WO2022041843A1 - 俯仰旋转机构和叶片吊装工装 - Google Patents

俯仰旋转机构和叶片吊装工装 Download PDF

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Publication number
WO2022041843A1
WO2022041843A1 PCT/CN2021/093126 CN2021093126W WO2022041843A1 WO 2022041843 A1 WO2022041843 A1 WO 2022041843A1 CN 2021093126 W CN2021093126 W CN 2021093126W WO 2022041843 A1 WO2022041843 A1 WO 2022041843A1
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WO
WIPO (PCT)
Prior art keywords
blade
arm
locking
telescopic
shaft
Prior art date
Application number
PCT/CN2021/093126
Other languages
English (en)
French (fr)
Inventor
方晶
章钟伟
朱伟
黄可唯
黄建伟
苏伟
Original Assignee
福建金风科技有限公司
成都世唯科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 福建金风科技有限公司, 成都世唯科技有限公司 filed Critical 福建金风科技有限公司
Priority to KR1020237010441A priority Critical patent/KR20230054887A/ko
Publication of WO2022041843A1 publication Critical patent/WO2022041843A1/zh

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
    • F03D13/10—Assembly of wind motors; Arrangements for erecting wind motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2230/00—Manufacture
    • F05B2230/60—Assembly methods
    • F05B2230/61—Assembly methods using auxiliary equipment for lifting or holding
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Definitions

  • the present disclosure belongs to the technical field of wind power generation, and in particular relates to a pitching and rotating mechanism and a blade hoisting tool with the pitching and rotating mechanism.
  • the blade size of the wind turbine is also gradually increasing.
  • the length of the blade of the offshore wind turbine has exceeded 90 meters and the weight has exceeded 35 tons. Due to the weight of the blade, the blade is operated in the air. Attaching to the hub is also increasingly difficult.
  • the traditional blade installation process requires the use of a cranking structure to rotate the hub, so that the pitch bearing of the hub can correspond to the position of the blade flange.
  • the traditional cranking structure needs to bear more and more loads. , resulting in deformation of the end cover structure of the generator (connecting position with the crank) during the cranking process, affecting the normal operation of the unit.
  • the three-blade installation Due to the extremely long length of the blade, the three-blade installation has a great risk of turning over due to the limitation of the installation vessel.
  • the blade lifting tool used can rotate the blade at a small angle, for example, rotate 30° Therefore, it is necessary for the crane to carry the blade hoisting and jigging to perform large-angle rotation, but this method has great potential safety hazards.
  • the impact of the hoisting hook may cause the hook to bump the blade, or the blade will slide out from the clamping opening due to the extra pulling force generated by the misoperation of the crane, which will cause the blade lifting tool to exert additional pulling force on the blade.
  • One of the main invention objectives of the present disclosure is to provide a pitching and rotating mechanism, which can clamp the blades to rotate together without additionally using a turning mechanism during the blade installation process.
  • a pitch rotation mechanism including a support frame, a rotation shaft, a crank, and a drive unit, the rotation shaft is rotatably disposed on the support frame, and a first end of the rotation shaft is used for connected to the blade clamp to drive the blade clamp to rotate around the rotating shaft; the first end of the crank is fixedly connected to the second end of the rotating shaft; the driving unit is connected to the second end of the crank , drive the crank to rotate around and drive the rotation shaft.
  • a blade hoisting tool includes a main beam and blade clamping units disposed at both ends of the main beam, the pitching and rotating mechanism is connected to the main beam and can drive The main beam rotates around the rotation axis, the blade clamping unit includes an upper clamping assembly, a lower clamping assembly and a jaw adjustment unit, the jaw adjustment unit includes a first telescopic drive mechanism, the first The telescopic drive mechanism is a first telescopic oil cylinder, and both ends of the jaw adjusting unit are respectively connected between the upper clamping assembly and the lower clamping assembly for adjusting the upper clamping assembly and the lower clamping assembly. The size of the gripping opening formed by the gripping assembly.
  • the pitch rotation mechanism and the blade hoisting tool provided by the present disclosure have the following beneficial effects: driven by the crank, the pitch rotation mechanism rotates along with it, thereby driving the blades clamped by the blade clamps to rotate together, without the need for additional installation during the blade installation process. Use a turning mechanism.
  • FIG. 1 is a structural diagram of a blade hoisting tool provided by an exemplary embodiment of the present disclosure.
  • FIG. 2 is an exploded view of the pitch rotation mechanism in FIG. 1 .
  • FIG. 3 is a side view of the pitch rotation mechanism in FIG. 1 .
  • FIG. 4 is an A-A cross-sectional view of the pitch rotation mechanism in FIG. 3 .
  • FIG. 5 is a structural diagram of a pitch rotation mechanism provided by another exemplary embodiment of the present disclosure.
  • FIG. 6 shows an exploded view of the blade clamping unit of FIG. 1 .
  • FIG. 7 shows a perspective view of the internal structure of the blade clamping unit in FIG. 6 .
  • FIG. 8 is an exploded view of the blade clamping unit of FIG. 6 .
  • FIG. 9 shows an enlarged view of the jaw locking assembly of FIG. 6 .
  • 10 , 11 and 12 are schematic diagrams showing the process of locking the pressing arm relative to the upper vertical arm by the second locking assembly.
  • FIG. 13 is a structural diagram of the blade clamping unit in FIG. 1 .
  • FIG. 1 is a structural diagram of a blade hoisting tool provided by an exemplary embodiment of the present disclosure.
  • a blade hoisting tool is provided.
  • the blade hoisting tool includes a hanger 200 , a pitch rotation mechanism 400 and a blade clamp 100 , the pitch rotation mechanism 400 is connected to the lower end of the hanger 200 , and the blade clamp 100 Connected to the pitch rotation mechanism 400, the blade clamp 100 can realize large-angle rotation under the drive of the pitch rotation mechanism 400, and can meet the angle requirements during blade installation, so there is no need to rotate the hub during the blade installation process, which simplifies the blade installation process.
  • the pitch rotation mechanism 400 may include a support frame 410, a rotation shaft 420, a crank 430 and a drive unit, the rotation shaft 420 is rotatably disposed on the support frame 410, and the first end of the rotation shaft 420 is used for connecting to the blade clamp 100, In order to drive the blade clamp 100 to rotate with the rotating shaft 420 .
  • the first end of the crank 430 is fixedly connected to the second end of the rotating shaft 420 .
  • the driving unit is connected with the second end of the crank 430 , and the driving crank 430 rotates around and drives the rotating shaft 420 .
  • the pitch rotation mechanism 400 drives the blade clamp 100 to rotate through the rotating shaft 420, so that the blade clamp 100 can be rotated at a large angle, and the pitch angle of the clamped blade can be adjusted.
  • the mechanism 400 drives the blade to rotate to a desired angle, and can be connected to the pitch bearing at the corresponding position of the hub, thereby simplifying the installation process of the blade.
  • FIG. 2 is an exploded view of the pitch rotation mechanism in FIG. 1 .
  • FIG. 3 is a side view of the pitch rotation mechanism in FIG. 1 .
  • FIG. 4 is an A-A cross-sectional view of the pitch rotation mechanism in FIG. 3 .
  • the pitching and rotating mechanism 400 includes a support frame 410 , and the support frame 410 may be fixedly connected with the hanger 200 .
  • the hanger 200 may include a hanger rod 210 , a hanging point connecting beam 220 and a hanger 230 provided on the hanger rod 210 .
  • the support frame 410 may be connected to the hanging point connecting beam 220, and the lower end of the hanging rod 210 is coupled to the hanging point connecting beam 220, and can move in the horizontal direction along the hanging point connecting beam 220, thereby adjusting the position of the connecting point.
  • the blade hoisting tool according to the present aspect can be hooked to an external large hoisting tool through the lifting lugs 230 and can move with the external large hoisting tool.
  • the rotating shaft 420 is rotatably disposed on the support frame 410, the left end of the rotating shaft 420 can be connected to the blade clamp 100, the right end of the rotating shaft 420 can be fixedly connected to the first end of the crank 430, the rotating shaft The left end of 420 may be its first end, and the right end of the rotating shaft may be its second end.
  • the rotating shaft 420 may be a spline shaft, and the spline shaft is configured to include a first key shaft segment and a second key shaft segment spaced apart from each other, and between the first key shaft segment and the second key shaft segment An optical shaft segment is provided, wherein the left end of the spline shaft can be the first key shaft segment, the right end of the spline shaft is the second key shaft segment, and the optical shaft segment is located in the middle of the spline shaft and is located in the first key shaft between the shaft segment and the second key shaft segment.
  • a bearing 460 is sleeved on the outer circumference of the optical shaft section, a through hole for the rotating shaft 420 to pass through is disposed on the support frame 410, and the bearing 460 is disposed in the through hole, so that the rotating shaft 420 is rotatably disposed on the support frame 410 inside the through hole.
  • the blade clamp 100 is provided with a first spline groove matching the first key shaft segment of the rotating shaft 420, the first end of the crank 430 is provided with a second spline groove matching the second key shaft segment of the rotating shaft 420, the first key
  • the shaft segment and the second key shaft segment are respectively accommodated in the first spline groove and the second spline groove, so that the crank 430 can drive the rotation shaft 420 to rotate, thereby driving the blade clamp 100 to rotate around the rotation shaft 420 .
  • the number of bearings 460 can be set to two. On the one hand, the operation stability of the pitch rotation mechanism 400 can be improved, and on the other hand, the service life of the pitch rotation mechanism 400 can be improved.
  • the two bearings 460 can be set as different types of bearings, for example, but not limited to, one of the bearings 460 can be a roller bearing, and the other bearing 460 can be a ball bearing. Depending on the situation, when one bearing 460 fails, the other bearing 460 can continue to be used, so that the service life of the pitch rotation mechanism 400 can be improved.
  • the drive unit includes at least two telescopic drive mechanisms to drive the crank 430 to rotate around the rotation axis 420 .
  • the second end of the crank 430 is fixedly provided with a connecting shaft 450
  • the connecting shaft 450 is arranged in parallel with the rotating shaft 420
  • the telescopic driving mechanism is connected to the connecting shaft 450
  • the telescopic direction of the telescopic driving mechanism Perpendicular to the connecting axis 450 .
  • the first end of the crank 430 is connected with the rotating shaft 420, and the second end of the crank 430 is fixedly provided with a connecting shaft 450, the connecting shaft 450 can be arranged in parallel with the rotating shaft 420, and faces away from the rotating shaft 420 direction extension.
  • the drive unit includes at least two telescopic drive mechanisms 440, at least two telescopic drive mechanisms 440 are arranged at intervals around the connecting shaft 450, and the included angle between adjacent telescopic drive mechanisms 440 is greater than 0 degrees and less than 180 degrees, and the at least two telescopic drive mechanisms 440 are spaced apart from each other.
  • the driving mechanism 440 is arranged according to the above-mentioned included angle, it can provide stable power output for the rotating shaft 420.
  • the other telescopic driving mechanism 440 can continue to provide power, thereby bypassing the aforementioned
  • the plurality of telescopic drive mechanisms 440 are redundantly designed, thereby improving the safety and reliability of the operation of the pitching and rotating mechanism.
  • the number of telescopic driving mechanisms 440 is taken as an example for description.
  • the four telescopic drive mechanisms 440 are connected to the connecting shaft 450, and are arranged in turn along the circumferential direction of the connecting shaft 450.
  • the included angle between two adjacent telescopic drive mechanisms 440 may be greater than 0 degrees and less than 180 degrees. any angle of .
  • the four telescopic driving mechanisms 440 are sequentially connected to the connecting shaft 450 along the length direction of the connecting shaft 450 , and the telescopic driving mechanism 440 can extend and contract in a direction perpendicular to the connecting shaft 450 .
  • the telescopic driving mechanism 440 includes a cylinder 441 and a piston rod 442 , the cylinder 441 is mounted on the support frame 410 , and the free end of the piston rod 442 is connected to the connecting shaft 450 .
  • the end of the piston rod 442 can be provided with a shaft hole, and the free end of the piston rod 442 can be sleeved on the outer circumference of the connecting shaft 450 through the shaft hole, so as to be rotatably connected to the connecting shaft 450. Telescoping, the free end of the piston rod 442 can rotate around the first end of the crank 430 .
  • the cylinder 441 of the telescopic drive mechanism 440 can be connected to the support frame 410.
  • the entire telescopic drive mechanism 440 will be perpendicular to the connecting shaft at its location. 450 swings in the plane, thereby driving the rotation shaft 420 to rotate through the crank 430 .
  • the telescopic driving mechanism 440 may be a hydraulic oil cylinder or an air cylinder, but is not limited thereto.
  • the number of telescopic drive mechanisms 440 may also be two, as shown in FIG. 5 .
  • the blade clamp 100 includes a main beam 120 and blade clamping units 110 and 130 disposed at both ends of the main beam 120 .
  • the blade clamping units 110 and 130 include an upper clamping assembly 140, a lower clamping assembly 150 and a jaw adjusting unit 115, and the jaw adjusting unit 115 is connected between the upper clamping assembly 140 and the lower clamping assembly 150 for adjusting
  • the size of the clamping opening formed by the upper clamping assembly 140 and the lower clamping assembly 150, and the clamping opening adjustment unit 115 can adjust the size of the clamping opening formed by the upper clamping assembly 140 and the lower clamping assembly 150, so as to be suitable for clamping Blades of different sizes.
  • the blade clamping unit 110 may further include a first locking component 116 for locking the jaw adjusting unit 115 after the jaw adjusting unit 115 adjusts the size of the jaw to an appropriate size, thereby preventing the upper The clamp assembly 140 and the lower clamp assembly 150 move relative to each other.
  • the upper clamping assembly 140 includes a pressing arm 111 and an upper vertical arm 112 extending downward from one end of the pressing arm 111 , and the pressing arm 111 can pivot relative to the upper vertical arm 112 .
  • the pivoting end of the pressing arm 111 is pivoted on the upper vertical arm 112.
  • the blade clamping unit 110 may further include an angle adjustment unit 117 and a second locking assembly 118 .
  • the angle adjustment unit 117 is used to adjust the pivoting angle of the pressing arm 111
  • the second locking assembly 118 is used to lock the pressing arm 111 .
  • the lower clamping assembly 150 includes a supporting arm 113 and a lower upright arm 114 extending upward from one end of the supporting arm 113 , the lower upright arm 114 is connected with the upper upright arm 112 so as to be formed with the lower clamping assembly through the upper clamping assembly 140 Space for clamping the blades (ie, clamping openings).
  • the jaw adjusting unit 115 is connected between the upper vertical arm 112 and the lower vertical arm 114, and is used to drive the upper clamping assembly to move relative to the lower clamping assembly, so as to adjust the distance between the pressing arm 111 and the supporting arm 113, Thereby adjusting the size of the jaws.
  • the first locking assembly 116 is used to lock the upper upright arm 112 relative to the lower upright arm 114 .
  • the second locking assembly 118 is used to lock the pressing arm 111 relative to the upper vertical arm 112 .
  • a clamping space ie, a clamping opening
  • the support arm 113 forms two clamp feet for clamping the opposite surfaces of the blade.
  • the upper vertical arm 112 and the lower vertical arm 114 form a telescopic vertical arm, which is connected between the pressing arm 111 and the support arm 113 .
  • the upper vertical arm 112 and the lower vertical arm are driven to move relative to each other by the jaw adjusting unit 115 , so as to adjust the clamping range of the blade in a wide range, and the angle adjusting unit 117 drives the pressing arm 111 to rotate relative to the upper vertical arm 112 , to further adjust the clamping force of the clamping blade.
  • the pressing arm 111 can be rotated counterclockwise to increase the entry space of the blade, or it can be rotated clockwise and pressed down to apply a pressing force to the blade.
  • the height positions of the upper vertical arm 112 and the lower vertical arm 114 can be locked by the first locking assembly 116 , and the rotation angle of the pressing arm 111 relative to the upper vertical arm 112 can be locked by the second locking assembly 118 , thereby maintaining the blade clamp
  • the clamping state between the 100 and the blade prevents the blade clamp from loosening after clamping the blade, and ensures the reliability of clamping.
  • the upper upright arm 112 and the lower upright arm 114 may be a cylindrical hollow structure, ie, a hollow cylindrical shape, and may be formed as a structure nested with each other, as shown, may be formed as a rectangular hollow structure.
  • the lower part of the upper vertical arm 112 is nested inside the upper part of the lower vertical arm 114, and can be relatively slid along the height direction (Y direction shown in FIG.
  • the height/length of the telescopic vertical arm formed by the vertical arm 112 and the lower vertical arm 114 is to improve the use versatility of the blade hoisting tool.
  • the distance between the pressing arm 111 and the supporting arm 113 becomes smaller, so that the clamping
  • the opening degree of the mouthpiece becomes smaller; on the contrary, when the nested part of the upper vertical arm 112 and the lower vertical arm 114 is reduced, the overall height/length of the telescopic vertical arm becomes larger, and the compression arm 111 and the supporting arm 113 become larger. The distance between them becomes larger, so that the opening degree of the clamping port becomes larger.
  • the upper upright arm 112 and the lower upright arm 114 may be formed of stainless steel plates to improve strength and prevent corrosion, but the present disclosure is not limited thereto.
  • the application does not limit the connection method and specific shape of the upper vertical arm 112 and the lower vertical arm 114, as long as the upper vertical arm 112 and the lower vertical arm 114 can move up and down along the vertical direction (Y direction) to adjust and adjust the pressing arm The distance between 111 and the supporting arm 113 is sufficient.
  • the jaw adjusting unit 115 may include a distance telescopic drive mechanism disposed inside the lower vertical arm 114 .
  • the distance telescopic drive mechanism can adopt a drive mechanism with large thrust and large stroke, so as to adjust the clamping range of the blade in a wide range, that is, to adjust the size of the clamping opening.
  • the pitch telescopic drive mechanism may be a telescopic cylinder, eg an automatically controlled hydraulic cylinder. One end of the telescopic oil cylinder is connected to the lower vertical arm 114 , and the other end is connected to the upper vertical arm 112 .
  • the telescopic stroke of the telescopic oil cylinder can be relatively large, and the linear telescopic movement of the telescopic oil cylinder drives the upper vertical arm 112 to move relative to the lower vertical arm 114, thereby adjusting the distance between the pressing arm 111 and the supporting arm 113, but the present disclosure Not limited to this, the jaw adjusting unit 115 can also be other driving elements that can drive the upper vertical arm 112 and the lower vertical arm 114 to move relatively, thereby adjusting the distance between the pressing arm 111 and the supporting arm 113 to realize linear telescopic driving For example, it can also be a cylinder, an electric screw, or a bolt with a nut, etc.
  • the opening and closing degree of the clamping opening can be adjusted by the clamping opening adjustment unit 115 in coordination with the lifting and lowering of the upper vertical arm 112 relative to the lower vertical arm 114 .
  • a backup first locking component 116 is provided on the basis of the lifting function, as shown in FIGS. 6 to 9 .
  • the first locking assembly 116 includes a first locking member 1161 , a second locking member 1162 and a first driving member 1163 .
  • the first locking member 1161 is installed on one of the lower upright arm 114 and the upper upright arm 112 .
  • the second locking piece 1162 is mounted on the other of the lower upright arm 114 and the upper upright arm 112, and is horizontally opposite to the first locking piece 1161, and has a locking position and an unlocking position.
  • the second locking member 1162 is combined with the first locking member 1161 to lock the relative positions of the upper clamping assembly 140 and the lower clamping assembly 150 .
  • the second locking member 1162 is disengaged from the first locking member 1161 , and at this time, the upper upright arm 112 can move relative to the lower upright arm 114 .
  • the first drive member 1163 may be a telescopic drive member, eg, a hydraulic ram, an air cylinder, or a lead screw.
  • the first driving member 1163 is an oil cylinder or an air cylinder
  • the cylinder part of the first driving member 1163 is mounted on the lower part of the upper arm 112
  • the piston rod of the first driving member 1163 is connected to the second locking member 1162 is connected for driving the second locking member 1162 to move to at least one of the locking position and the unlocking position.
  • the first locking member 1161 is a long rack, mounted on the lower vertical arm 114 and extending along the direction in which the upper vertical arm 112 moves relative to the lower vertical arm 114 (the Y direction shown in FIG. 9 ).
  • the second locking member 1162 is a short rack, installed opposite to the long rack, and can be driven by the first driving member 1163 along a direction perpendicular to the direction in which the upper vertical arm 112 moves relative to the lower vertical arm 114 (Fig. 9), so that in the locked position, the short rack and the long rack mesh with each other.
  • the stepless locking between the upper upright arm 112 and the lower upright arm 114 can be achieved by using the engagement of the long rack and the short rack.
  • the length of the long rack can be matched with the telescopic stroke of the first driving member 1163 , or with the relative moving distance between the upper clamping assembly 140 and the lower clamping assembly 150 .
  • the length of the short rack is smaller than the length of the long rack, and the specific length is not limited as long as it has the strength to lock the upper vertical arm 112 and the lower vertical arm 114 to each other.
  • the first driving member 1163 may be a telescopic oil cylinder installed on the upper vertical arm 112, and a short rack is provided at the first end of the telescopic oil cylinder (ie, the extension end of the piston rod), but the present disclosure is not limited to this, the first A driving member 1163 may also be other driving elements capable of driving the second locking piece 1162 to move toward or away from the first locking piece 1161 .
  • FIG. 9 shows that the first locking piece 1161 is formed on the inner side surface of the lower vertical arm 114 , the first driving member 1163 is mounted on the upper vertical arm 112 , and the second locking piece 1162 is mounted on the telescopic end of the first driving member 1163
  • the positions of the first locking member 1161 and the second locking member 1162 can be interchanged as required.
  • the relative position between the upper vertical arm 112 and the lower vertical arm 114 is locked by the long rack and the short rack being engaged with each other, but the present disclosure is not limited thereto, the first locking member 1161 and the second locking member 1162 can also adopt other known locking structures in the prior art, for example, a locking hole is matched with a locking pin, etc., as long as the first locking member 1161 and the second locking member 1162 cooperate with each other, the upper vertical arm 112 and the lower vertical arm can be realized. 114 can be locked or released.
  • the upper vertical arm 112 is driven to move relative to the lower vertical arm 114 by the jaw adjusting unit 115 , so as to adjust the size of the clamping opening in a wide range in the vertical direction.
  • the angle adjustment unit 117 can drive the pressing arm 111 to rotate relative to the upper vertical arm 112 to adjust the opening and closing state of the clamping opening of the blade.
  • the blade clamping unit 110 may further include an angle adjusting unit 117 and a second locking assembly 118 .
  • the angle adjustment unit 117 is used to adjust the pivoting angle of the pressing arm 111 relative to the upper vertical arm 112 to adjust the inclination angle of the pressing arm 111 relative to the upper vertical arm 112 .
  • the second locking assembly 118 is used to lock the pressing arm 111 relative to the upper vertical arm 112 , so that the safety of the blade clamping unit 110 can be improved.
  • the angle adjustment unit 117 may include a second telescopic drive mechanism, the second telescopic drive mechanism may be a second telescopic oil cylinder, the first end of the second telescopic oil cylinder is hinged with the lower part of the upper vertical arm 112, and the second end of the second telescopic oil cylinder
  • the end of the pressing arm 111 is hinged, so as to drive the pressing arm 111 to pivot relative to the upper vertical arm 112 around the pivot shaft 1121 , and adjust the inclination angle of the pressing arm 111 relative to the upper vertical arm 112 to be driven by the angle adjustment unit 117
  • the pressing arm 111 rotates relative to the upper vertical arm 112 to further adjust the magnitude of the clamping force for clamping the blades.
  • the upper part of the upper vertical arm 112 is provided with a pivot shaft 1121 (as shown in FIG. 7 and FIG. 8 ), and the pressing arm 111 is connected to the upper vertical arm 112 through the pivot shaft 1121 .
  • the first end of the second telescopic oil cylinder can be hinged with the lower part of the upper vertical arm 112, and the second end of the second telescopic oil cylinder can be hinged with the end of the pressing arm 111, so as to drive the pressing arm 111 around the pivot shaft 1121 relative to the upper The upright arm 112 pivots.
  • the second telescopic cylinder may be an automatically controlled hydraulic cylinder.
  • the second telescopic oil cylinder can adopt the same structural design as the first telescopic oil cylinder, or can adopt a different structural design, that is, one adopts a large thrust and large stroke design, and the other adopts a high-precision small stroke design to meet the requirements of different precisions. and travel control requirements.
  • the angle adjustment unit 117 can also be other driving elements that can drive the pressing arm 111 to rotate relative to the upper vertical arm 112 around the pivot axis 1121, for example, it can also be an air cylinder or an electric screw or a bolt with a nut, etc. .
  • the upper end of the upper vertical arm 112 may be connected with a mounting plate 1122 , the mounting plate 1122 extends laterally relative to the upper end of the upper vertical arm 112 , and the pivot shaft 1121 may be installed at the end of the mounting plate 1122 so as to be spaced apart from the upper end of the angle adjustment unit 117 .
  • the position where the pressing arm 111 is connected to the pivot shaft 1121 is spaced apart from the end of the pressing arm 111, so that after the end of the pressing arm 111 is connected to the upper end of the angle adjusting unit 117, the pivot shaft 1121 is used as a rotating support shaft,
  • the pressing arm 111 can pivot around the pivot shaft 1121 under the driving of the angle adjusting unit 117, so as to adjust the inclination angle of the pressing arm 111 and adjust the clamping force on the blade accordingly.
  • the angle adjusting unit 117 drives the pressing arm 111 to rotate relative to the upper vertical arm 112 to a desired angle
  • the rotation positions of the pressing arm 111 and the upper vertical arm 112 can be locked by the second locking assembly 118 , thereby maintaining the blade clamp and the blade clamping state between them.
  • the second locking assembly 118 may include a stopper for restricting the retraction of the first end of the second telescopic oil cylinder, so as to prevent the pressing arm 111 from pivoting upwardly to open the blade in the state of clamping the blade, causing the blade to fall off .
  • the stop may be a locking wedge 1181 .
  • the locking wedge 1181 has a locking position and an unlocking position. In the locking position, the locking wedge 1181 abuts against the first end of the second telescopic oil cylinder to limit its retraction; in the unlocking position, the locking wedge 1181 is in contact with the second telescopic cylinder. The first end of the cylinder is disengaged, thereby releasing the first end of the second telescopic cylinder so that it can be retracted.
  • the second locking assembly 118 may further include a second driving member 1182 and a support frame 1183, the second driving member 1182 may be a telescopic oil cylinder to push the locking wedge Block 1181 moves between a locked position and an unlocked position.
  • the cylinder of the second driving member 1182 is mounted on the support frame 1183, and the piston rod of the second driving member 1182 is connected to the locking wedge 1181 for driving the locking wedge 1181 to move to at least one of its locking position and unlocking position. .
  • a support frame 1183 is installed on the upper part of the upper vertical arm 112, and a locking wedge 1181 is installed on the support frame 1183 and can move in a direction close to or away from the first end of the second telescopic oil cylinder.
  • a groove 1184 may be formed on the support frame 1183, and the groove 1184 extends along the telescopic stroke of the first end of the second telescopic oil cylinder to guide the movement trajectory of the first end of the second telescopic oil cylinder, and the groove 1184 extends along the telescopic stroke of the first end of the second telescopic oil cylinder to guide the movement trajectory of the first end of the second telescopic oil cylinder. After the first end is retracted, the bottom of the groove 1184 supports the first end.
  • the locking wedge 1181 may have an inclined surface 1181a, and in the locking position, the inclined surface of the locking wedge 1181 abuts against the lower portion of the first end of the second telescopic oil cylinder along the direction in which the first end of the second telescopic oil cylinder is retracted , to limit the retraction of the first end of the second telescopic cylinder.
  • the second driving member 1182 pushes the locking wedge After 1181 reaches the locking position, the second driving member 1182 does not need to provide a thrust to lock the telescopic state of the angle adjustment unit 117, and maintain the rotation angle between the pressing arm 111 and the upper vertical arm 112, so that there is no risk for the blade to be securely clamped .
  • 10 to 12 show the process in which the angle adjusting unit 117 drives the pressing arm 111 to rotate relative to the upper vertical arm 112 and is locked by the locking wedge 1181 .
  • the pressing arm 111 is in a state of outward rotation relative to the upper vertical arm 112, and at this time, the first end of the second telescopic oil cylinder is in a retracted state; as shown in FIG. 11, the second telescopic oil cylinder The first end protrudes and moves upward along the groove 1184 of the support frame 1183, thereby driving the pressing arm 111 to rotate downward relative to the upper vertical arm 112; as shown in FIG. 12, when the pressing arm 111 is relatively After the arm 112 is rotated in place, the formed clamping opening can clamp the blade.
  • the second driving member 1182 pushes the locking wedge 1181 to move to the left to the locking position, that is, the locking wedge 1181 is embedded in the first telescopic cylinder of the second telescopic cylinder.
  • the inclined surface of the locking wedge 1181 abuts against the lower part of the first end of the second telescopic oil cylinder, thereby restricting the retraction of the first end of the second telescopic oil cylinder.
  • the second driving member 1182 drives the locking wedge 1181 to the unlocking position after the blade is installed, at this time, the first end of the second telescopic oil cylinder can be freely extended and retracted, so that the clamping opening is loosened, and the blade can be released. Thereby, the safe disassembly of the blade can be completed.
  • the end of the piston rod of the second telescopic oil cylinder may be provided with a protrusion, so that the end of the piston rod can lock with the locking wedge 1181 between the first end of the telescopic oil cylinder of the distance telescopic drive mechanism and the support frame 1183 The wedge 1181 interferes, preventing the piston rod from retracting.
  • the stopper may include a baffle 1185 and an eccentric 1186 .
  • the baffle 1185 is mounted on the upper vertical arm 112 and arranged on the telescopic path of the piston rod of the second telescopic oil cylinder, for example, but not limited to, on the inner side surface of the upper vertical arm 112 .
  • the eccentric wheel 1186 is installed on the end of the piston rod of the second telescopic oil cylinder, and can be rotated to the locked position and the unlocked position.
  • the eccentric wheel 1186 When the eccentric wheel 1186 is in the locked position, the eccentric wheel 1186 abuts on the baffle 1185, thereby restricting the first Telescoping of the piston rod of the second telescopic oil cylinder; when the eccentric wheel 1186 is in the unlocked position, the eccentric wheel 1186 is disengaged from the baffle 1185, so that the first end of the second telescopic oil cylinder can be telescopic.
  • the eccentric wheel 1186 can be disc-shaped, which includes a long diameter end and a short diameter end.
  • a predetermined gap is set between the baffle plate 1185 and the piston rod of the second telescopic oil cylinder, and the predetermined gap is larger than the end diameter of the eccentric wheel 1186 and smaller than the eccentric wheel 1186 long diameter.
  • the locked position the long diameter end rotates to the baffle 1185 and abuts on the baffle 1185 to prevent the piston rod of the second telescopic cylinder from retracting.
  • the unlocked position the short diameter end rotates to the baffle 1185 and is connected with The baffle 1185 is separated, and the piston rod can freely extend and retract through the baffle 1185 .
  • the second locking assembly 118 may further include a third driving member 1187 , the third driving member 1187 may be a telescopic oil cylinder, and the third driving member 1187 A cylinder may be mounted on the pressing arm 111, and the piston rod of the third drive member 1187 is hinged to the eccentric 1186 for driving the eccentric 1186 to rotate between a locked position and an unlocked position.
  • the blade can be locked after being clamped, thereby preventing the blade from falling off.
  • the upper clamping assembly 140 and the lower clamping assembly 150 in this embodiment are respectively provided with an upper limit block 1142 and a lower limit block 1141, which are used for checking after the blades are installed in place, so that the blades are installed and fit in place.
  • One end of the upper limit block 1142 can be fixedly connected to the upper vertical arm 112, and the other end of the upper limit block 1142 can be provided with a flexible gasket to flexibly contact the surface of the blade to prevent scratches on the blade.
  • One end of the lower limit block 1141 can be fixedly connected to the lower vertical arm 114, and the other end of the lower limit block 1141 can also be provided with a flexible gasket.
  • the upper limit block 1142 can be disposed at the corner of the upper clamping assembly 140 formed by the upper vertical arm 112 and the pressing arm 111
  • the lower limit block 1141 can be disposed at the lower clamp formed by the lower vertical arm 114 and the support arm 113 Hold the corners of assembly 150.
  • both the upper clamping assembly 140 and the lower clamping assembly 150 may include a conformable pressing member 119 and a conformable pressing member 119 for pushing the conforming pressing member 119 along the pressing arm 111 or supporting
  • the pressing member driving unit 1131 moves in the extending direction of the arm 113 .
  • the conformable pressing member 119 can rotate around a first deflection axis 1191 and a second deflection axis 1192, the first deflection axis 1191 extends along the length of the blade, and the second deflection axis 1192 extends along the chord length of the blade.
  • the conformable pressing member 119 includes a deflection support 1193 and a clamping block 1194 , and one side of the deflection support 1193 is rotatably connected to the pressing arm 111 or the support arm 113 through a first deflection shaft 1191 .
  • the clamping block 1194 is rotatably connected with the other side of the upper deflection support 1193 through the second deflection shaft 1192 .
  • the conformal pressing member 119 also includes a deflection frame 1195 and a displacement screw 1196.
  • the deflection frame 1195 is connected with the displacement screw 1196 and can move forward and backward along the chord length direction of the blade under the push of the displacement screw 1196.
  • the first deflection shaft 1191 Mounted on yaw frame 1195.
  • the pressing member driving unit 1131 may include a cylinder body and a piston rod. Specifically, the free end of the piston rod may be hinged on the conformable pressing member 119, and the free end of the cylinder body may be hinged on the pressing arm 111 or the supporting arm 113. to move the follower pressing member 119 through the telescopic drive of the piston rod relative to the cylinder, so that the follower pressing member 119 is located in a position that closely fits with the blade, that is, by adjusting the blade and the follower pressing member 119 The perfect fit makes the blade clamping more stable, thereby improving the safety of the blade installation process.
  • the telescopic direction of the pressing member driving unit 1131 is parallel to the extending direction of the pressing arm 111 or the supporting arm 113 . Further, the pressing member driving unit 1131 is sleeved in the inner cavity of the pressing arm 111 or the supporting arm 113, so that the overall structure of the blade clamping unit is beautiful.
  • first and second are only used for descriptive purposes, and should not 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 expressly or implicitly include one or more of that feature. In the description of the present disclosure, unless stated otherwise, "plurality" means two or more.
  • the terms “installed”, “connected” and “connected” should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication of two elements.
  • installed should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication of two elements.

Abstract

公开了一种俯仰旋转机构和叶片吊装工装，俯仰旋转机构包括支撑框架（410）、旋转轴（420）、曲柄（430）、驱动单元，旋转轴（420）可转动地设置于支撑框架（410）上，且旋转轴（420）的第一端用于连接于叶片夹具（100）上，以带动叶片夹具（100）绕旋转轴（420）旋转；曲柄（430）的第一端固定连接于旋转轴（420）的第二端上；驱动单元与曲柄（430）的第二端连接，驱动曲柄（430）围绕并带动旋转轴（420）旋转，在曲柄（430）的带动下，俯仰旋转机构（400）随之一起旋转，进而驱动叶片夹具（100）所夹持的叶片一同旋转，而无需在叶片安装过程中额外使用盘车机构。

Description

俯仰旋转机构和叶片吊装工装 技术领域
本公开属于风力发电技术领域，尤其涉及一种俯仰旋转机构和具有该俯仰旋转机构的叶片吊装工装。
背景技术
随着风力发电机组单机容量不断增大，风力发电机组的叶片尺寸也逐渐增大，例如海上风力发电机组的叶片长度已经超过90米，重量超过35吨，由于叶片重量的问题，将叶片空中作业连接在轮毂上也越来越困难。
传统的叶片安装过程需要借助盘车结构来旋转轮毂，以使轮毂的变桨轴承能够与叶片法兰位置相应，随着叶片的增大，传统的盘车结构需要承担的载荷也越来越大，从而导致在盘车过程中发电机的端盖结构(与盘车连接位置)发生变形，影响机组的正常运行。
由于叶片长度超长，三叶式安装由于安装船的限制，翻身存在极大的风险，例如在上述叶片的安装过程中，使用的叶片吊装工装能够带着叶片进行小角度旋转，例如旋转30°，因此需要吊机带着叶片吊装工装盘车来进行大角度的旋转，但此种方式存在极大的安全隐患，例如吊机带着叶片吊装工装盘车过程中，吊钩在下放过程中加速度的影响，可能导致吊钩磕碰叶片，或者由于吊机误操作产生额外的拉力使叶片吊装工装对叶片产生额外的拉力而使叶片从夹持口滑出来。
在上述叶片吊装工装完成第一个叶片的安装而需要夹持第二个叶片的情况下，通常需要将夹持口的叶片夹持块和叶尖夹持块的位置互换，该安装过程操作繁琐，费时费力。
发明内容
本公开的主要发明目的之一在于提供一种俯仰旋转机构，以能够夹持叶片一同旋转，而无需在叶片安装过程中额外使用盘车机构。
针对上述发明目的，本公开提供如下技术方案：
本公开的一个方面提供一种俯仰旋转机构，包括支撑框架、旋转轴、曲柄、驱动单元，所述旋转轴可转动地设置于所述支撑框架上，且所述旋转轴的第一端用于连接于叶片夹具上，以带动所述叶片夹具绕所述旋转轴旋转；所述曲柄的第一端固定连接于所述旋转轴的第二端上；驱动单元与所述曲柄的第二端连接，驱动所述曲柄围绕并带动所述旋转轴旋转。
根据本公开的另一方面，提供一种叶片吊装工装，所述叶片夹具包括主梁以及设置于所述主梁两端的叶片夹持单元，所述俯仰旋转机构连接于所述主梁并能够带动所述主梁绕所述旋转轴转动，所述叶片夹持单元包括上夹持组件、下夹持组件以及夹口调节单元，所述夹口调节单元包括第一伸缩驱动机构，所述第一伸缩驱动机构为第一伸缩油缸，所述夹口调节单元的两端分别连接在所述上夹持组件和所述下夹持组件之间，用于调节所述上夹持组件和所述下夹持组件形成的夹持口的大小。
本公开提供的俯仰旋转机构和叶片吊装工装具有如下有益效果：在曲柄的带动下，俯仰旋转机构随之一起旋转，进而驱动叶片夹具所夹持的叶片一同旋转，而无需在叶片安装过程中额外使用盘车机构。
附图说明
通过下面结合附图对实施例进行的描述，本公开的上述和/或其它目的和优点将会变得更加清楚，其中：
图1为本公开一示例性实施例提供的叶片吊装工装的结构图。
图2为图1中的俯仰旋转机构的分解图。
图3为图1中的俯仰旋转机构的侧视图。
图4为图3中的俯仰旋转机构的A-A剖视图。
图5为本公开另一示例性实施例提供的俯仰旋转机构的结构图。
图6示出了图1中叶片夹持单元的分解图。
图7示出了图6中的叶片夹持单元的内部结构的立体图。
图8是图6中的叶片夹持单元的分解图。
图9示出了图6中的夹口锁定组件的放大图。
图10、图11和图12示出了第二锁定组件将压紧臂相对于上立臂锁定的过程示意图。
图13为图1中的叶片夹持单元的结构图。
具体实施方式
现在将参考附图更全面地描述示例实施方式。然而，不应被理解为本公开的实施形态限于在此阐述的实施方式。图中相同的附图标记表示相同或类似的结构，因而将省略它们的详细描述。
图1为本公开一示例性实施例提供的叶片吊装工装的结构图。参照图1，根据本公开的一个方面，提供一种叶片吊装工装，叶片吊装工装包括吊架200、俯仰旋转机构400和叶片夹具100，俯仰旋转机构400连接在吊架200的下端，叶片夹具100连接到俯仰旋转机构400上，叶片夹具100能够在俯仰旋转机构400的驱动下实现大角度旋转，能够满足叶片安装时的角度需求，因此叶片安装过程中无需旋转轮毂，简化了叶片安装过程。
俯仰旋转机构400可包括支撑框架410、旋转轴420、曲柄430以及驱动单元，旋转轴420可转动地设置于支撑框架410上，且旋转轴420的第一端用于连接于叶片夹具100上，以带动叶片夹具100随旋转轴420旋转。曲柄430的第一端固定连接于旋转轴420的第二端上。驱动单元与曲柄430的第二端连接，驱动曲柄430围绕并带动旋转轴420旋转。
俯仰旋转机构400通过旋转轴420带动叶片夹具100旋转，从而可以实现叶片夹具100的大角度旋转，调整所夹持的叶片的俯仰角度，在叶片安装过程中，无需旋转轮毂，仅通过该俯仰旋转机构400带动叶片旋转至所需角度，便可以与轮毂相应位置上的变桨轴承连接，从而简化了叶片的安装过程。
图2为图1中的俯仰旋转机构的分解图。图3为图1中的俯仰旋转机构的侧视图。图4为图3中的俯仰旋转机构的A-A剖视图。
具体地，参照图1至图4，俯仰旋转机构400包括支撑框架410，该支撑框架410可以与吊架200固定连接。具体地，吊架200可以包括吊杆210、吊点连接横梁220以及设置与吊杆210上的吊耳230。支撑框架410可以连接到吊点连接横梁220上，吊杆210的下端结合到吊点连接横梁220上，并能够沿着吊点连接横梁220在水平方向上移动，从而调节连接点位置。根据本方面的叶片吊装工装可以通过吊耳230而钩挂于外部大型起吊工具上并可随该外部大型起吊工具一同移动。
参照图2，旋转轴420可转动地设置于支撑框架410上，该旋转轴420的左端可以连接于叶片夹具100，该旋转轴420的右端可以固定连接于曲柄 430的第一端上，旋转轴420的左端可以为其第一端，旋转轴的右端可以为其第二端。
具体地，旋转轴420可以为花键轴，该花键轴设置为包括彼此间隔设置的第一键轴段和第二键轴段，在该第一键轴段和第二键轴段之间设置有光轴段，其中，该花键轴的左端可以为第一键轴段，花键轴的右端为第二键轴段，光轴段位于该花键轴的中部，且位于第一键轴段和第二键轴段之间。
光轴段的外周套设有轴承460，支撑框架410上设置有供旋转轴420穿过的通孔，轴承460设置于该通孔内，以使旋转轴420可转动地设置于该支撑框架410的通孔内。
叶片夹具100设置有与旋转轴420的第一键轴段匹配的第一花键槽，曲柄430的第一端设置有与旋转轴420的第二键轴段匹配的第二花键槽，第一键轴段和第二键轴段分别容纳在第一花键槽和第二花键槽中，以使曲柄430可以带动旋转轴420旋转，进而带动叶片夹具100绕该旋转轴420旋转。本实施例中，轴承460可以设置为两个，一方面可以提高俯仰旋转机构400运行的稳定性，另一方面，可以提高俯仰旋转机构400的使用寿命。具体地，两个轴承460可以设置为不同类型的轴承，例如但不限于，其中一个轴承460可以为滚子轴承，另一个轴承460可以为球轴承，通过两个轴承的工作原理不同、受力情况不同，可以在一个轴承460发生故障的情况下，另一个轴承460继续使用，从而可以提高俯仰旋转机构400的使用寿命。
继续参照图1至图4，驱动单元包括至少两个伸缩驱动机构，以带动曲柄430围绕旋转轴420旋转。为了使曲柄430与伸缩驱动机构连接，曲柄430的第二端固定设置有连接轴450，连接轴450与旋转轴420平行设置，伸缩驱动机构连接在连接轴450上，并且伸缩驱动机构的伸缩方向垂直于连接轴450。
具体地，继续参照图2，曲柄430的第一端与旋转轴420连接，曲柄430的第二端固定设置有连接轴450，该连接轴450可以与旋转轴420平行设置，并且朝向远离旋转轴420的方向延伸。
驱动单元包括至少两个伸缩驱动机构440，至少两个伸缩驱动机构440围绕连接轴450间隔布置，并且相邻的伸缩驱动机构440之间的夹角大于0度并小于180度，至少两个伸缩驱动机构440按照上述夹角布置后，可以为旋转轴420提供稳定的动力输出，在一个伸缩驱动机构440运行到达死点的 情况下，另一个伸缩驱动机构440可继续提供动力，从而绕开前述的死点位置，多个伸缩驱动机构440为冗余设计，从而提高俯仰旋转机构运行的安全可靠性。本实施例以伸缩驱动机构440为4个为例进行说明。
4个伸缩驱动机构440连接在连接轴450上，沿该连接轴450的周向依次布置开，相邻的两个伸缩驱动机构440之间的夹角可以为大于0度并小于180度之间的任意角。4个伸缩驱动机构440沿连接轴450的长度方向依次连接到连接轴450上，且伸缩驱动机构440的伸缩方向可以垂直于连接轴450。
具体地，伸缩驱动机构440包括缸体441和活塞杆442，缸体441安装到支撑框架410上，活塞杆442的自由端连接到连接轴450上。活塞杆442的端部可以设置有轴孔，活塞杆442的自由端通过轴孔可以套设于连接轴450的外周，以可转动地连接于该连接轴450上，随着伸缩驱动机构440的伸缩，活塞杆442的自由端可绕曲柄430的第一端转动。伸缩驱动机构440的缸体441可以连接于支撑框架410上，由于该活塞杆442的自由端绕曲柄430的第一端转动，因此整个伸缩驱动机构440将在其所在位置处的垂直于连接轴450的平面内做摆动，从而通过曲柄430带动旋转轴420旋转。本实施例中，伸缩驱动机构440可以为液压油缸或者气缸，但不以此为限。
伸缩驱动机构440的数量也可以为两个，如图5所示。
叶片夹具100包括主梁120以及设置于主梁120两端的叶片夹持单元110、130，俯仰旋转机构400通过旋转轴420连接于主梁120并能够带动主梁120绕旋转轴420转动。叶片夹持单元110、130包括上夹持组件140、下夹持组件150以及夹口调节单元115，夹口调节单元115连接在上夹持组件140和下夹持组件150之间，用于调节上夹持组件140和下夹持组件150形成的夹持口的大小，夹口调节单元115能够调节上夹持组件140和下夹持组件150形成的夹持口的大小，从而适用于夹持不同尺寸的叶片。
具体地，叶片夹持单元110还可以包括第一锁定组件116，用于在夹口调节单元115将夹持口的大小调节到合适尺寸后，将所述夹口调节单元115锁定，从而防止上夹持组件140和下夹持组件150相互移动。
上夹持组件140包括压紧臂111和从压紧臂111的一端向下延伸的上立臂112，压紧臂111能够相对于上立臂112枢转。具体地，参照图6，压紧臂111的枢转端枢转于上立臂112上，当需要装载叶片时，压紧臂111的自由端上抬，在叶片装载到位后，压紧臂111的自由端再向下旋转，将叶片夹紧。 根据本公开实施例的叶片夹持单元110还可以包括角度调节单元117以及第二锁定组件118。角度调节单元117用于调节压紧臂111的枢转角度，第二锁定组件118用于将压紧臂111锁定。
下夹持组件150包括承托臂113以及从承托臂113的一端向上延伸的下立臂114，下立臂114与上立臂112连接，从而通过上夹持组件140与下夹持组件形成用于夹持叶片的空间(即，夹持口)。夹口调节单元115连接在上立臂112与下立臂114之间，用于驱动上夹持组件相对于下夹持组件移动，以调节压紧臂111和承托臂113之间的距离，从而调节夹口大小。第一锁定组件116用于将上立臂112相对于下立臂114锁定。第二锁定组件118用于将压紧臂111相对于上立臂112锁定。
根据本公开示例性实施例的叶片夹具100，通过上夹持组件和下夹持组件形成具有“C”形状或“匚”形状的夹持空间(即，夹持口)，压紧臂111和承托臂113形成用于夹持叶片的相对表面的两个钳脚，上立臂112和下立臂114组成可伸缩的立臂，连接在压紧臂111与承托臂113之间。并且，通过夹口调节单元115带动上立臂112和下立臂相对运动，从而较大范围地调节叶片的夹持范围，而通过角度调节单元117驱动压紧臂111相对于上立臂112旋转，以进一步调整夹持叶片的夹紧力的大小。具体地，可以使压紧臂111逆时针旋转打开以增大叶片的进入空间，也可以顺时针旋转下压，对叶片施加压紧力。另外，通过第一锁定组件116可以锁定上立臂112和下立臂114的高度位置，并且通过第二锁定组件118可以锁定压紧臂111相对于上立臂112的旋转角度，从而保持叶片夹具100与叶片之间的夹持状态，防止叶片夹具夹紧叶片后出现松开，保证夹持的可靠性。
在实施例中，上立臂112和下立臂114可以是一柱状的中空结构，即，空心筒形，并且形成为彼此嵌套的结构，如图所示，可以形成为矩形的中空结构。具体地，上立臂112的下部嵌套在下立臂114的上部内部，并能够在夹口调节单元115的推动下沿着高度方向(图7中所示的Y方向)相对滑动，从而调节上立臂112和下立臂114所组成的伸缩立臂的高度/长度，以提高该叶片吊装工装的使用通用性。例如，当上立臂112和下立臂114彼此嵌套的部分增多时，即，伸缩立臂的高度/长度变小，压紧臂111和承托臂113之间的距离变小，从而夹持口的开口程度变小；相反地，当上立臂112和下立臂114彼此嵌套的部分减少时，伸缩立臂的整体高度/长度变大，压紧臂111和 承托臂113之间的距离变大，从而夹持口的开口程度变大。可选地，在上立臂112和下立臂114可由不锈钢板形成，以提高强度和防止腐蚀，但本公开不限于此。本申请并不限定上立臂112和下立臂114的连接方式和具体形状，只要上立臂112和下立臂114能够沿着竖直方向(Y方向)上下移动，以调节调节压紧臂111和承托臂113之间的距离即可。
夹口调节单元115可以包括设置在下立臂114内部的间距伸缩驱动机构。间距伸缩驱动机构可以采用大推力大行程的驱动机构，以较大范围地调节叶片的夹持范围，即，调节夹持口的大小。间距伸缩驱动机构可以为伸缩油缸，例如，自动控制的液压油缸。其中，伸缩油缸的一端与下立臂114连接，另一端连接到上立臂112。伸缩油缸的伸缩行程可相对大，通过伸缩油缸的线性伸缩运动，带动的上立臂112相对于下立臂114移动，从而调整压紧臂111与承托臂113之间的距离，但本公开不限于此，夹口调节单元115还可以为能够驱动上立臂112和下立臂114相对移动，从而调节压紧臂111和承托臂113之间的距离的其它实现线性伸缩驱动的驱动元件，例如，也可以是气缸、电动丝杠或者螺栓带螺母等。
通过夹口调节单元115配合上立臂112相对于下立臂114的升降，可以调节夹持口的开合程度。在夹持口的开合程度调整合适之后，为了保持夹持口的大小，以更稳固地夹持叶片，在升降功能基础上设置有备份的第一锁定组件116，如图6至图9所示，第一锁定组件116包括第一锁定件1161、第二锁定件1162和第一驱动构件1163。
其中，第一锁定件1161安装在下立臂114和上立臂112中的一者上。第二锁定件1162安装在下立臂114和上立臂112中的另一者上，并与第一锁定件1161在水平方向相对，具有锁定位置和解锁位置。在锁定位置时，第二锁定件1162与第一锁定件1161结合以锁定上夹持组件140与下夹持组件150的相对位置。在解锁位置时，第二锁定件1162与第一锁定件1161脱离，此时上立臂112能够相对于下立臂114移动。第一驱动构件1163可以为伸缩驱动构件，例如，液压油缸、气缸、或者丝杠。在附图所示的示例中，第一驱动构件1163为油缸或气缸，第一驱动构件1163的缸体部分安装在上立臂112的下部，第一驱动构件1163的活塞杆与第二锁定件1162连接，用于驱动第二锁定件1162运动到锁定位置和解锁位置中的至少一个位置处。
在本实施例中，第一锁定件1161为长齿条，安装在下立臂114上并且沿 着上立臂112相对于下立臂114移动的方向(图9中所示的Y方向)延伸。第二锁定件1162为短齿条，与长齿条相对安装，并能够在第一驱动构件1163的驱动下，沿着与上立臂112相对于下立臂114移动的方向垂直的方向(图9中所示的X方向)移动，从而在锁定位置，短齿条与长齿条彼此啮合。通过采用长齿条和短齿条的啮合的方式可以实现上立臂112和下立臂114之间的无级锁定。长齿条的长度可以与第一驱动构件1163的伸缩行程匹配，或者与上夹持组件140和下夹持组件150之间的相对移动距离相匹配。短齿条的长度小于长齿条的长度，具体长度不受限制，只要具有能够将上立臂112和下立臂114相互锁定的强度即可。
其中，第一驱动构件1163可以为安装在上立臂112上的伸缩油缸，短齿条设置在伸缩油缸的第一端(即，活塞杆的伸出端)，但本公开不限于此，第一驱动构件1163还可以为能够驱动第二锁定件1162向靠近或远离第一锁定件1161的方向运动的其它驱动元件。
图9中虽然示出了第一锁定件1161形成在下立臂114的内侧表面上，第一驱动构件1163安装在上立臂112上，第二锁定件1162安装在第一驱动构件1163的伸缩端上，但根据需要，第一锁定件1161和第二锁定件1162的位置可互换。
在本实施例中，通过长齿条和短齿条彼此啮合来锁定上立臂112与下立臂114之间的相对位置，但本公开不限于此，第一锁定件1161和第二锁定件1162还可以采用现有技术中的其它已知锁定结构，例如，锁定孔与锁定销配合等，只要通过第一锁定件1161和第二锁定件1162彼此配合能够实现上立臂112与下立臂114的锁止或释放即可。
以上，通过夹口调节单元115带动上立臂112相对于下立臂114运动，从而在竖直方向上大范围地调节夹持口的大小。
为了进一步调节夹持叶片的松紧度，可以通过角度调节单元117来驱动压紧臂111相对于上立臂112旋转，以调节叶片的夹持口的开合状态。
参照图6至图8，根据本公开实施例的叶片夹持单元110还可以包括角度调节单元117以及第二锁定组件118。角度调节单元117用于调节压紧臂111相对于上立臂112的枢转角度，以调节压紧臂111相对于上立臂112的倾斜角度。第二锁定组件118用于将压紧臂111相对于上立臂112锁定，从而可以提高叶片夹持单元110的安全性。
具体地，上立臂112的上部设置有枢转轴1121，压紧臂111通过枢转轴1121连接到上立臂112上。角度调节单元117可包括第二伸缩驱动机构，第二伸缩驱动机构可以为第二伸缩油缸，第二伸缩油缸的第一端与上立臂112的下部铰接，第二伸缩油缸的第二端与压紧臂111的端部铰接，从而驱动压紧臂111围绕枢转轴1121相对于上立臂112枢转，调节压紧臂111相对于上立臂112的倾斜角度，以通过角度调节单元117驱动压紧臂111相对于上立臂112旋转，以进一步调整夹持叶片的夹紧力的大小。
具体地，上立臂112的上部设置有枢转轴1121(如图7和图8所示)，压紧臂111通过枢转轴1121连接到上立臂112上。第二伸缩油缸的第一端可与上立臂112的下部铰接，第二伸缩油缸的第二端可与压紧臂111的端部铰接，从而驱动压紧臂111围绕枢转轴1121相对于上立臂112枢转。
类似于第一伸缩油缸，第二伸缩油缸可以为自动控制的液压油缸。第二伸缩油缸可以采用与第一伸缩油缸相同的结构设计，也可以采用不同的结构设计，即其中一个采用大推力大行程设计，另一个采用高精度小行程的设计，以满足对不同的精度和行程的控制要求。另外，除了液压油缸，角度调节单元117还可以为能够驱动压紧臂111围绕枢转轴1121相对于上立臂112旋转的其它驱动元件，例如，也可以是气缸或者电动丝杠或者螺栓带螺母等。
上立臂112的上端可以连接有安装板1122，安装板1122相对于上立臂112的上端横向延伸，枢转轴1121可以安装在安装板1122的端部，从而与角度调节单元117的上端间隔开。压紧臂111与枢转轴1121连接的位置，与压紧臂111的端部间隔开，从而压紧臂111的端部与角度调节单元117的上端连接后，以枢转轴1121为旋转支撑轴，使得压紧臂111能够在角度调节单元117的驱动下，围绕枢转轴1121枢转，从而调节压紧臂111的倾斜角度，相应调节对叶片的夹紧力。
在角度调节单元117驱动压紧臂111相对于上立臂112旋转到预期角度之后，可以通过第二锁定组件118来锁定压紧臂111和上立臂112的旋转位置，从而保持叶片夹具与叶片之间的夹持状态。
具体地，第二锁定组件118可以包括止动部，用于限制第二伸缩油缸的第一端缩回，从而在夹持叶片的状态下，防止压紧臂111向上枢转打开，导致叶片脱落。
在实施例中，止动部可以为锁定楔块1181。锁定楔块1181具有锁定位 置和解锁位置，在锁定位置时，锁定楔块1181抵靠在第二伸缩油缸的第一端以限制其缩回；在解锁位置时，锁定楔块1181与第二伸缩油缸的第一端脱离，从而释放第二伸缩油缸的第一端，使其可以缩回。
为了使锁定楔块1181可以在其锁定位置和解锁位置之间切换，第二锁定组件118还可以包括第二驱动构件1182和支撑架1183，第二驱动构件1182可以为伸缩油缸，以推动锁定楔块1181在锁定位置和解锁位置之间移动。第二驱动构件1182的缸体安装支撑架1183上，第二驱动构件1182的活塞杆连接到锁定楔块1181，用于驱动锁定楔块1181运动到其锁定位置和解锁位置中的至少一个位置处。
支撑架1183安装在上立臂112的上部，锁定楔块1181安装在支撑架1183上，并能够沿着靠近或远离所述第二伸缩油缸的第一端的方向移动。支撑架1183上可形成有凹槽1184，凹槽1184沿着第二伸缩油缸的第一端的伸缩行程延伸，以引导第二伸缩油缸的第一端的运动轨迹，并且在第二伸缩油缸的第一端缩回之后，凹槽1184的底部支撑第一端。
可选地，锁定楔块1181可以具有斜面1181a，在锁定位置时，锁定楔块1181的斜面沿第二伸缩油缸的第一端缩回的方向抵靠在第二伸缩油缸的第一端的下部，以限制第二伸缩油缸的第一端缩回。通过斜面设计，在有反向的作用力压锁定楔块1181时，由于具有倾斜角度的斜面支撑，形成摩擦角自锁状态，从而，在叶片夹持到位，第二驱动构件1182推动锁定楔块1181到锁定位置之后，第二驱动构件1182不需要提供推力，即可锁定角度调节单元117的伸缩状态，保持压紧臂111和上立臂112之间的旋转角度，使得叶片安全夹持没有风险。
图10至图12示出了角度调节单元117驱动压紧臂111相对于上立臂112旋转并由锁定楔块1181锁定的过程。如图10所示，压紧臂111处于相对于上立臂112向外旋转的状态，此时，第二伸缩油缸的第一端处于缩回状态；如图11所示，第二伸缩油缸的第一端伸出，并且沿着支撑架1183的凹槽1184向上运动，从而带动压紧臂111相对于上立臂112向下旋转；如图12所示，当压紧臂111相对于上立臂112旋转到位，形成的夹持口可夹紧叶片之后，此时，第二驱动构件1182推动锁定楔块1181向左运动到锁定位置，即，锁定楔块1181嵌入第二伸缩油缸的第一端与支撑架1183之间，并且，锁定楔块1181的斜面抵靠在第二伸缩油缸的第一端的下部，从而限制第二伸缩油缸 的第一端缩回。同时，如果叶片安装完成后，第二驱动构件1182驱动锁定楔块1181向右运到解锁位置，此时，第二伸缩油缸的第一端可自由伸缩，使得夹持口松懈，可释放叶片，从而可有完成叶片的安全拆卸。
第二伸缩油缸的活塞杆的端部可以设置有凸块，以在锁定楔块1181位于间距伸缩驱动机构的伸缩油缸的第一端与支撑架1183之间时该活塞杆的端部能够与锁定楔块1181干涉，从而防止活塞杆缩回。
但本公开不限于此，在另一实施例中，如图13中所示，止动部可以包括挡板1185和偏心轮1186。挡板1185安装在上立臂112上，并且布置在第二伸缩油缸的活塞杆的伸缩路径上，例如但不限于，安装在上立臂112的内侧表面上。偏心轮1186安装在第二伸缩油缸的活塞杆的端部上，并能够转动到锁定位置和解锁位置，在偏心轮1186的锁定位置时，偏心轮1186抵靠在挡板1185上，从而限制第二伸缩油缸的活塞杆的伸缩；在偏心轮1186的解锁位置时，偏心轮1186与挡板1185脱离，以使得第二伸缩油缸的第一端能够伸缩。
偏心轮1186可以为盘状，其包括长径端和短径端，挡板1185与第二伸缩油缸的活塞杆之间设置有预定间隙，该预定间隙大于偏心轮1186的端径并小于偏心轮1186的长径。在锁定位置时，长径端转动到挡板1185处并抵靠在挡板1185上，防止第二伸缩油缸的活塞杆缩回，在解锁位置时，短径端转动到挡板1185处并与挡板1185分开，活塞杆能够自由伸缩通过挡板1185。
同样地，为了使偏心轮1186可以在其锁定位置和解锁位置之间切换，第二锁定组件118还可以包括第三驱动构件1187，第三驱动构件1187可以为伸缩油缸，第三驱动构件1187的缸体可以安装在压紧臂111上，第三驱动构件1187的活塞杆铰接到偏心轮1186，用于驱动偏心轮1186在锁定位置和解锁位置之间旋转。本实施例中，通过偏心轮1186的设置，能够在叶片夹持后进行锁定，从而防止叶片脱落。
进一步地，本实施例中的上夹持组件140和下夹持组件150分别设置有上限位块1142和下限位块1141，用于叶片安装到位后的检查，以使叶片安装贴合到位，该上限位块1142的一端可以固定连接在上立臂112上，该上限位块1142的另一端可以设置有柔性垫片，以与叶片的表面柔性接触，防止对叶片造成刮伤。下限位块1141的一端可以固定连接在下立臂114上，该下限位块1141的另一端同样也可以设置有柔性垫片。优选地，上限位块1142可以 设置于上立臂112与压紧臂111形成的上夹持组件140的拐角处，下限位块1141可以设置于下立臂114与承托臂113形成的下夹持组件150的拐角处。
继续参照图6至图8以及图13，上夹持组件140和下夹持组件150均可以包括随形压紧件119和用于推动该随形压紧件119沿压紧臂111或承托臂113的延伸方向移动的压紧件驱动单元1131。
参照图8，随形压紧件119能够绕第一偏转轴1191和第二偏转轴1192转动，第一偏转轴1191沿叶片的长度方向延伸，第二偏转轴1192沿叶片的弦长方向延伸。
随形压紧件119包括偏转支座1193和夹持块1194，偏转支座1193的一侧通过第一偏转轴1191与压紧臂111或承托臂113可旋转地连接。夹持块1194通过第二偏转轴1192与上偏转支座1193的另一侧可旋转地连接。
随形压紧件119还包括偏摆框架1195和位移螺杆1196，偏摆框架1195与位移螺杆1196连接并能够在位移螺杆1196的推动下沿着叶片的弦长方向前后移动，第一偏转轴1191安装在偏摆框架1195上。
压紧件驱动单元1131可以包括缸体和活塞杆，具体地，活塞杆的自由端可以铰接在随形压紧件119上，缸体的自由端可以铰接在压紧臂111或承托臂113上，以通过活塞杆相对缸体的伸缩驱动随形压紧件119移动，使得随形压紧件119位于与叶片紧密贴合的位置，也就是说，通过调整叶片与随形压紧件119的贴合度，使叶片夹持更加稳固，从而提高了叶片安装过程中的安全性。压紧件驱动单元1131的伸缩方向与压紧臂111或承托臂113的延伸方向平行。进一步地，压紧件驱动单元1131套设于压紧臂111或承托臂113的内腔中，以使叶片夹持单元整体结构美观。
在本申请的描述中，需要理解的是，术语“中心”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本公开 的描述中，除非另有说明，“多个”的含义是两个或两个以上。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本公开中的具体含义。
本公开所描述的特征、结构或特性可以以任何合适的方式结合在一个或更多实施方式中。在上面的描述中，提供许多具体细节从而给出对本公开的实施方式的充分理解。然而，本领域技术人员将意识到，可以实践本公开的技术方案而没有所述特定细节中的一个或更多，或者可以采用其它的方法、组件、材料等。在其它情况下，不详细示出或描述公知结构、材料或者操作以避免模糊本公开的各方面。

Claims (20)

  1. 一种俯仰旋转机构，其特征在于，包括：
    支撑框架(410)，
    旋转轴(420)，所述旋转轴(420)可转动地设置于所述支撑框架(410)上，且所述旋转轴(420)的第一端用于连接于叶片夹具(100)上，以带动所述叶片夹具(100)绕所述旋转轴(420)旋转；
    曲柄(430)，所述曲柄(430)的第一端固定连接于所述旋转轴(420)的第二端上；
    驱动单元，与所述曲柄(430)的第二端连接，驱动所述曲柄(430)围绕并带动所述旋转轴(420)旋转。
  2. 如权利要求1所述的俯仰旋转机构，其特征在于，所述驱动单元包括至少两个伸缩驱动机构(440)，所述曲柄(430)的第二端固定设置有连接轴(450)，所述连接轴(450)与所述旋转轴(420)平行设置，所述伸缩驱动机构(440)连接在所述连接轴(450)上，并且所述伸缩驱动机构(440)的伸缩方向垂直于所述连接轴(450)。
  3. 如权利要求2所述的俯仰旋转机构，其特征在于，所述伸缩驱动机构(440)包括缸体(441)和活塞杆(442)，所述缸体(441)安装到所述支撑框架(410)上，所述活塞杆(442)的自由端连接到所述连接轴(450)上，并且至少两个所述活塞杆(442)的自由端沿着所述连接轴(450)的轴向布置。
  4. 如权利要求2所述的俯仰旋转机构，其特征在于，所述至少两个伸缩驱动机构(440)围绕所述连接轴(450)间隔布置，并且相邻的所述伸缩驱动机构(440)之间的夹角大于0度并小于180度。
  5. 如权利要求1-4中任一项所述的俯仰旋转机构，其特征在于，所述旋转轴(420)为花键轴，所述叶片夹具(100)设置有与所述旋转轴(420)的第一端匹配的第一花键槽，所述曲柄(430)的所述第一端设置有与所述花键的第二端端匹配的第二花键槽，所述花键轴的两端分别容纳在所述第一花键槽和第二花键槽中。
  6. 一种叶片吊装工装，其特征在于，所述叶片吊装工装包括如权利要求1-5中任一项所述的俯仰旋转机构以及叶片夹具(100)，所述叶片夹具(100) 包括主梁(120)以及设置于所述主梁(120)两端的叶片夹持单元(110、130)，所述俯仰旋转机构连接于所述主梁(120)并能够带动所述主梁(120)绕所述旋转轴(420)转动。
  7. 如权利要求6所述的叶片吊装工装，其特征在于，所述叶片夹持单元(110、130)包括上夹持组件(140)、下夹持组件(150)以及夹口调节单元(115)，所述夹口调节单元(115)包括第一伸缩油缸，所述夹口调节单元(115)的两端分别连接在所述上夹持组件(140)和所述下夹持组件(150)之间，用于调节所述上夹持组件(140)和所述下夹持组件(150)形成的夹持口的大小。
  8. 如权利要求7所述的叶片吊装工装，其特征在于，所述上夹持组件(140)包括压紧臂(111)、上立臂(112)以及第一锁定组件(116)，所述上立臂(112)从所述压紧臂(111)的一端向下延伸，所述下夹持组件(150)包括承托臂(113)以及从所述承托臂(113)的一端向上延伸的下立臂(114)，所述下立臂(114)与所述上立臂(112)连接，使得所述上夹持组件(140)与所述下夹持组件(150)形成用于夹持叶片的空间；所述第一锁定组件(116)用于将所述上立臂(112)相对于所述下立臂(114)锁定。
  9. 根据权利要求8所述的叶片吊装工装，其特征在于，所述第一锁定组件(116)包括：
    第一锁定件(1161)，安装在所述下立臂(114)和所述上立臂(112)中的一者上；
    第二锁定件(1162)，安装在所述下立臂(114)和所述上立臂(112)中的另一者上，并与所述第一锁定件(1161)相对，具有锁定位置和解锁位置，在所述锁定位置，所述第二锁定件(1162)与所述第一锁定件(1161)结合以锁定所述上夹持组件(140)与所述下夹持组件(150)的相对位置，在所述解锁位置，所述第二锁定件(1162)与所述第一锁定件(1161)脱离，从而所述上立臂(112)能够相对于所述下立臂(114)移动；以及
    第一驱动构件(1163)，与所述第二锁定件(1162)连接，用于驱动所述第二锁定件(1162)运动到所述锁定位置和所述解锁位置中的至少一个位置处。
  10. 如权利要求9所述的叶片吊装工装，其特征在于，所述第一锁定件(1161)为长齿条，安装在所述下立臂(114)上并且沿着所述上立臂(112) 相对于所述下立臂(114)移动的方向延伸；所述第二锁定件(1162)为短齿条，安装在所述上立臂(112)上并与所述长齿条相对，并且能够在所述第一驱动构件(1163)的驱动下，沿着与所述上立臂(112)相对于所述下立臂(114)移动的方向垂直的方向移动，从而在所述锁定位置，所述短齿条与所述长齿条彼此啮合，其中，所述第一驱动构件(1163)为伸缩油缸，所述短齿条设置在所述伸缩油缸的第一端。
  11. 根据权利要求8所述的叶片吊装工装，其特征在于，所述上立臂(112)的上部设置有枢转轴(1121)，所述压紧臂(111)通过所述枢转轴(1121)连接到所述上立臂(112)上，
    所述叶片夹持单元(110)还包括角度调节单元(117)，用于驱动所述压紧臂(111)相对于所述上立臂(112)旋转，以调节所述压紧臂(111)相对于所述上立臂(112)的倾斜角度，
    所述角度调节单元(117)包括第二伸缩油缸，所述第二伸缩油缸的第一端与所述上立臂(112)的下部铰接，并能够伸缩，所述第二伸缩油缸的第二端与所述压紧臂(111)的端部铰接，从而驱动所述压紧臂(111)围绕所述枢转轴(1121)枢转。
  12. 如权利要求11所述的叶片吊装工装，其特征在于，所述叶片夹持单元(110)还包括第二锁定组件(118)，用于将所述压紧臂(111)相对于所述上立臂(112)锁定，所述第二锁定组件(118)包括止动部，所述止动部用于限制所述第二伸缩油缸的所述第一端缩回。
  13. 如权利要求12所述的叶片吊装工装，其特征在于，所述止动部为锁定楔块(1181)，所述锁定楔块(1181)具有锁定位置和解锁位置，所述锁定楔块(1181)具有斜面(1181a)，在所述锁定位置，所述锁定楔块(1181)的所述斜面沿所述第二伸缩油缸的所述第一端缩回的方向抵靠在所述第二伸缩油缸的所述第一端的下部，以限制所述第二伸缩油缸的所述第一端缩回，在所述解锁位置，所述锁定楔块(1181)与所述第二伸缩油缸的所述第一端脱离。
  14. 根据权利要求13所述的叶片吊装工装，其特征在于，所述第二锁定组件(118)还包括第二驱动构件(1182)，安装在所述压紧臂(111)上，用于驱动所述锁定楔块(1181)运动到所述锁定位置和所述解锁位置中的至少一个位置处。
  15. 根据权利要求12所述的叶片吊装工装，其特征在于，所述止动部包括：
    挡板(1185)，安装在所述上立臂(112)上，并且布置在所述第二伸缩油缸的所述第一端的伸缩路径上；和
    偏心轮(1186)，安装在所述压紧臂(111)上，并能够相对于所述压紧臂(111)转动到锁定位置和解锁位置，在所述锁定位置，所述偏心轮(1186)抵靠在挡板(1185)上，从而限制所述第二伸缩油缸的所述第一端的伸缩，在所述解锁位置，所述偏心轮(1186)与所述挡板(1185)脱离，从而所述第二伸缩油缸的所述第一端能够伸缩。
  16. 根据权利要求15所述的叶片吊装工装，其特征在于，所述偏心轮(1186)包括长径端和短径端，在所述锁定位置，所述长径端转动到所述挡板(1185)处并抵靠在挡板(1185)上，在所述解锁位置，所述短径端转动到所述挡板(1185)处并与所述挡板(1185)分开。
  17. 如权利要求16所述的叶片吊装工装，其特征在于，所述第二锁定组件(118)还包括第三驱动构件(1187)，安装在所述压紧臂(111)上，用于驱动所述偏心轮(1186)运动到所述锁定位置和所述解锁位置中的至少一个位置处。
  18. 根据权利要求8所述的叶片吊装工装，其特征在于，所述上夹持组件(1221)和所述下夹持组件(1222)均包括随形压紧件(119)，所述随形压紧件(119)能够绕第一偏转轴(1191)和第二偏转轴(1192)转动，所述第一偏转轴(1191)沿所述叶片的长度方向延伸，所述第二偏转轴(1192)沿所述叶片的弦长方向延伸。
  19. 根据权利要求18所述的叶片吊装工装，其特征在于，所述上夹持组件(1221)的所述随形压紧件(119)包括：
    偏转支座(1193)，所述偏转支座(1193)的一侧通过所述第一偏转轴(1191)与所述压紧臂(111)或所述承托臂(113)可旋转地连接；和
    夹持块(1194)，通过所述第二偏转轴(1192)与所述偏转支座(1193)的另一侧可旋转地连接。
  20. 根据权利要求19所述的叶片吊装工装，其特征在于，所述随形压紧件(119)还包括偏摆框架(1195)和位移螺杆(1196)，所述偏摆框架(1195)与所述位移螺杆(1196)连接并能够在所述位移螺杆(1196)的推动下沿着 所述叶片的弦长方向前后移动，所述第一偏转轴(1191)安装在所述偏摆框架(1195)上。
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