CN117485422A - Active steering transfer trolley for wind power blade and wind power blade transfer method - Google Patents

Abstract

The invention discloses an active steering transfer trolley for wind power blades and a wind power blade transfer method, and belongs to the field of transfer trucks. The invention relates to a transfer trolley, which comprises a chassis assembly, a slewing bearing and a blade clamp assembly, wherein the chassis assembly comprises a chassis frame and four groups of bearing universal wheels arranged on the chassis frame, the chassis frame is provided with an active steering mechanism, and the chassis frame is also provided with an electric cabinet. The transfer trolley adopts the eccentric-free universal wheels, and utilizes the active steering mechanism to drive the four groups of bearing universal wheels to synchronously and equidirectionally steer, so that the active and flexible steering of the transfer trolley is realized, and the flexibility and the efficiency of transfer in the wind power blade farm are improved. In addition, the blade clamp adopts the air bag clamp, so that the blade can be prevented from being damaged in a strong locking state, the clamping is stable and reliable, and the operation is simpler and more convenient; the transfer trolley can be further provided with a driving assembly, transfer work of wind power blades can be independently completed, and the transfer difficulty in wind power She Pianchang is reduced.

Description

Active steering transfer trolley for wind power blade and wind power blade transfer method

Technical Field

The invention relates to an auxiliary carrying device, in particular to an active steering transfer trolley for wind power blades and a wind power blade transfer method.

Background

Wind power blade, i.e. wind power blade, is an important component in wind power generation equipment and is mainly characterized by large length and weight and special-shaped arc surface. In the wind power blade production and manufacturing process, multiple treatment procedures such as forming, punching and paint spraying are needed, and the treatment procedures are often needed to be completed in different workshops, so that the wind power blade needs to be transferred in the field to be transferred from one processing environment to another processing environment. Because of the large volume and weight of wind blades, transportation is a difficult operation, especially in situations where space is limited, wind blade handling is a difficult problem.

At present, in-situ transfer of wind power blades is mostly completed by using a transfer platform truck, generally, one end of each wind power blade is a traction vehicle, the other end of each wind power blade is a transfer platform truck, and the transfer platform truck mainly adopts universal wheels for follow-up steering in a mode that transfer platform trucks are adopted at two ends of each wind power blade. For example, "a wind power generator blade movable transfer vehicle" disclosed in chinese patent No. zl2015128240. X, "a transportation tool for carrying in a wind power generator blade factory" disclosed in chinese patent No. ZL201921510283.9, and "a wind power generator blade root transfer vehicle" disclosed in chinese patent No. ZL 202020067522.4. The existing transfer platform truck adopts following passive steering, so that an eccentric universal wheel design is generally adopted, but in actual use, the load born by the eccentric universal wheel is very large due to the fact that the dead weight of the wind power blade is very large, so that the follow-up steering resistance of the eccentric universal wheel is very large, steering action cannot be flexibly completed, the turning radius is very large, a worker is required to follow the transfer platform truck, and the direction of the universal wheel is manually corrected by using tools such as a crow bar, so that the transfer labor amount of the wind power blade is increased, and the transfer efficiency is reduced. Although the wind power generator blade root transfer vehicle disclosed in the Chinese patent number ZL202020067522.4 adopts a rotary support to connect a support and a base, when turning, a wind power blade can rotate relative to the base, but the direction of a universal wheel on the base is not turned, so that the transfer vehicle still moves towards the direction of the universal wheel, and the problems that the turning radius of the wind power blade is large, a larger turnover site is required and the like still cannot be effectively solved.

In addition, the root and the blade tip of the wind power blade are different in section, the root is generally cylindrical, the blade tip is generally in a flat oval shape with a curved surface shape, different support frame structures are designed for the transport platform truck for the root and the blade tip respectively in the current common design, for example, a 'blade transport truck' and the like disclosed in Chinese patent number ZL201821625659.6 are used for ensuring the support stability of the wind power blade under the condition that the wind power blade is not matched with the support frame of the transport platform truck, and buffer pads are placed on the support frame by operators for filling. However, the wind power blade is not firmly fixed in the mode, the supporting force of the supporting frame on the lower surface of the wind power blade is uneven, the wind power blade is easy to damage, and the operation is complex.

In summary, the existing wind power blade transfer trolley has the following defects:

(1) The transfer trolley turns passively, the universal wheel turns inflexibly, the hysteresis of turning is obvious, lead to very big turning radius; moreover, manual intervention is needed for steering, the transportation labor intensity is high, and the efficiency is low;

(2) The support stability of the transfer trolley support frame on the wind power blade is poor, and the operation is relatively complicated;

(3) The transfer trolley is passively following, the traction vehicle is needed to participate, the turning radius of the traction vehicle is larger, the turning radius reflected to the tail end of the blade is larger, and the blade transfer flexibility is reduced.

Disclosure of Invention

1. Technical problem to be solved by the invention

The invention aims to overcome the defects in the prior art and provide an active steering transfer vehicle for wind power blades and a wind power blade transfer method. In addition, the blade clamp adopts the air bag clamp, so that the blade can be prevented from being damaged in a strong locking state, the clamping is stable and reliable, and the operation is simpler and more convenient; the transfer trolley can be further provided with a driving assembly, can autonomously complete transfer work of the wind power blades, further improves transfer operation convenience of the wind power blades, and reduces transfer difficulty in wind power She Pianchang.

2. Technical proposal

In order to achieve the above purpose, the technical scheme provided by the invention is as follows:

the invention discloses an active steering transfer trolley for wind power blades, which comprises a chassis assembly, a slewing bearing and a blade clamp assembly, wherein the blade clamp assembly is arranged on the chassis assembly through the slewing bearing, the chassis assembly comprises a chassis frame and four groups of bearing universal wheels arranged on the chassis frame, steering axes L2 of the bearing universal wheels are intersected with wheel shaft axes L1, an active steering mechanism for driving the four groups of bearing universal wheels to synchronously steer in the same direction is arranged on the chassis frame, and an electric cabinet for controlling the active steering mechanism to execute steering action is further arranged on the chassis frame.

The driving steering mechanism comprises a steering driving motor, a power transmission mechanism, a transmission main shaft, a steering gear, a split shaft, a reduction box and a steering gear set, wherein the steering driving motor is arranged on the chassis frame and is in transmission connection with the transmission main shaft through the power transmission mechanism, two ends of the transmission main shaft are respectively connected with the steering gear, two output shafts of the steering gear are respectively connected with the reduction box near corresponding bearing universal wheels through the split shaft, and the reduction box is in transmission connection with corresponding steering supports bearing the universal wheels through the steering gear set; the steering driving motor is electrically connected with the electric cabinet.

Furthermore, the bearing universal wheel is also provided with an angle sensor which is in communication connection with the electric cabinet.

Still further, the blade anchor clamps assembly includes support base, first holder, second holder and clamping driving mechanism, support the base and install on the chassis frame through slewing bearing, first holder and second holder are installed relatively on support base, and are equipped with relative centre gripping notch on first holder and the second holder, clamping driving mechanism locates on support base to act on first holder and/or second holder, be used for driving first holder and second holder and press from both sides tightly or open relatively.

Still further, first holder and second holder are inflatable gasbag, still be equipped with scalable support air cushion between first holder and the second holder.

Still further, the clamping driving mechanism comprises a clamping driving motor and a transmission screw rod, one of the first clamping piece and the second clamping piece is fixed on the supporting base, the other clamping driving motor is arranged on one side of the supporting base in a sliding mode, the clamping driving motor is connected with the transmission screw rod, the transmission screw rod is in threaded fit with sliding pieces in the first clamping piece and the second clamping piece, and the clamping driving motor is electrically connected with the electric cabinet.

The driving assembly comprises a fixed seat, a rotating seat, a swinging arm, a driving wheel steering mechanism and a walking driving mechanism, wherein the fixed seat is fixedly arranged on the chassis frame, the upper part of the rotating seat is rotationally connected with the fixed seat, and the driving wheel steering mechanism is arranged between the fixed seat and the rotating seat and is used for driving the rotating seat to rotate relative to the fixed seat; one end of the swing arm is rotationally connected with the lower part of the rotating seat, the other end of the swing arm is provided with a driving wheel, a shock absorber is further arranged between the swing arm and the rotating seat, the walking driving mechanism is in transmission connection with the driving wheel, and the driving wheel steering mechanism and the walking driving mechanism are respectively and electrically connected with the electric cabinet.

Further, the driving wheel steering mechanism comprises a driving wheel steering motor, a first steering gear and a second steering gear, the driving wheel steering motor is arranged on the rotating seat, the first steering gear is in transmission connection with the driving wheel steering motor, the second steering gear is fixed on the fixed seat, and the first steering gear and the second steering gear are meshed;

the walking driving mechanism comprises a walking driving motor, a transmission pinion, a transmission large gear and a driving wheel transmission mechanism, wherein the walking driving motor is arranged on the rotating seat and connected with the transmission pinion, the transmission large gear is coaxially arranged with the swinging shaft of the swinging arm, the transmission pinion is meshed with the transmission large gear, and a gear shaft of the transmission large gear is in transmission connection with a gear shaft of the driving wheel through the driving wheel transmission mechanism.

The wind power blade transferring method comprises a front vehicle and a rear vehicle which are arranged at the root and the blade tip of the wind power blade, wherein the front vehicle and/or the rear vehicle are the active steering transfer vehicles for the wind power blade;

when the front vehicle and the rear vehicle are both actively steering and transporting, steering angle information of the front vehicle and the rear vehicle are interacted through the controller, and when one of the front vehicle and the rear vehicle steers, the other vehicle actively steers according to the steering angle information of the front vehicle and the rear vehicle;

when the traction vehicle turns, the active steering transfer vehicle actively steers according to the steering angle information of the traction vehicle.

Still further still include operating panel, operating panel includes display screen and function button, operating panel and above-mentioned controller communication connection, and operating panel has the manual mode that independent control front truck or rear truck turned to and controls the automatic mode that front truck and rear truck linked to turn to.

3. Advantageous effects

Compared with the prior art, the technical scheme provided by the invention has the following remarkable effects:

(1) The active steering transfer trolley for the wind power blades comprises a chassis assembly, a slewing bearing and a blade clamp assembly, wherein the blade clamp assembly is arranged on the chassis assembly through the slewing bearing, so that the degree of freedom required by the transportation of the wind power blades can be ensured;

(2) The active steering transfer trolley for the wind power blades comprises an active steering mechanism, a driving mechanism and a driving mechanism, wherein the active steering mechanism comprises a steering driving motor, a power transmission mechanism, a transmission main shaft, a steering device, a split shaft, a reduction gearbox and a steering gear set, and steering actions can be synchronously transmitted to all bearing universal wheels by using one group of steering driving motors, so that the steering synchronism of the four bearing universal wheels is ensured, the steering actions are stable in transmission, and flexible and accurate in steering;

(3) According to the active steering transfer vehicle for the wind power blade, the bearing universal wheel is further provided with the angle sensor in communication connection with the electric cabinet, the steering angle of the bearing universal wheel can be monitored in real time through the angle sensor, and accurate control of the steering angle of the bearing universal wheel is facilitated;

(4) The active steering transfer trolley for the wind power blade comprises a support base, a first clamping piece, a second clamping piece and a clamping driving mechanism, wherein the first clamping piece and the second clamping piece are oppositely arranged on the support base, opposite clamping notches are formed in the first clamping piece and the second clamping piece, and the first clamping piece and the second clamping piece can be driven to be clamped or opened relatively through the clamping driving mechanism, so that the wind power blade can be clamped and fixed quickly, and the operation is simple and convenient;

(5) According to the active steering transfer trolley for the wind power blade, the first clamping piece and the second clamping piece are inflatable air bags, the telescopic supporting air cushion is further arranged between the first clamping piece and the second clamping piece, and the telescopic supporting air cushion is in flexible contact with the wind power blade, so that the wind power blade can be prevented from being damaged in a strong locking state, the clamping is stable and reliable, and the operation is simpler and more convenient;

(6) The clamping driving mechanism of the active steering transfer trolley for the wind power blade comprises a clamping driving motor and a transmission screw rod, wherein the transmission screw rod is in threaded fit with sliding parts in the first clamping part and the second clamping part, the two clamping parts are controlled to act relatively through the screw rod transmission mechanism, the transmission is stable, the clamping pressure is easy to control, and the clamping movement precision is improved;

(7) The active steering transfer trolley for the wind power blades further comprises a driving assembly arranged on the chassis frame, so that transfer work of the wind power blades can be automatically completed, transfer operation convenience of the wind power blades is further improved, and the turnover difficulty in wind power She Pianchang is reduced; the driving assembly comprises a fixed seat, a rotating seat, a swinging arm, a driving wheel steering mechanism and a walking driving mechanism, wherein the driving wheel can independently steer and rotate and can synchronously steer with a bearing universal wheel, so that the active walking of an active steering transfer vehicle is realized, the driving wheel is arranged on the swinging arm, the grabbing force of the driving wheel can be ensured by utilizing a shock absorber, and the phenomenon that the driving force is lost due to slipping in transportation is avoided;

(8) The driving wheel steering mechanism of the active steering transfer vehicle for the wind power blade adopts gear transmission, so that the transmission precision is high, and the steering control is accurate and stable; the traveling driving mechanism adopts a reduction gear and a driving wheel transmission mechanism to realize reduction, so that the output torque of a driving wheel can be improved, and the transfer driving requirement of wind power blades is met;

(9) The wind power blade transferring method comprises the front vehicle and the rear vehicle which are arranged at the root and the blade tip of the wind power blade, wherein the front vehicle and/or the rear vehicle are the active steering transfer vehicle for the wind power blade, and can provide active steering in the wind power blade transferring process;

(10) The wind power blade transferring method further comprises an operation panel, wherein the operation panel comprises a display screen and function keys, the operation panel is in communication connection with the controller, the operation panel is provided with a manual mode for independently controlling the steering of the front car or the rear car and an automatic mode for controlling the linkage steering of the front car and the rear car, flexible operation of transferring wind power blades is achieved, 360-degree in-situ steering can be achieved, transferring is safe and rapid, operation is simple, time and labor are saved, and only one person is needed to operate in the whole process.

Drawings

FIG. 1 is an angular perspective view of an active steering transfer truck for wind blades of the present invention;

FIG. 2 is another angular perspective view of an active steering truck for wind blades of the present invention;

FIG. 3 is a schematic top view of an active steering truck for a wind blade according to the present invention;

FIG. 4 is a schematic cross-sectional view of the structure of FIG. 3 in the direction A-A;

FIG. 5 is a schematic diagram of a split structure of an active steering transfer truck for wind blades according to the present invention;

FIG. 6 is a schematic diagram of the transmission structure of the chassis assembly of the present invention;

FIG. 7 is a schematic view of a split construction of a blade clamp assembly according to the present invention;

FIG. 8 is a schematic structural view of an active steering truck (with drive assembly) for a wind blade according to the present invention;

FIG. 9 is a schematic view of an angular configuration of the drive assembly of the present invention;

FIG. 10 is a schematic view of another angular configuration of the drive assembly of the present invention;

FIG. 11 is a control logic schematic diagram of a wind turbine blade transfer method of the present invention.

Reference numerals in the schematic drawings illustrate:

1. a chassis assembly; 1-1, a chassis frame; 1-2, carrying universal wheels; 1-3, supporting legs; 1-4, an electric cabinet; 1-5, steering driving motor; 1-6, a power transmission mechanism; 1-7, a transmission main shaft; 1-8, a steering gear; 1-9, a transfer shaft; 1-10, a reduction gearbox; 1-11, a first gear; 1-12, a second gear;

2. a slewing bearing; 2-1, a telescopic shield;

3. a blade clamp assembly; 3A, clamping the notch; 3-1, a supporting base; 3-1-1, a connecting piece; 3-2, a first clamping member; 3-2-1, a sliding block; 3-3, a second clamping piece; 3-3-1, a guide part; 3-4, clamping the driving motor; 3-5, supporting an air cushion; 3-6, a transmission screw rod;

4. a drive assembly; 4-1, fixing base; 4-2, a rotating seat; 4-3, swinging arms; 4-4, driving wheels; 4-5, a damper; 4-6, a driving wheel steering motor; 4-7, a first steering gear; 4-8, a second steering gear; 4-9, a walking driving motor; 4-10, a transmission pinion; 4-11, a transmission large gear; 4-12, a driving wheel transmission mechanism.

Detailed Description

For a further understanding of the present invention, the present invention will be described in detail with reference to the drawings and examples.

Example 1

Referring to fig. 1 to 5, an active steering transfer vehicle for wind power blades of the present embodiment includes a chassis assembly 1, a slewing bearing 2 and a blade clamp assembly 3, where the chassis assembly 1 is used as a basis of the transfer vehicle and is used for walking and steering of the transfer vehicle, the blade clamp assembly 3 is used for clamping and fixing wind power blades, so as to support the wind power blades, and the blade clamp assembly 3 is mounted on the chassis assembly 1 through the slewing bearing 2, so that the blade clamp assembly 3 can rotate freely relative to the chassis assembly 1, and the degree of freedom required during transportation of the wind power blades can be ensured. The chassis assembly 1 comprises a chassis frame 1-1 and four groups of bearing universal wheels 1-2 arranged on the chassis frame 1-1, wherein a steering axis L2 of the bearing universal wheels 1-2 is intersected with a wheel shaft axis L1, namely the bearing universal wheels 1-2 are eccentric-free universal wheels; the chassis frame 1-1 is provided with an active steering mechanism for driving the four groups of bearing universal wheels 1-2 to synchronously and directionally steer, and the active steering mechanism can control the four groups of bearing universal wheels 1-2 to actively steer; the chassis frame 1-1 is also provided with an electric cabinet 1-4 for controlling the active steering mechanism to execute steering action. Compared with the existing transfer vehicle with follow-up steering, the active steering transfer vehicle of the embodiment realizes active and flexible steering of the transfer vehicle, has accurate steering control, effectively reduces the turnover turning radius of the wind power blades, and improves the flexibility and efficiency of transfer in the wind power blade farm.

In this embodiment, as shown in fig. 2 and 6, the active steering mechanism includes a steering driving motor 1-5, a power transmission mechanism 1-6, a transmission main shaft 1-7, a steering gear 1-8, a split shaft 1-9, a reduction gearbox 1-10 and a steering gear set, wherein the steering driving motor 1-5 is mounted on a chassis frame 1-1 and is in transmission connection with the transmission main shaft 1-7 through the power transmission mechanism 1-6, the power transmission mechanism 1-6 can be a gear transmission mechanism or a chain transmission mechanism, etc., the steering driving motor 1-5 can drive the transmission main shaft 1-7 to rotate, two ends of the transmission main shaft 1-7 are respectively connected with the steering gear 1-8, the steering gear 1-8 is provided with an input shaft and two output shafts, the two output shafts of the steering gear 1-8 are respectively connected with the reduction gearbox 1-10 near the corresponding bearing universal wheels 1-2 through the split shaft 1-9, and when the output shafts of the steering gear 1-8 are coaxial with the input shafts of the reduction gearbox 1-10 on the corresponding sides, the split shaft 1-9 can adopt universal transmission shafts or optical axes; when the output shaft of the steering gear 1-8 is not coaxial with the input shaft of the reduction gearbox 1-10 on the corresponding side, the split shaft 1-9 adopts a universal transmission shaft. The reduction gearbox 1-10 is in transmission connection with a corresponding steering support bearing the universal wheel 1-2 through a steering gear set; specifically, the steering gear set comprises a first gear 1-11 and a second gear 1-12 which are meshed, wherein the first gear 1-11 is a pinion, the second gear 1-12 is a bull gear, and the two gears form a reduction gear set, so that the steering torque of the bearing universal wheel 1-2 can be improved, and the torque born by the transmission main shaft 1-7 and the split shaft 1-9 can be reduced; the first gear 1-11 is in transmission connection with an output shaft of the reduction gearbox 1-10, the second gear 1-12 is fixed on a steering support bearing the universal wheel 1-2, the reduction gearbox 1-10 drives the first gear 1-11 to rotate, and then drives the second gear 1-12 meshed with the first gear to rotate, so that the bearing universal wheel 1-2 is controlled to rotate around a steering axis L2. The steering driving motor 1-5 is preferably a 24V direct current large torque motor, the steering driving motor 1-5 is electrically connected with the electric cabinet 1-4, and the electric cabinet 1-4 controls the working state of the steering driving motor 1-5. By adopting the active steering mechanism, the steering action can be synchronously transmitted to each bearing universal wheel 1-2 by using a group of steering driving motors 1-5, so that the steering synchronism of the four bearing universal wheels 1-2 is ensured, the steering action is stable in transmission, and the steering is flexible and accurate.

In this embodiment, in order to accurately obtain the steering angle of the bearing universal wheel 1-2, the bearing universal wheel 1-2 is further provided with an angle sensor in communication connection with the electric cabinet 1-4, and the steering angle of the bearing universal wheel 1-2 can be monitored in real time through the angle sensor, so that the steering angle of the bearing universal wheel 1-2 can be accurately controlled. The angle sensor can feed back steering angle signals to the electric cabinet 1-4, and the electric cabinet 1-4 controls and corrects the steering angle of the bearing universal wheel 1-2 according to the transfer state data of the wind power blades, so that the steering angle of the bearing universal wheel 1-2 is controlled more accurately.

Referring to fig. 1 to 5 and referring to fig. 7, the active steering transfer vehicle of the present embodiment includes a blade clamp assembly 3 including a support base 3-1, a first clamp 3-2, a second clamp 3-3, and a clamping driving mechanism, the support base 3-1 is mounted on a chassis frame 1-1 through a slewing bearing 2, so that the support base 3-1 can freely rotate in a horizontal direction, the first clamp 3-2 and the second clamp 3-3 are relatively mounted on the support base 3-1, and the first clamp 3-2 and the second clamp 3-3 are provided with opposite clamp notches 3A, the clamp notches 3A can adopt a "<" shape design, and the two clamp notches 3A are opposite, so that not only can clamp the root of a wind turbine blade, but also can stably clamp the blade tip position. The clamping driving mechanism is arranged on the supporting base 3-1, acts on the first clamping piece 3-2 and/or the second clamping piece 3-3 and is used for driving the first clamping piece 3-2 and the second clamping piece 3-3 to clamp or open relatively, and the first clamping piece 3-2 and the second clamping piece 3-3 can be driven to clamp or open relatively through the clamping driving mechanism, so that the wind power blade can be clamped and fixed rapidly, and the operation is simple and convenient. Further, in this embodiment, the first clamping member 3-2 and the second clamping member 3-3 are inflatable air bags, and a telescopic supporting air cushion 3-5 is further provided between the first clamping member 3-2 and the second clamping member 3-3. The contact of the blade clamp assembly 3 and the wind power blade is flexible contact, so that the damage to the blade can be avoided under the condition of strong locking, the clamping is stable and reliable, the operation is simpler and more convenient, and the cushion pad is not required to be filled manually. Moreover, the inflatable air bag can better adapt to the shape of the wind power blade, the contact surface with the wind power blade is larger, and the clamping force is relatively more uniform. As shown in fig. 7, the clamping driving mechanism comprises a clamping driving motor 3-4 and a transmission screw rod 3-6, one of the first clamping piece 3-2 and the second clamping piece 3-3 is fixed on the supporting base 3-1, the other clamping driving motor is slidably arranged on the supporting base 3-1, the clamping driving motor 3-4 is installed on one side of the supporting base 3-1 and is connected with the transmission screw rod 3-6, the transmission screw rod 3-6 is in threaded fit with sliding pieces in the first clamping piece 3-2 and the second clamping piece 3-3, and the clamping driving motor 3-4 is electrically connected with the electric cabinet 1-4. The screw rod transmission mechanism is used for controlling the relative motion of the two clamping pieces, so that the transmission is stable, the clamping pressure is easy to control, and the clamping movement precision is improved. Specifically, the first clamping piece 3-2 is a sliding piece, the second clamping piece 3-3 is a fixing piece, the second clamping piece 3-3 is fixed on the supporting base 3-1, a guide part 3-3-1 extending along the direction of the transmission screw rod 3-6 is arranged at the lower part of the second clamping piece 3-3, a sliding groove is formed between the two guide parts 3-3-1, a sliding block 3-2-1 is integrally formed at the lower part of the first clamping piece 3-2, and the sliding block 3-2-1 is in sliding fit between the two guide parts 3-3-1. The lower part of the second clamping piece 3-3 is also provided with a through hole, and the transmission screw rod 3-6 passes through the through hole and is in threaded fit with the sliding block 3-2-1 at the lower part of the first clamping piece 3-2. The clamping notch 3A can be further provided with a pressure sensor, when the wind power blade is clamped and fixed, the electric cabinet 1-4 controls the clamping driving motor 3-4 to act to drive the first clamping piece 3-2 to move towards the second clamping piece 3-3, the wind power blade is held tightly by the two clamping notches 3A, the pressure sensor feeds back clamping force to the electric cabinet 1-4, and the clamping driving motor 3-4 is controlled to stop working after the clamping force reaches a set value. The supporting air cushion 3-5 is in a wavy structure, can stretch and retract along the length direction of the transmission screw rod 3-6, synchronously stretches and contracts when the first clamping piece 3-2 and the second clamping piece 3-3 relatively move, and fills the space at the lower parts of the two clamping notch 3A. The electric control box 1-4 can be integrated with a storage battery and a controller, so that the power supply and control of the whole active steering transfer vehicle are realized.

In this embodiment, the slewing bearing 2 is a conventional large-load slewing bearing product, and the base part of the slewing bearing is fixed on the chassis frame 1-1, and the upper turntable is fixedly connected with the supporting base 3-1. In order to facilitate the connection between the support base 3-1 and the slewing bearing 2, connecting pieces 3-1-1 (as shown in fig. 5 and 7) are respectively arranged on two sides of the support base 3-1, and the connecting pieces 3-1-1 are right-angle connecting pieces and are fixed with an upper turntable of the slewing bearing 2 by bolts. The chassis frame 1-1 can be of a steel welding structure, the structural strength is high, the bottom of the chassis frame 1-1 is also provided with the supporting legs 1-3, and the supporting legs 1-3 can be used for keeping the supporting of the chassis frame 1-1 when the bearing universal wheels 1-2 are not installed, so that an active steering mechanism at the bottom of the chassis frame is kept in a suspended state; when the bearing universal wheel 1-2 is installed, the supporting legs 1-3 are suspended to leave the ground, and the normal movement of the transfer trolley is not affected. In order to prevent dust from entering the slewing bearing 2 to influence the slewing performance and the service life of the slewing bearing, a telescopic shield 2-1 is further arranged on the outer side of the slewing bearing 2, and can cover the outer side of the slewing bearing 2, so that the influence of environmental factors on the slewing bearing 2 is reduced.

The embodiment also relates to a wind power blade transferring method. Referring to fig. 11, the wind power blade transferring method includes a front car and a rear car arranged at the root and tip of the wind power blade, the wind power blade is supported between the front car and the rear car, and the front car and/or the rear car are the active steering transfer car. When the front vehicle and the rear vehicle are both actively steering and transporting, the steering angle information of the front vehicle and the rear vehicle is interacted through the controller, and when one of the front vehicle and the rear vehicle steers, the other vehicle actively steers according to the steering angle information of the front vehicle and the rear vehicle; when one of the front vehicle and the rear vehicle is an active steering transfer vehicle, the other is a traction vehicle, steering angle information of the traction vehicle and the active steering transfer vehicle is interacted through the controller, and when the traction vehicle steers, the active steering transfer vehicle actively steers according to the steering angle information of the traction vehicle. By adopting the wind power blade transferring method, active steering can be provided in the wind power blade transferring process, compared with the existing follow-up steering, the steering action is more stable and timely, the steering radius of the wind power blade is effectively reduced, transferring can be completed in a smaller site, site space occupation is reduced, and site space is saved.

Because the initiative steering transfer car (buggy) of this embodiment is unpowered transfer car, when preceding car and rear car are initiative steering transfer car, still need adopt power unit such as traction vehicle to pull wind-powered electricity generation blade at least, and preceding back initiative steering transfer car can independently turn to the cooperation operation of pulling. The steering angles of the front and rear vehicles can be matched through the controller, so that the wind power blades can be flexibly transported in a small space. The unpowered active steering transfer vehicle is more suitable for being used as a rear vehicle, the front vehicle adopts an existing traction vehicle, a sensor for collecting the steering angle of the traction vehicle is arranged on the traction vehicle, and the steering angle of the rear vehicle can be automatically matched according to the steering angle of the traction vehicle. The controller has a front-to-rear vehicle steering angle matching algorithm which can be obtained according to the prior art and the actual transportation situation in the field and is not described in detail here.

In order to facilitate the operation, in this embodiment, the vehicle control device further comprises an operation panel, wherein the operation panel comprises a display screen and function keys, the operation panel is in communication connection with the controller, and the operation panel is provided with a manual mode for independently controlling the steering of the front vehicle or the rear vehicle and an automatic mode for controlling the linkage steering of the front vehicle and the rear vehicle. According to specific needs, the wind power blade can be freely switched between a manual mode and an automatic mode, for example, when an obstacle exists in a field, manual intervention can be performed by a person, and the direction and the position of the whole wind power blade are adjusted by controlling different steering angles of front and rear vehicles. The operation panel can simultaneously control a plurality of transfer vehicles, and can realize synchronous action or independent control of the transfer vehicles. By adopting the design, the flexible operation of wind power blade transportation is realized, 360-degree in-situ steering can be realized, the transportation is safe and quick, the operation is simple, time and labor are saved, and only one person is needed in the whole process. The operation panel and the controller can be connected by existing wireless communication, and this part is also the prior art and is not the content to be protected by the present invention, so the description will not be repeated here.

Example 2

The basic structure and the working principle of the active steering transfer truck for wind power blades and the wind power blade transfer method are the same as those of the embodiment 1, and the difference is that:

the active steering transfer vehicle of this embodiment is a self-driven transfer vehicle. As shown in fig. 8, the active steering transfer trolley for wind power blades of the embodiment further comprises a driving assembly 4 arranged on the chassis frame 1-1, the driving assembly 4 can enable the transfer trolley to have walking power, further movement control can be independently carried out, transfer work of the wind power blades can be independently completed, transfer operation convenience of the wind power blades is further improved, and turnover difficulty in wind power She Pianchang is reduced. Referring to fig. 9 and 10, the driving assembly 4 includes a fixed seat 4-1, a rotating seat 4-2, a swing arm 4-3, a driving wheel 4-4, a driving wheel steering mechanism and a traveling driving mechanism, wherein the fixed seat 4-1 is fixedly installed on the chassis frame 1-1, the upper portion of the rotating seat 4-2 is rotatably connected with the fixed seat 4-1, and the driving wheel steering mechanism is arranged between the fixed seat 4-1 and the rotating seat 4-2 and is used for driving the rotating seat 4-2 to rotate relative to the fixed seat 4-1 so as to control the steering of the driving wheel 4-4; one end of the swing arm 4-3 is rotationally connected with the lower part of the rotating seat 4-2, the other end of the swing arm 4-3 is provided with a driving wheel 4-4, a shock absorber 4-5 is further arranged between the swing arm 4-3 and the rotating seat 4-2, the traveling driving mechanism is in transmission connection with the driving wheel 4-4, and the driving wheel steering mechanism and the traveling driving mechanism are respectively and electrically connected with the electric cabinet 1-4. The driving wheel 4-4 can independently turn and rotate, can keep synchronous turning with the bearing universal wheel 1-2, realizes the initiative walking of the initiative steering transfer car, and the driving wheel 4-4 is installed on the swing arm 4-3, utilizes the shock absorber 4-5 to guarantee the grabbing force of the driving wheel 4-4, avoids slipping and losing driving force in transportation. Further, the shock absorber 4-5 can be a hydraulic shock absorber, the driving wheel 4-4 has a pressure detection function, the shock absorption height can be automatically adjusted according to the load, and the slipping phenomenon in the transportation process is prevented.

Preferably, the driving wheel steering mechanism comprises a driving wheel steering motor 4-6, a first steering gear 4-7 and a second steering gear 4-8, wherein the driving wheel steering motor 4-6 is arranged on the rotating seat 4-2, the first steering gear 4-7 is in transmission connection with the driving wheel steering motor 4-6, the second steering gear 4-8 is fixed on the fixed seat 4-1, and the first steering gear 4-7 and the second steering gear 4-8 are meshed; the driving wheel steering motor 4-6 drives the first steering gear 4-7 to rotate, so that the driving wheel steering motor can rotate around the first steering gear 4-7, and steering of the driving wheel 4-4 is achieved. The axle axis of the driving wheel 4-4 intersects with the rotation axis of the rotation seat 4-2 on the fixed seat 4-1 or floats in a certain range near the rotation axis, so that the steering of the driving wheel 4-4 is more flexible. The walking driving mechanism comprises a walking driving motor 4-9, a transmission pinion 4-10, a transmission large gear 4-11 and a driving wheel transmission mechanism 4-12, wherein the walking driving motor 4-9 is arranged on the rotating seat 4-2 and is connected with the transmission pinion 4-10, the transmission large gear 4-11 is coaxially arranged with a swinging shaft of the swinging arm 4-3, the transmission pinion 4-10 is meshed with the transmission large gear 4-11, and a gear shaft of the transmission large gear 4-11 is in transmission connection with a gear shaft of the driving wheel 4-4 through the driving wheel transmission mechanism 4-12. The driving wheel transmission mechanism 4-12 can adopt a chain transmission mechanism or a gear transmission mechanism, the walking driving motor 4-9 drives the transmission pinion 4-10 to rotate, the transmission pinion 4-10 drives the transmission large gear 4-11 to rotate, the transmission pinion 4-10 and the transmission large gear 4-11 form a reduction gear set, and the output torque of the driving wheel 4-4 can be improved. In order to further improve the output power of the traveling driving mechanism, it is preferable that one traveling driving motor 4-9 is respectively arranged at two sides of the rotating seat 4-2, two pairs of transmission pinions 4-10 and transmission gearwheels 4-11 are also arranged, and one driving wheel 4-4 is respectively arranged at two sides of the wheel shaft to form a double-wheel driving structure.

The wind power blade transferring method comprises a front vehicle and a rear vehicle which are arranged at the root and the tip of a wind power blade, wherein the front vehicle and/or the rear vehicle are the active steering transfer vehicles for the wind power blade; when the front vehicle and the rear vehicle are both actively steering and transporting, the steering angle information of the front vehicle and the rear vehicle is interacted through the controller, and when one of the front vehicle and the rear vehicle steers, the other vehicle actively steers according to the steering angle information of the front vehicle and the rear vehicle; when one of the front vehicle and the rear vehicle is an active steering transfer vehicle, the other is a traction vehicle, steering angle information of the traction vehicle and the active steering transfer vehicle is interacted through the controller, and when the traction vehicle steers, the active steering transfer vehicle actively steers according to the steering angle information of the traction vehicle.

Because the initiative of this embodiment turns to the transfer car (buggy) and is the self-contained power transfer car, when preceding car and rear car are initiative and turn to the transfer car (buggy), need not extra traction and can realize the transportation of wind-powered electricity generation blade, the front and back initiative turns to the transfer car (buggy) homoenergetic and can independently drive and actively turn to realize removing for wind-powered electricity generation blade transportation is nimble convenient, and turning radius is littleer. Of course, in this embodiment, the front vehicle may be a self-powered transfer vehicle, and the rear vehicle may be an unpowered transfer vehicle. Or the front vehicle adopts a traction vehicle, and the rear vehicle adopts a self-powered transfer vehicle.

The active steering transfer trolley can be further provided with high-precision sensors such as visual judgment, displacement detection, pressure detection, distance detection and the like so as to feed back related data in real time, and the gesture and the walking speed of the vehicle body can be accurately adjusted through the controller.

According to the active steering transfer vehicle and the wind power blade transfer method for the wind power blades, the transfer vehicle adopts the eccentric-free universal wheels, and the four groups of bearing universal wheels are driven to synchronously and co-steer by utilizing the active steering mechanism, so that the active and flexible steering of the transfer vehicle is realized, the steering control is accurate, the turnover turning radius of the wind power blades is effectively reduced, and the flexibility and the efficiency of transfer in a wind power blade field are improved. In addition, the blade clamp adopts the air bag clamp, so that the blade can be prevented from being damaged in a strong locking state, the clamping is stable and reliable, and the operation is simpler and more convenient; the transfer trolley can be further provided with a driving assembly, can autonomously complete transfer work of the wind power blades, further improves transfer operation convenience of the wind power blades, and reduces transfer difficulty in wind power She Pianchang.

It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

The invention and its embodiments have been described above schematically, without limitation, and the actual construction is not limited to this, as it is shown in the drawings, which are only one of the embodiments of the invention. Therefore, if one of ordinary skill in the art is informed by this disclosure, a structural manner and an embodiment similar to the technical scheme are not creatively devised without departing from the gist of the present invention, and all the structural manners and the embodiments belong to the protection scope of the present invention.

Claims (10)

1. The utility model provides an initiative steering transfer car (buggy) for wind-powered electricity generation blade, includes chassis assembly (1), slewing bearing (2) and blade anchor clamps assembly (3), blade anchor clamps assembly (3) are installed on chassis assembly (1) through slewing bearing (2), its characterized in that: the chassis assembly (1) comprises a chassis frame (1-1) and four groups of bearing universal wheels (1-2) arranged on the chassis frame (1-1), steering axes L2 of the bearing universal wheels (1-2) are intersected with wheel shaft axes L1, an active steering mechanism used for driving the four groups of bearing universal wheels (1-2) to synchronously steer in the same direction is arranged on the chassis frame (1-1), and an electric cabinet (1-4) used for controlling the active steering mechanism to execute steering action is further arranged on the chassis frame (1-1).

2. The active steering transfer cart for a wind turbine blade of claim 1, wherein: the driving steering mechanism comprises a steering driving motor (1-5), a power transmission mechanism (1-6), a transmission main shaft (1-7), a steering gear (1-8), a transfer shaft (1-9), a reduction gearbox (1-10) and a steering gear set, wherein the steering driving motor (1-5) is arranged on a chassis frame (1-1) and is in transmission connection with the transmission main shaft (1-7) through the power transmission mechanism (1-6), two ends of the transmission main shaft (1-7) are respectively connected with the steering gear (1-8), two output shafts of the steering gear (1-8) are respectively connected with the reduction gearbox (1-10) arranged near corresponding bearing universal wheels (1-2) through a separation shaft (1-9), and the reduction gearbox (1-10) is in transmission connection with steering supports of the corresponding bearing universal wheels (1-2) through the steering gear set; the steering driving motor (1-5) is electrically connected with the electric cabinet (1-4).

3. The active steering transfer cart for a wind turbine blade of claim 1, wherein: the bearing universal wheel (1-2) is also provided with an angle sensor which is in communication connection with the electric cabinet (1-4).

4. An active steering transfer car for a wind power blade according to claim 1 or 2 or 3, characterized in that: the blade clamp assembly (3) comprises a supporting base (3-1), a first clamping piece (3-2), a second clamping piece (3-3) and a clamping driving mechanism, wherein the supporting base (3-1) is installed on the chassis frame (1-1) through a slewing bearing (2), the first clamping piece (3-2) and the second clamping piece (3-3) are installed on the supporting base (3-1) relatively, opposite clamping notches (3A) are formed in the first clamping piece (3-2) and the second clamping piece (3-3), and the clamping driving mechanism is arranged on the supporting base (3-1) and acts on the first clamping piece (3-2) and/or the second clamping piece (3-3) and is used for driving the first clamping piece (3-2) and the second clamping piece (3-3) to clamp or open relatively.

5. The active steering transfer cart for a wind turbine blade of claim 4, wherein: the first clamping piece (3-2) and the second clamping piece (3-3) are inflatable air bags, and a telescopic supporting air cushion (3-5) is further arranged between the first clamping piece (3-2) and the second clamping piece (3-3).

6. The active steering transfer cart for a wind turbine blade of claim 5, wherein: the clamping driving mechanism comprises a clamping driving motor (3-4) and a transmission screw rod (3-6), one of the first clamping piece (3-2) and the second clamping piece (3-3) is fixed on the supporting base (3-1), the other clamping driving motor is arranged on the supporting base (3-1) in a sliding mode, the clamping driving motor (3-4) is arranged on one side of the supporting base (3-1) and connected with the transmission screw rod (3-6), the transmission screw rod (3-6) is in threaded fit with sliding pieces in the first clamping piece (3-2) and the second clamping piece (3-3), and the clamping driving motor (3-4) is electrically connected with the electric cabinet (1-4).

7. An active steering transfer car for a wind power blade according to claim 1 or 2 or 3, characterized in that: the novel chassis comprises a chassis frame (1-1), and is characterized by further comprising a driving assembly (4) arranged on the chassis frame (1-1), wherein the driving assembly (4) comprises a fixed seat (4-1), a rotating seat (4-2), a swinging arm (4-3), a driving wheel (4-4), a driving wheel steering mechanism and a walking driving mechanism, the fixed seat (4-1) is fixedly arranged on the chassis frame (1-1), the upper part of the rotating seat (4-2) is rotationally connected with the fixed seat (4-1), and the driving wheel steering mechanism is arranged between the fixed seat (4-1) and the rotating seat (4-2) and is used for driving the rotating seat (4-2) to rotationally move relative to the fixed seat (4-1); one end of the swinging arm (4-3) is rotationally connected with the lower part of the rotating seat (4-2), the other end of the swinging arm (4-3) is provided with a driving wheel (4-4), a shock absorber (4-5) is further arranged between the swinging arm (4-3) and the rotating seat (4-2), the walking driving mechanism is in transmission connection with the driving wheel (4-4), and the driving wheel steering mechanism and the walking driving mechanism are respectively electrically connected with the electric cabinet (1-4).

8. The active steering transfer cart for a wind turbine blade of claim 7, wherein: the driving wheel steering mechanism comprises a driving wheel steering motor (4-6), a first steering gear (4-7) and a second steering gear (4-8), wherein the driving wheel steering motor (4-6) is arranged on a rotating seat (4-2), the first steering gear (4-7) is in transmission connection with the driving wheel steering motor (4-6), the second steering gear (4-8) is fixed on a fixed seat (4-1), and the first steering gear (4-7) and the second steering gear (4-8) are meshed;

the walking driving mechanism comprises a walking driving motor (4-9), a transmission pinion (4-10), a transmission large gear (4-11) and a driving wheel transmission mechanism (4-12), wherein the walking driving motor (4-9) is arranged on a rotating seat (4-2) and connected with the transmission pinion (4-10), the transmission large gear (4-11) is coaxially arranged with a swinging shaft of a swinging arm (4-3), the transmission pinion (4-10) is meshed with the transmission large gear (4-11), and a gear shaft of the transmission large gear (4-11) is in transmission connection with a gear shaft of a driving wheel (4-4) through the driving wheel transmission mechanism (4-12).

9. The wind power blade transferring method comprises a front vehicle and a rear vehicle which are arranged at the root and the tip of a wind power blade, and is characterized in that: the front and/or rear vehicle is the active steering transfer vehicle for wind power blades according to any one of claims 1 to 8;

when the front vehicle and the rear vehicle are both actively steering and transporting, steering angle information of the front vehicle and the rear vehicle are interacted through the controller, and when one of the front vehicle and the rear vehicle steers, the other vehicle actively steers according to the steering angle information of the front vehicle and the rear vehicle;

when the traction vehicle turns, the active steering transfer vehicle actively steers according to the steering angle information of the traction vehicle.

10. The wind power blade transportation method as claimed in claim 9, wherein: the control device comprises a controller, a front car, a rear car, a control panel, a display screen, a function key and an operating panel, wherein the control panel comprises the display screen and the function key, the operating panel is in communication connection with the controller, and the operating panel is provided with a manual mode for independently controlling the front car or the rear car to turn and an automatic mode for controlling the front car and the rear car to turn in a linkage manner.