Wind turbine blade processing

Abstract

A root end element for attachment to a root end of a wind turbine blade, a root end manipulator configured to maneuver the wind turbine blade, and a blade maneuvering system including the root end element and the root end manipulator are disclosed. The root end element is configured to support the root end of the wind turbine blade.

Description

Technical Field

[0001] The present disclosure relates to the handling of wind turbine blades, such as the transportation and / or arrangement of wind turbine blades, in particular the handling of wind turbine blades during a post-molding manufacturing process. Background Art

[0002] Wind turbine blades are typically handled (such as transported and / or arranged) before and / or after post-molding processes.

[0003] In known blade handling systems, the root of a wind turbine blade is positioned on a plurality of rollers on a root end bracket and the tip is secured by a tip clamp positioned at a tip end bracket approximately 1 / 3 of the blade length from the tip end.

[0004] However, as blades become larger, for example, the length may exceed 70 meters and the weight may exceed 30 tons, inconveniences may occur in using known blade handling systems.

[0005] Furthermore, as technology advances and new post-molding processes emerge, new possibilities in post-molding processing become necessary. Summary of the invention

[0006] An object of the present disclosure is to provide methods and elements for enhancing the processing of wind turbine blades, in particular during the post-moulding process.

[0007] Another object of the present disclosure is to provide methods and elements for the processing of wind turbine blades which facilitate reduced costs, increased flexibility, reduced risk of failure, increased manufacturing safety and / or increased quality of produced wind turbine blades.

[0008] The present disclosure therefore relates to a root end element for attachment to a root end of a wind turbine blade, a root end manipulator configured to maneuver the wind turbine blade, and a system comprising the root end element, the root end manipulator and optionally a tip end structure configured to support an airfoil region of the wind turbine blade.

[0009] Thus, a root end element for attachment to the root end of a wind turbine blade is disclosed. The wind turbine blade has a longitudinal axis and comprises a root end, a root region, an airfoil region with a tip, a pressure side, a suction side and a chord line extending between a leading edge and a trailing edge. The root end has a root end surface, an inner root surface and an outer root surface. The root end surface is a ring formed in a root end plane substantially perpendicular to the longitudinal axis. The root end surface may have an inner root diameter and an outer root diameter. The inner root diameter may be smaller than the outer root diameter.

[0010] The root end element comprises a plurality of attachment points for attachment to the root end, such as to the root end surface of the root end. The attachment points are located along an attachment point circle in the plane of the root end element. The attachment point circle may have an attachment point centre.

[0011] For example when the root end element is attached to the root end of the wind turbine blade, the root end element plane may be substantially perpendicular to the longitudinal axis of the wind turbine blade. For example when the root end element is attached to the root end of the wind turbine blade, the root end element plane may be substantially parallel to the root end plane. The root end element may be substantially circular in the root end element plane.

[0012] The root end element may be configured to support the root end of the wind turbine blade. For example, the root end element may be configured to support the root end of the wind turbine blade during maneuvering of the wind turbine blade, such as lifting rotation and / or movement. Alternatively or additionally, the root end element may be configured to support the root end of the wind turbine blade, such as being configured to stabilize the wind turbine blade, such as being configured to prevent rotation of the wind turbine blade.

[0013] A root end manipulator is also disclosed that is configured to manipulate (such as rotate and / or raise) a wind turbine blade. The wind turbine blade has a longitudinal axis and includes a root end, a root region, an airfoil region with a tip, a pressure side, a suction side, and a chord line extending between a leading edge and a trailing edge. The root end has a root end surface, an inner root surface, and an outer root surface. The root end surface is a ring formed in a root end plane that is substantially perpendicular to the longitudinal axis. The root end surface may have an inner root diameter and an outer root diameter. The inner root diameter may be smaller than the outer root diameter.

[0014] The root end effector includes a base structure configured to contact the ground and a root end interface connected (such as rotationally connected or fixedly connected) to the base structure.

[0015] The root end interface may be configured to attach to the root end, such as to the root end surface of the root end. For example, via a root end element, such as the disclosed root end element. The root end interface may include a root end element, such as the disclosed root end element, for example a root end element including a plurality of attachment points for attaching to the root end, such as to the root end surface of the root end.

[0016] The root end interface may be configured for cooperation with a root end element, such as the disclosed root end element, attached to the root end of a wind turbine blade.

[0017] A blade handling system is also disclosed. The blade handling system includes a root end element and a root end manipulator, such as the disclosed root end element and the disclosed root end manipulator. Additionally, the blade handling system may include a tip end structure configured to support an airfoil region of a wind turbine blade.

[0018] The root end element may include one or more manipulator attachment points, such as a first manipulator attachment point, a second manipulator attachment point, a third manipulator attachment point, and / or a fourth manipulator attachment point. The root end element may include multiple manipulator attachment points. The multiple manipulator attachment points may include a first manipulator attachment point, a second manipulator attachment point, a third manipulator attachment point, and / or a fourth manipulator attachment point. The multiple manipulator attachment points (such as the first manipulator attachment point, the second manipulator attachment point, the third manipulator attachment point, and / or the fourth manipulator attachment point) may be configured to cooperate with a root end interface of a root end manipulator (such as the root end interface of the disclosed root end manipulator).

[0019] A plurality of manipulator attachment points, such as a first manipulator attachment point, a second manipulator attachment point, a third manipulator attachment point and / or a fourth manipulator attachment point, may be positioned along a manipulator attachment point circle in the root end element plane. The manipulator attachment point circle may be smaller than the attachment point circle. The manipulator attachment points may be positioned such that the manipulator attachment point circle is substantially the same for different root end elements, for example root end elements suitable for wind turbine blades of different sizes. For example, an assembly of root end elements may comprise a first root end element and a second root end element, wherein the first root end element comprises a larger attachment point circle than the attachment point circle of the second root end element, and wherein the first root end element comprises a manipulator attachment point circle of substantially the same size as the manipulator attachment point circle of the second root end element.

[0020] The root end element may include an inner edge. The inner edge may form an inner edge circle in the plane of the root end element. The inner edge circle may have an inner edge center. The inner edge may be configured to engage with one or more interface elements of, for example, a root end manipulator. The inner edge may form a manipulator attachment point, such as a plurality of manipulator attachment points, and / or such as a first manipulator attachment point, a second manipulator attachment point, and / or a third manipulator attachment point. The inner edge may form a series of manipulator attachment points, for example including a plurality of manipulator attachment points.

[0021] The inner edge may comprise an inner edge surface. The inner edge surface may face the inner edge centre. The inner edge surface may have an inner edge surface normal in the root end element plane. The inner edge surface may have a width perpendicular to the root end element plane. The inner edge surface may be provided for receiving forces in the root end element plane (e.g. substantially perpendicular to the longitudinal axis of the wind turbine blade). The inner edge surface may be provided for moving, e.g. raising the root end. Furthermore, the inner edge surface may be provided for rotating the wind turbine blade about the longitudinal axis.

[0022] The inner edge may comprise a first inner edge surface. The first inner edge surface may have a first inner edge surface normal. The first inner edge surface normal may span a first angle with the root end element plane. The inner edge may comprise a second inner edge surface. The second inner edge surface may have a second inner edge surface normal. The second inner edge surface normal may span a second angle with the root end element plane. The first inner edge surface and / or the second inner edge surface may be provided for receiving a force perpendicular to the root end element plane (e.g. substantially parallel to the longitudinal axis of the wind turbine blade). The first inner edge surface and / or the second inner edge surface may be provided for movement, e.g. to push or pull the root end substantially along the longitudinal axis.

[0023] The third angle may extend between the first inner edge surface normal and the second inner edge surface normal.The third angle may be between 90 and 180 degrees, such as between 135 and 170 degrees, such as 160 degrees.

[0024] The first inner edge surface normal and / or the second inner edge surface normal may be substantially parallel to the longitudinal axis. The first inner edge surface normal may be substantially opposite to the second inner edge surface normal. The first angle may be between 45 degrees and 90 degrees, such as 75 degrees. The second angle may be between -45 degrees and -90 degrees, such as -75 degrees. For example, the first inner edge surface and / or the second inner edge surface may be perpendicular to the inner edge surface and / or within 45 degrees of perpendicularity. The first inner edge surface and the inner edge surface may form an obtuse angle. The second inner edge surface and the inner edge surface may form an obtuse angle.

[0025] Providing the first inner edge surface and / or the second inner edge surface at an obtuse angle to the inner edge surface may be advantageous in facilitating easy engagement with the interface element.

[0026] The plurality of attachment points for attaching the root end element to the root end may include 5-20 attachment points, such as 10-15 attachment points. The attachment points may be configured for attachment to bolts of the root end, such as a portion of the bolts of the root end. The root end may include 50-250 bolts, such as 100-200 bolts.

[0027] The plurality of attachment points may include a first attachment point, a second attachment point and / or a third attachment point. The plurality of attachment points may include a fourth attachment point and / or a fifth attachment point. The attachment points may be evenly distributed along the attachment point circle.

[0028] The angular distance between the first and second attachment points in the attachment point circle and the angular distance between the second and third attachment points in the attachment point circle may be substantially the same as the angular distance between the third and first attachment points in the attachment point circle.

[0029] The angular distance between the first and second attachment points in the attachment point circle may be the same as the angular distance between the second and third attachment points in the attachment point circle. The angular distance between the first and second attachment points in the attachment point circle may be the same as the angular distance between the third and first attachment points in the attachment point circle.

[0030] The angular distance between the first and second attachment points in the attachment point circle may be less than 125 degrees, such as 120 degrees. The angular distance between the second and third attachment points in the attachment point circle may be less than 125 degrees, such as 120 degrees. The angular distance between the third and first attachment points in the attachment point circle may be less than 125 degrees, such as 120 degrees.

[0031] The angular distance between the first and second attachment points in the attachment point circle may be less than 95 degrees, such as 90 degrees. The angular distance between the second and third attachment points in the attachment point circle may be less than 95 degrees, such as 90 degrees. The angular distance between the third and fourth attachment points in the attachment point circle may be less than 95 degrees, such as 90 degrees. The angular distance between the fourth and first attachment points in the attachment point circle may be less than 95 degrees, such as 90 degrees.

[0032] The root end element may comprise one or more supports, such as a first support and / or a second support. The supports, such as the first support and / or the second support, may be configured to contact the ground. The support(s), such as the first support and / or the second support, may be configured to prevent a lowest point of the root end from contacting the ground. The support(s), such as the first support and / or the second support, may be configured to prevent a lowest point of the wind turbine blade from contacting the ground.

[0033] The support(s), such as the first support and / or the second support, may be integrally formed with the root end element and / or may be fixed (such as welded) to the root end element. Alternatively or additionally, the root end element may comprise one or more (such as a plurality of) support attachment elements. The plurality of support attachment elements may be configured for connection with the first support and / or the second support, for example such that the first support and / or the second support are configured to contact the ground and prevent the lowest point of the root end and / or the wind turbine blade from contacting the ground. The plurality of support attachment elements may comprise more than three support attachment elements, such as four or five or six or seven or eight.

[0034] The plurality of support attachment elements may be spaced along the periphery of the root end element. For example, the plurality of support attachment elements may be equally spaced along the periphery of the root end element. The plurality of support attachment elements may be attached at interval angles. The attachment interval angles may be between 60-120 degrees, such as between 80-100 degrees, such as 90 degrees.

[0035] A plurality of support attachment elements (such as each of the plurality of support attachment elements) may include a plurality of support attachment configurations, for example including a first support attachment configuration and / or a second support attachment configuration. The first support attachment configuration may be configured to connect the first support and / or the second support in a first direction. The second support attachment configuration may be configured to connect the first support and / or the second support in a second direction. Thus, the same support attachment element may provide different positions and / or directions of attachment of the support, and thereby, the same support attachment element may provide support for wind turbine blades positioned in different orientations. For example, the second direction may be separated by 90 degrees relative to the first direction. The first direction and the second direction may be separated by an attachment interval angle. The attachment interval angle indicates the necessary rotation of the wind turbine blade between the positions where the wind turbine blade can be positioned and supported. Assuming that the support can be rotated the same angular distance, it is provided that the same support attachment element can be used as a support in two or more positions.

[0036] The root end element may comprise a lifting ring configured for connection to a lifting device such as a crane. The root end element may comprise a plurality of lifting rings. The lifting ring(s) may provide that the root end element may be used in repositioning of the wind turbine blade. The lifting ring(s) may be provided at a position substantially coinciding with the center of mass of the wind turbine blade.

[0037] The root end element may be attached to the wind turbine blade while the wind turbine blade is still positioned in a mould or mould half, such as a mould or mould half for forming a wind turbine blade.

[0038] The root end manipulator comprises, for example, a root end interface configured for cooperating with a root end element.

[0039] The root end interface may include one or more interface elements, such as a first interface element. The root end interface may include multiple interface elements, for example, a first interface element, a second interface element, a third interface element and / or a fourth interface element. Multiple interface elements may include similar features.

[0040] One or more interface elements (such as a first interface element, a second interface element, a third interface element, and / or a fourth interface element) may be configured to cooperate with a root end element attached to the root end (such as a manipulator attachment point of the root end element) and / or an inner edge of the root end element. For example, the first interface element may be configured to be fastened to a first manipulator attachment point, the second interface element may be configured to be fastened to a second manipulator attachment point, the third interface element may be configured to be fastened to a third manipulator attachment point, and / or the fourth interface element may be configured to be fastened to a fourth manipulator attachment point.

[0041] One or more interface elements (such as a first interface element, a second interface element, a third interface element, and / or a fourth interface element) may include a master end. For example, the first interface element may include a first master end, the second interface element may include a second master end, the third interface element may include a third master end, and / or the fourth interface element may include a fourth master end. The master end (such as a first master end, a second master end, a third master end, and / or a fourth master end) may be configured to cooperate with a root end element (such as a root end element attached to the root end).

[0042] One or more interface elements (such as the first interface element, the second interface element, the third interface element and / or the fourth interface element) may be adjustable between a retracted configuration and an extended configuration. The length of the interface element (such as the first interface element, the second interface element, the third interface element and / or the fourth interface element) in the extended configuration may be longer than the length of the interface element in the retracted configuration. The interface element may be hydraulically adjustable. Alternatively, the interface element may be manually adjusted, such as by replacing an element, for example replacing a shorter element with a longer element.

[0043] One or more interface elements, such as the first interface element, the second interface element, the third interface element and / or the fourth interface element, may, for example, comprise a fastening element at the main end. For example, the first interface element may comprise a fastening element at the first main end, the second interface element may comprise a fastening element at the second main end, the third interface element may comprise a fastening element at the third main end, and / or the fourth interface element may comprise a fastening element at the fourth main end. The fastening element(s) may be configured for fastening the interface element(s) to a manipulator attachment point of the root end element. The fastening element may be formed by a hole for accommodating a pin, which extends through a corresponding hole of the root end element, such as a corresponding hole of the manipulator attachment point of the root end element.

[0044] One or more interface elements (such as the first interface element, the second interface element, the third interface element and / or the fourth interface element) may be configured to abut a root end element, such as an inner edge of the root end element, such as an inner edge surface. For example, the first interface element, the second interface element, the third interface element and / or the fourth interface element may be configured to extend to abut a root end element, such as an inner edge of the root end element, such as an inner edge surface.

[0045] Alternatively or additionally, one or more interface elements (such as the first interface element, the second interface element, the third interface element and / or the fourth interface element) may be configured to abut an inner root surface of the root end of the wind turbine blade. For example, the first interface element, the second interface element, the third interface element and / or the fourth interface element may be configured to extend to abut an inner root surface of the root end of the wind turbine blade.

[0046] A plurality of interface elements (such as a first interface element, a second interface element, a third interface element and / or a fourth interface element) may be, for example, spaced at an interface element spacing angle. For example, the first interface element and the second interface element may be spaced at a first interface element spacing angle. The second interface element and the third interface element may be spaced at a second interface element. The third interface element and the fourth interface element or the first interface element may be spaced at a third interface element spacing angle. The fourth interface element and the first interface element may be spaced at a fourth interface element spacing angle. The first interface element spacing angle, the second interface element spacing angle and the third interface element spacing angle may be substantially the same, such as between 110-130 degrees, such as 120 degrees. The first interface element spacing angle, the second interface element spacing angle, the third interface element spacing angle and the fourth interface element spacing angle may be substantially the same, such as between 80-100 degrees, such as 90 degrees. The first interface element, the second interface element, the third interface element and / or the fourth interface element may be spaced equidistantly, for example, spaced at an interface element spacing angle (e.g., 90 degrees or 120 degrees).

[0047] Providing a plurality of interface elements (e.g. comprising a first interface element, a second interface element, a third interface element and / or a fourth interface element) may facilitate that a force provided by one interface element (such as a first interface element) on an inner root surface or a root end element in a first direction may be offset by a force provided by other interface elements (such as a second interface element and / or a third interface element) on an inner root surface or a root end element in a second direction. Thereby, the friction between the main end of the interface element and the inner root surface or the root end element may be increased, and the risk of accidental slippage between the interface element and the root end and / or the root end element may be reduced. Thus, the position and orientation of the wind turbine blade may be controlled more safely. Alternatively or additionally, the interface element may be fastened (such as locked) to a manipulator attachment point of the root end element to avoid accidental slippage between the interface element and the root end and / or the root end element.

[0048] An interface element (such as one or more interface elements) may include an interface wheel positioned at a master end. For example, a first interface element may include a first interface wheel positioned at a first master end. A second interface element may include a second interface wheel positioned at a second master end. A third interface element may include a third interface wheel positioned at a third master end. A fourth interface element may include a fourth interface wheel positioned at a fourth master end. The inner edge may be configured to engage with one or more interface wheels. One or more interface wheels (such as a first interface wheel, a second interface wheel, a third interface wheel, and / or a fourth interface wheel) may be configured to cooperate with an inner edge (such as an inner edge surface) of a root end element.

[0049] The first interface wheel may be a groove wheel, for example, the first interface wheel may have a first interface groove. The second interface wheel may be a groove wheel, for example, the second interface wheel may have a second interface groove. The third interface wheel may be a groove wheel, for example, the third interface wheel may have a third interface groove. The fourth interface wheel may be a groove wheel, for example, the fourth interface wheel may have a fourth interface groove. One or more interface grooves (such as the first interface groove, the second interface groove, the third interface groove and / or the fourth interface groove) may be configured to cooperate with the inner edge of the root end element.

[0050] Providing an interface wheel with an interface groove may provide an inner edge and thereby the root end element may be affected by forces in a longitudinal direction.Thereby, the root end manipulator may manipulate, such as push and / or pull the wind turbine blade in a longitudinal direction of the wind turbine blade.

[0051] The root end interface may include an interface motor, such as a first interface motor, a second interface motor, a third interface motor, and / or a fourth interface motor. The interface motor (such as the first interface motor, the second interface motor, the third interface motor, and / or the fourth interface motor) may be configured to rotate the first interface wheel, the second interface wheel, and / or the third interface wheel. The interface motor (such as the first interface motor, the second interface motor, the third interface motor, and / or the fourth interface motor) may be a servo motor. A single interface motor may be configured to rotate more than one interface wheel, for example, the first interface wheel, the second interface wheel, the third interface wheel, and / or the fourth interface wheel. The interface motor may be assigned to each interface wheel. The first interface motor may be configured to rotate the first interface wheel. The second interface motor may be configured to rotate the second interface wheel. The third interface motor may be configured to rotate the third interface wheel. The fourth interface motor may be configured to rotate the fourth interface wheel.

[0052] The root end interface may be rotatable relative to the base structure, for example rotatable about a rotation axis. The rotation axis may be configured substantially parallel to a longitudinal axis of the wind turbine blade, such that rotation of the root end interface about the rotation axis causes a rotation of the wind turbine blade about its longitudinal axis.

[0053] The rotation axis may be offset from a center of the root end interface, for example by a first radial distance, which may correspond to a center of a root end surface of the wind turbine blade. For example, a first rotation distance from the rotation axis to a first main end of the first interface element may be smaller than a second rotation distance from the rotation axis to a second main end of the second interface element. By offsetting the rotation axis, rotation of the wind turbine blade may be made easier and a range of motion of the tip end of the wind turbine blade during rotation may be reduced. The rotation axis may be configured to substantially coincide with a center of mass of the wind turbine blade.

[0054] The root end manipulator may include a base motor. The base motor may be configured to rotate the root end interface relative to the base structure. The base motor may be provided to rotate the wind turbine blade. Alternatively or additionally, the base motor may be provided to position the root end interface. The base motor may be provided as an alternative to or in addition to one or more interface motors.

[0055] The root end manipulator, such as a base structure of the root end manipulator, may include one or more vertically extending root elements. The root end element may be adjustable between a low configuration and a high configuration, for example to change the vertical position of the root end interface. The height of the one or more vertically extending root elements in the high configuration may be greater than the height of the one or more vertically extending root elements in the low configuration. Thus, vertically extending root end element(s) may be provided to vertically position the root end of a wind turbine blade.

[0056] The root end element and / or the root end manipulator may be used in combination with a tip end structure configured to support an airfoil region of a wind turbine blade.For example, a blade handling system may include the tip end structure.

[0057] The tip end structure may include a tip end clamp member configured to be secured to the airfoil region. The tip end structure may include a tip end base structure configured to contact the ground.

[0058] The tip end clamp component may be pivotably connected to the tip end base structure, for example to allow rotation of the wind turbine blade about a longitudinal axis of the wind turbine blade.

[0059] The tip base structure may include one or more vertically extending tip elements that are adjustable between a low configuration and a high configuration, such as to change the vertical position of the tip clamp component. For example, the height of the vertically extending tip elements in the high configuration may be greater than the height of the vertically extending tip elements in the low configuration. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Embodiments of the present disclosure will be described in more detail below with respect to the accompanying drawings. The drawings illustrate one way of implementing the invention and should not be interpreted as limiting other possible embodiments that fall within the scope of the appended claim set.

[0061] Figure 1 is a schematic diagram illustrating an exemplary wind turbine,

[0062] Figure 2 is a schematic diagram illustrating an exemplary wind turbine blade,

[0063] Figure 3 schematically illustrates an exemplary root end of a wind turbine blade,

[0064] Figure 4a schematically illustrates an exemplary root end element,

[0065] Figure 4b schematically illustrates an exemplary root end element,

[0066] Figure 5a -c schematically illustrates an exemplary support attachment element,

[0067] Figure 6 Schematically illustrates a cross section of a root end element,

[0068] Figure 7 schematically illustrates an exemplary root end effector,

[0069] Figure 8 schematically illustrates an exemplary root end effector,

[0070] Fig. 9 schematically illustrates an exemplary root end effector,

[0071] Fig.10 schematically illustrates an exemplary distal end structure, and

[0072] Fig.11 An exemplary root end interface is schematically illustrated. DETAILED DESCRIPTION

[0073] Figure 1 A conventional modern upwind wind turbine 2 according to the so-called "Danish concept" is illustrated, with a tower 4, a nacelle 6 and a rotor with a substantially horizontal rotor shaft. The rotor comprises a hub 8 and three blades 10 extending radially from the hub 8, each blade 10 having a blade root 16 closest to the hub and a blade tip 14 farthest from the hub 8.

[0074] Figure 2 A schematic view of an exemplary wind turbine blade 10 is shown. The wind turbine blade 10 has the shape of a conventional wind turbine blade with a root end 17 and a tip end 15, and includes a root region 30 closest to the hub, a contoured or airfoil region 34 farthest from the hub, and a transition region 32 between the root region 30 and the airfoil region 34. The blade 10 includes a leading edge 18 facing the direction of rotation of the blade 10 when the blade is mounted on the hub, and a trailing edge 20 facing the opposite direction of the leading edge 18.

[0075] The airfoil region 34 (also referred to as the profile region) has an ideal or almost ideal blade shape with respect to generating lift, whereas the root region 30 has a substantially circular or elliptical cross section due to structural considerations, which, for example, makes it easier and safer to mount the blade 10 to the hub. The diameter (or chord) of the root region 30 may be constant along the entire root region 30. The transition region 32 has a transition profile that gradually changes from the circular or elliptical shape of the root region 30 to the airfoil profile of the airfoil region 34. The chord length of the transition region 32 typically increases with increasing distance r from the hub. The airfoil region 34 has an airfoil profile with a chord extending between the leading edge 18 and the trailing edge 20 of the blade 10. The width of the chord decreases with increasing distance r from the hub.

[0076] The shoulder 40 of the blade 10 is defined as the location where the blade 10 has its maximum chord length. The shoulder 40 is typically provided at the boundary between the transition region 32 and the airfoil region 34.

[0077] It should be noted that the chords of different sections of the blade do not generally lie in a common plane, as the blade may be twisted and / or bent (i.e. pre-bent), thereby providing a correspondingly twisted and / or curved path for the chord plane, in order to compensate for the local velocity of the blade which depends on the radius from the hub, which is the most common case.

[0078] The wind turbine blade 10 comprises a blade shell which may comprise two blade shell parts, typically made of a fiber reinforced polymer, namely a first blade shell part 24 and a second blade shell part 26. The first blade shell part 24 is typically a pressure side or upwind blade shell part. The second blade shell part 26 is typically a suction side or downwind blade shell part. The first blade shell part 24 and the second blade shell part are typically glued together along a join line or glue joint 28 which extends along the trailing edge 20 and the leading edge 18 of the blade 10. Typically, the root ends of the blade shell parts 24, 26 have an outer cross-sectional shape of a semicircular or semi-elliptical shape.

[0079] The wind turbine blade 10 extends along a longitudinal axis L. The root end 17 extends in a root end plane which is substantially perpendicular to the longitudinal axis L. As shown in FIG.

[0080] Figure 3 Schematically illustrates the Figure 2 An exemplary root end 17 of a wind turbine blade of a wind turbine blade is illustrated in FIG. Figure 3 The root end 17 is shown in a root end plane.

[0081] The root end 17 comprises a root end surface 50, an inner root surface 52 and an outer root surface 54. The root end surface 50 substantially forms a ring in the root end plane. For example, as shown, the root end surface 50 extends into a circle in the root end plane.

[0082] Root end 17 has an inner root diameter 60 and an outer root diameter 62 .

[0083] The root end 17 includes a plurality of bolt attachments 56. The bolt attachments 56 are positioned on a circle having a bolt circle diameter (BCD) 58 on the root end surface 50.

[0084] Figure 4a An exemplary root end element 100 is schematically illustrated. The root end element 100 is configured for attachment to the root end of a wind turbine blade, such as Figure 3 The root end element 100 extends in a root end element plane. The root end element 100 may be configured such that when the root end element 100 is attached to the root end, the root end element plane is parallel to and / or coincides with the root end plane of the root end.

[0085] The root end element 100 comprises a plurality of attachment points 102; 104; 106; 108. The plurality of attachment points 102, 104, 106, 108 are configured for attachment to the root end. For example, the plurality of attachment points 102, 104, 106, 108 are configured for attachment to the bolt attachment 56 of the root end 17 (see Figure 3 ). The plurality of attachment points 102, 104, 106, 108 are located along an attachment point circle in the plane of the root end element. The attachment point circle may have a diameter equal to the bolt circle diameter (BCD) 58 of the root end 17 (see Figure 3 ).

[0086] The plurality of attachment points 102, 104, 106, 108 includes a first attachment point 102, a second attachment point 104, a third attachment point 106, and a fourth attachment point 108. As shown, the plurality of attachment points may include more attachment points.

[0087] The first attachment point 102, the second attachment point 104, the third attachment point 106, and the fourth attachment point 108 may be equally spaced along the attachment point circle. For example, the angular distance between the first attachment point 102 and the second attachment point 104 may be 90 degrees, the angular distance between the second attachment point 104 and the third attachment point 106 may be less than 90 degrees, the angular distance between the third attachment point 106 and the fourth attachment point 108 may be 90 degrees, and the angular distance between the fourth attachment point 108 and the first attachment point 102 may be 90 degrees.

[0088] The root end element 100 comprises supports 118, 120, including a first support 118 and a second support 120. The first support 118 and the second support 120 are configured to contact the ground and prevent the lowest point of the root end of the wind turbine blade from contacting the ground.

[0089] The root end element 100 includes a plurality of support attachment elements 122. The plurality of support attachment elements 122 are configured to connect the first support 118 and the second support 120. The plurality of support attachment elements 122 include a first support attachment element 124, a second support attachment element 126, a third support attachment element 128, and a fourth support attachment element 130.

[0090] A plurality of support attachment elements 122, such as a first support attachment element 124, a second support attachment element 126, a third support attachment element 128, and a fourth support attachment element 130, are equally spaced, for example, at an attachment interval angle, such as 90 degrees, along the periphery of the root end element 100. For example, the attachment interval angle between the first support attachment element 124 and the second support attachment element 126 may be 90 degrees, the attachment interval angle between the second support attachment element 126 and the third support attachment element 128 may be less than 90 degrees, the attachment interval angle between the third support attachment element 128 and the fourth support attachment element 130 may be 90 degrees, and the attachment interval angle between the fourth support attachment element 130 and the first support attachment element 124 may be 90 degrees. Figure 5a -c further describes the support attachment element 122.

[0091] The root end element 100 comprises a plurality of manipulator attachment points 140; 142; 144, which comprises a first manipulator attachment point 140, a second manipulator attachment point 142 and a third manipulator attachment point 144. The plurality of manipulator attachment points 140; 142; 144 are configured for use with a manipulator such as a Fig. 9 The root end interface of the root end effector 200' described cooperates. A plurality of manipulator attachment points 140; 142; 144 are located along a manipulator attachment point circle in the root end element plane. The manipulator attachment point circle is smaller than the attachment point circle formed by the plurality of attachment points 102, 104, 106, 108.

[0092] The root end element 100 comprises a lifting ring 136. The lifting ring 136 is configured for connection to a lifting device such as a crane. Hence, a lifting ring 136 may be provided for lifting a wind turbine blade, such as a root end of a wind turbine blade, by the root end element 100.

[0093] Figure 4bAn exemplary root end element 100' is schematically illustrated. The root end element 100' is configured for attachment to the root end of a wind turbine blade, such as Figure 3 The root end element 100' extends in a root end element plane. The root end element 100' may be configured such that when the root end element 100' is attached to the root end, the root end element plane is parallel to and / or coincides with the root end plane of the root end.

[0094] The root end element 100' comprises a plurality of attachment points 102; 104; 106; 108. The plurality of attachment points 102, 104, 106, 108 are configured for attachment to the root end. For example, the plurality of attachment points 102, 104, 106, 108 are configured for attachment to the bolt attachment 56 of the root end 17 (see Figure 3 ). The plurality of attachment points 102, 104, 106, 108 are located along an attachment point circle in the plane of the root end element. The attachment point circle may have a diameter equal to the bolt circle diameter (BCD) 58 of the root end 17 (see Figure 3 ).

[0095] The plurality of attachment points 102, 104, 106, 108 includes a first attachment point 102, a second attachment point 104, a third attachment point 106, and a fourth attachment point 108. As shown, the plurality of attachment points may include more attachment points.

[0096] The first attachment point 102, the second attachment point 104, the third attachment point 106, and the fourth attachment point 108 may be equally spaced along the attachment point circle. For example, the angular distance between the first attachment point 102 and the second attachment point 104 may be 90 degrees, the angular distance between the second attachment point 104 and the third attachment point 106 may be less than 90 degrees, the angular distance between the third attachment point 106 and the fourth attachment point 108 may be 90 degrees, and the angular distance between the fourth attachment point 108 and the first attachment point 102 may be 90 degrees.

[0097] The root end element 100' comprises supports 118, 120, which include a first support 118 and a second support 120. The first support 118 and the second support 120 are configured to contact the ground and prevent the lowest point of the root end from contacting the ground.

[0098] The root end element 100' comprises a plurality of support attachment elements 122. The plurality of support attachment elements 122 are configured to connect the first support 118 and the second support 120. The plurality of support attachment elements 122 comprises a first support attachment element 124, a second support attachment element 126, a third support attachment element 128 and a fourth support attachment element 130.

[0099] A plurality of support attachment elements 122, such as a first support attachment element 124, a second support attachment element 126, a third support attachment element 128, and a fourth support attachment element 130, are equally spaced along the periphery of the root end element 100', for example, at an attachment interval angle, such as 90 degrees. For example, the attachment interval angle between the first support attachment element 124 and the second support attachment element 126 may be 90 degrees, the attachment interval angle between the second support attachment element 126 and the third support attachment element 128 may be less than 90 degrees, the attachment interval angle between the third support attachment element 128 and the fourth support attachment element 130 may be 90 degrees, and the attachment interval angle between the fourth support attachment element 130 and the first support attachment element 124 may be 90 degrees. Figure 5a -c further describes the support attachment element 122.

[0100] The root end element 100' comprises an inner edge 110. The inner edge 110 forms an inner edge circle in the root end element plane. The inner edge 110 comprises an inner edge surface 112, a first inner edge surface 114 and a second inner edge surface 116 (not visible). Figure 6 The inner edge 110 is further described. The inner edge 110 forms a continuous manipulator attachment point, for example, which includes Figure 4a The inner edge 110 is configured to be connected to a root end manipulator (such as Figure 7 and Figure 8 The root end interface collaboration of the root end effector 200) described.

[0101] The root end element 100' comprises a lifting ring 136. The lifting ring 136 is configured for connection to a lifting device such as a crane. Hence, a lifting ring 136 may be provided for lifting a wind turbine blade, such as a root end of a wind turbine blade, by the root end element 100'.

[0102] Figure 5a -c schematically illustrates an exemplary support attachment element 122 ′ and an attached support 118 ; 120 . Figure 5a -c support attachment element 122' may be as described with respect to Figure 4a and 4b All or any support attachment elements 122 described.

[0103] The support attachment element 122' includes a first support attachment point 132 and a second support attachment point 134. As illustrated, one of the first support attachment points 132 may be one of the second support attachment points 134.

[0104] The support attachment element 122' includes a plurality of support attachment configurations formed by first support attachment points 132 and second support attachment points 134. For example, a first support attachment configuration is formed by the first support attachment points 132 and a second support attachment configuration is formed by the second support attachment points 134.

[0105] Multiple support attachment structures are provided for connecting the supports 118; 120 in multiple directions. For example, Figure 5b As shown in FIG. 1 , the first support member attachment structure formed by the first support member attachment point 132 is configured to connect the supports 118; 120 in a first direction. Figure 5c As shown in FIG. 1 , the second support attachment structure formed by the second support attachment point 134 is configured to connect the supports 118; 120 in the second direction. The first direction and the second direction may be separated by an angle such as 90 degrees. The first direction and the second direction may be equal to the first direction and the second direction may be equal to the second direction. Figure 4a and Figure 4b The attachment intervals are angularly spaced apart.

[0106] Figure 6 A cross section of a root end element 100' perpendicular to the plane of the root end element is schematically illustrated, as shown by Figure 4b Indicated by line AA in .

[0107] The root end element 100 ′ comprises an inner edge 110 . The inner edge 110 comprises an inner edge surface 112 , a first inner edge surface 114 and a second inner edge surface 116 .

[0108] The inner edge surface 112 has an inner edge surface normal n0. The inner edge surface normal n0 is in the root end element plane and / or parallel to the root end element plane. The inner edge surface 112 has a width w0 perpendicular to the root end element plane.

[0109] The first inner edge surface 114 has a first inner edge surface normal n1. The first inner edge surface normal n1 and the root end element plane and / or the inner edge surface normal n0 span a first angle a1. The first angle a1 may be 80 degrees.

[0110] The second inner edge surface 116 has a second inner edge surface normal n2. The second inner edge surface normal n2 spans a second angle a2 with the root end element plane and / or the inner edge surface normal n0. The second angle a2 may be between -45 degrees and -90 degrees, such as -80 degrees.

[0111] The third angle a3 extends between the first inner edge surface normal n1 and the second inner edge surface normal n2. The third angle a3 may be between 90 and 180 degrees, such as 160 degrees.

[0112] Figure 7An exemplary root end effector 200 is schematically illustrated. The root end effector 200 is configured to manipulate (such as rotate and / or elevate) a root end effector such as Figure 2 A wind turbine blade of a wind turbine 10 .

[0113] The root end effector 200 includes a base structure 202 configured to contact the ground and a root end interface 204. The root end interface 204 is connected to the base structure 202.

[0114] The root end interface 204 comprises interface elements 210, 220, 230, which include a first interface element 210, a second interface element 220 and a third interface element 230. The first interface element 210, the second interface element 220 and the third interface element 230 are equidistantly spaced, for example, at an interface element spacing angle such as 120 degrees.

[0115] The interface element 210; 220; 230 is adjustable between a retracted configuration and an extended configuration. The interface element 210; 220; 230 is configured to extend so that the main end 212; 222; 232 abuts the inner root surface 52 of the wind turbine blade (see Figure 3 ). Alternatively or additionally, the interface element 210; 220; 230 is configured to extend so that the main end 212; 222; 232 abuts or is attached to a root end element attached to the root end (see Figure 4a and Figure 4b In another exemplary root end manipulator, the root end interface may be configured to attach directly to the root end of a wind turbine blade, such as the root end surface 50 of the wind turbine blade (see Figure 3 ).

[0116] The interface elements 210; 220; 230 each include an interface wheel 214; 224; 234 positioned at a primary end 212; 222; 232. The first interface element 210 includes a first interface wheel 214 positioned at the first primary end 212. The second interface element 220 includes a second interface wheel 224 positioned at the second primary end 222. The third interface element 230 includes a third interface wheel 234 positioned at the third primary end 232.

[0117] In other exemplary root end effectors, root end interface 204 may include only one or two interface elements, such as first interface element 210 and / or second interface element 220 .

[0118] As shown, the interface wheels 214; 224; 234 can be grooved wheels. Thus, the first interface wheel 214 includes a first interface groove 216. The second interface wheel 224 includes a second interface groove 226. The third interface wheel 234 includes a third interface groove 236. The interface grooves 216; 226; 236 are configured to mate with the inner edge of the root end element (see Figure 8 ) cooperation. Providing the interface slots 216; 226; 236 provides that the root end effector 200 can be used to move along the longitudinal axis L of the wind turbine blade (see Figure 2 ) pushes and / or pulls the wind turbine blades in the longitudinal direction.

[0119] The root end interface 204 includes a first interface motor 218 configured to rotate the first interface wheel 214, a second interface motor 228 configured to rotate the second interface wheel 224, and a third interface motor 238 configured to rotate the third interface wheel 234. In other exemplary root end manipulators, the root end interface may include a single interface motor configured to rotate one or more interface wheels. The interface motors 218; 228; 238 may provide rotation to rotate the wind turbine blade.

[0120] The root end interface 204 may be rotatable relative to the base structure 202, and the root end manipulator 200 may include an optional base motor 206 for rotating the root end interface 204 relative to the base structure 202. The base motor 206 may be provided for rotation of the root end interface 204 during positioning prior to engagement with the root end or root end element. Alternatively or additionally, the base motor 206 may be provided for rotating the wind turbine blade by rotation of the root end interface 204.

[0121] The root end manipulator 200 comprises a vertically extending root element 208. The root element 208 is adjustable between a low configuration and a high configuration. Thus, the vertical position of the root end interface can be altered, such as to raise or lower the root end of a wind turbine blade.

[0122] The base structure 202 includes a base wheel 240. The base wheel 240 facilitates translational movement of a wind turbine blade, such as translational movement of a root end of a wind turbine blade. The base wheel 240 may be motorized.

[0123] Figure 8 An exemplary root end effector 200 (such as Figure 7 Root end manipulator 200 ) that is coupled to an exemplary root end element 100 ′ (such as Figure 4b The root end element 100 ′ is engaged with a root end element 100 ′ and wherein the root end element 100 ′ is attached to a root end (only partially shown) of a wind turbine blade 10 .

[0124] As can be seen, providing a plurality of interface elements (such as the first interface element 210, the second interface element 220 and the third interface element 230 as illustrated) facilitates that a force provided by one interface element (such as the first interface element 210) on the root end element 100' in a first direction can be offset by forces provided by other interface elements (such as the second interface element 220 and the third interface element 230) on the root end element 100' in a second direction (i.e., opposite to the first direction). Thereby, the friction between the interface elements 210; 220; 230 and the root end element 100' can be increased. Therefore, the risk of accidental slippage between the interface elements 210; 220; 230 and the root end element 100' can be reduced, and the positioning and orientation of the wind turbine blade 10 can be more safely controlled.

[0125] Fig. 9 An exemplary root end manipulator 200' is schematically illustrated, which is coupled to an exemplary root end element 100 (such as Figure 4a The root end manipulator 200' is configured to manipulate (such as rotate and / or elevate) a root end member such as Figure 2 A wind turbine blade of a wind turbine 10 .

[0126] The root end effector 200 ′ includes a base structure 202 configured to contact the ground and a root end interface 204. The root end interface 204 is connected to the base structure 202.

[0127] The root end interface 204 comprises interface elements 210, 220, 230, which include a first interface element 210, a second interface element 220 and a third interface element 230. The first interface element 210, the second interface element 220 and the third interface element 230 are equidistantly spaced, for example, at an interface element spacing angle such as 120 degrees.

[0128] The interface element 210; 220; 230 is adjustable between a retracted configuration and an extended configuration, for example, by replacing the middle section of the interface element with another middle section having a different length.

[0129] The interface element 210; 220; 230 is configured to be attached to the root end element 100, such as to the manipulator attachment point 140; 142; 144 of the root end element 100. In another exemplary root end manipulator, the root end interface 204 (such as the interface element 210; 220; 230) may be configured to be directly attached to the root end of the wind turbine blade, such as the root end surface.

[0130] The interface elements 210; 220; 230 each include a fastening element 250; 252; 254 positioned at a primary end 212; 222; 232. The first interface element 210 includes a first fastening element 250 positioned at the first primary end 212. The second interface element 220 includes a second fastening element 252 positioned at the second primary end 222. The third interface element 230 includes a third fastening element 254 positioned at the third primary end 232.

[0131] In other exemplary root manipulators, the root end interface 204 may include only one or two interface elements, such as the first interface element 210 and / or the second interface element 220 .

[0132] The fastening element 250; 252; 254 may include, for example, first and second components that form a slot, such as to locate the manipulator attachment point 140; 142; 144 in the slot formed between the first and second components of the fastening element.

[0133] The fastening elements 250 ; 252 ; 254 may include holes as shown, such as to accommodate pins or bolts or the like, such as to fasten and / or lock the interface element 210 ; 220 ; 230 to the manipulator attachment point 140 ; ​​142 ; 144 of the root end element 100 .

[0134] The root end interface 204 is rotatable relative to the base structure 202, and the root end manipulator 200' comprises a base motor 206 for rotating the root end interface 204 relative to the base structure 202. The base motor 206 is provided for rotating the wind turbine blade by rotation of the root end interface 204. The base motor 206 may further be provided for rotation of the root end interface 204 during positioning before engagement with the root end element 100.

[0135] The root end manipulator 200' comprises a vertically extending root element 208. The root element 208 is adjustable between a low configuration and a high configuration. Thus, the vertical position of the root end interface can be altered, such as to raise or lower the root end of a wind turbine blade.

[0136] Although not visible, the base structure 202 of the root end manipulator 200 ′ may include base wheels, such as motorized base wheels, for example to facilitate translational movement of a wind turbine blade, such as translational movement of a root end of a wind turbine blade.

[0137] Fig.10 An exemplary tip end structure 300 is schematically illustrated. The tip end structure 300 is configured to support the airfoil region 34 of the wind turbine blade 10 (see FIG. Figure 2 ). The tip end structure 300 can be connected with the root end manipulator 200 (see Figure 7 ,8 and 9) and optionally with the root end elements 100, 100' (see Figure 4a and Figure 4b ) are provided in combination, for example to form a blade handling system.

[0138] The tip end structure 300 includes a tip end clamp component 302 configured to be fixed to an airfoil region of a wind turbine blade. The tip end structure 300 includes a tip end base structure 304 configured to contact the ground. The tip end clamp component 302 is pivotably connected to the tip end base structure 304. Thereby, the wind turbine blade can be rotated, for example, by a root end manipulator.

[0139] The tip end structure 300 includes a tip end base wheel 308. The tip end base wheel 308 facilitates translational movement of the wind turbine blade, such as translational movement of an airfoil region of the wind turbine blade.

[0140] The tip end base structure 304 comprises a vertically extending tip element 306. The vertically extending tip element 306 is adjustable between a low configuration and a high configuration. Thereby the vertical position of the tip end clamp component 302 and thereby the airfoil region of the wind turbine blade can be altered.

[0141] Fig.11 Another exemplary root end interface 204' is schematically illustrated, such as to form an exemplary root end effector (such as, for example Fig. 9 Root end interface 204' that is a portion of the root end effector 200') shown in FIG.

[0142] The root end interface 204' includes four interface elements 210; 220; 230; 260, including a first interface element 210, a second interface element 220, a third interface element 230 and a fourth interface element 260. The root end interface 204' can be configured to be connected to a root end element (such as Figure 4a The root end element 100) is adapted to additionally include a fourth manipulator attachment point.

[0143] The first interface element 210 and the second interface element 220 are spaced at a first interface element spacing angle (e.g., 100 degrees). The second interface element 220 and the third interface element 230 are spaced at a second interface element spacing angle (e.g., 80 degrees). The third interface element 230 and the fourth interface element 260 are spaced at a third interface element spacing angle (e.g., 100 degrees). The fourth interface element 260 and the first interface element 210 are spaced at a fourth interface element spacing angle (e.g., 80 degrees).

[0144] Also about Fig. 9As described with reference to the root end interface 204, the interface element 210; 220; 230; 260 may be adjustable between a retracted configuration and an extended configuration, for example by replacing the middle section of the interface element 210; 220; 230; 260 with another middle section having a different length.

[0145] The interface elements 210; 220; 230; 260 each include a fastening element 250; 252; 254; 264 positioned at a main end 212; 222; 232; 262. The first interface element 210 includes a first fastening element 250 positioned at the first main end 212. The second interface element 220 includes a second fastening element 252 positioned at the second main end 222. The third interface element 230 includes a third fastening element 254 positioned at the third main end 232. The fourth interface element 260 includes a fourth fastening element 264 positioned at the fourth main end 262. The fastening elements 250; 252; 254 may, for example, form slots or holes.

[0146] The root end interface 204' is rotatable relative to the base structure about a rotation axis 270. The rotation axis 270 is configured to be substantially parallel to the longitudinal axis of the wind turbine blade such that rotation about the rotation axis 270 causes the wind turbine blade to rotate about its longitudinal axis. The rotation axis 270 is a first rotational distance 272 from the first main end 212. The rotation axis 270 is a second rotational distance 274 from the second main end 222. The rotation axis 270 is a third rotational distance 276 from the third main end 232. The rotation axis 270 is a fourth rotational distance 278 from the fourth main end 262.

[0147] As illustrated by the example, the rotation axis 270 may be offset by a first radial distance 282 from a center 280 of the root end interface 204', which center 280 of the root end interface 204' may correspond to the center of the root end surface of the wind turbine blade. Therefore, the first rotation distance 272 is less than the second rotation distance 274. The rotation axis 270 may be configured to substantially coincide with the center of mass of the wind turbine blade. By offsetting the rotation axis 270 from the center 280 of the root end interface 204', rotation of the wind turbine blade may be made easier and the range of motion of the tip end of the wind turbine blade may be reduced. It is emphasized that the offset of the rotation axis 270 as illustrated is not specifically linked to the number of interface elements 210; 220; 230; 260 and may be identically linked to, for example Fig. 9 The root end interface 204 is used together with the root end interface 204.

[0148] Exemplary root end elements, root end manipulators and blade handling systems are disclosed in:

[0149] 1. A root end element for attachment to a root end of a wind turbine blade, the wind turbine blade having a longitudinal axis and comprising a root end, a root region, an airfoil region with a tip, a pressure side, a suction side and a chord line extending between a leading edge and a trailing edge, the root end having a root end surface, an inner root surface and an outer root surface, the root end surface being a ring formed in a root end plane substantially perpendicular to the longitudinal axis,

[0150] the root end element comprising a plurality of attachment points for attachment to the root end, the attachment points being located along an attachment point circle in the plane of the root end element,

[0151] The root end element is configured to support a root end of a wind turbine blade.

[0152] 2. A root end element according to item 1, comprising a first manipulator attachment point, the first manipulator attachment point being configured for cooperating with a root end interface of a root end manipulator.

[0153] 3. A root end element according to item 2, comprising a plurality of manipulator attachment points, the plurality of manipulator attachment points comprising a first manipulator attachment point, a second manipulator attachment point and a third manipulator attachment point, the plurality of manipulator attachment points being positioned along a manipulator attachment point circle in the plane of the root end element.

[0154] 4. A root end element according to item 3, wherein the manipulator attachment point circle is smaller than the attachment point circle.

[0155] 5. A root end element according to any of the preceding items, comprising an inner edge forming an inner edge circle in the plane of the root end element,

[0156] The inner edge comprises an inner edge surface having an inner edge surface normal in the root end element plane, the inner edge surface having a width perpendicular to the root end element plane,

[0157] The inner edge comprises a first inner edge surface having a first inner edge surface normal that spans a first angle with the root end element plane,

[0158] The inner edge includes a second inner edge surface having a second inner edge surface normal that spans a second angle with the root end member plane.

[0159] 6. A root end element according to item 5 as appended to any one of items 3 or 4, wherein the inner edge forms a continuous manipulator attachment point comprising a plurality of manipulator attachment points.

[0160] 7. The root end element according to any of items 5-6, wherein the first angle is between 45 and 90 degrees, and the second angle is between -45 and -90 degrees.

[0161] 8. The root end element according to any one of the preceding clauses, wherein the plurality of attachment points comprises a first attachment point, a second attachment point and a third attachment point, the angular distance between the first attachment point and the second attachment point in the attachment point circle being

[0162] And the angular distance between the second attachment point and the third attachment point in the attachment point circle is substantially the same as the angular distance between the third attachment point and the first attachment point in the attachment point circle.

[0163] 9. A root end element according to any of the preceding items, comprising a first support and a second support, the first and second supports being configured to contact the ground and prevent a lowest point of the root end from contacting the ground.

[0164] 10. A root end element according to any one of the preceding items, comprising a plurality of support attachment elements configured to connect with a first support and a second support, the first support and the second support being configured to contact the ground and prevent the lowest point of the root end from contacting the ground.

[0165] 11. The root end element according to item 10, wherein the plurality of support attachment elements are equally spaced along the periphery of the root end element, and wherein the support attachment elements are spaced at an attachment interval angle.

[0166] 12. A root end element according to any one of items 10-11, wherein the multiple support member attachment elements include a first support member attachment structure, the first support member attachment structure is configured to connect the first support member or the second support member in a first direction, and the support member attachment element includes a second support member attachment structure, the second support member attachment structure is configured to connect the first support member or the second support member in a second direction.

[0167] 13. A root end element according to item 12 as appended to item 11, said first direction and second direction being separated by an attachment interval angle.

[0168] 14. A root end element according to any of items 10-13, wherein the plurality of support attachment elements comprises four support attachment elements.

[0169] 15. A root end element according to any of the preceding items, comprising a lifting loop configured for connection to a lifting device such as a crane.

[0170] 16. A root end manipulator configured to manipulate (such as rotate and / or lift) a wind turbine blade having a longitudinal axis and comprising a root end, a root region, an airfoil region with a tip, a pressure side, a suction side, and a chord line extending between a leading edge and a trailing edge, the root end having a root end surface, an inner root surface, and an outer root surface, the root end surface being a ring formed in a root end plane substantially perpendicular to the longitudinal axis,

[0171] The root end manipulator comprises a base structure configured to contact the ground and a root end interface connected to the base structure,

[0172] The root end interface is configured to be attached to a root end surface or an inner root surface of the root end.

[0173] 17. A root end manipulator configured to manipulate (such as rotate and / or lift) a wind turbine blade having a longitudinal axis and comprising a root end, a root region, an airfoil region with a tip, a pressure side, a suction side, and a chord line extending between a leading edge and a trailing edge, the root end having a root end surface, an inner root surface, and an outer root surface, the root end surface being a ring formed in a root end plane substantially perpendicular to the longitudinal axis,

[0174] The root end manipulator comprises a base structure configured to contact the ground and a root end interface connected to the base structure,

[0175] The root end interface is configured for cooperating with a root end element attached to a root end of a wind turbine blade.

[0176] 18. A root end manipulator according to item 17, wherein the root end interface comprises a first interface element having a first main end configured for cooperating with the root end element.

[0177] 19. The root end effector of item 18, wherein the first interface element is adjustable between a retracted configuration and an extended configuration.

[0178] 20. A root end manipulator according to any one of items 18-19, wherein the first interface element comprises a fastening element at the first main end, the fastening element being configured for fastening the first interface element to a manipulator attachment point of the root end element.

[0179] 21. A root end manipulator according to any of items 18-19, wherein the first interface element comprises a first interface wheel positioned at the first main end.

[0180] 22. A root end manipulator according to item 21, wherein the first interface wheel is a groove wheel having a first interface groove, and wherein the first interface groove is configured to cooperate with an inner edge of the root end element.

[0181] 23. A root end manipulator according to any of items 21-22, wherein the root end interface comprises an interface motor configured to rotate the first interface wheel.

[0182] 24. A root end manipulator according to any one of items 18-23, wherein the root end interface comprises a plurality of interface elements, the plurality of interface elements comprising a first interface element, a second interface element and a third interface element, wherein the first interface element, the second interface element and the third interface element are equidistantly spaced at an interface element spacing angle.

[0183] 25. A root end effector according to any one of items 16-24, wherein the root end interface is rotatable relative to the base structure, and the root end effector comprises a base motor for rotating the root end interface relative to the base structure.

[0184] 26. A root end manipulator according to any one of items 16 to 25, comprising one or more vertically extending root elements adjustable between a low configuration and a high configuration so as to alter the vertical position of the root end interface.

[0185] 27. A blade handling system comprising a root end element according to any of items 1-15 and a root end manipulator according to any of items 16-26.

[0186] 28. A blade handling system according to item 27, comprising a tip end structure configured to support an airfoil region of a wind turbine blade, the tip end structure comprising a tip end clamp component configured to be fixed to the airfoil region and a tip end base structure configured to contact the ground, the tip end clamp component being pivotally connected to the tip end base structure.

[0187] 29. A blade handling system according to item 28, wherein the tip end base structure includes one or more vertically extending tip elements adjustable between a low configuration and a high configuration so as to modify the vertical position of the tip end clamp component.

[0188] The present invention has been described with reference to the preferred embodiments. However, the scope of the present invention is not limited to the illustrated embodiments, and changes and modifications may be made without departing from the scope of the present invention.

[0189] Reference List

[0190] 2. Wind Turbines

[0191] 4 Tower

[0192] 6. Cabin

[0193] 8 Hub

[0194] 10 blades

[0195] 14 Leaf tip

[0196] 15 distal end

[0197] 16 Blade root

[0198] 17 Root end

[0199] 18 Leading Edge

[0200] 20 trailing edge

[0201] 24 first blade shell member

[0202] 26 Second blade shell member

[0203] 28 Join lines / glue joints

[0204] 30 Root Zone

[0205] 32 Transition Zone

[0206] 34 Airfoil area

[0207] 50 Root end surface

[0208] 52 Inner root surface

[0209] 54 External root surface

[0210] 56 Bolt attachment

[0211] 58 Bolt circle diameter

[0212] 60 Inner root diameter

[0213] 62 Outer root diameter

[0214] 100 Root end element

[0215] 102 First attachment point

[0216] 104 Second attachment point

[0217] 106 Third attachment point

[0218] 108 Fourth attachment point

[0219] 110 Inner Edge

[0220] 112 Inner surface

[0221] 114 first inner edge surface

[0222] 116 Second inner edge surface

[0223] 118 first support member

[0224] 120 second support member

[0225] 122 (One or more) support attachment elements

[0226] 124 first support member attachment element

[0227] 126 second support member attachment element

[0228] 128 third support member attachment element

[0229] 130 fourth support member attachment element

[0230] 132 (One or more) first support member attachment point

[0231] 134 (One or more) second support member attachment point

[0232] 136 Lifting Ring

[0233] 140 First manipulator attachment point

[0234] 142 Second manipulator attachment point

[0235] 144 Third manipulator attachment point

[0236] 200 Root end manipulator

[0237] 202 Base structure

[0238] 204 root end interface

[0239] 206 Base motor

[0240] 208 (One or more) vertically extending root elements

[0241] 210 First interface element

[0242] 212 First host

[0243] 214 First interface wheel

[0244] 216 First interface slot

[0245] 218 First interface motor

[0246] 220 Second interface element

[0247] 222 Second host

[0248] 224 Second interface wheel

[0249] 226 Second interface slot

[0250] 228 Second interface motor

[0251] 230 Third interface element

[0252] 232 Third host

[0253] 234 Third interface wheel

[0254] 236 Third interface slot

[0255] 238 Third interface motor

[0256] 240 (One or more) base wheels

[0257] 250 first fastening element

[0258] 252 second fastening element

[0259] 254 Third fastening element

[0260] 260 Fourth interface element

[0261] 262 Fourth host

[0262] 264 Fourth fastening element

[0263] 270 Rotation axis

[0264] 272 First rotation distance

[0265] 274 Second rotation distance

[0266] 276 Third rotation distance

[0267] 278 Fourth Rotation Distance

[0268] 280 Center of root end interface

[0269] 300 Distal end structure

[0270] 302 Distal end fixture component

[0271] 304 distal base structure

[0272] 306 (One or more) vertically extending distal elements

[0273] 308 distal end base wheel

[0274] n0 inner edge surface normal

[0275] n1 first inner edge surface normal

[0276] n2 Second inner edge surface normal

[0277] a1 first angle

[0278] a2 Second angle

[0279] a3 Third angle

[0280] w0 Width of the inner surface

[0281] L Longitudinal axis

Claims

1. A root end element for attachment to a root end of a wind turbine blade, the wind turbine blade having a longitudinal axis and comprising a root end, a root region, an airfoil region with a tip, a pressure side, a suction side and a chord line extending between a leading edge and a trailing edge, the root end having a root end surface, an inner root surface and an outer root surface, the root end surface being a ring formed in a root end plane substantially perpendicular to the longitudinal axis, The root end element comprises: a plurality of attachment points for attachment to said root end, said attachment points being located along a circle of attachment points in the plane of the root end element, forming an inner edge of an inner edge circle in the plane of said root end element, The inner edge comprises an inner edge surface having an inner edge surface normal in the root end element plane, the inner edge surface having a width perpendicular to the root end element plane, The inner edge comprises a first inner edge surface having a first inner edge surface normal that spans a first angle with the root end element plane, the inner edge comprising a second inner edge surface having a second inner edge surface normal that spans a second angle with the root end element plane; The root end element is configured to support the root end of the wind turbine blade.

2. A root end element according to claim 1, comprising a first manipulator attachment point configured for cooperating with a root end interface of a root end manipulator.

3. A root end element according to claim 2, comprising a plurality of manipulator attachment points, the plurality of manipulator attachment points comprising a first manipulator attachment point, a second manipulator attachment point and a third manipulator attachment point, the plurality of manipulator attachment points being positioned along a manipulator attachment point circle in the plane of the root end element, and wherein the manipulator attachment point circle is smaller than the attachment point circle.

4. The root end element according to claim 1, wherein the first angle is between 45 and 90 degrees, and the second angle is between -45 and -90 degrees.

5. A root end element according to any one of claims 1 to 4, comprising a first support and a second support, the first support and the second support being configured to contact the ground and prevent a lowest point of the root end from contacting the ground.

6. A root end element according to any one of claims 1-4, comprising a plurality of support attachment elements configured to connect with a first support and a second support, the first support and the second support being configured to contact the ground and prevent the lowest point of the root end from contacting the ground.

7. A root end manipulator configured to maneuver a wind turbine blade having a longitudinal axis and comprising a root end, a root region, an airfoil region with a tip, a pressure side, a suction side, and a chord line extending between a leading edge and a trailing edge, the root end having a root end surface, an inner root surface, and an outer root surface, the root end surface being a ring formed in a root end plane substantially perpendicular to the longitudinal axis, The root end manipulator comprises a base structure configured to contact the ground and a root end interface connected to the base structure, The root end interface is configured for cooperation with a root end element attached to the root end of the wind turbine blade; wherein the root end interface comprises a first interface element having a first main end configured to cooperate with the root end element; Wherein the first interface element comprises a first interface wheel positioned at the first master end.

8. The root end effector of claim 7, wherein the first interface wheel is a grooved wheel having a first interface groove, and wherein the first interface groove is configured to cooperate with an inner edge of the root end element.

9. The root end effector of claim 7, wherein the root end effector is configured to rotate and / or raise a wind turbine blade.

10. The root end effector of claim 7, wherein the first interface element is adjustable between a retracted configuration and an extended configuration.

11. The root end effector of claim 7, wherein the first interface element comprises a fastening element at the first main end, the fastening element being configured for fastening the first interface element to a manipulator attachment point of the root end element.

12. The root end effector of claim 7, wherein the root end interface comprises a plurality of interface elements, the plurality of interface elements comprising a first interface element, a second interface element, and a third interface element.

13. The root end effector of claim 12, wherein the plurality of interface elements are equally spaced at an interface element spacing angle.

14. A root end effector according to any one of claims 7 to 13, wherein the root end interface is rotatable relative to the base structure.

15. A root end effector according to claim 14, wherein the root end effector comprises a base motor for rotating the root end interface relative to the base structure.

16. The root end effector of claim 12, wherein the root end interface is rotatable relative to the base structure, the root end interface being rotatable about a rotation axis configured substantially parallel to the longitudinal axis of the wind turbine blade, and wherein, A first rotational distance from the rotational axis to the first main end of the first interface element is smaller than a second rotational distance from the rotational axis to the second main end of the second interface element.

17. A root end effector according to claim 16, wherein the root end effector comprises a base motor for rotating the root end interface relative to the base structure.

18. The root end effector of claim 16, wherein the rotation axis is configured to be substantially coincident with a center of mass of the wind turbine blade.

19. A blade handling system comprising a root end element according to any one of claims 1-6 and a root end manipulator according to any one of claims 7-18.

20. The blade handling system of claim 19, comprising a tip end structure configured to support the airfoil region of the wind turbine blade, the tip end structure comprising a tip end clamp component configured to be fixed to the airfoil region and a tip end base structure configured to contact the ground, the tip end clamp component being pivotably connected to the tip end base structure.

Images