A self-adjusting center of gravity blade aerial assembly hanger

Abstract

The present invention discloses a self-adjusting center of gravity blade aerial assembly hoist, including a double self-rotating mechanism, the double self-rotating mechanism includes a large-range rotating arm, the large-range rotating arm is hinged with a small-range rotating arm, the small-range rotating arm is hinged with a rotating arm fixing seat; a swing arm assembly is provided at the top of the tray, and clamping assemblies are symmetrically provided at both ends of the tray; the swing arm assembly includes a swing arm support and a swing arm hydraulic cylinder; the clamping assembly includes a clamp body, the clamp body is respectively hinged with a rotating clamp arm and a clamping hydraulic cylinder, the clamping hydraulic cylinder is hinged with the rotating clamp arm, an upper clamp blade conformal protection module is fixedly connected to the rotating clamp arm, and a lower clamp blade conformal protection module is fixedly connected to the clamp body. This device solves the problem of center of gravity change when assembling single blades with a large load at high altitude at sea, can operate in a limited hoisting space, and can also repair and replace damaged blades, meeting the working condition requirements for installing wind turbines at sea.

Description

Technical Field

[0001] The invention relates to the field of hoisting, and in particular to a gravity center self-adjusting blade aerial assembly hoist. Background Art

[0002] Offshore wind power plants are new types of power plants that use offshore wind resources to generate electricity. In the first decade of the 21st century, the average annual growth rate of global wind power installed capacity was close to 30.00%. Wind power technology is becoming more and more mature. As the capacity of offshore wind turbines increases, the blades become larger and heavier, and the height of the assembly increases. The difficulty of lifting a single blade increases due to factors such as the placement of the installation ship and the rotation direction of the crane arm.

[0003] The center of gravity of a large-load single-blade assembly at high altitude at sea is constantly changing. The existing lifting equipment cannot meet the lifting requirements of current working conditions due to space limitations and functional structure limitations. At the same time, it is difficult to repair and replace damaged blades. Summary of the invention

[0004] The purpose of the present invention is to provide a self-adjusting center of gravity blade aerial assembly sling to solve the problems existing in the above-mentioned prior art, solve the problem of installation difficulties caused by the continuous change of the center of gravity when assembling large-load single blades at high altitude at sea, and also facilitate the maintenance and replacement of blades.

[0005] To achieve the above object, the present invention provides the following solution: The present invention provides a gravity center self-adjusting blade aerial assembly hanger, comprising a double self-rotation mechanism, the double self-rotation mechanism comprising a large-range rotating arm, the large-range rotating arm is hinged to a small-range rotating arm, and the small-range rotating arm is hinged to a rotating arm fixing seat;

[0006] A tray, wherein a swing arm assembly is provided at the top of the tray, clamping assemblies are symmetrically provided at both ends of the tray, and both ends of the tray are respectively fixedly connected to the rotating arm fixing seat;

[0007] The swing arm assembly comprises a swing arm support and a swing arm hydraulic cylinder, wherein the swing arm support and the swing arm hydraulic cylinder are respectively hinged to the tray, and the swing arm support and the swing arm hydraulic cylinder are hinged;

[0008] The clamping assembly includes a clamp body, which is respectively hinged with a rotating clamp arm and a clamping hydraulic cylinder, the clamping hydraulic cylinder is hinged with the rotating clamp arm, an upper clamp blade conformal protection module is fixedly connected to the rotating clamp arm, and a lower clamp blade conformal protection module is fixedly connected to the clamp body.

[0009] Preferably, the large-range rotating arm and the small-range rotating arm are driven to be connected by a first rotating arm hydraulic cylinder, and the small-range rotating arm and the rotating arm fixing seat are driven to be connected by a second rotating arm hydraulic cylinder.

[0010] Preferably, the large-range rotating arm is hinged to the small-range rotating arm via a first rotating arm rotating shaft, and the small-range rotating arm is hinged to the rotating arm fixing seat via a second rotating arm rotating shaft.

[0011] Preferably, the side wall of the large-range rotating arm is fixed with a first lifting ear, and the side wall of the small-range rotating arm is fixed with a first hydraulic cylinder fixing seat, the first hydraulic cylinder fixing seat is hinged to the body of the first rotating arm hydraulic cylinder, and the first lifting ear is hinged to the output end of the first rotating arm hydraulic cylinder through the first hydraulic cylinder rotating shaft.

[0012] Preferably, a second lifting ear is fixedly connected to the side wall of the small-range rotating arm, a second hydraulic cylinder fixing seat is fixedly connected to the pallet, the second hydraulic cylinder fixing seat is hinged to the body of the second rotating arm hydraulic cylinder, and the second lifting ear is hinged to the output end of the second rotating arm hydraulic cylinder.

[0013] Preferably, the output end of the swing arm hydraulic cylinder is hinged to the swing arm support, and the body of the swing arm hydraulic cylinder is hinged to the pallet.

[0014] Preferably, the clamp body is fixedly connected to the pallet, the clamp body is hinged to the clamping hydraulic cylinder body, the output end of the clamping hydraulic cylinder is hinged to the rotating clamp arm, and the clamping surfaces of the upper clamp blade conformal protection module and the lower clamp blade conformal protection module are arranged opposite to each other.

[0015] Preferably, a hydraulic station is fixedly installed on the pallet, and the hydraulic station is connected to the first rotating arm hydraulic cylinder, the second rotating arm hydraulic cylinder and the swing arm hydraulic cylinder.

[0016] The present invention discloses the following technical effects: the device is provided with a dual self-rotation mechanism, and the pallet can be rotated to the maximum extent through the hinge connection of the large-range rotating arm and the small-range rotating arm, and the swing arm assembly at the top of the pallet can realize a rotation different from the rotation direction of the large-range rotating arm and the small-range rotating arm, thereby increasing the rotation direction of the pallet and allowing the pallet to rotate in more directions; the clamping assembly includes a clamp body, and an upper clamp blade conformal protection module and a lower clamp blade conformal protection module are fixedly connected to the clamp body to fix the blade to be installed. The device solves the problem of the change of the center of gravity when aligning a single blade group with a large load at high altitude at sea, can operate in a limited lifting space, and can also repair and replace damaged blades, meeting the working condition requirements for installing wind turbines at sea. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0018] Figure 1 It is a schematic diagram of the structure of the gravity center self-adjusting blade aerial assembly hanger of the present invention;

[0019] Figure 2 for Figure 1 A partial enlarged view of a;

[0020] Figure 3 This is a state diagram of the double self-rotation mechanism of the present invention during horizontal hoisting;

[0021] Figure 4 This is a state diagram of the double self-rotation mechanism of the present invention during longitudinal positive rotation;

[0022] Figure 5 This is a state diagram of the double self-rotation mechanism of the present invention during longitudinal negative rotation;

[0023] Figure 6 This is a state diagram of the double self-rotating mechanism of the present invention when the axial direction rotates positively;

[0024] Figure 7 This is a state diagram of the double self-rotation mechanism of the present invention when the axial direction rotates negatively;

[0025] Among them, 1 is a double self-rotating mechanism, 2 is a large-range rotating arm, 3 is a small-range rotating arm, 4 is a first rotating arm hydraulic cylinder, 5 is a rotating arm fixed seat, 6 is a second rotating arm hydraulic cylinder, 7 is a pallet, 8 is a swing arm support, 9 is a swing arm hydraulic cylinder, 10 is a clamp body, 11 is a rotating clamp arm, 12 is a clamping hydraulic cylinder, 13 is an upper clamp blade conformal protection module, 14 is a lower clamp blade conformal protection module, 15 is a first rotating arm shaft, 16 is a second rotating arm shaft, 17 is a first lifting ear, 18 is a first hydraulic cylinder fixed seat, 19 is a second lifting ear, 20 is a second hydraulic cylinder fixed seat, 21 is an electric control cabinet, 22 is a hydraulic station, and 23 is a generator. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] Reference Figure 1-7 The present invention provides a gravity center self-adjusting blade aerial assembly hanger, including a double self-rotation mechanism 1, the double self-rotation mechanism 1 includes a large-range rotating arm 2, the large-range rotating arm 2 is hinged with a small-range rotating arm 3, and the small-range rotating arm 3 is hinged with a rotating arm fixing seat 5; the small-range rotating arm 3 can also drive the large-range rotating arm 2 to rotate while rotating, and the large-range rotating arm 2 and the small-range rotating arm 3 enable the double self-rotation mechanism 1 to achieve the purpose of double rotation, meeting the use requirements of multiple angles;

[0029] The tray 7 has a swing arm assembly at the top and clamping assemblies symmetrically arranged at both ends of the tray 7. Both ends of the tray 7 are respectively fixedly connected to the rotating arm fixing seat 5. The tray 7 is an important intermediate connecting piece connecting the swing arm assembly, the clamping assembly and the rotating arm fixing seat 5.

[0030] The swing arm assembly includes a swing arm support 8 and a swing arm hydraulic cylinder 9, which are respectively hinged to the tray 7; the swing arm support 8 and the swing arm hydraulic cylinder 9 are hinged; the swing arm support 8 and the swing arm hydraulic cylinder 9 enable the tray 7 to rotate in a direction different from the rotation direction of the large-range rotating arm 2 and the small-range rotating arm 3, and increase the rotation direction of the tray 7 to meet the installation requirements of blades with different angles.

[0031] The clamping assembly includes a clamp body 10, which is respectively hinged with a rotating clamp arm 11 and a clamping hydraulic cylinder 12, the clamping hydraulic cylinder 12 is hinged with the rotating clamp arm 11, the rotating clamp arm 11 is fixedly connected with an upper clamp blade conformable protection module 13, and the clamp body 10 is fixedly connected with a lower clamp blade conformable protection module 14; the rotating clamp arm 11 and the clamping hydraulic cylinder 12 can drive the upper clamp blade conformable protection module 13 to move the upper clamp blade conformable protection module 13, and the upper clamp blade conformable protection module 13 cooperates with the lower clamp blade conformable protection module 14 to clamp the blade, which can adapt to blades of different sizes.

[0032] To further optimize the solution, the large-range rotating arm 2 and the small-range rotating arm 3 are driven to be connected by the first rotating arm hydraulic cylinder 4, and the small-range rotating arm 3 and the rotating arm fixing seat 5 are driven to be connected by the second rotating arm hydraulic cylinder 6; the first rotating arm hydraulic cylinder 4 drives the small-range rotating arm 3 to rotate, and the second rotating arm hydraulic cylinder 6 drives the rotating arm fixing seat 5 to rotate. The first rotating arm hydraulic cylinder 4 and the second rotating arm hydraulic cylinder 6 are more convenient in actual application, easy to operate and easy to maintain.

[0033] To further optimize the solution, the large-range rotating arm 2 is hinged to the small-range rotating arm 3 through the first rotating arm shaft 15, and the small-range rotating arm 3 is hinged to the rotating arm fixing seat 5 through the second rotating arm shaft 16; the first rotating arm shaft 15 and the second rotating arm shaft 16 facilitate disassembly and maintenance between the large-range rotating arm 2, the small-range rotating arm 3 and the rotating arm fixing seat 5.

[0034] A further optimized solution is that a first lifting ear 17 is fixedly connected to the side wall of the large-range rotating arm 2, and a first hydraulic cylinder fixing seat 18 is fixedly connected to the side wall of the small-range rotating arm 3. The first hydraulic cylinder fixing seat 18 is hinged to the barrel of the first rotating arm hydraulic cylinder 4, and the first lifting ear 17 is hinged to the output end of the first rotating arm hydraulic cylinder 4 through the first hydraulic cylinder rotating shaft; the first lifting ear 17 is hinged to the output end of the first rotating arm hydraulic cylinder 4, so that the large-range rotating arm 2 can be driven without damaging the large-range rotating arm 2, and the two ends of the first rotating arm hydraulic cylinder 4 are respectively hinged to the first lifting ear 17 and the first hydraulic cylinder fixing seat 18. When the first rotating arm hydraulic cylinder 4 is extended and retracted, the angle between the first rotating arm hydraulic cylinder 4 and the large-range rotating arm 2 and the small-range rotating arm 3 will change. The hinged manner facilitates the extension and retraction of the first rotating arm hydraulic cylinder 4, and will not cause damage to the first rotating arm hydraulic cylinder 4. At the same time, the large-range rotating arm 2 is driven by the first rotating arm hydraulic cylinder 4 to achieve an automatic rotation effect.

[0035] To further optimize the solution, a second lifting ear 19 is fixedly connected to the side wall of the small-range rotating arm 3, a second hydraulic cylinder fixing seat 20 is fixedly connected to the tray 7, the second hydraulic cylinder fixing seat 20 is hinged to the barrel of the second rotating arm hydraulic cylinder 6, and the second lifting ear 19 is hinged to the output end of the second rotating arm hydraulic cylinder 6; the two ends of the second rotating arm hydraulic cylinder 6 are respectively hinged to the second lifting ear 19 and the second hydraulic cylinder fixing seat 20, when the second rotating arm hydraulic cylinder 6 extends and retracts, the angle of the second rotating arm hydraulic cylinder 6 and the small-range rotating arm 3 and the second hydraulic cylinder fixing seat 20 will change, and the changed angle can be absorbed in a hinged manner, which facilitates the extension and retraction of the second hydraulic cylinder fixing seat 20 and will not cause damage to the second hydraulic cylinder fixing seat 20, and the small-range rotating arm 3 is driven to rotate by the second rotating arm hydraulic cylinder 6. While the small-range rotating arm 3 rotates, it can also drive the large-range rotating arm 2 to rotate, thereby achieving the function of dual rotation. In this embodiment, its rotation is controlled by a wireless remote control, and it can be stopped at any position during the rotation until the required angle position is reached.

[0036] To further optimize the solution, the body of the swing arm hydraulic cylinder 9 is hinged to the pallet 7, and the output end of the swing arm hydraulic cylinder 9 is hinged to the swing arm support 8; through the support of the swing arm support 8, the swing arm hydraulic cylinder 9 can drive the pallet 7 to rotate positively and negatively in the axial direction when extending and contracting, thereby meeting the requirements of assembling blades in a rotation direction different from that of the large-range rotating arm 2 and the small-range rotating arm 3.

[0037] Further optimization scheme, the clamp body 10 is fixedly connected to the tray 7, the clamp body 10 is hinged to the barrel of the clamping hydraulic cylinder 12, the output end of the clamping hydraulic cylinder 12 is hinged to the rotating clamp arm 11, and the clamping surfaces of the upper clamp blade conformal protection module 13 and the lower clamp blade conformal protection module 14 are arranged opposite to each other; in this embodiment, the clamp body 10 is designed as a C-shaped structure, which is conducive to the arrangement of the positions of the upper clamp blade conformal protection module 13 and the lower clamp blade conformal protection module 14, the lower clamp blade conformal protection module 14 is arranged at the bottom end of the clamp body 10, and the upper clamp blade conformal protection module 13 is arranged at the top end of the clamp body 10, wherein the lower clamp blade conformal protection module 14 is inactive, and the upper clamp blade conformal protection module 13 is movable. Specifically, the clamping hydraulic cylinder 12 drives the rotating clamp arm 11 to move, and the rotating clamp arm 11 drives the upper clamp blade conformal protection module 13 to move. Through the movement of the clamping hydraulic cylinder 12 and the rotating clamp arm 11, the position of the upper clamp blade conformal protection module 13 is adjusted. The upper clamp blade conformal protection module 13 cooperates with the lower clamp blade conformal protection module 14 to clamp blades of different sizes.

[0038] To further optimize the solution, a hydraulic station 21 is fixedly installed on the pallet 7, and the hydraulic station 21 is connected to the first rotating arm hydraulic cylinder 4, the second rotating arm hydraulic cylinder 6 and the swing arm hydraulic cylinder 9; the hydraulic station 21 provides hydraulic power for the first rotating arm hydraulic cylinder 4, the second rotating arm hydraulic cylinder 6 and the swing arm hydraulic cylinder 9. In this embodiment, an electric control cabinet 20 and a generator 22 are also installed on the pallet 7. The electric control cabinet 20 controls the circuit of the device, and the generator 22 provides power for the device. The electric control cabinet 20, the hydraulic station 21, the generator 22, the pump station and other driving components are all arranged on the pallet 7, and the pallet 7 is arranged in front of the lifting point. The positions of the above components on the pallet 7 are reasonably placed, and the hoisting device can be balanced by utilizing its own weight and the weight of the pallet itself, thereby reducing the load on the lifting arm and increasing the lifting stability.

[0039] Offshore wind power generation technology is already very mature, and the capacity of single offshore wind turbines is increasing. When using the device to install wind turbine blades at sea, the device is mounted on the blades to be assembled, and the blades are clamped by the clamping surfaces of the upper clamp blade conformal protection module 13 and the lower clamp blade conformal protection module 14. The clamping hydraulic cylinder 12 and the rotating clamp arm 11 drive the upper clamp blade conformal protection module 13 to clamp, and then the device is lifted. Since the driving components such as the electric control cabinet 20, the hydraulic station 21, the generator 22, and the pump station are reasonably arranged on the tray 7, the device can maintain balance after lifting, and the first rotating arm hydraulic cylinder 4 and the second rotating arm hydraulic cylinder 6 are driven to rotate the large-range rotating arm 2 and the small-range rotating arm 3, and stop rotating after reaching the required angle position. The swing arm hydraulic cylinder 9 and the swing arm support 8 can make the device rotate in the axial direction to meet the assembly requirements of the blades in more directions. This device solves the problem of the constant change of the center of gravity when aligning a single blade group with a large load at high altitude at sea. It can operate in a limited lifting space, reducing various costs of blade installation. It can also help to repair and replace damaged blades. While facilitating the operation and maintenance of the unit, it can save the time and economic cost of replacing blades.

[0040] The device is equipped with a swing arm assembly to achieve the positive and negative rotation adjustment function of the blade axial direction. The reasonable configuration of the positioning points and positioning angles of all components can reduce the load of the crane arm and make the sling lightweight and stable. The double self-rotating mechanism 1 assists the fan blade sling to adjust the various postures of the fan blade installation. By utilizing its characteristics of being able to operate in parallel space, it effectively solves the problem of limited crane lifting height. The setting of the multi-row blade clamping conformal protection structure with fixed bottom and movable top is used to adapt to the lifting of blades of different models and can fit the blades more quickly.

[0041] The device is provided with a double self-rotating mechanism 1 and a swing arm assembly. Compared with the existing hoisting devices, the rotation angle is effectively increased, the rotation torque is reduced, and the rotation torque and rotation driving force during the center of gravity adjustment are reduced. It has good force resistance and low cost, simple structure and easy operation, and can automatically adjust various installation postures of the fan blades in an unmanned state at high altitude. The double self-rotating mechanism 1 can operate in parallel space, effectively solving the problem of limited crane lifting height. The overall structure is reasonably configured, so that the device meets the lightweight design requirements.

[0042] Figure 3 This is the state diagram of the double self-rotating mechanism 1 of the device when it is hoisted horizontally. By controlling the second rotating arm hydraulic cylinder 6 connected to the small-range rotating arm 3, it is rotated 90 degrees. At this time, the blades are lifted and are in a horizontal hoisting state.

[0043] Figure 4 and Figure 5This is the state diagram of the double self-rotation mechanism of the device when it rotates longitudinally in positive and negative directions. Both state diagrams are limit states. When the first rotating arm hydraulic cylinder 4 and the second rotating arm hydraulic cylinder 6 extend, the spreader will rotate toward the leading edge of the blade. When the first rotating arm hydraulic cylinder 4 and the second rotating arm hydraulic cylinder 6 retract, the spreader will rotate toward the trailing edge of the blade.

[0044] Figure 6 and Figure 7 This is a state diagram of the double self-rotating mechanism 1 of the device when the axial direction rotates positively and negatively. When the swing arm hydraulic cylinder 9 extends, the hanger will rotate clockwise toward the blade axis. When the swing arm hydraulic cylinder 9 retracts, the hanger will rotate counterclockwise toward the blade axis.

[0045] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0046] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A self-adjusting blade aerial assembly hanger, characterized in that: include: A double self-rotating mechanism (1), the double self-rotating mechanism (1) comprising a large-range rotating arm (2), the large-range rotating arm (2) being hingedly connected to a small-range rotating arm (3), the small-range rotating arm (3) being hingedly connected to a rotating arm fixing seat (5); A tray (7), wherein a swing arm assembly is provided at the top of the tray (7), clamping assemblies are symmetrically provided at both ends of the tray (7), and the two ends of the tray (7) are respectively fixedly connected to the rotating arm fixing seat (5); The swing arm assembly comprises a swing arm support (8) and a swing arm hydraulic cylinder (9), wherein the swing arm support (8) and the swing arm hydraulic cylinder (9) are respectively hinged to the tray (7), and the swing arm support (8) and the swing arm hydraulic cylinder (9) are hinged; The clamping assembly comprises a clamp body (10), the clamp body (10) is respectively hinged with a rotating clamp arm (11) and a clamping hydraulic cylinder (12), the clamping hydraulic cylinder (12) is hinged with the rotating clamp arm (11), an upper clamp blade conformal protection module (13) is fixedly connected to the rotating clamp arm (11), and a lower clamp blade conformal protection module (14) is fixedly connected to the clamp body (10); A first rotating arm hydraulic cylinder (4) is drivingly connected between the large-range rotating arm (2) and the small-range rotating arm (3), and a second rotating arm hydraulic cylinder (6) is drivingly connected between the small-range rotating arm (3) and the rotating arm fixing seat (5); The large-range rotating arm (2) is hinged to the small-range rotating arm (3) via a first rotating arm rotating shaft (15), and the small-range rotating arm (3) is hinged to the rotating arm fixing seat (5) via a second rotating arm rotating shaft (16); The side wall of the large-range rotating arm (2) is fixedly connected with a first lifting ear (17), and the side wall of the small-range rotating arm (3) is fixedly connected with a first hydraulic cylinder fixing seat (18), the first hydraulic cylinder fixing seat (18) is hinged to the body of the first rotating arm hydraulic cylinder (4), and the first lifting ear (17) is hinged to the output end of the first rotating arm hydraulic cylinder (4) through the first hydraulic cylinder rotating shaft; A second lifting lug (19) is fixedly connected to the side wall of the small-range rotating arm (3), a second hydraulic cylinder fixing seat (20) is fixedly connected to the tray (7), the second hydraulic cylinder fixing seat (20) is hinged to the body of the second rotating arm hydraulic cylinder (6), and the second lifting lug (19) is hinged to the output end of the second rotating arm hydraulic cylinder (6); The output end of the swing arm hydraulic cylinder (9) is hinged to the swing arm support (8), and the body of the swing arm hydraulic cylinder (9) is hinged to the tray (7).

2. The gravity center self-adjusting blade aerial assembly hanger according to claim 1, characterized in that: The clamp body (10) is fixedly connected to the tray (7), the clamp body (10) is hinged to the barrel of the clamping hydraulic cylinder (12), the output end of the clamping hydraulic cylinder (12) is hinged to the rotating clamp arm (11), and the clamping surfaces of the upper clamp blade conformal protection module (13) and the lower clamp blade conformal protection module (14) are arranged opposite to each other.

3. The gravity center self-adjusting blade aerial assembly hanger according to claim 1, characterized in that: A hydraulic station (21) is fixedly mounted on the pallet (7), and the hydraulic station (21) is connected to the first rotating arm hydraulic cylinder (4), the second rotating arm hydraulic cylinder (6) and the swing arm hydraulic cylinder (9).

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