CN111994775A

CN111994775A - Variable pitch control method and system of blade clamp

Info

Publication number: CN111994775A
Application number: CN202010870198.4A
Authority: CN
Inventors: 郑文杰; 郑俊杰; 方晶; 黄可唯; 黄建伟; 苏伟
Original assignee: CHENGDU SHIWEI TECHNOLOGY CO LTD; Jiangsu Goldwind Science and Technology Co Ltd
Current assignee: CHENGDU SHIWEI TECHNOLOGY CO LTD; Jiangsu Goldwind Science and Technology Co Ltd
Priority date: 2020-08-26
Filing date: 2020-08-26
Publication date: 2020-11-27

Abstract

Provided are a method and a system for controlling the variable pitch of a blade clamp. The variable pitch control method of the blade clamp comprises the following steps: determining a current angle of a blade clamp, wherein the blade clamp comprises a blade tip clamping mechanism, a blade root clamping mechanism and a main beam for connecting the blade tip clamping mechanism and the blade root clamping mechanism; determining a target angle of the blade fixture based on the determined current angle of the blade fixture and the corresponding pitch angle; and controlling the blade tip clamping mechanism and the blade root clamping mechanism to stretch and retract based on the current angle and the target angle of the blade clamp so as to enable the blade clamp to rotate to the target angle.

Description

Variable pitch control method and system of blade clamp

Technical Field

The present disclosure relates to the field of wind power generation technology. More specifically, the present disclosure relates to a method and system for pitch control of a blade clamp.

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.

Because present blade hoist and mount are horizontal hoist and mount, rotation angle is limited, and the installation of each blade is accomplished in the cooperation of hoist and mount in-process needs the barring subassembly, can take place the too much or the not enough condition of angle 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 long-time adjustment many times just can reach required angle, and relevant with hoist operating personnel's experience, the control degree of difficulty is great. Resulting in a long installation process and poor versatility.

Disclosure of Invention

Exemplary embodiments of the present disclosure provide a pitch control method and system for a blade fixture, so as to implement high-precision fine angle adjustment of a general blade fixture.

According to an exemplary embodiment of the present disclosure, there is provided a pitch control method of a blade clamp, including: determining a current angle of a blade clamp, wherein the blade clamp comprises a blade tip clamping mechanism, a blade root clamping mechanism and a main beam for connecting the blade tip clamping mechanism and the blade root clamping mechanism; determining a target angle of the blade fixture based on the determined current angle of the blade fixture and the corresponding pitch angle; and controlling the blade tip clamping mechanism and the blade root clamping mechanism to stretch and retract based on the current angle and the target angle of the blade clamp so as to enable the blade clamp to rotate to the target angle.

Alternatively, the tip clamping mechanism and the root clamping mechanism may share a pitch cylinder, or the tip clamping mechanism and the root clamping mechanism may have a pitch cylinder, respectively.

Optionally, when the blade tip clamping mechanism and the blade root clamping mechanism are respectively provided with a pitch cylinder, the step of controlling the pitch cylinders of the blade tip clamping mechanism and the blade root clamping mechanism to extend and retract based on the current angle and the target angle of the blade clamp may include: and controlling the pitch-variable oil cylinder of the blade tip clamping mechanism and the pitch-variable oil cylinder of the blade root clamping mechanism to synchronously stretch based on the current angle and the target angle of the blade clamp.

Optionally, the step of controlling the pitch cylinders of the blade tip clamping mechanism and the blade root clamping mechanism to extend and retract based on the current angle and the target angle of the blade clamp may include: determining whether the variable pitch oil cylinder extends or shortens based on the current angle and the target angle of the blade clamp, and calculating the length variation of the variable pitch oil cylinder; when the variable-pitch oil cylinder is determined to be extended, extending the variable-pitch oil cylinder by the length variable quantity; and when the pitch variation oil cylinder is determined to be shortened, shortening the pitch variation oil cylinder by the length variation.

Optionally, when the pitch cylinders of the blade tip clamping mechanism and the blade root clamping mechanism extend, the pitch cylinders are controlled to stop extending when the length of the extension of the pitch cylinders is determined to be changed to the maximum length in response to receiving signals of limit switches arranged on the blade clamps; and/or when the pitch-variable oil cylinders of the blade tip clamping mechanism and the blade root clamping mechanism are shortened, the pitch-variable oil cylinders are controlled to stop shortening when the shortened length of the pitch-variable oil cylinders is determined to be changed to the minimum length in response to the received signals of the limit switches arranged on the blade clamps.

Optionally, the pitch control method may further include: the 0 position of the blade clamp is determined such that an angle sensor provided in the tip and/or root clamps determines the current angle of the blade clamp based on the 0 position of the blade clamp.

Optionally, the pitch control method may further include: setting a rotation angle range including a maximum angle and a minimum angle of the blade clamp, wherein the step of controlling the extension and retraction of the pitch cylinders of the blade tip clamping mechanism and the blade root clamping mechanism based on the current angle and the target angle of the blade clamp can comprise: when the variable pitch oil cylinder extends to enable the blade clamp to rotate to the maximum angle, controlling the variable pitch oil cylinder to stop extending; and when the variable pitch oil cylinder is shortened to enable the blade clamp to rotate to the minimum angle, controlling the variable pitch oil cylinder to stop shortening.

Optionally, the step of controlling the pitch cylinders of the blade tip clamping mechanism and the blade root clamping mechanism to extend and retract based on the current angle and the target angle of the blade clamp may further include: acquiring a real-time angle of a blade clamp; and determining whether the blade grip is rotated to the maximum angle or the minimum angle based on the real-time angle of the blade grip.

Optionally, the pitch control method may further include: determining a current angle of the blade based on a preset 0-degree position of the blade and a current position of the blade; and determining the respective pitch angle based on the current angle of the blade and a predetermined angle of the blade.

According to an exemplary embodiment of the present disclosure, there is provided a pitch control system of a blade clamp, comprising: the blade clamp comprises a blade tip clamping mechanism, a blade root clamping mechanism, a main beam for connecting the blade tip clamping mechanism and the blade root clamping mechanism, and a variable pitch oil cylinder arranged on the blade tip clamping mechanism and/or the blade root clamping mechanism; and a controller configured to: determining a current angle of the blade clamp; determining a target angle of the blade fixture based on the determined current angle of the blade fixture and the corresponding pitch angle; and controlling the blade tip clamping mechanism and the blade root clamping mechanism to stretch and retract based on the current angle and the target angle of the blade clamp so as to enable the blade clamp to rotate to the target angle.

Optionally, the pitch control system may further include a hydraulic station for driving the pitch cylinder to extend and retract.

Optionally, the blade tip clamping mechanism and the blade root clamping mechanism of the blade clamp may share one pitch cylinder, or the blade tip clamping mechanism and the blade root clamping mechanism of the blade clamp may have one pitch cylinder respectively.

Optionally, when the tip and root clamping mechanisms each have a pitch cylinder, the controller may be configured to: and controlling the pitch-variable oil cylinder of the blade tip clamping mechanism and the pitch-variable oil cylinder of the blade root clamping mechanism to synchronously stretch based on the current angle and the target angle of the blade clamp.

Optionally, the controller may be configured to: determining whether the variable pitch oil cylinder extends or shortens based on the current angle and the target angle of the blade clamp, and calculating the length variation of the variable pitch oil cylinder; when the variable-pitch oil cylinder is determined to be extended, extending the variable-pitch oil cylinder by the length variable quantity; and when the pitch variation oil cylinder is determined to be shortened, shortening the pitch variation oil cylinder by the length variation.

Optionally, the blade clamp further comprises a limit switch arranged on the pitch cylinder.

Optionally, the blade clamp further comprises an angle sensor disposed in the tip clamping mechanism and/or the root clamping mechanism, configured to: the angle of the blade clamp is sensed.

Optionally, the controller may be further configured to: the 0 position of the blade clamp is determined such that an angle sensor provided in the tip and/or root clamps determines the current angle of the blade clamp based on the 0 position of the blade clamp.

Optionally, the controller may be further configured to: setting a rotation angle range of the blade clamp including a maximum angle and a minimum angle; when the variable pitch oil cylinder extends to enable the blade clamp to rotate to the maximum angle, controlling the variable pitch oil cylinder to stop extending; and when the variable pitch oil cylinder is shortened to enable the blade clamp to rotate to the minimum angle, controlling the variable pitch oil cylinder to stop shortening.

Optionally, the controller may be configured to: acquiring a real-time angle of a blade clamp; and determining whether the blade grip is rotated to the maximum angle or the minimum angle based on the real-time angle of the blade grip.

Optionally, the controller may be further configured to: determining a current angle of the blade based on a preset 0-degree position of the blade and a current position of the blade; and determining the respective pitch angle based on the current angle of the blade and a predetermined angle of the blade.

According to the blade clamp pitch control method and system, the current angle of the blade clamp is determined, the target angle of the blade clamp is determined based on the determined current angle of the blade clamp and the corresponding pitch angle, and the pitch cylinders of the blade tip clamping mechanism and the blade root clamping mechanism are controlled to stretch and retract based on the current angle and the target angle of the blade clamp, so that the blade clamp rotates to the target angle, the blades can be automatically changed in the assembling process and the blade hoisting process of the wind generating set, the blade hoisting time of the wind generating set is shortened, the precision of micro adjustment of the blades is improved, the probability of collision between the blades and other objects is reduced, and the occurrence probability of safety accidents is reduced.

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 exemplary embodiments of the present disclosure will become more apparent from the following description taken in conjunction with the accompanying drawings which illustrate exemplary embodiments, wherein:

FIG. 1 shows a schematic view of a blade clamp according to an exemplary embodiment of the present invention.

FIG. 2 is a partial schematic view showing the blade clamping mechanism of FIG. 1 in connection with a main beam.

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

FIG. 4 is an exploded schematic view illustrating the blade clamping mechanism of FIG. 1 coupled to a pitch drive member.

FIG. 5 shows a schematic view of the blade clamp of FIG. 1 in a state before it is used for pitching a blade.

FIG. 6 illustrates a schematic view of the blade clamp of FIG. 1 after being used to pitch a blade.

Fig. 7 is an enlarged schematic view of a portion B in fig. 4.

FIG. 8 shows a schematic view of a blade handling apparatus comprising a blade grip according to an exemplary embodiment of the present invention.

Fig. 9 shows a schematic view of the blade lifting device in fig. 8 lifting a blade.

FIG. 10 shows a flow chart of a method of pitch control of a blade clamp according to an exemplary embodiment of the present disclosure.

FIG. 11 shows a control block diagram of a pitch control system of a blade clamp according to an exemplary embodiment of the present disclosure.

FIG. 12 shows a block diagram of a pitch control arrangement of a blade clamp according to an exemplary embodiment of the present disclosure.

Description of reference numerals:

1: a blade; 100: a blade clamp; 110. a blade tip clamping mechanism; 130: a blade root clamping mechanism; 111: a pressing arm; 112: a connecting arm; 113: a support arm; 113 a: a pin shaft hole; 113 b: a pin shaft hole; 114: a conformal compression piece; 120: a main beam; 121: a beam body; 122: a support leg; 122 a: a pin shaft hole; 141: a pitch drive member; 142: a guide rail; 142 a: an auxiliary groove; 143: a track groove; 143 a: an auxiliary track; 144. a pin shaft; 145: connecting columns; 146: an open slot; 151: a first ball bearing; 152: a second ball bearing; 153: a self-lubricating bearing; 154: a locknut; 155: end covers of the pin shaft holes; 156: a pin shaft end cover; 157: self-lubricating shaft sleeve with holes.

Detailed Description

Reference will now be made in detail to the exemplary embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. The embodiments are described below in order to explain the present disclosure by referring to the figures.

In the description of the present application, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present application.

The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present disclosure, "a plurality" means two or more unless otherwise specified.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present disclosure can be understood in specific instances by those of ordinary skill in the art.

The described features, structures, or characteristics of the disclosure may be combined in any suitable manner in one or more embodiments. In the above description, numerous specific details are provided to give a thorough understanding of embodiments of the disclosure. One skilled in the relevant art will recognize, however, that the subject matter of the present disclosure can be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of the disclosure.

In an exemplary embodiment of the present disclosure, the rotation cylinder refers to a hydraulic cylinder that pushes the blade root and the blade tip holding structure to rotate. The PLC controller is a program logic and sensor signal receiving and processing controller and controls the action of the hydraulic system. The rotation angle detection sensor is a device for detecting the angular position of the clamping mechanism, and is referred to as an angle sensor for short. The hydraulic system refers to a hydraulic pump station and an oil way control system for driving the oil cylinder to act. The universal blade clamping hanger is a blade hanger with a 360-degree rotation function. Blade profile refers to the type of blade, and blades of different manufacturers and different blade profiles can have different lengths and/or weights. The position of 0 degree of the blade refers to the attitude position of 0 degree of included angle between the blade and the horizontal plane. The main beam is a beam which is arranged at two ends of the universal blade clamping hanger and used for clamping the blades. Pitching refers to increasing or decreasing the angle of the blade according to a set step length.

FIG. 1 illustrates a schematic view of a blade clamp according to an exemplary embodiment of the present disclosure. FIG. 2 is an exploded schematic view showing the blade gripping mechanism of FIG. 1 attached to a main beam. Fig. 3 is an enlarged schematic view of a portion a in fig. 2. FIG. 4 is an exploded schematic view illustrating the blade clamping mechanism of FIG. 1 coupled to a pitch drive component (e.g., a pitch cylinder). FIG. 5 shows a schematic view of the blade clamp of FIG. 1 in a state before it is used for pitching a blade. FIG. 6 illustrates a schematic view of the blade clamp of FIG. 1 after being used to pitch a blade.

As shown in fig. 1 to 4, a blade clamp (also referred to as a blade clamp) according to an exemplary embodiment of the present disclosure includes: a main beam 120; the

blade clamping mechanisms

110 and 130 are arranged at two ends of the main beam 120 and used for clamping the blade 1 (see fig. 7), and the

blade clamping mechanisms

110 and 130 are rotatably connected with the main beam 120 so as to adjust the pitch angle of the blade 1; a pitch drive member (e.g., pitch cylinder) 141 that drives the

blade gripping mechanisms

110 and 130 to rotate relative to the main beam 120; a rail 142 formed on one of the

blade gripping mechanisms

110 and 130 and the spar 120; and a rail groove 143 formed on the other one of the

blade clamping mechanisms

110 and 130 and the girder 120 and movable with respect to the rail 142.

According to the blade clamp disclosed by the exemplary embodiment of the disclosure, the blade 1 can be subjected to pitch variation in the assembling process and the blade hoisting process of the wind generating set, so that the blade 1 is aligned with the hub and accurately connected to the hub, and in the pitch variation process, the

blade clamping mechanisms

110 and 130 can be helped to stably rotate relative to the main beam 120 through the matching of the guide rail 142 and the rail groove 143, so that the safety and stability of the blade clamp 100 with the blade 1 in the pitch variation process are ensured.

Blade clamping mechanisms

110 and 130 may include, among other things, a tip clamping mechanism 110 for clamping a tip portion and a root clamping mechanism 130 for clamping a root portion. Tip and root clamps 110, 130 are similar in construction, except that the formed clamp pockets are of different sizes, specifically, the clamp pocket of tip clamp 110 is smaller than the clamp pocket of root clamp 130. The size of the clamping mouths of the blade tip clamping mechanism 110 and the blade root clamping mechanism 130 can be adjusted to be suitable for clamping blades 1 with different sizes, and the blade tip clamping mechanism has universality. The structure and connection to other components of the tip clamping mechanism 110 will be described in detail below, taking the example as an example.

The tip holding mechanism 110 includes a support arm 113, a pressing arm 111, and a connecting arm 112, the support arm 113 and the pressing arm 111 forming two clamp legs for holding opposite surfaces of the blade 1, and the connecting arm 112 is connected between the support arm 113 and the pressing arm 111 to form a holding structure having a "C" shape or a "T" shape. However, the shape of the tip holding mechanism 110 is not limited to this, as long as the blade 1 can be accommodated and held by the blade 1. The support arm 113 and the pressing arm 111 are respectively provided with a shape-following pressing piece 114. When the blade 1 is held, the follower pressing member 114 of the support arm 113 supports the lower surface of the blade 1, and the follower pressing member 114 of the pressing arm 111 presses the upper surface of the blade 1. The conformal compression member 114 may be formed of a member which is adjusted in shape or angle according to the action of an external force, so as to be able to conform to the size and airfoil shape of the blade 1 and the surface of the blade 1 when clamping the blade 1. Here, the follower pressing member 114 may include a material having flexibility, such as a flexible steel plate, a glass fiber reinforced plastic, a nylon block, etc., to increase a buffering capacity and reduce abrasion to the vane.

The main beam 120 may include a beam body 121 and legs 122 extending perpendicularly from both ends of the beam body 121 with respect to the beam body 121. As shown in fig. 1, the legs 122 may be substantially perpendicular to the main beam 120. The tip clamping mechanism 110 is disposed outboard of the legs 122, i.e., facing the end surface of the spar 120. The support arm 113 of the tip clamping mechanism 110 is attached to the leg 122 of the spar 120 by a pin 144 such that the tip clamping mechanism 110 is rotatable relative to the spar 120 about the pin 144.

In an embodiment, the rails 142 are formed on the tip clamping mechanism 110 and the rail grooves 143 are formed on the main beam 120. Specifically, as shown in fig. 3 and 4, the guide rail 142 is formed on a side surface of the connection arm 112 facing the beam body 121, and the rail groove 143 is formed on an end surface of the beam body 121. The present disclosure is not limited thereto and the positions of the guide rail 142 and the rail groove 143 may be interchanged as necessary.

The rail groove 143 may be a catching groove having an opening facing the guide rail 142. The rail 142 may be a ridged rail formed with a protruding structure that can be inserted into the snap groove. For example, the cross section of the groove wall of the rail groove 143 may be a rounded rectangle, and accordingly, the cross section of the guide rail 142 may be formed as a rounded rectangle. The track groove 143 and the rail 142 may extend along a path of rotation of the tip clamping mechanism 110 with respect to the main beam 120, i.e., the track groove 143 and the rail 142 are generally arcuate along their lengths. In the present embodiment, the rail groove 143 and the guide rail 142 are nested and fitted by a male and female structure, and the cross section of the rail groove 143 and the guide rail 142 is formed in a rounded rectangular shape, but the present disclosure is not limited thereto, the cross section of the guide rail 142 and the rail groove 143 may also be formed in other shapes such as a triangle, a trapezoid, a rectangle, and the like, and the rail groove 143 and the guide rail 142 may also adopt a known structure in the art as long as the rail groove 143 can be engaged with the guide rail 142 and can slide with respect to the guide rail 142.

Through the cooperation of the rail groove 143 and the guide rail 142, the blade tip clamping mechanism 110 can play a role in assisting in guiding in the process of rotating relative to the main beam 120, and the degree of freedom in the pitch changing process is restricted. In addition, the guide rail 142 may be nested in the rail groove 143, so that in the length direction of the main beam 120 (the span direction of the blade), the guide rail 142 and the rail groove 143 cannot be disengaged from each other, thereby further solving the problem that the pivot cannot be found in the single-point rotation of the pitch driving component (e.g., the pitch cylinder) 141, and the problem that the pin shaft is rotationally locked when the blade fixture 100 drives the blade 1 to pitch, further ensuring the stability of the blade fixture 100 in operation, and designing the rail groove 143 and the guide rail 142 to be arc-shaped structures along the length direction, further solving the problem that the movable point of the pitch driving component (e.g., the pitch cylinder) 141 is supported, and avoiding the risk of interference with the main beam 120 in the rotation process of the pitch cylinder.

More specifically, the pin shaft 144 and the connecting column 145 are both disposed on the supporting arm 113, and when the blade fixture carries the blade 1 in a horizontal position, the supporting arm 113 does not bear too much torque, and the pitch driving component (e.g., the pitch cylinder) 141 only bears a vertical (stretching direction thereof) tensile force. However, when the blade 1 is in a tilted state (e.g. 30 ° from horizontal or even vertical), the supporting arm 113 is subjected to a large torque, on one hand the pin 144 is locked in rotation, on the other hand the pitch drive member (e.g. pitch cylinder) 141 is rotated around the pin 144 at a single point, and the pitch drive member (e.g. pitch cylinder) 141 is subjected to a vertical (perpendicular to the telescoping) force and may be damaged. After the nested guide rail 142 and the track groove 143 are arranged, even when the blade 1 is in an inclined state, the guide rail 142 and the track groove 143 are mutually clamped, the torque borne by the bearing arm 113 is greatly reduced, the rigidity between the clamp feet and the main beam 120 is ensured, and the problem that the pin shaft 144 is rotationally clamped is solved. In addition, the pitch drive component (e.g., pitch cylinder) 141 will be supported at two points, namely the pin 144 and the rail 142, avoiding the risk of interference of the pitch drive component (e.g., pitch cylinder) 141 with the main beam 120 due to bending moment applied during rotation of the tip holding mechanism 100.

Further, as shown in fig. 3, auxiliary grooves 142a extending in a length direction of the guide rail 142 are formed on both side surfaces of the guide rail 142, respectively. Accordingly, an auxiliary rail 143a may be formed on a side surface of the rail groove 143 along a length direction of the rail groove 143, and the auxiliary rail 143a may be a protrusion protruding outward from an inner side surface of the rail groove 143. The auxiliary groove 142a may receive the auxiliary rail 143a and slide with respect to the auxiliary rail 143 a. Alternatively, the auxiliary groove 142a may be formed as a rounded groove (for example, a groove wall having a semicircular cross section), and the auxiliary rail 143a may be formed as a rounded protrusion that fits the auxiliary groove 142a, but the present disclosure is not limited thereto, and the auxiliary rail 143a and the auxiliary groove 142a may also be formed as a structure having a cross section of other shapes such as a triangle, a trapezoid, a rectangle, etc., as long as the engagement of the auxiliary groove 142a and the auxiliary rail 143a and the sliding relative to the auxiliary rail 143a can be achieved.

By providing the auxiliary rail 143a and the auxiliary groove 142a, not only the sliding of the engaging groove of the rail groove 143 along the guide rail 142 is facilitated, but also the movement of the rail groove 143 and the guide rail 142 can be guided to a certain extent because the auxiliary rail 143a is accommodated in the auxiliary groove 142a, so that the rail groove 143 and the guide rail 142 can be further prevented from being shifted in the lateral direction (i.e., the width direction of the engaging groove), or even one side of the engaging groove is disengaged from the guide rail 142, so that the rotation process of the tip holding mechanism 110 relative to the main beam 120 can be performed without disengaging both, and the stability of the blade holder 100 in operation can be further ensured.

Although it is illustrated in fig. 3 and 4 that the auxiliary groove 142a is formed on the side surface of the guide rail 142 and the auxiliary rail 143a is formed on the inner side surface of the rail groove 143, the positions of the auxiliary groove 142a and the auxiliary rail 143a may be interchanged as necessary.

In addition, the embodiment of the present disclosure enables the rail groove 143 to slide with respect to the guide rail 142 and not to be disengaged from the guide rail 142 in a direction perpendicular to the length direction of the blade by the cooperation of the rail groove 143 and the guide rail 142 and the auxiliary rail 143a and the auxiliary groove 142 a. The present disclosure is not limited thereto, and the rail groove 143 and the guide rail 142 may be formed in a structure nested with each other without providing the auxiliary rail 143a and the auxiliary groove 142a such that the guide rail 142 is embedded in the rail groove 143 and is restricted to slide within the rail groove 143. For example, the guide rail 142 is formed as a ridge-like guide rail having a cross section of "T" or "L", and accordingly, the rail groove 143 needs to be opened with a sliding groove of "T" or "L" that is capable of sliding-fitting with the ridge-like guide rail, and specifically, an opening side of the rail groove 143 is formed with a laterally protruding flange, and a laterally protruding portion of the "T" or "L" guide rail 142 is inserted into the rail groove 143 and supported by the flange, thereby preventing both the guide rail 142 and the rail groove 143 from being separated in a length direction of the girder 120.

Alternatively, the connecting arm 112 may have a guide rail 142 formed on the other side surface thereof opposite to the above side surface. That is, the guide rails 142 are formed on both side surfaces of the connecting arm 112 so that the attachment positions of the tip and root clamps 110 and 130 at both ends of the girder 120 can be interchanged. For example, when the orientation of the blade needs to be adjusted and the position of the blade clamp cannot be adjusted, only the positions of the main beams 120 connected in the two side surfaces of the connecting arm 112 need to be adjusted, so that the universality of the blade clamp 100 is increased.

The pitch drive member (e.g. pitch cylinder) 141 may be a linear telescopic drive mechanism. One end of a pitch driving member (e.g., a pitch cylinder) 141 is hinged to the lower part of the connecting arm 112, and the other end is hinged to the upper part of the end part of the beam main 121, and the blade tip clamping mechanism 110 is driven to rotate relative to the main beam 120 through the linear expansion and contraction of the pitch driving member (e.g., the pitch cylinder) 141, so that the inclination angle change (i.e., pitch) of the blade 1 clamped by the blade tip clamping mechanism 110 in the air is realized between-7 degrees and +7 degrees.

In an embodiment, as shown in fig. 4-6, the linear telescopic drive mechanism may be a hydraulic cylinder, for example, an automatically controlled hydraulic ram. The cylinder body of the hydraulic cylinder is arranged on the beam main 121, and the end of the piston rod of the hydraulic cylinder is connected to the connecting arm 112. However, the present disclosure is not limited thereto, and may be applied to any telescopic driving mechanism that can satisfy the linear reciprocating motion. For example, the linear expansion/contraction driving mechanism may be a force transmission mechanism such as an air cylinder, an electric screw, a bolt with a nut, or the like.

Both ends of the beam main 121 have accommodation spaces for accommodating hydraulic cylinders, ends of piston rods of the hydraulic cylinders are connected to the connecting arm 112 through a connecting column 145 perpendicular to the connecting arm 112, and open grooves 146 for accommodating the connecting column 145 and preventing the connecting column 145 from interfering with a pitch driving member (e.g., a pitch cylinder) 141 are formed on lower portions of both ends of the beam main 121. The open slot 146 may be an opening extending in the telescoping direction of the pitch drive member (e.g. pitch cylinder) 141. Through the nested installation to the inside of girder 120 of hydraulic cylinder, can be fine play rain-proof and anticorrosion problem, improved hydraulic cylinder's life greatly.

Fig. 5 and 6 show schematic views of the blade clamp before and after pitching, respectively. As shown in fig. 5, the blade clamp 100 is in a state before blade pitching, and a piston rod of the pitch drive member (e.g., pitch cylinder) 141 is in a state of extending to a maximum extension stroke. As shown in fig. 6, when the blade clamp 100 is in a state after the blade is pitched, the piston rod of the pitch driving member (e.g., the pitch cylinder) 141 retracts and drives the tip holding mechanism 110 to rotate around the pin 144 relative to the main beam 120, so as to pitch the blade 1 held in the tip holding mechanism 110.

As shown in fig. 4 and 1, the leg 122 and the support arm 113 are formed with

pin holes

113a, 113b and 122a through which the pin 144 passes. As shown in fig. 7, the first ball bearing 151 and the second ball bearing 152 are installed in the

pin shaft holes

113a and 113b of the support arm 113, and inner rings of the first ball bearing 151 and the second ball bearing 152 are fitted over the pin shaft 144. The pin shaft hole end cover 155 is installed on the outer side of the pin shaft hole 122a of the supporting leg 122, the self-lubricating bearing 153 is further arranged at the pin shaft hole 122a of the supporting leg 122, and graphite is arranged inside the self-lubricating bearing 153 and used for redundancy backup of the first ball bearing 151. Therefore, the rotation of the ball bearing and the lubrication rotation of the self-lubricating graphite can be realized by the pin shaft 144, and the reliability of the rotation of the pin shaft 144 is ensured. Considering the stability of the rotating structure, a locknut 154 can be further provided for preventing looseness of the pitch structure, which can be a forward and reverse threaded rotating structure.

The first (left) end of the pin 144 passes through the

pin holes

113a, 113b and 122a in the leg 122 and support arm 113 and is sealed by the pin end cap 156 to ensure corrosion protection and sealing for use in salt spray offshore environments.

The pin shaft 144 may be a self-lubricating pin shaft with holes, and the second end (right end) of the pin shaft 144 is provided with a self-lubricating sleeve 157 with holes, which has a graphite self-lubricating function, and has an opening at the upper part for filling lubricating grease, thereby ensuring the safe and reliable rotation of the pin shaft.

FIG. 8 illustrates a schematic view of a blade handling apparatus including a blade clamp according to an exemplary embodiment of the present disclosure. Fig. 9 shows a schematic view of the blade lifting device in fig. 8 lifting a blade.

Referring to fig. 8 and 9, the blade lifting apparatus includes a blade clamp 100. During the blade hoisting process, the blade 1 is clamped in the two

blade clamping mechanisms

110 and 130, and the angle of the

blade clamping mechanisms

110 and 130 relative to the main beam 120 is adjusted through a pitch driving component (for example, a pitch oil cylinder) 141, so that the angle adjustment of the blade 1 clamped in the

blade clamping mechanisms

110 and 130 in the air is realized, and the blade 1 can be accurately installed on a hub. Moreover, in the pitching process of the blade 1, the guide rail 142 and the rail groove 143 are matched with each other to slide, so that the stability of the blade clamp 100 in operation is further ensured.

A blade handling device, a blade clamp according to an exemplary embodiment of the present disclosure has been described above in connection with fig. 1 to 9.

The blade hoisting equipment is used for realizing the rotation control of the blade clamp on the clamped blade in a large angle (such as 360 degrees), and can realize the function that the blade reaches the state of an appointed installation angle by the automatic control of the rotation mode of the lifting appliance according to the rotation angle of the blade under the static or loaded condition.

Hereinafter, a pitch control method of a blade clamp according to an exemplary embodiment of the present disclosure will be described with reference to fig. 10 to 11.

Referring to fig. 10, in step S1001, a current angle of the blade clamp is determined. Here, the blade clamp includes a blade tip clamping mechanism, a blade root clamping mechanism, and a main beam connecting the blade tip clamping mechanism and the blade root clamping mechanism.

In an exemplary embodiment of the disclosure, the blade tip clamping mechanism and the blade root clamping mechanism may share one pitch cylinder, or the blade tip clamping mechanism and the blade root clamping mechanism may have one pitch cylinder respectively. Specifically, if the blade tip clamping mechanism and the blade root clamping mechanism share one pitch oil cylinder, the blade tip clamping mechanism and the blade root clamping mechanism can be connected through one connecting rod, and the pitch oil cylinder drives the connecting rod to control the blade root clamping mechanism and the blade tip clamping mechanism to rotate synchronously.

In an exemplary embodiment of the present disclosure, the 0 ° position of the blade clamp may also be predetermined such that an angle sensor provided in the tip and/or root clamps determines the current angle of the blade clamp based on the 0 ° position of the blade clamp, thereby facilitating calculation of the current angle of the blade clamp. Specifically, the 0 ° position of the blade clamp may be defined as any position on the clamping mechanism (e.g., tip clamping mechanism, root clamping mechanism) or pitch cylinder, which is not limited by the present disclosure.

In exemplary embodiments of the present disclosure, a rotation angle of the blade clamp including a maximum angle and a minimum angle may also be setRange, thereby avoiding damage to the blade clamp. For example, the maximum angular range of blade rotation may be set to

Specifically, the blade tip clamping mechanism and the blade root clamping mechanism can freely rotate to change the pitch within the angle range, when the blade rotates to two angles (such as but not limited to 0 degrees and 7 degrees) of the maximum angle and the minimum angle, the oil cylinder automatically stops acting, and then only can act in the opposite direction. Mechanical limit sensors can be arranged at preset positions (namely, two angle positions of a maximum angle and a minimum angle), and signals are fed back to the PLC when the mechanical limit sensors rotate to the preset positions. For example, the position where the connecting arm 112 of the tip clamping mechanism and the root clamping mechanism is parallel to the pitch cylinder, that is, the fully extended state of the pitch cylinder may be set to the state where the blade rotates by 0 °.

In an exemplary embodiment of the present disclosure, the current angle of the blade may be further determined based on a preset 0 ° position of the blade and the current position of the blade, and a corresponding pitch angle may be determined based on the current angle of the blade and a predetermined angle of the blade, thereby automatically determining the currently required pitch angle. Here, the current angle of the blade refers to a current azimuth angle of the blade, and the predetermined angle of the blade refers to a predetermined azimuth angle after the blade is pitched. Here, the 0 ° position of the blade may be arbitrarily set, for example, the 0 ° position of the blade may be set to a position when the blade is at any azimuth angle of 360 °, which is not limited by the present disclosure. In an exemplary embodiment of the present disclosure, the respective pitch angle may also be received externally, e.g. a user input pitch angle. For example, a user may set a desired pitch angle through the HMI interface. If the variable pitch angle set by the user through the HMI exceeds the actual limit switch angle, the limit switch can be triggered after the clamping mechanism (such as the blade tip clamping mechanism and the blade root clamping mechanism) changes the pitch to the position of the limit switch, the variable pitch oil cylinder stops acting, and the variable pitch mechanism (such as the blade tip clamping mechanism and the blade root clamping mechanism) is protected from extrusion deformation.

In step S1002, a target angle of the blade grip is determined based on the determined current angle of the blade grip and the corresponding pitch angle.

Specifically, when the current angle of the blade clamp is 0 ° and the corresponding pitch angle is 3 °, it is determined that the target angle of the blade clamp is 3 °. Here, the current angle of the blade fixture is a relative angle of the blade fixture based on a 0 ° position of the blade fixture, and the pitch angle is an angle at which the blade fixture needs to perform pitch. The target angle of the blade clamp refers to the relative angle of the blade clamp based on the 0-degree position of the blade clamp after the pitching is finished.

In step S1003, the pitch cylinders of the blade tip clamping mechanism and the blade root clamping mechanism are controlled to extend and retract based on the current angle and the target angle of the blade clamp, so that the blade clamp rotates to the target angle.

For example, if the blade actually needs to be rotated to the azimuth angle of 90 °, the blade starts to pitch when rotating to the azimuth angle of 87 °, and at this time, the current angle (e.g., 0 °, 0.5 °, 1 °, 1.5 °, 2 °, etc.) of the blade fixture is selected to be 0 ° of the pitch, and on this basis, the blade fixture is pitched 3 ° to reach the target angle of the blade fixture (the target angle of the blade fixture is equal to the current angle +3 ° of the blade fixture).

In an exemplary embodiment of the disclosure, when the blade tip clamping mechanism and the blade root clamping mechanism are respectively provided with one pitch cylinder, when the pitch cylinders of the blade tip clamping mechanism and the blade root clamping mechanism are controlled to stretch based on the current angle and the target angle of the blade clamp, the pitch cylinders of the blade tip clamping mechanism and the blade root clamping mechanism are controlled to stretch synchronously based on the current angle and the target angle of the blade clamp.

In an exemplary embodiment of the present disclosure, when the pitch cylinders of the blade tip clamping mechanism and the blade root clamping mechanism are controlled to extend and retract based on the current angle and the target angle of the blade clamp, it may be determined whether the pitch cylinder extends or shortens based on the current angle and the target angle of the blade clamp, and the length variation of the pitch cylinder may be calculated. When the pitch-variable oil cylinder is determined to be extended, extending the pitch-variable oil cylinder by the calculated length variation; and when the pitch-variable oil cylinder is determined to be shortened, shortening the calculated length variable quantity of the pitch-variable oil cylinder, thereby improving the telescopic efficiency of the pitch-variable oil cylinder. For example, the pitch cylinder is determined to need to be extended based on the current angle 87 degrees and the target angle 90 degrees of the blade clamp, and the length variation of the pitch cylinder is calculated according to the relation between the angle difference and the length variation of the pitch cylinder based on the angle difference 3 degrees between the current angle 87 degrees and the target angle 90 degrees. The pitch cylinder may vary in length by, for example, but not limited to, 1cm, 10cm, 20cm, 30cm, 40cm, 50cm, 100cm, etc. For example, in one example, the amount of change in the length of the pitch cylinder may be any length between 0-30 cm. In another example, the amount of change in the length of the pitch cylinder may be any length between 0-50 cm. In another example, the pitch cylinder may vary in length by any length between 0-100 cm. In another example, the pitch cylinder may vary in length by any length between 0-150 cm.

In the exemplary embodiment of the disclosure, when the pitch cylinders of the blade tip clamping mechanism and the blade root clamping mechanism extend, the pitch cylinders are controlled to stop extending when the pitch cylinders are determined to extend to the maximum length in response to receiving signals of limit switches arranged on the blade clamps; when the pitch-variable oil cylinders of the blade tip clamping mechanism and the blade root clamping mechanism are shortened, the pitch-variable oil cylinders are controlled to stop shortening when the pitch-variable oil cylinders are determined to be shortened to the minimum length in response to signals of limit switches arranged on the blade clamps, and therefore extrusion deformation of the pitch-variable mechanisms is avoided.

In an exemplary embodiment of the present disclosure, if a rotation angle range including a maximum angle and a minimum angle of the blade clamp is set, when a pitch cylinder of the blade tip clamping mechanism and the blade root clamping mechanism is controlled to be extended and retracted based on a current angle and a target angle of the blade clamp, when the pitch cylinder is extended so that the blade clamp rotates to the maximum angle, the pitch cylinder is controlled to stop extending; and when the variable pitch oil cylinder is shortened to enable the blade clamp to rotate to the minimum angle, controlling the variable pitch oil cylinder to stop shortening. When the blade tip clamping mechanism and the blade root clamping mechanism are controlled to stretch and retract based on the current angle and the target angle of the blade clamp, the real-time angle of the blade clamp can be firstly obtained, and then whether the blade clamp rotates to the maximum angle or the minimum angle is determined based on the real-time angle of the blade clamp, so that the blade clamp is prevented from being damaged.

In an exemplary embodiment of the disclosure, the pitch cylinder may drive the clamping mechanism (e.g., the blade tip clamping mechanism and the blade root clamping mechanism) to rotate, and when the corresponding pitch angle is reached, the pitch cylinder stops acting, so that pitch control is realized.

In an exemplary embodiment of the present disclosure, the control manner of the pitch cylinder may be, for example, but not limited to, a time-delay action manner, a manner of reducing the rotation speed by proportional valve control, and the like.

By the control method, the problem that the angle is too large or insufficient when the rotating angle of the blade is close to the required blade angle is effectively solved, the blade angle can be accurately adjusted to the required angle in a short time, high-precision micro angle adjustment of the universal blade clamp is realized, and the installation efficiency of blade hoisting is improved.

Referring to fig. 11, the controller PLC may receive signals of the rotation angle sensor (e.g., angle sensor) and the limit position limit switch (e.g., limit sensor) in real time as control inputs to perform program logic judgment processing, and then set an angle value to be reached according to a program to send a control instruction to the hydraulic station, and after receiving the control instruction of the controller PLC, the hydraulic station controls the pitch cylinder of the blade root clamping mechanism and the pitch cylinder of the blade tip clamping mechanism to extend or shorten so as to drive the clamping mechanisms (e.g., blade tip clamping mechanism, blade root clamping mechanism) to rotate, thereby driving the blades to pitch.

As shown in fig. 11, the pitch control system of the blade clamp comprises: a blade clamp (not shown) including clamping mechanisms (e.g., a blade tip clamping mechanism and a blade root clamping mechanism), a main beam (not shown) connecting the blade tip clamping mechanism and the blade root clamping mechanism, and a pitch cylinder disposed on the blade tip clamping mechanism and/or the blade root clamping mechanism; and a controller configured to: determining a current angle of the blade clamp; determining a target angle of the blade fixture based on the determined current angle of the blade fixture and the corresponding pitch angle; and controlling the blade tip clamping mechanism and the blade root clamping mechanism to stretch and retract based on the current angle and the target angle of the blade clamp so as to enable the blade clamp to rotate to the target angle.

In an exemplary embodiment of the disclosure, the pitch control system may further comprise a hydraulic station for driving the pitch cylinder to extend and retract.

In an exemplary embodiment of the disclosure, the tip clamping mechanism and the root clamping mechanism of the blade clamp may share one pitch cylinder, or the tip clamping mechanism and the root clamping mechanism of the blade clamp may have one pitch cylinder respectively.

In an exemplary embodiment of the disclosure, when the tip and root clamping mechanisms each have one pitch cylinder, the controller may be configured to: and controlling the pitch-variable oil cylinder of the blade tip clamping mechanism and the pitch-variable oil cylinder of the blade root clamping mechanism to synchronously stretch based on the current angle and the target angle of the blade clamp.

In an exemplary embodiment of the present disclosure, the controller may be configured to: determining whether the variable pitch oil cylinder extends or shortens based on the current angle and the target angle of the blade clamp, and calculating the length variation of the variable pitch oil cylinder; when the variable-pitch oil cylinder is determined to be extended, extending the variable-pitch oil cylinder by the length variable quantity; and when the pitch variation oil cylinder is determined to be shortened, shortening the pitch variation oil cylinder by the length variation.

In an exemplary embodiment of the present disclosure, the blade clamp further comprises a limit switch disposed on the pitch cylinder.

In an exemplary embodiment of the disclosure, when the pitch cylinders of the blade tip clamping mechanism and the blade root clamping mechanism extend, the pitch cylinders are controlled to stop extending when the length of the extension of the pitch cylinders is determined to be changed to the maximum length in response to receiving signals of limit switches arranged on the blade clamps; and/or when the pitch-variable oil cylinders of the blade tip clamping mechanism and the blade root clamping mechanism are shortened, the pitch-variable oil cylinders are controlled to stop shortening when the shortened length of the pitch-variable oil cylinders is determined to be changed to the minimum length in response to the received signals of the limit switches arranged on the blade clamps.

In an exemplary embodiment of the present disclosure, the blade clamp further comprises an angle sensor disposed in the tip clamping mechanism and/or the root clamping mechanism configured to: the angle of the blade clamp is sensed.

In an exemplary embodiment of the present disclosure, the controller may be further configured to: the 0 position of the blade clamp is determined such that an angle sensor provided in the tip and/or root clamps determines the current angle of the blade clamp based on the 0 position of the blade clamp.

In an exemplary embodiment of the present disclosure, the controller may be further configured to: setting a rotation angle range of the blade clamp including a maximum angle and a minimum angle; when the variable pitch oil cylinder extends to enable the blade clamp to rotate to the maximum angle, the variable pitch oil cylinder is controlled to stop extending; and when the variable pitch oil cylinder is shortened to enable the blade clamp to rotate to the minimum angle, the variable pitch oil cylinder is controlled to stop shortening.

In an exemplary embodiment of the present disclosure, the controller may be configured to: acquiring a real-time angle of a blade clamp; and determining whether the blade grip is rotated to the maximum angle or the minimum angle based on the real-time angle of the blade grip.

In an exemplary embodiment of the present disclosure, the controller may be further configured to: determining a current angle of the blade based on a preset 0-degree position of the blade and a current position of the blade; and determining the respective pitch angle based on the current angle of the blade and a predetermined angle of the blade.

A method of pitch control of a blade clamp according to an exemplary embodiment of the present disclosure has been described above with reference to fig. 10 to 11. Hereinafter, a pitch control apparatus of a blade clamp and units thereof according to an exemplary embodiment of the present disclosure will be described with reference to fig. 12.

Referring to fig. 12, the pitch control arrangement of the blade clamp comprises an angle determination unit 1210, a target determination unit 1220 and a control unit 1230.

The angle determination unit 1210 is configured to determine a current angle of a blade clamp, the blade clamp comprising a blade tip clamping mechanism, a blade root clamping mechanism, and a spar connecting the blade tip clamping mechanism and the blade root clamping mechanism.

In an exemplary embodiment of the disclosure, the blade tip clamping mechanism and the blade root clamping mechanism may share one pitch cylinder, or the blade tip clamping mechanism and the blade root clamping mechanism may have one pitch cylinder respectively.

In an exemplary embodiment of the present disclosure, the pitch control arrangement of the blade clamp may further comprise a 0 ° position determination unit (not shown) configured to: the 0 position of the blade clamp is determined such that an angle sensor provided in the tip and/or root clamps determines the current angle of the blade clamp based on the 0 position of the blade clamp.

In an exemplary embodiment of the present disclosure, the pitch control apparatus of the blade clamp may further include an angle range setting unit (not shown) configured to: a rotational angle range of the blade holder including a maximum angle and a minimum angle is set.

The target determination unit 1220 is configured to determine a target angle of the blade grip based on the determined current angle of the blade grip and the corresponding pitch angle.

The control unit 1230 is configured to control the pitch cylinders of the tip and root clamps to telescope based on the current and target angles of the blade clamp, such that the blade clamp rotates to the target angle.

In an exemplary embodiment of the present disclosure, when the tip clamping mechanism and the root clamping mechanism respectively have one pitch cylinder, the control unit 1230 may be configured to: and controlling the pitch-variable oil cylinder of the blade tip clamping mechanism and the pitch-variable oil cylinder of the blade root clamping mechanism to synchronously stretch based on the current angle and the target angle of the blade clamp.

In an exemplary embodiment of the present disclosure, the control unit 1230 may be configured to: determining whether the variable pitch oil cylinder extends or shortens based on the current angle and the target angle of the blade clamp, and calculating the length variation of the variable pitch oil cylinder; when the pitch-variable oil cylinder is determined to be extended, extending the pitch-variable oil cylinder by the calculated length variation; and when the pitch-variable oil cylinder is determined to be shortened, shortening the calculated length variable quantity of the pitch-variable oil cylinder.

In an exemplary embodiment of the present disclosure, when the pitch cylinders of the blade tip and blade root clamping mechanisms extend, in response to receiving a signal of a limit switch provided on the blade clamp, the control unit 1230 may control the pitch cylinder to stop extending when the pitch cylinder extends to a maximum length; when the pitch cylinders of the blade tip clamping mechanism and the blade root clamping mechanism are shortened, the control unit 1230 may control the pitch cylinder to stop shortening when the pitch cylinder is shortened to the minimum length in response to receiving a signal of a limit switch provided on the blade clamp.

In an exemplary embodiment of the present disclosure, if the angular range setting unit sets the rotational angle range of the blade clamp including the maximum angle and the minimum angle, the control unit 1230 may be configured to: when the variable pitch oil cylinder extends to enable the blade clamp to rotate to the maximum angle, the variable pitch oil cylinder is controlled to stop extending; and when the variable pitch oil cylinder is shortened to enable the blade clamp to rotate to the minimum angle, controlling the variable pitch oil cylinder to stop shortening.

In an exemplary embodiment of the present disclosure, the control unit 1230 may be configured to: acquiring a real-time angle of a blade clamp; determining whether the blade grip is rotated to a maximum angle or a minimum angle based on the real-time angle of the blade grip.

In an exemplary embodiment of the present disclosure, the pitch control arrangement of the blade clamp may further comprise a pitch angle determination unit (not shown) configured to: determining a current angle of the blade based on a preset 0-degree position of the blade and a current position of the blade; based on the current angle of the blade and the predetermined angle of the blade, a corresponding pitch angle is determined.

In an exemplary embodiment of the present disclosure, the pitch control apparatus of the blade clamp may further include a pitch angle receiving unit (not shown) configured to: the respective pitch angle is received from the outside.

Furthermore, according to an exemplary embodiment of the present disclosure, a computer-readable storage medium is also provided, having a computer program stored thereon, which, when executed, implements a pitch control method of a blade clamp according to an exemplary embodiment of the present disclosure.

In an example embodiment of the disclosure, a computer readable storage medium may carry one or more programs which, when executed, implement the steps of: determining a current angle of a blade clamp, wherein the blade clamp comprises a blade tip clamping mechanism, a blade root clamping mechanism and a main beam for connecting the blade tip clamping mechanism and the blade root clamping mechanism; determining a target angle of the blade fixture based on the determined current angle of the blade fixture and the corresponding pitch angle; and controlling the blade tip clamping mechanism and the blade root clamping mechanism to stretch and retract based on the current angle and the target angle of the blade clamp so as to enable the blade clamp to rotate to the target angle.

A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In embodiments of the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer program embodied on the computer readable storage medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing. The computer readable storage medium may be embodied in any device; it may also be present separately and not assembled into the device.

The pitch control arrangement of a blade clamp according to an exemplary embodiment of the present disclosure has been described above with reference to fig. 12.

A blade clamp, a method, a system and an arrangement for pitch control of a blade clamp according to exemplary embodiments of the present disclosure have been described above with reference to fig. 1 to 12. However, it should be understood that: the pitch control arrangement of the blade clamp shown in fig. 12 and its units may each be configured as software, hardware, firmware or any combination thereof performing the specified function.

According to the blade hoisting equipment of the embodiment of the disclosure, the blade fixture capable of changing the pitch of the blade in the blade hoisting process is included, so that the blade can be in an expected posture in the hoisting process, and the blade can be accurately installed on a hub. In addition, according to the blade hoisting equipment disclosed by the embodiment of the disclosure, the blade clamp can be prevented from being locked by rotation of the pin shaft in the blade changing process, and the situation that the pivot cannot be found by single-point rotation of the blade changing oil cylinder can be prevented, so that blade changing can be stably realized.

While the present disclosure 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 disclosure as defined by the following claims.

Claims

1. A method of pitch control of a blade clamp, the method comprising:

determining a current angle of a blade clamp, wherein the blade clamp comprises a blade tip clamping mechanism, a blade root clamping mechanism and a main beam for connecting the blade tip clamping mechanism and the blade root clamping mechanism;

determining a target angle of the blade fixture based on the determined current angle of the blade fixture and the corresponding pitch angle; and is

And controlling the blade tip clamping mechanism and the blade root clamping mechanism to stretch and retract based on the current angle and the target angle of the blade clamp so as to enable the blade clamp to rotate to the target angle.

2. The pitch control method according to claim 1, wherein the tip holding mechanism and the root holding mechanism share a pitch cylinder, or the tip holding mechanism and the root holding mechanism have a pitch cylinder respectively;

when the blade tip clamping mechanism and the blade root clamping mechanism are respectively provided with a variable pitch oil cylinder, the step of controlling the variable pitch oil cylinders of the blade tip clamping mechanism and the blade root clamping mechanism to stretch and contract based on the current angle and the target angle of the blade clamp comprises the following steps:

and controlling the pitch-variable oil cylinder of the blade tip clamping mechanism and the pitch-variable oil cylinder of the blade root clamping mechanism to synchronously stretch based on the current angle and the target angle of the blade clamp.

3. The pitch control method according to claim 1, wherein the step of controlling the pitch cylinders of the blade tip clamping mechanism and the blade root clamping mechanism to extend and retract based on the current angle and the target angle of the blade clamp comprises:

determining whether the variable pitch oil cylinder extends or shortens based on the current angle and the target angle of the blade clamp, and calculating the length variation of the variable pitch oil cylinder;

when the variable-pitch oil cylinder is determined to be extended, extending the variable-pitch oil cylinder by the length variable quantity; and is

And when the pitch variation oil cylinder is determined to be shortened, shortening the pitch variation oil cylinder by the length variation.

4. A pitch control method according to claim 3,

when a variable pitch oil cylinder of the blade tip clamping mechanism and a variable pitch oil cylinder of the blade root clamping mechanism extend, the variable pitch oil cylinder is controlled to stop extending when the variable pitch oil cylinder is determined to extend to the maximum length in response to receiving a signal of a limit switch arranged on the blade clamp; and/or

And when the pitch-variable oil cylinder of the blade tip clamping mechanism and the pitch-variable oil cylinder of the blade root clamping mechanism are shortened, the pitch-variable oil cylinder is controlled to stop shortening when the pitch-variable oil cylinder is shortened to the minimum length in response to the received signal of the limit switch arranged on the blade clamp.

5. The pitch control method of claim 1, further comprising:

the 0 position of the blade clamp is determined such that an angle sensor provided in the tip and/or root clamps determines the current angle of the blade clamp based on the 0 position of the blade clamp.

6. The pitch control method of claim 1, further comprising:

setting a rotation angle range of the vane clamp including a maximum angle and a minimum angle,

the method comprises the following steps of controlling the blade tip clamping mechanism and the blade root clamping mechanism to stretch and retract according to the current angle and the target angle of the blade clamp:

when the variable pitch oil cylinder extends to enable the blade clamp to rotate to the maximum angle, controlling the variable pitch oil cylinder to stop extending; and is

And when the variable pitch oil cylinder is shortened to enable the blade clamp to rotate to the minimum angle, controlling the variable pitch oil cylinder to stop shortening.

7. The pitch control method according to claim 6, wherein the step of controlling the pitch cylinders of the blade tip clamping mechanism and the blade root clamping mechanism to extend and retract based on the current angle and the target angle of the blade clamp further comprises:

acquiring a real-time angle of a blade clamp; and is

Determining whether the blade grip is rotated to the maximum angle or the minimum angle based on a real-time angle of the blade grip.

8. The pitch control method of claim 1, further comprising:

determining a current angle of the blade based on a preset 0-degree position of the blade and a current position of the blade; and is

Determining the respective pitch angle based on a current angle of the blade and a predetermined angle of the blade.

9. A pitch control system of a blade clamp, comprising: the blade clamp comprises a blade tip clamping mechanism, a blade root clamping mechanism, a main beam for connecting the blade tip clamping mechanism and the blade root clamping mechanism, and a variable pitch oil cylinder arranged on the blade tip clamping mechanism and/or the blade root clamping mechanism;

a controller configured to:

determining a current angle of the blade clamp;

10. The pitch control system of claim 9 further comprising a hydraulic station for driving the pitch cylinder to extend and retract;

the blade tip clamping mechanism and the blade root clamping mechanism of the blade clamp share one pitch-variable oil cylinder, or the blade tip clamping mechanism and the blade root clamping mechanism of the blade clamp are respectively provided with one pitch-variable oil cylinder; when the blade tip fixture and the blade root fixture each have a pitch cylinder, the controller is configured to:

11. The pitch control system of claim 9, wherein the controller is configured to:

12. The pitch control system of claim 11 wherein the blade clamp further comprises a limit switch disposed on the pitch cylinder,

when the pitch-variable oil cylinders of the blade tip clamping mechanism and the blade root clamping mechanism extend, the control unit controls the pitch-variable oil cylinders to stop extending when determining that the length of the extension of the pitch-variable oil cylinders is changed to the maximum length in response to receiving signals of limit switches arranged on the blade clamps; and/or

When the pitch-variable oil cylinders of the blade tip clamping mechanism and the blade root clamping mechanism are shortened, the control unit controls the pitch-variable oil cylinders to stop shortening when determining that the shortened length of the pitch-variable oil cylinders changes to the minimum length in response to receiving signals of limit switches arranged on the blade clamps.

13. The pitch control system of claim 9 wherein the blade clamp further comprises an angle sensor disposed in the tip and/or root clamp mechanisms configured to: the angle of the blade holder is sensed and,

the controller is further configured to:

14. Pitch control system according to claim 9,

the controller is further configured to:

setting a rotation angle range of the blade clamp including a maximum angle and a minimum angle;

15. The pitch control system of claim 14, wherein the controller is further configured to:

acquiring a real-time angle of a blade clamp; and is

16. The pitch control system of claim 9, wherein the controller is further configured to: