straight line L2 represents the first reference line in the vertical position, and an included angle between the straight line L1 and the straight line L2 is a first inclination angle.

When the boom 21 is moved along the guide rail, the position of the centre of gravity of the blade sling relative to the lifting point may be changed, so that the blade sling as a whole may be rotated relative to the lifting point, thereby changing the current position of the first reference line, so that the first inclination angle is changed.

As shown in fig. 11, in the first scenario, when the flange surface of the blade root of the first blade is parallel to the preset flange surface (i.e. the first flange surface) of the hub on which the first blade is mounted, the included angle between the windward side of the first blade and the axial direction of the tower is β 2, and the included angle between the first reference line of the current position and the first reference line in the vertical position should be β 1, that is, the first target inclination angle is β 1. The purpose of step S710 is to reduce the angular difference between the first inclination angle and the first target inclination angle by driving the boom 21 to move along the guideway at the desired first inclination angle close to the first target inclination angle.

It should be noted that the first reference line is a virtual line referred to for defining the first inclination angle, and does not have a physical meaning.

It should be noted that, when the telescopic mechanisms 30 are hydraulic cylinders, the hydraulic station 41 may be directly controlled to adjust the oil supply state to each telescopic mechanism 30, so as to change the motion state of the telescopic rod of each telescopic mechanism 30, for example, an action command may be sent to an electro proportional valve in the hydraulic station 41, which controls the action of the hydraulic cylinder, so as to drive the hydraulic cylinder to move at a preset speed (e.g. 1 mm/s), so as to drive the boom 21 to move along the guide rail.

When the telescopic mechanisms 30 are air cylinders, the air pump can be directly controlled to adjust the air supply state of each telescopic mechanism 30, so that the motion state of the telescopic rod of each telescopic mechanism 30 is changed. When the telescopic mechanisms 30 are electric push rods, the operation state of the motor in each electric push rod can be directly controlled, so that the motion state of the telescopic rod of each telescopic mechanism 30 is changed.

In step S720, in response to determining that the angle difference between the first inclination angle of the blade hanger and the first target inclination angle is maintained within the first angle difference range based on the first inclination angle information received from the first inclination angle sensor, the telescopic rod of the telescopic mechanism 30 is controlled to stop moving so as to ensure that the flange surface of the blade root of the first blade clamped by the blade clamp 10 is substantially parallel to the preset flange surface of the hub on which the first blade is mounted.

It can be understood that the smaller the angular difference is, the more parallel the flange surface of the blade root of the first blade and the preset flange surface of the hub on which the first blade is mounted become; in an optimal case, the angular difference may be zero, the flange face of the blade root of the first blade remaining parallel to the predetermined flange face of the hub on which the first blade is mounted.

Due to the influence of some uncontrollable factors (such as the working condition of the installation site, the working accuracy of the telescopic mechanism 30 or the detection accuracy of the first tilt angle sensor), it may take a long time to adjust the angle difference to zero, or it may not be completely guaranteed that the angle difference may be adjusted to zero. For the above reasons, a first angular difference range may be set, and the angular difference may be maintained within the first angular difference range such that the flange surface of the blade root of the first blade clamped by the blade clamp 10 is substantially parallel to the predetermined flange surface of the hub on which the first blade is mounted.

It should be noted that the first angular difference range should satisfy the following requirements: when the angle difference is maintained within the first angle difference range, the connection between the flange surface of the blade root of the first blade clamped by the blade clamp 10 and the preset flange surface of the hub on which the first blade is mounted is not affected by the parallelism error.

On the premise that the first angle difference range meets the requirements, the first angle difference range can be determined according to actual design requirements. For example, the first angle difference range is set to 0 to 0.5 degrees, and the first angle difference range is not limited thereto.

Optionally, a first tilt sensor may be provided at the counterweight unit 40, the first tilt sensor being configured to detect and transmit first tilt information of the blade sling.

In one embodiment of the present invention, step S710 includes the following operations:

in response to determining that an angular difference between a first pitch angle of the blade spreader and a first target pitch angle exceeds a first angular difference range and that the first pitch angle is greater than the first target pitch angle based on first pitch angle information received from the first pitch angle sensor, the telescoping rod of the telescoping mechanism 30 is controlled to perform an extension motion to drive the second end of the boom 21 to move along the rail in a first movement direction to reduce the angular difference.

In response to determining that the angle difference between the first pitch angle of the blade spreader and the first target pitch angle exceeds the first angle difference range and the first pitch angle is smaller than the first target pitch angle based on the first pitch angle information received from the first pitch angle sensor, the telescopic rod of the telescopic mechanism 30 is controlled to perform a retracting motion to drive the second end of the boom 21 to move along the guide rail in the second moving direction so as to reduce the angle difference.

Here, a side of the hoisting point close to the blade jig 10 is defined as a front side of the hoisting point, and a side of the hoisting point close to the counterweight unit 40 is defined as a rear side of the hoisting point. It will be appreciated that when the part of the blade sling other than the boom 21 is moved to the front side of the lifting point, the first inclination angle of the blade sling becomes large; when the entire blade hanger except the boom 21 is moved to the rear side of the lifting point, the first inclination angle of the blade hanger becomes smaller.

When the angle difference between the first inclination angle of the blade hanger and the first target inclination angle exceeds the first angle difference range and the first inclination angle is greater than the first target inclination angle, the telescopic rod of the telescopic mechanism 30 is controlled to perform the extending motion to drive the second end of the boom 21 to move along the guide rail to the first moving direction, that is, to move to the first moving direction, that is, the whole part of the blade hanger except the boom 21 moves to the rear side of the lifting point, so that the first inclination angle is reduced to be close to the first target inclination angle, and the purpose of reducing the angle difference is achieved. When the angle difference between the first inclination angle of the blade hanger and the first target inclination angle exceeds the first angle difference range and the first inclination angle is smaller than the first target inclination angle, the telescopic rod of the telescopic mechanism 30 is controlled to perform a telescopic motion to drive the second end of the boom 21 to move along the guide rail in the second moving direction, that is, to move in the second moving direction, that is, the whole part of the blade hanger except the boom 21 moves to the front side of the hanging point, so that the first inclination angle is increased to be close to the first target inclination angle, and the purpose of reducing the angle difference is achieved.

In one embodiment of the present invention, step S710 includes the following operations: controlling the extension length of the telescopic rod of the telescopic mechanism 30 to be changed to a preset length to drive the boom 21 to move along the guide rail so as to reduce the angle difference; if the reduced angle difference still exceeds the first angle difference range, the telescopic rod of the telescopic mechanism 30 is continuously controlled to move to drive the boom 21 to move along the guide rail so as to continuously reduce the angle difference.

The preset length may be a length value obtained through experiments or calculation, or may be an empirical value recorded in the process of installing the blade by using the same blade hanger control method. For example, according to the control method of the blade sling according to the exemplary embodiment of the present invention, a previous blade having the same type as the first blade is installed, when the flange surface of the blade root of the previous blade is substantially parallel to the preset flange surface of the hub on which the first blade is installed, the extending length of the telescopic rod of the telescopic mechanism 30 at this time is recorded, and the recorded extending length is used as the preset length.

When the extension length of the extension rod of the extension mechanism 30 is a preset length, the angle difference between the first inclination angle of the blade hanger and the first target inclination angle is reduced and a larger probability is maintained within the first angle difference range, and at this time, the flange surface of the blade root of the first blade clamped by the blade clamp 10 is substantially parallel to the preset flange surface of the hub on which the first blade is mounted; even if the reduced angle difference still exceeds the first angle difference range, and the reduced angle difference has a larger probability of being closer to the first angle difference range, the telescopic rod of the telescopic mechanism 30 can be controlled to move to drive the boom 21 to move along the guide rail according to the former embodiment, so that the angle difference can be reduced continuously.

In one embodiment of the present invention, step S720 includes the following operations: in response to determining that the angle difference between the first inclination angle of the blade hanger and the first target inclination angle is zero based on the first inclination angle information received from the first inclination angle sensor, the telescopic rod of the telescopic mechanism 30 is controlled to stop moving so as to ensure that the flange surface of the blade root of the first blade is parallel to the preset flange surface. The flange face of the blade root of the first blade is adjusted to be parallel to the preset flange face of the hub, so that the difficulty of connecting the flange face of the blade root with the preset flange face of the hub can be reduced.

In an embodiment of the present invention, the method for controlling a blade hanger applied to scenario one further includes the following operations: the telescopic rod of the telescopic mechanism 30 is controlled to stop moving in response to the trigger signal of the limit switch received from the limit switch sensor provided on the guide rail.

The limit switch sensors are arranged on the guide rail of the lifting point connecting beam 22, preferably, the number of the limit switch sensors is two, the limit switch sensors are respectively arranged on two sides of the guide rail, when the lifting rod 21 moves to a limit position along the guide rail, a limit switch trigger signal is sent, when the limit switch trigger signal is received, the telescopic rod of the telescopic mechanism 30 can be controlled to stop moving, the moving range of the lifting rod 21 can be limited (which is also equivalent to the range for limiting the extending length of the telescopic rod of the telescopic mechanism 30), and therefore the first inclination angle of the blade lifting appliance is prevented from being too large or too small.

Fig. 12 is a flowchart showing a control method of a blade hanger according to an exemplary embodiment of the present invention, which is applied to scenario two.

Referring to fig. 12, in response to determining that the difference in the drawn-out lengths of the two guy wires exceeds the first length difference range based on the drawn-out length information of the guy wire of the first winch 51 received from the first length sensor and the drawn-out length information of the guy wire of the second winch 52 received from the second length sensor, the first winch 51 and the second winch 52 are controlled to adjust the drawn-out lengths of the corresponding guy wires to adjust the drawn-out length difference, thereby changing the second inclination angle of the blade hanger at step S810.

The blade hanger is provided with a second datum line parallel to the extending direction of the first wind receiving rod 61 and the second wind receiving rod 62, and the second inclination angle is an included angle formed by the second datum line at the current position and the second datum line at the initial position.

Fig. 13 is a schematic view illustrating an application of the control method of the blade sling to the second flange face of the hub according to an exemplary embodiment of the present invention. Fig. 14 is a schematic view showing an application of the control method of the blade sling according to the exemplary embodiment of the present invention to the third flange surface of the hub. Referring to fig. 13 and 14, a straight line N1 represents a second reference line of the current position, a straight line N2 represents a second reference line at the initial position, and an angle between the straight line N1 and the straight line N2 is a second inclination angle.

The initial position of the second datum line may be determined according to actual design requirements, and in an embodiment of the present invention, the position where the second datum line is located when the leading length of the cable rope of the first winch 51 is the same as the leading length of the cable rope of the second winch 52 is used as the initial position of the second datum line.

It should be noted that the first length difference range may be different for different preset flange faces (the second flange face and the third flange face) in scenario two.

Referring to fig. 13, when the flange surface of the blade root of the first blade is parallel to the second flange surface of the hub on which the first blade is mounted, an included angle formed by the second reference line at the current position and the second reference line at the initial position is α 1, the difference in the lead-out lengths of the two guy cables is S1, and the size of the second inclination angle can be adjusted by changing the difference in the lead-out lengths of the two guy cables.

As can be seen from fig. 13, α 1 and S1 have the following relationship: sin (α 1) | S1|/M, where M is the length between the second end of the first wind blade 61 and the second end of the second wind blade 62.

The first length difference range is a length range including S1, and the first length difference range should satisfy the following requirements: when the difference in the lead-out lengths of the two guy wires is within the first length difference range, the second inclination angle may be made close to or equal to α 1.

Referring to fig. 14, when the flange surface of the blade root of the first blade is parallel to the third flange surface of the hub on which the first blade is mounted, an included angle formed by the second reference line at the current position and the second reference line at the initial position is α 2, the difference in the lead-out lengths of the two guy cables is S2, and the second inclination angle can be adjusted by changing the difference in the lead-out lengths of the two guy cables.

As can be seen from fig. 14, α 2 and S2 have the following relationship: sin (α 2) | S2|/M, where M is the length between the second end of the first wind blade 61 and the second end of the second wind blade 62.

The first length difference range is a length range including S2, and the first length difference range should satisfy the following requirements: when the difference in the lead-out lengths of the two guy wires is within the first length difference range, the second inclination angle may be made close to or equal to α 2.

Alternatively, a first length sensor may be provided at the first winch 51 for detecting and transmitting the lead-out length information of the hawser of the first winch 51; a second length sensor may be provided at the second winch 52 for detecting and transmitting the lead-out length information of the hawser line of the second winch 52.

Step S820, in response to determining that the lead-out length difference of the two guy wires is kept within the first length difference range based on the lead-out length information of the guy wire of the first winch 51 received from the first length sensor and the lead-out length information of the guy wire of the second winch 52 received from the second length sensor, controlling the first winch 51 and the second winch 52 to stop adjusting the lead-out length of the corresponding guy wire, so as to ensure that the flange surface of the blade root of the first blade clamped by the blade clamp 10 is substantially parallel to the preset flange surface of the hub on which the first blade is mounted.

Referring to fig. 13, if it is desired to mount the first blade to the second flange surface of the hub, the second inclination angle is close to or equal to α 1 when the difference in the lead-out lengths of the two guy wires is maintained within the first length difference range, and the flange surface of the blade root of the first blade clamped by the blade clamp 10 is substantially parallel to the second flange surface of the hub to which the first blade is mounted.

Referring to fig. 14, if it is desired to mount the first blade to the third flange surface of the hub, the second inclination angle is close to or equal to α 2 when the difference in the lead-out lengths of the two guy wires is maintained within the first length difference range, and the flange surface of the blade root of the first blade clamped by the blade clamp 10 is substantially parallel to the third flange surface of the hub to which the first blade is mounted.

In one embodiment of the present invention, step S810 includes the following operations: in response to determining that the difference in the drawn-out lengths of the two guy wires exceeds the lower limit value of the first length difference range based on the drawn-out length information of the guy wire of the first winch 51 received from the first length sensor and the drawn-out length information of the guy wire of the second winch 52 received from the second length sensor, the first winch 51 and the second winch 52 are controlled to adjust the drawn-out lengths of the corresponding guy wires to increase the drawn-out length difference.

Referring to fig. 13, in the case where the first blade is attached to the second flange surface of the hub, the lead-out length of the cable rope of the first winch 51 is smaller than the lead-out length of the cable rope of the second winch 52, and the lead-out length difference is defined as a difference obtained by subtracting the lead-out length of the cable rope of the first winch 51 from the lead-out length of the cable rope of the second winch 52. When the lead-out length difference of the two guy wires exceeds the lower limit value of the first length difference range, the first winch 51 is controlled to reduce the lead-out length of the guy wire, and the second winch 52 is controlled to increase the lead-out length of the guy wire, so that the lead-out length difference of the two guy wires is increased.

Referring to fig. 14, in the case where the first blade is attached to the third flange surface of the hub, the lead-out length of the guy rope of the first winch 51 is greater than the lead-out length of the guy rope of the second winch 52, and the lead-out length difference is determined by subtracting the lead-out length of the guy rope of the second winch 52 from the lead-out length of the guy rope of the first winch 51. When the lead-out length difference of the two guy wires exceeds the lower limit value of the first length difference range, the first winch 51 is controlled to increase the lead-out length of the guy wire, and the second winch 52 is controlled to decrease the lead-out length of the guy wire, so that the lead-out length difference of the two guy wires is increased.

In response to determining that the difference in the drawn-out lengths of the two guy wires exceeds the upper limit value of the first length difference range based on the drawn-out length information of the guy wire of the first winch 51 received from the first length sensor and the drawn-out length information of the guy wire of the second winch 52 received from the second length sensor, the first winch 51 and the second winch 52 are controlled to adjust the drawn-out lengths of the corresponding guy wires to reduce the drawn-out length difference.

Referring to fig. 13, in the case where the first blade is attached to the second flange surface of the hub, the lead-out length of the cable rope of the first winch 51 is smaller than the lead-out length of the cable rope of the second winch 52, and the lead-out length difference is defined as a difference obtained by subtracting the lead-out length of the cable rope of the first winch 51 from the lead-out length of the cable rope of the second winch 52. When the lead-out length difference of the two guy wires exceeds the upper limit value of the first length difference range, the first winch 51 is controlled to increase the lead-out length of the guy wire, and the second winch 52 is controlled to decrease the lead-out length of the guy wire, so that the lead-out length difference of the two guy wires is decreased.

Referring to fig. 14, in the case where the first blade is attached to the third flange surface of the hub, the lead-out length of the guy rope of the first winch 51 is greater than the lead-out length of the guy rope of the second winch 52, and the lead-out length difference is determined by subtracting the lead-out length of the guy rope of the second winch 52 from the lead-out length of the guy rope of the first winch 51. When the lead-out length difference of the two guy wires exceeds the upper limit value of the first length difference range, the first winch 51 is controlled to reduce the lead-out length of the guy wire, and the second winch 52 is controlled to increase the lead-out length of the guy wire, so that the lead-out length difference of the two guy wires is reduced.

In one embodiment of the present invention, step S810 includes the following operations: the first winch 51 is controlled to adjust the lead-out length of the cable rope thereof to a first preset length, and the second winch 52 is controlled to adjust the lead-out length of the cable rope thereof to a second preset length, so that the lead-out length difference is maintained within a first length difference range.

The first preset length and the second preset length may be lengths obtained through experiments or calculation, or may be based on empirical values recorded in a process of installing the blade by using the same blade hanger control method. For example, with the control method of the blade sling according to the exemplary embodiment of the present invention, a previous blade of the same type as the first blade is installed, when the flange surface of the blade root of the previous blade is substantially parallel to the preset flange surface of the hub on which the first blade is installed, the leading-out length of the cable rope of the first winch 51 at this time and the leading-out length of the cable rope of the second winch 52 at this time are recorded, and the recorded leading-out lengths are taken as the first preset length and the second preset length.

It can be understood that when the leading-out length of the guy rope of the first winch 51 is a first preset length and the leading-out length of the guy rope of the second winch 52 is a second preset length, the leading-out length difference of the two guy ropes is reduced, and the probability that the leading-out length difference is larger is kept within the first length difference range, and at this time, the flange surface of the blade root of the first blade clamped by the blade clamp 10 is approximately parallel to the preset flange surface of the hub on which the first blade is mounted; even if the reduced leading length difference still exceeds the first angle difference range, the leading length difference has a larger probability of being relatively close to the first angle difference range, and the first winch 51 and the second winch 52 can be continuously controlled to adjust the leading length of the corresponding guy rope according to the previous embodiment, so that the leading length difference is continuously adjusted.

In one embodiment of the present invention, step S820 includes the following operations: in response to determining that the lead-out length difference of the two guy ropes is a first difference value based on the lead-out length information of the guy rope of the first winch 51 received from the first length sensor and the lead-out length information of the guy rope of the second winch 52 received from the second length sensor, the first winch 51 and the second winch 52 are controlled to stop adjusting the lead-out lengths of the corresponding guy ropes to ensure that the flange surface of the blade root of the blade is parallel to the preset flange surface.

When the difference of the leading-out lengths of the two guy cables is a first difference value, an included angle formed by the second reference line at the current position and the second reference line at the initial position is just alpha 1 or alpha 2, and at the moment, the flange surface of the blade root of the first blade is adjusted to be parallel to the preset flange surface of the hub, so that the difficulty of connection work of the flange surface of the blade root and the preset flange surface of the hub can be reduced.

As described above, when the flange surface of the blade root of the first blade is parallel to the second flange surface of the hub on which the first blade is mounted, an included angle formed by the second reference line at the current position and the second reference line at the initial position is α 1, at this time, the lead-out length difference S1 of the two wind cables is a first difference, and on the premise that the included angle α 1 and the length M between the second end of the first wind receiving rod 61 and the second end of the second wind receiving rod 62 are known, the first difference can be calculated by the following formula: sin (α 1) ═ S1 |/M.

As described above, when the flange surface of the blade root of the first blade is parallel to the third flange surface of the hub on which the first blade is mounted, an included angle formed by the second reference line at the current position and the second reference line at the initial position is α 2, at this time, the led-out length difference S2 of the two wind cables is a first difference, and on the premise that the included angle α 2 and the length M between the second end of the first wind pulling rod 61 and the second end of the second wind pulling rod 62 are known, the first difference can be calculated by the following formula: sin (α 2) ═ S2 |/M.

In an embodiment of the present invention, the method for controlling a blade sling applied to scenario two further includes the following operations: in response to determining that the second inclination angle exceeds the preset angle range based on the second inclination angle information received from the second inclination angle sensor, the first winch 51 and the second winch 52 are controlled to stop adjusting the lead-out length of the corresponding guy rope, and/or alarm information is transmitted.

A second tilt sensor may be provided at the counterweight unit 40 for detecting and transmitting second tilt information of the blade sling. Setting the preset angle range may limit the lead-out length of the guy wires of the first winch 51 and the second winch 52, thereby avoiding an excessive second inclination angle of the blade hanger. When the second inclination angle exceeds the preset angle range, alarm information is sent in time to remind workers.

Based on the blade lifting appliance provided by the invention, the telescopic rod of the telescopic mechanism 30 can be controlled to move according to the detected inclination angle information of the lifting appliance, or the first winch 51 and the second winch 52 are controlled to adjust the leading-out length of the corresponding cable rope, so that the high-precision micro-angle adjustment of the blade lifting appliance is realized, the flange surface at the root of the blade can be kept approximately parallel to the preset flange surface of the hub, and the connection work of the blade and the hub is conveniently and smoothly carried out.

Exemplary embodiments of the present invention also provide a control system of a blade hanger, which can perform any one of the two control methods of the blade hanger provided by the exemplary embodiments of the present invention.

The control system includes a controller that may be configured to:

in response to determining that an angular difference of a first pitch angle of the blade spreader and a first target pitch angle exceeds a first angular difference range based on first pitch angle information received from the first pitch angle sensor, controlling telescopic rod movement of the telescopic mechanism 30 to drive the boom 21 to move along the rail to reduce the angular difference; in response to determining that the angle difference between the first inclination angle of the blade hanger and the first target inclination angle is maintained within the first angle difference range based on the first inclination angle information received from the first inclination angle sensor, controlling the telescopic rod of the telescopic mechanism 30 to stop moving so as to ensure that the flange surface of the blade root of the first blade clamped by the blade clamp 10 is substantially parallel to the preset flange surface of the hub on which the first blade is mounted; the blade lifting appliance is provided with a first datum line perpendicular to the extending direction of the guide rail, and the first inclination angle is an included angle formed by the first datum line at the current position and the first datum line at the vertical position. For specific content of the controller executing the above steps, reference may be made to related content in the above method embodiments, and details are not described here.

The controller may be further configured to: in response to determining that the difference in the lead-out lengths of the two guy wires exceeds the first length difference range based on the lead-out length information of the guy wire of the first winch 51 received from the first length sensor and the lead-out length information of the guy wire of the second winch 52 received from the second length sensor, controlling the first winch 51 and the second winch 52 to adjust the lead-out lengths of the corresponding guy wires to adjust the lead-out length difference, thereby changing the second inclination angle of the blade hanger; in response to determining that the lead-out length difference of the two guy ropes is kept within the first length difference range based on the lead-out length information of the guy rope of the first winch 51 received from the first length sensor and the lead-out length information of the guy rope of the second winch 52 received from the second length sensor, controlling the first winch 51 and the second winch 52 to stop adjusting the lead-out length of the corresponding guy rope to ensure that the flange surface of the blade root of the first blade clamped by the blade clamp 10 is approximately parallel to the preset flange surface of the hub on which the first blade is mounted; the blade hanger is provided with a second datum line parallel to the extending direction of the first wind collecting rod 61 and the second wind collecting rod 62, and the second inclination angle is an included angle formed by the second datum line at the current position and the second datum line at the initial position. For specific content of the controller executing the above steps, reference may be made to related content in the above method embodiments, and details are not described here.

The controller may include, but is not limited to, a Central Processing Unit (CPU), a Digital Signal Processor (DSP), a microcomputer, a Field Programmable Gate Array (FPGA), a system on a chip (SoC), a microprocessor, an Application Specific Integrated Circuit (ASIC), and the like. Alternatively, the controller may be provided on the blade spreader, but is not limited thereto. For example, the controller may enable remote control.

Based on the blade lifting appliance provided by the invention, the control method and the control system of the blade lifting appliance provided by the invention can control the telescopic rod of the telescopic mechanism to move according to the detected inclination angle information of the lifting appliance, or control the first winch and the second winch to adjust the leading-out length of the corresponding cable rope, so that the high-precision micro-angle adjustment of the blade lifting appliance is realized, the flange surface at the root of the blade can be kept approximately parallel to the preset flange surface of the hub, and the connection work of the blade and the hub can be conveniently and smoothly carried out.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the following claims.

Claims (15)

1. A control method of a blade sling is characterized in that,

the blade lifting appliance comprises a balance weight unit, a blade clamp, a lifting point connecting beam, a lifting rod and a telescopic mechanism, wherein the blade clamp is used for clamping a blade;

a guide rail is formed on the hoisting point connecting beam, the first end of the hoisting rod is used for being connected with a hoisting hook, and the second end of the hoisting rod is connected with the guide rail in a sliding manner;

the counterweight unit and the blade clamp are positioned on different sides of the suspender in the extending direction of the guide rail and are respectively connected with the hoisting point connecting beam;

a first end of the telescopic mechanism is connected to the counterweight unit, and a second end of the telescopic mechanism is connected to the second end of the boom, so that the boom is driven to move along the guide rail through the telescopic rod movement of the telescopic mechanism;

the control method comprises the following steps:

in response to determining, based on first pitch information received from a first pitch sensor, that an angular difference between a first pitch of the blade spreader and a first target pitch exceeds a first angular difference range, controlling movement of a telescoping rod of the telescoping mechanism to drive the boom to move along the rail to reduce the angular difference;

in response to determining that the angle difference between the first inclination angle of the blade sling and the first target inclination angle is kept within the first angle difference range based on first inclination angle information received from a first inclination angle sensor, controlling a telescopic rod of the telescopic mechanism to stop moving so as to ensure that a flange surface of a blade root of a first blade clamped by the blade clamp is approximately parallel to a preset flange surface of a hub on which the first blade is mounted;

the blade lifting appliance is provided with a first datum line perpendicular to the extending direction of the guide rail, and the first inclination angle is an included angle formed by the first datum line at the current position and the first datum line at the vertical position.

2. The control method of claim 1, wherein said controlling the telescopic link of the telescoping mechanism to move to drive the boom to move along the guideway to reduce the angular difference in response to determining that the angular difference of the first pitch angle of the blade spreader from the first target pitch angle exceeds a first angular difference range based on the first pitch angle information received from the first pitch angle sensor comprises:

in response to determining, based on first pitch information received from a first pitch sensor, that an angular difference between the first pitch of the blade spreader and the first target pitch is outside the first angular difference range and the first pitch is greater than the first target pitch, controlling a telescoping rod of the telescoping mechanism to perform an extension motion to drive the second end of the boom to move along the rail in a first direction of movement to reduce the angular difference;

in response to determining, based on first pitch information received from a first pitch sensor, that an angular difference between the first pitch of the blade spreader and the first target pitch is outside the first angular difference range and the first pitch is less than the first target pitch, controlling a telescoping rod of the telescoping mechanism to perform a telescoping motion to drive the second end of the boom to move along the rail in a second direction of movement to reduce the angular difference.

3. The control method of claim 1, wherein the controlling movement of a telescoping rod of the telescoping mechanism to drive the boom along the rail to reduce the angular difference comprises:

controlling the extension length of a telescopic rod of the telescopic mechanism to be changed into a preset length so as to drive the suspension rod to move along the guide rail and reduce the angle difference;

if the reduced angle difference still exceeds the first angle difference range, the telescopic rod of the telescopic mechanism is continuously controlled to move to drive the suspension rod to move along the guide rail so as to continuously reduce the angle difference.

4. The control method according to claim 1, wherein the controlling the telescopic rod of the telescopic mechanism to stop moving in response to determining that the angular difference between the first inclination angle of the blade spreader and the first target inclination angle is maintained within the first angular difference range based on first inclination angle information received from a first inclination angle sensor, so as to ensure that the flange surface of the blade root of the first blade clamped by the blade clamp is substantially parallel to a preset flange surface of a hub on which the first blade is mounted, comprises:

and in response to determining that the angle difference between the first inclination angle of the blade lifting appliance and the first target inclination angle is zero based on the first inclination angle information received from the first inclination angle sensor, controlling a telescopic rod of the telescopic mechanism to stop moving so as to ensure that the flange surface of the blade root of the first blade is parallel to the preset flange surface.

5. The control method according to claim 1, characterized by further comprising: and controlling the telescopic rod of the telescopic mechanism to stop moving in response to receiving a limit switch trigger signal from a limit switch sensor arranged on the guide rail.

6. The control method according to claim 1, characterized in that the first tilt sensor is provided at the counterweight unit for detecting and transmitting first tilt information of the blade sling.

7. The control method of the blade lifting appliance is characterized in that the blade lifting appliance comprises a counterweight unit, a blade clamp, a lifting rod, a first winch, a second winch, a first wind collecting rod and a second wind collecting rod, wherein the blade clamp is used for clamping a blade;

the counterweight unit and the blade clamp are connected with the suspension rod and are positioned on different sides of the suspension rod, and the first winch and the second winch are arranged on the counterweight unit;

the first end of the first wind-holding rod and the first end of the second wind-holding rod are both connected with the counterweight unit, and the second end of the first wind-holding rod and the second end of the second wind-holding rod respectively point to different sides far away from the counterweight unit along opposite directions;

the first winch and the second winch are respectively provided with a wind cable rope, and the second end of the first wind cable rod and the second end of the second wind cable rod are respectively provided with a guide wheel;

after being led out from the first winch, the wind-pulling rope of the first winch is connected to a suspension arm of the hoisting equipment through a guide wheel of the first wind-pulling rod;

after being led out from the second winch, the wind-pulling rope of the second winch is connected to a suspension arm of the hoisting equipment through a guide wheel of the second wind-pulling rod;

the control method comprises the following steps:

in response to determining that the difference in the lead-out lengths of the two guy wires exceeds a first length difference range based on the lead-out length information of the guy wire of the first winch received from the first length sensor and the lead-out length information of the guy wire of the second winch received from the second length sensor, controlling the first winch and the second winch to adjust the lead-out lengths of the corresponding guy wires to adjust the lead-out length difference, thereby changing a second pitch angle of the blade spreader;

in response to determining that the lead-out length difference of the two guy wires is kept within the first length difference range based on the lead-out length information of the guy wire of the first winch received from the first length sensor and the lead-out length information of the guy wire of the second winch received from the second length sensor, controlling the first winch and the second winch to stop adjusting the lead-out length of the corresponding guy wire so as to ensure that the flange surface of the blade root of the first blade clamped by the blade clamp is approximately parallel to the preset flange surface of the hub on which the first blade is mounted;

the blade lifting appliance is provided with a second datum line parallel to the extending directions of the first wind collecting rod and the second wind collecting rod, and the second inclination angle is an included angle formed by the second datum line at the current position and the second datum line at the initial position.

8. The control method of claim 7, wherein the controlling the first and second winches to adjust the lead-out lengths of the corresponding hawser lines to adjust the lead-out length differences in response to determining that the lead-out length differences of the two hawser lines exceeds a first length difference range based on the lead-out length information of the hawser line of the first winch received from a first length sensor and the lead-out length information of the hawser line of the second winch received from a second length sensor comprises:

in response to determining that the difference in the lead-out lengths of the two guy lines exceeds the lower limit of the first length difference range based on the lead-out length information of the guy line of the first winch received from the first length sensor and the lead-out length information of the guy line of the second winch received from the second length sensor, controlling the first winch and the second winch to adjust the lead-out lengths of the corresponding guy lines to increase the lead-out length difference;

in response to determining that the difference in the lead-out lengths of the two guy wires exceeds the upper limit of the first length difference range based on the lead-out length information of the guy wire of the first winch received from the first length sensor and the lead-out length information of the guy wire of the second winch received from the second length sensor, controlling the first winch and the second winch to adjust the lead-out lengths of the corresponding guy wires to reduce the lead-out length difference.

9. The method of claim 7, wherein the controlling the first and second winches to adjust the run-out lengths of the respective hawser lines to adjust the run-out length difference comprises:

and controlling the first winch to adjust the leading-out length of the cable rope to a first preset length, and controlling the second winch to adjust the leading-out length of the cable rope to a second preset length, so that the leading-out length difference is kept within the range of the first length difference.

10. The control method according to claim 7, wherein the controlling the first winch and the second winch to stop adjusting the lead-out lengths of the corresponding guy wires to ensure that the flange surface of the blade root of the first blade clamped by the blade clamp is substantially parallel to the preset flange surface of the hub on which the first blade is mounted, in response to determining that the lead-out length difference of the two guy wires is maintained within the first length difference range based on the lead-out length information of the guy wire of the first winch received from the first length sensor and the lead-out length information of the guy wire of the second winch received from the second length sensor, comprises:

and in response to determining that the lead-out length difference of the two guy wires is a first difference value based on the lead-out length information of the guy wire of the first winch received from the first length sensor and the lead-out length information of the guy wire of the second winch received from the second length sensor, controlling the first winch and the second winch to stop adjusting the lead-out length of the corresponding guy wire so as to ensure that the flange surface of the blade root of the blade is parallel to the preset flange surface.

11. The control method according to claim 7,

the first length sensor is arranged on the first winch and used for detecting and sending the leading-out length information of the guy rope of the first winch;

the second length sensor is arranged on the second winch and used for detecting and sending the lead-out length information of the guy rope of the second winch.

12. The control method according to claim 7, characterized by further comprising: and in response to determining that the second inclination angle exceeds a preset angle range based on second inclination angle information received from a second inclination angle sensor, controlling the first winch and the second winch to stop adjusting the leading-out length of the corresponding guy rope, and/or sending alarm information.

13. The control method according to claim 12, characterized in that the second tilt sensor is provided to the counterweight unit for detecting and transmitting second tilt information of the blade spreader.

14. A control system of a blade sling is characterized in that,

the blade lifting appliance comprises a balance weight unit, a blade clamp, a lifting point connecting beam, a lifting rod and a telescopic mechanism, wherein the blade clamp is used for clamping a blade;

a guide rail is formed on the hoisting point connecting beam, the first end of the hoisting rod is used for being connected with a hoisting hook, and the second end of the hoisting rod is connected with the guide rail in a sliding manner;

the counterweight unit and the blade clamp are positioned on different sides of the suspender in the extending direction of the guide rail and are respectively connected with the hoisting point connecting beam;

a first end of the telescopic mechanism is connected to the counterweight unit, and a second end of the telescopic mechanism is connected to the second end of the boom, so that the boom is driven to move along the guide rail through the telescopic rod movement of the telescopic mechanism;

the control system includes a controller configured to:

in response to determining, based on first pitch information received from a first pitch sensor, that an angular difference between a first pitch of the blade spreader and a first target pitch exceeds a first angular difference range, controlling movement of a telescoping rod of the telescoping mechanism to drive the boom to move along the rail to reduce the angular difference;

in response to determining that the angle difference between the first inclination angle of the blade sling and the first target inclination angle is kept within the first angle difference range based on first inclination angle information received from a first inclination angle sensor, controlling a telescopic rod of the telescopic mechanism to stop moving so as to ensure that a flange surface of a blade root of a first blade clamped by the blade clamp is approximately parallel to a preset flange surface of a hub on which the first blade is mounted;

the blade lifting appliance is provided with a first datum line perpendicular to the extending direction of the guide rail, and the first inclination angle is an included angle formed by the first datum line at the current position and the first datum line at the vertical position.

15. A control system of a blade sling is characterized in that,

the blade lifting appliance comprises a balance weight unit, a blade clamp, a lifting rod, a first winch, a second winch, a first wind collecting rod and a second wind collecting rod, and the blade clamp is used for clamping a blade;

the counterweight unit and the blade clamp are connected with the suspension rod and are positioned on different sides of the suspension rod, and the first winch and the second winch are arranged on the counterweight unit;

the first end of the first wind-holding rod and the first end of the second wind-holding rod are both connected with the counterweight unit, and the second end of the first wind-holding rod and the second end of the second wind-holding rod respectively point to different sides far away from the counterweight unit along opposite directions;

the first winch and the second winch are respectively provided with a wind cable rope, and the second end of the first wind cable rod and the second end of the second wind cable rod are respectively provided with a guide wheel;

after being led out from the first winch, the wind-pulling rope of the first winch is connected to a suspension arm of the hoisting equipment through a guide wheel of the first wind-pulling rod;

after being led out from the second winch, the wind-pulling rope of the second winch is connected to a suspension arm of the hoisting equipment through a guide wheel of the second wind-pulling rod;

the control system includes a controller configured to:

in response to determining that the difference in the lead-out lengths of the two guy wires exceeds a first length difference range based on the lead-out length information of the guy wire of the first winch received from the first length sensor and the lead-out length information of the guy wire of the second winch received from the second length sensor, controlling the first winch and the second winch to adjust the lead-out lengths of the corresponding guy wires to adjust the lead-out length difference, thereby changing a second pitch angle of the blade spreader;

in response to determining that the lead-out length difference of the two guy wires is kept within the first length difference range based on the lead-out length information of the guy wire of the first winch received from the first length sensor and the lead-out length information of the guy wire of the second winch received from the second length sensor, controlling the first winch and the second winch to stop adjusting the lead-out length of the corresponding guy wire so as to ensure that the flange surface of the blade root of the first blade clamped by the blade clamp is approximately parallel to the preset flange surface of the hub on which the first blade is mounted;

the blade lifting appliance is provided with a second datum line parallel to the extending directions of the first wind collecting rod and the second wind collecting rod, and the second inclination angle is an included angle formed by the second datum line at the current position and the second datum line at the initial position.

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