Control method and control system of blade hanger and blade hanger

Abstract

A control method, a control system and a blade hanger are provided. The blade hanger includes a clamp, and the clamp includes a root clamping mechanism for clamping the root portion of the blade and provided with a root clamping block, and a tip clamping mechanism for clamping the tip portion of the blade and provided with a tip clamping block. The control method of the blade hanger includes: obtaining a first real-time distance parameter reflecting the distance between the root clamping block and the blade and the distance between the tip clamping block and the blade; comparing the first real-time distance parameter with the first target distance parameter to obtain a first comparison result; based on the first comparison result, controlling the root clamping mechanism and / or the tip clamping mechanism to rise or fall to adjust the distance between the root clamping block and the blade and / or the distance between the tip clamping block and the blade. The present invention can monitor and adjust the posture of the clamp in real time to effectively avoid the clamp from bumping or damaging the blade, ensure safety, and improve hoisting efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power generation, and more specifically, to a control method and a control system for a blade hanger capable of monitoring and adjusting the posture of a clamp in real time, and a blade hanger. Background Art

[0002] With the rapid development of wind power generation technology in my country, the capacity of wind turbines has been increasing, and the blades of wind turbines have also gradually increased. For example, offshore wind turbines have also developed rapidly and the technology has become increasingly mature. Different models of high-power, such as 8MW and 10MW, are constantly being launched. The process and cost of wind turbine blades are also constantly increasing. During the installation of blades, if the blades are damaged, it will cause huge losses. Therefore, the accuracy and safety requirements of the blade clamping and hoisting devices are getting higher and higher. At present, the blade clamps often collide with the blades during the hoisting process of the hoists on the market. The collision mainly occurs during the blade clamping process and during the process of opening the clamp, disassembling the clamp and unhooking the clamp after the blade is installed. Therefore, there is an urgent need for a hoisting method that can prevent the blade clamp from bumping against the blade. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a control method for a blade hanger, which adjusts the posture of the clamp by real-time monitoring the distance between the clamp and the blade in the blade hanger to effectively avoid bumping or damaging the blade.

[0004] The present invention also provides a control system for a blade hanger and a blade hanger including the control system, which can monitor and adjust the posture of the clamp in real time to effectively prevent the clamp from bumping against or damaging the blade.

[0005] According to one aspect of the present invention, a control method for a blade hanger is provided, the blade hanger comprises a clamp, the clamp comprises a blade root clamping mechanism for clamping a blade root portion of a blade and provided with a blade root clamping block, and a blade tip clamping mechanism for clamping a blade tip portion of a blade and provided with a blade tip clamping block, the control method for the blade hanger comprises: obtaining a first real-time distance parameter reflecting the distance between the blade root clamping block and the blade and the distance between the blade tip clamping block and the blade; comparing the first real-time distance parameter with a first target distance parameter to obtain a first comparison result; based on the first comparison result, controlling the blade root clamping mechanism and / or the blade tip clamping mechanism to rise or fall to adjust the distance between the blade root clamping block and the blade and / or the distance between the blade tip clamping block and the blade, thereby adjusting the posture of the clamp by real-time monitoring the distance between the clamp and the blade, so as to effectively avoid the clamp from bumping or damaging the blade.

[0006] According to an exemplary embodiment of the present invention, the blade hanger may also include a first adjustment mechanism, which is connected between the crane and the clamp and is located above the clamp, and is used to adjust the inclination angle of the clamp. Based on the first comparison result, the operation of controlling the blade root clamping mechanism and / or the blade tip clamping mechanism to rise or fall includes: in response to the first comparison result, controlling the first adjustment mechanism to perform an action to make the blade root clamping mechanism and / or the blade tip clamping mechanism rise or fall.

[0007] According to an exemplary embodiment of the present invention, the first adjustment mechanism may include a main body and a telescopic unit, wherein the approximate central portion of the main body is connected to a sling of a crane, and the first end and the second end of the main body are respectively connected to one and the other of a blade root clamping mechanism and a blade tip clamping mechanism through a sling, wherein, based on the first comparison result, the operation of controlling the blade root clamping mechanism and / or the blade tip clamping mechanism to rise or fall includes: in response to the first comparison result, controlling the telescopic unit to extend and retract to drive the main body to rotate around the rotation axis, or controlling the crane to extend or shorten the lead-out length of the sling, thereby causing the blade root clamping mechanism and / or the blade tip clamping mechanism to rise or fall.

[0008] According to an exemplary embodiment of the present invention, the first adjustment mechanism may further include a first motor for driving the telescopic movement of the telescopic unit, wherein, based on the first comparison result, the operation of controlling the blade root clamping mechanism and / or the blade tip clamping mechanism to rise or fall includes: in response to the first comparison result, controlling the first motor to operate to drive the telescopic movement of the telescopic unit and drive the main body to rotate around the rotation axis, thereby causing the blade root clamping mechanism or the blade tip clamping mechanism to rise or fall.

[0009] According to an exemplary embodiment of the present invention, a blade root clamping block may include a first blade root clamping block and a second blade root clamping block respectively used to clamp opposite sides of the blade, and a blade tip clamping block may include a first blade tip clamping block and a second blade tip clamping block respectively used to clamp opposite sides of the blade, wherein the first blade root clamping block and the first blade tip clamping block are located on a side of the blade facing the first adjustment mechanism, and the second blade root clamping block and the second blade tip clamping block are located on the other side of the blade opposite to the one side, wherein the first real-time distance parameters are respectively a real-time distance d1 between the first blade root clamping block and the blade, a real-time distance d2 between the first blade tip clamping block and the blade, a real-time distance d3 between the second blade root clamping block and the blade, and a real-time distance d4 between the second blade tip clamping block and the blade.

[0010] According to an exemplary embodiment of the present invention, at least one sensing unit may be provided on each of the first blade root clamping block, the second blade root clamping block, the first blade tip clamping block, and the second blade tip clamping block for acquiring the first real-time distance parameter.

[0011] According to an exemplary embodiment of the present invention, based on the first comparison result, the operation of controlling the blade root clamping mechanism and / or the blade tip clamping mechanism to rise or fall may include one or more of the following operations: in response to d1<d0, d4<d0, d2>d0 and d3>d0, controlling the first motor to operate so that the blade root clamping mechanism rises and the blade tip clamping mechanism falls, until d1≥d0, d2≥d0, d3≥d0 and d4≥d0; in response to d2<d0, d3<d0, d1>d0 and d4>d0, controlling the first motor to operate so that the blade root clamping mechanism falls and the blade tip clamping mechanism rises, until d1≥d0, d2≥d0, d3≥d0 and d4≥d0; in response to d1>d0, d2>d0, d3>d0 <d0 and d4<d0, control the crane to extend the lead-out length of the suspension rope to lower the blade root clamping mechanism and the blade tip clamping mechanism until d1≥d0, d2≥d0, d3≥d0 and d4≥d0; in response to d1<d0 and d2<d0, d3>d0 and d4>d0, control the crane to shorten the lead-out length of the suspension rope to raise the blade root clamping mechanism and the blade tip clamping mechanism until d1≥d0, d2≥d0, d3≥d0 and d4≥d0; in response to d1≥d0, d2≥d0, d3≥d0 and d4≥d0, control the crane to translate, wherein d0 represents the first target distance parameter between each of the first blade root clamping block, the second blade root clamping block, the first blade tip clamping block and the second blade tip clamping block and the blade.

[0012] According to an exemplary embodiment of the present invention, the blade root clamping mechanism and the blade tip clamping mechanism further include a blade root limit block and a blade tip limit block, respectively, wherein the blade root limit block and the blade root clamping block are arranged on different sides of the blade, and the blade tip limit block and the blade tip clamping block are arranged on different sides of the blade, wherein the control method of the blade hanger also includes: obtaining a second real-time distance parameter reflecting the distance between the blade root limit block and the blade and the distance between the blade tip limit block and the blade; comparing the second real-time distance parameter with the second target distance parameter to obtain a second comparison result; based on the second comparison result, controlling the blade root clamping mechanism and the blade tip clamping mechanism to swing to adjust the distance between the blade root limit block and the blade and the distance between the blade tip limit block and the blade, wherein the second real-time distance parameters are the real-time distance d5 between the blade root limit block and the blade and the real-time distance d6 between the blade tip limit block and the blade, respectively, so that the posture of the clamp can be monitored and adjusted in real time to effectively avoid the clamp from bumping or damaging the blade.

[0013] According to an exemplary embodiment of the present invention, at least one sensing unit may be provided on each of the blade root stopper and the blade tip stopper for acquiring the second real-time distance parameter.

[0014] According to an exemplary embodiment of the present invention, the blade hanger may also include a second adjustment mechanism, the second adjustment mechanism includes a first guy rope 151 arranged between the blade root clamping mechanism 11 and the boom 40 of the crane, and a second guy rope 152 arranged between the blade tip clamping mechanism 12 and the boom 40, wherein, based on the second comparison result, the operation of controlling the swing of the blade root clamping mechanism and / or the blade tip clamping mechanism includes: based on the second comparison result, controlling the adjustment of the lead-out length of the first guy rope and the second guy rope to allow the blade root clamping mechanism and the blade tip clamping mechanism to swing.

[0015] According to an exemplary embodiment of the present invention, the second adjustment mechanism may further include: a second motor, used to drive the first guy rope to retract and extend to adjust the lead-out length of the first guy rope; a third motor, used to drive the second guy rope to retract and extend to adjust the lead-out length of the second guy rope, wherein, based on the second comparison result, the operation of controlling the swing of the blade root clamping mechanism and / or the blade tip clamping mechanism includes: based on the second comparison result, controlling the second motor to operate to shorten or extend the lead-out length of the first guy rope, and controlling the third motor to operate to extend or shorten the lead-out length of the second guy rope.

[0016] According to an exemplary embodiment of the present invention, based on the second comparison result, the operation of controlling the swing of the blade root clamping mechanism and the blade tip clamping mechanism includes one or more of the following operations: in response to d5>L0 and d6<L0, controlling the second motor to operate so as to extend the lead-out length of the first cable wind rope, and controlling the third motor to operate so as to shorten the lead-out length of the second cable wind rope until d5≥L0 and d6≥L0; in response to d5<L0 and d6>L0, controlling the second motor to operate so as to shorten the lead-out length of the first cable wind rope, and Control the third motor to extend the lead-out length of the second guy rope until d5≥L0 and d6≥L0; in response to d5<L0 and d6<L0, control the second motor to shorten the lead-out length of the first guy rope, and control the third motor to shorten the lead-out length of the second guy rope until d5≥L0 and d6≥L0; in response to d5≥L0 and d6≥L0, control the crane to translate, wherein L0 represents the second target distance parameter between each of the blade root limit block and the blade tip limit block and the blade.

[0017] According to another aspect of the present invention, a control system of a blade hanger is provided, the control system comprising: a sensing unit, arranged on a blade root clamping mechanism of the clamp for clamping a blade root portion and provided with a blade root clamping block, and a blade tip clamping mechanism for clamping a blade tip portion and provided with a blade tip clamping block, for obtaining a first real-time distance parameter reflecting the distance between the blade root clamping block and the blade, and the distance between the blade tip clamping block and the blade; a controller, the controller being configured to: receive the first real-time distance parameter; compare the first real-time distance parameter with a first target distance parameter to obtain a first comparison result; based on the first comparison result, control the blade root clamping mechanism and / or the blade tip clamping mechanism to rise or fall, so as to adjust the distance between the blade root clamping block and the blade and / or the distance between the blade tip clamping block and the blade, so as to be able to monitor and adjust the posture of the clamp in real time, so as to effectively avoid the clamp from bumping or damaging the blade.

[0018] According to an exemplary embodiment of the present invention, in the control system, the sensing unit is also arranged on the blade root clamping mechanism and the blade tip clamping mechanism, for obtaining a second real-time distance parameter reflecting the distance between the blade root limit block and the blade and the distance between the blade tip limit block and the blade, wherein the controller is further configured to: receive the second real-time distance parameter; compare the second real-time distance parameter with the second target distance parameter to obtain a second comparison result; based on the second comparison result, control the blade root clamping mechanism and the blade tip clamping mechanism to swing so as to adjust the distance between the blade root limit block and the blade and the distance between the blade tip limit block and the blade.

[0019] According to an exemplary embodiment of the present invention, the controller is further configured to control the blade root clamping block and the blade tip clamping block to move to clamp or release the blade according to the first real-time distance parameter.

[0020] According to an exemplary embodiment of the present invention, the control system may further include: a remote display terminal connected to the controller and used to display information received by the controller and / or information sent from the controller; a WIFI amplifier installed on the fixture to convert the information received by the controller and / or information sent from the controller into a WIFI signal and amplify it.

[0021] According to yet another aspect of the present invention, a blade hanger is provided. The blade hanger comprises the control system as described above.

[0022] By adopting the technical solution of the present invention, the safe distance between the clamping hanger and the blade can be detected in real time, and the posture of the clamping hanger can be automatically adjusted to effectively avoid collision and damage of the blade, and the lifting time can be shortened, thereby reducing economic and time losses. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and other features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments of the present invention in conjunction with the accompanying drawings, in which:

[0024] Figure 1 is a schematic diagram of a blade hanger according to an exemplary embodiment of the present invention;

[0025] Figure 2 is a schematic diagram of a blade root clamping mechanism of a clamp in a blade hanger according to an exemplary embodiment of the present invention;

[0026] Figure 3 is a schematic diagram of a blade root clamping mechanism of a clamp in a blade hanger according to an exemplary embodiment of the present invention;

[0027] Figure 4 is a schematic diagram schematically showing the structure of a first adjustment mechanism;

[0028] Figure 5 is a schematic diagram schematically showing the structure of the second adjustment mechanism;

[0029] Figure 6 is a block diagram schematically illustrating a control system according to an exemplary embodiment;

[0030] Figure 7 is a flow chart of a method for controlling a blade hanger according to an exemplary embodiment;

[0031] Figure 8 is a flow chart of a control method of a blade hanger according to an exemplary embodiment.

[0032] Description of Figure Numbers:

[0033] 10: clamp; 11: blade root clamping mechanism; 12: blade tip clamping mechanism; 110: blade root clamping block; 111: first blade root clamping block; 112: second blade root clamping block; 113: blade root limit block; 114: fourth motor; 120: blade tip clamping block; 121: first blade tip clamping block; 122: second blade tip clamping block; 123: blade tip limit block; 124: fifth motor; 13: first adjustment mechanism; 131: main body; 132: telescopic unit; 133: rotating shaft; 134: first motor; 14: sling; 20: blade; 21: blade root part; 22: blade tip part; 30: sling rope; 40: sling arm; 15: second adjustment mechanism; 151: first cable wind rope; 152: second cable wind rope; 153: second motor; 154: third motor; 100: sensing unit; 101: first sensing unit; 102: second sensing unit; 103: third sensing unit; 104: fourth sensing unit; 105: fifth sensing unit; 106: sixth sensing unit; 200: controller; 300: remote display terminal; 400: WIFI amplifier; d1: real-time distance between the first blade root clamping block and the blade; d2: real-time distance between the first blade tip clamping block and the blade; d3: real-time distance between the second blade root clamping block and the blade; d4: real-time distance between the second blade tip clamping block and the blade; d5: real-time distance between the blade root limit block and the blade; d6: real-time distance between the blade tip limit block and the blade. DETAILED DESCRIPTION

[0034] Embodiments of the present invention will now be described more fully with reference to the accompanying drawings, in which exemplary embodiments of the present invention are shown, wherein the same or similar reference numerals represent the same or similar components.

[0035] First, refer to Figures 1 to 3 The blade hanger according to the exemplary embodiment of the present invention is described. For the convenience of description, the blade of the wind turbine generator set is taken as an example in the accompanying drawings. However, the application scope of the blade hanger according to the exemplary embodiment of the present invention is not limited to the lifting of the blade of the wind turbine generator set, and can also be applied to the lifting of the blades of other equipment.

[0036] like Figure 1 As shown, a blade hanger according to an exemplary embodiment of the present invention may include a clamp 10 for clamping a blade 20. For example, the clamp 10 includes a blade root clamping mechanism 11 and a blade tip clamping mechanism 12, wherein the blade root clamping mechanism 11 is used to clamp a blade root portion 21 of the blade 20 and is provided with a blade root clamping block 110, and the blade tip clamping mechanism 12 is used to clamp a blade tip portion 22 of the blade 20 and is provided with a blade tip clamping block 120.

[0037] The blade root clamp block 110 and the blade tip clamp block 120 are portions that directly contact the blade 20, and therefore, may have a shape corresponding to the shape of the outer surface of the blade 20. Figure 2 and Figure 3 The blade root clamping block 110 and the blade tip clamping block 120 are made into the same shape as the curvature of the blade.

[0038] In order to protect the blade 20 and ensure the clamping stability, a buffer pad is provided at least at the position where the blade root clamping block 110 and the blade tip clamping block 120 face the blade 20. The buffer pad can be made of rubber material to provide buffering protection and / or increase the friction with the blade 20, but is not limited thereto and can also be made of other materials as long as the material can provide buffering protection and / or increase the friction. For example, the buffer pad can also be made of other materials such as sponge or cloth. As an example, the blade root clamping block 110 and the blade tip clamping block 120 can be made of rubber material partially or entirely.

[0039] According to an exemplary embodiment of the present invention, the clamp 10 may further include a driving mechanism for driving the blade root clamping block 110 and the blade tip clamping block 120 to move to clamp or release the blade 20. Specifically, as an example, the driving mechanism may include a fourth motor 114 and a fifth motor 124 for driving the blade root clamping block 110 and the blade tip clamping block 120 respectively, and the driving force of the fourth motor 114 or the fifth motor 124 may be transmitted to the clamping block through the scissor arm, the lead screw and other components connected to the blade root clamping block 110 to clamp the blade 20. Taking the blade root clamping block 110 as an example, the fourth motor 114 may be configured to drive the lead screw, and then drive the scissor arm to move up and down to drive the blade root clamping block 110 to move to clamp the blade 20 or release the blade 20. Similarly, the fifth motor 124 may be configured to drive the lead screw, and then drive the scissor arm to move up and down to drive the blade tip clamping block 120 to move to clamp the blade 20 or release the blade 20.

[0040] The blade root clamping block 110 includes a first blade root clamping block 111 and a second blade root clamping block 112 for clamping opposite sides of the blade 20, respectively. Figures 1 to 3 In the orientation shown in FIG, the first blade root clamping block 111 is located on the upper side of the blade 20, and thus can also be referred to as the upper blade root clamping block; the second blade root clamping block 112 is located on the lower side of the blade 20, and thus can also be referred to as the lower blade root clamping block. The blade tip clamping block 120 includes a first blade tip clamping block 121 and a second blade tip clamping block 122 for clamping the opposite sides of the blade 20, respectively. Similarly, based on Figures 1 to 3In the orientation shown in , the first blade tip clamping block 121 is located on the upper side of the blade 20, and thus can also be called the upper blade tip clamping block; the second blade tip clamping block 122 is located on the lower side of the blade 20, and thus can also be called the lower blade tip clamping block. Among them, the first blade root clamping block 111 and the first blade tip clamping block 121 are located on the side of the blade 20 facing the first adjustment mechanism 13 (or called the upper side), and the second blade root clamping block 112 and the second blade tip clamping block 122 are located on the other side of the blade 20 opposite to the one side (or called the lower side).

[0041] During the hoisting operation, in order to facilitate adjustment of the posture of the clamp 10 , the blade hoist according to the exemplary embodiment of the present invention may further include a first adjustment mechanism 13 connected between the crane and the clamp 10 and located above the clamp 10 .

[0042] Reference Figure 3 As an example, the first adjustment mechanism 13 may include a main body 131 and a telescopic unit 132, the substantially central portion of the main body 131 is connected to the hoist rope 30 of the crane, and the first end and the second end of the main body 131 (for example, the first end and the second end in the length direction of the main body 131) are respectively connected to one and the other of the blade root clamping mechanism 11 and the blade tip clamping mechanism 12 through the sling 14. In order to facilitate the application of the driving force, the first adjustment mechanism 13 may also include a first motor 134 for driving the telescopic movement of the telescopic unit 132.

[0043] As an example, in the clamp 10 of the blade hanger according to the exemplary embodiment of the present invention, the blade root clamping mechanism 11 and the blade tip clamping mechanism 12 may further include a blade root stopper 113 and a blade tip stopper 123, respectively, to limit the blade 20. The blade root stopper 113 and the blade root clamping block 110 are arranged on different sides of the blade 20, and the blade tip stopper 123 and the blade tip clamping block 120 are arranged on different sides of the blade 20. In order to protect the blade 20 and ensure the clamping stability, a buffer pad is provided at least at the position where the blade root stopper 113 and the blade tip stopper 123 face the blade 20. The buffer pad can be made of rubber material to provide buffer protection and increase the friction with the blade 20, but is not limited thereto, and can also be made of other materials as long as it can provide buffer protection and increase the friction. For example, the buffer pad can also be made of other materials such as sponge or cloth. As an example, the blade root stopper 113 and the blade tip stopper 123 can be made of rubber material partially or entirely.

[0044] In order to facilitate further adjustment of the posture of the clamp 10, the blade hanger may also include a second adjustment mechanism 15, the second adjustment mechanism 15 includes a first guy rope 151 arranged between the blade root clamping mechanism 11 and the boom 40 of the crane and a second guy rope 152 arranged between the blade tip clamping mechanism 12 and the boom 40.

[0045] In order to facilitate the adjustment of the posture of the clamp 10 through the second adjustment mechanism 15, the second adjustment mechanism 15 may also include: a second motor 153, used to drive the first cable guy rope 151 to retract and extend to adjust the lead-out length of the first cable guy rope 151; a third motor 154, used to drive the second cable guy rope 152 to retract and extend to adjust the lead-out length of the second cable guy rope 152.

[0046] Optionally, the start and stop of the second motor 153 and the third motor 154 can be controlled by a frequency converter, or by a soft starter. Among them, controlling the start and stop of the second motor 153 and the third motor 154 by a soft starter is a more preferred solution.

[0047] In order to effectively prevent the clamp from bumping against and damaging the blade 20 during the process of hoisting the blade 20 , a control system for a blade hoist is provided, which can adjust the posture of the clamp 10 by real-time monitoring the distance between the clamp 10 and the blade 20 .

[0048] The following will refer to Figure 6 The control system of the blade hanger according to an exemplary embodiment of the present invention is described. The control system may include a sensing unit 100 and a controller 200. In order to monitor the posture of the clamp 10 in real time, the sensing unit 100 may be disposed on a root clamping mechanism 11 of the clamp 10 for clamping the root portion 21 of the blade 20 and provided with a root clamping block 110, and a tip clamping mechanism 12 of the clamp 10 for clamping the tip portion 22 of the blade 20 and provided with a tip clamping block 120, to obtain a first real-time distance parameter reflecting the distance between the root clamping block 110 and the blade 20 and the distance between the tip clamping block 120 and the blade 20. For example, the sensing unit 100 may be a sensor (e.g., an ultrasonic ranging sensor) or a camera to monitor the real-time distance between the blade 20 and each clamping block in real time.

[0049] Combination Figure 2 , Figure 3 and Figure 6 The sensing unit 100 may include a first sensing unit 101, a second sensing unit 102, a third sensing unit 103, and a fourth sensing unit 104, which are respectively disposed on the first blade root clamping block 111, the first blade tip clamping block 121, the second blade root clamping block 112, and the second blade tip clamping block 122. Each of the first sensing unit 101, the second sensing unit 102, the third sensing unit 103, and the fourth sensing unit 104 may include at least one ranging sensor or camera.

[0050] The controller 200 can receive real-time collected data from the sensing unit 100, and automatically adjust the posture of the clamp 10 according to the received data, thereby effectively avoiding economic and time losses caused by collisions and damages of the blades 20, improving the safety and reliability of lifting, and saving costs; and can also reduce manual operations, shorten lifting time, and improve production efficiency.

[0051] Specifically, the controller 200 is configured to: receive a first real-time distance parameter; compare the first real-time distance parameter with the first target distance parameter to obtain a first comparison result; and based on the first comparison result, control the blade root clamping mechanism 11 and / or the blade tip clamping mechanism 12 to rise or fall to adjust the distance between the blade root clamping block 110 and the blade 20 and / or the distance between the blade tip clamping block 120 and the blade 20.

[0052] The controller 200 may be a PLC controller (program logic and sensor data receiving and processing controller), which can control the motor action to adjust the posture of the fixture 10 .

[0053] In addition, the controller 200 may also be configured to control the fourth motor 114 and the fifth motor 124, which are respectively used to drive the blade root clamping block 110 and the blade tip clamping block 120 to clamp or detach the blade 20, to perform actions according to the first real-time distance parameter. The controller 200 may directly control the actions of the fourth motor 114 and the fifth motor 124; or send a control signal to a motor controller for controlling the fourth motor 114 and the fifth motor 124, and then control the actions of the fourth motor 114 and the fifth motor 124 through the motor controller according to the received control signal.

[0054] In order to further adjust the posture of the clamp 10, the sensing unit 100 may also be arranged on the blade root clamping mechanism 11 and the blade tip clamping mechanism 12, and is used to obtain a second real-time distance parameter reflecting the distance between the blade root stopper 113 and the blade 20 and the distance between the blade tip stopper 123 and the blade 20. The controller 200 may also be configured to: receive the second real-time distance parameter; compare the second real-time distance parameter with the second target distance parameter to obtain a second comparison result; based on the second comparison result, control the blade root clamping mechanism 11 and the blade tip clamping mechanism 12 to swing, so as to adjust the distance between the blade root stopper 113 and the blade 20 and the distance between the blade tip stopper 123 and the blade 20.

[0055] In order to facilitate remote real-time monitoring of the posture of the clamp 10, according to an example, the control system of the blade hanger can also be configured with a remote display terminal 300. The remote display terminal 300 is communicatively connected to the controller 200 and is used to display information received by the controller 200 and / or information sent from the controller 200.

[0056] The control system of the blade hanger may also be configured with a WIFI amplifier 400, which may be installed on the fixture 10 to convert information received by the controller 200 and / or information sent from the controller 200 into a WIFI signal and amplify it. The remote display terminal 300 may be a wireless display screen, and the WIFI amplifier 400 installed on the fixture 10 may convert the LAN signal of the controller 200 into a WIFI signal, so that a wireless display screen far away from the fixture 10 (e.g., on the ground) may be connected to the WIFI, thereby monitoring the distance between the fixture 10 and the blade 20 in real time.

[0057] According to another aspect of the present invention, a blade hanger including the above control system is provided. The blade hanger can monitor the distance between the clamp 10 and the blade 20 in real time through the control system of the blade hanger, thereby ensuring that the blade 20 will not be bumped or damaged during the hoisting process, ensuring safety and improving hoisting efficiency.

[0058] The following will describe in detail a control method for a blade hanger according to an exemplary embodiment of the present invention. The control method can be used in the process of the blade hanger clamping the blade 20, and can also be used in the process of the blade hanger releasing the blade 20 (or called blade unhooking), so as to determine whether the blade 20 maintains a safe distance from the clamp 10 of the blade hanger, thereby avoiding the clamp 10 of the blade hanger from bumping or damaging the blade 20.

[0059] Reference Figure 7 According to an exemplary embodiment of the present invention, a control method for a blade hanger may include: obtaining a first real-time distance parameter reflecting the distance between a blade root clamping block 110 and a blade 20 and the distance between a blade tip clamping block 120 and a blade 20 (step S700); comparing the first real-time distance parameter with a first target distance parameter to obtain a first comparison result (step S800); based on the first comparison result, controlling the blade root clamping mechanism 11 and / or the blade tip clamping mechanism 12 to rise or fall to adjust the distance between the blade root clamping block 110 and the blade 20 and / or the distance between the blade tip clamping block 120 and the blade 20 (step S900).

[0060] The first real-time distance parameter can be obtained by the first sensing unit 101, the second sensing unit 102, the third sensing unit 103 and the fourth sensing unit 104 respectively arranged on the first blade root clamping block 111, the first blade tip clamping block 121, the second blade root clamping block 112 and the second blade tip clamping block 122. The first real-time distance parameter is respectively the real-time distance d1 between the first blade root clamping block 111 and the blade 20, the real-time distance d2 between the first blade tip clamping block 121 and the blade 20, the real-time distance d3 between the second blade root clamping block 112 and the blade 20, and the real-time distance d4 between the second blade tip clamping block 122 and the blade 20.

[0061] For example, the first real-time distance parameter sensed by the sensing unit 100 may be sent to the controller 200. The controller 200 may pre-store a safety distance between the blade 20 and the clamping block. After receiving the first real-time distance parameter, the controller 200 compares the first real-time distance parameter with a preset first target distance parameter to obtain a first comparison result. In the following description, it is assumed that the preset first target distance (or first safety distance) is d0. When the above distances satisfy the conditions d1≥d0, d2≥d0, d3≥d0 and d4≥d0, it can be ensured that the distance between the above clamping block and the blade 20 is safe.

[0062] Step S900 may include: in response to the first comparison result, controlling the first adjustment mechanism 13 to perform an action to make the blade root clamping mechanism 11 and / or the blade tip clamping mechanism 12 rise or fall. In response to the first comparison result, controlling the first adjustment mechanism 13 to perform an action to make the blade root clamping mechanism 11 and / or the blade tip clamping mechanism 12 rise or fall. Specifically, the telescopic unit 132 may be controlled to extend and retract to drive the main body 131 to rotate around the rotation axis 133, or the crane may be controlled to extend or shorten the lead-out length of the suspension rope 30, so that the blade root clamping mechanism 11 and / or the blade tip clamping mechanism 12 rise or fall. The rotation axis 133 may be located at a substantially central portion of the main body 131, so that the main body 131 can rotate around the rotation axis 133. For example, the telescopic unit 132 may be driven to telescope by controlling the operation of the first motor 134. Here, the first motor 134 of the first adjustment mechanism 13 can be a servo motor, and the telescopic unit 132 can be a screw. However, the embodiments of the present invention are not limited to this. The first adjustment mechanism 13 can also be implemented as other known structures, such as a hydraulic cylinder or an electric push rod, as long as it can drive the main body 131 to rotate around the rotating axis 133.

[0063] The first comparison result may include multiple results, and the blade root clamping mechanism 11 and / or the blade tip clamping mechanism 12 may be controlled to perform corresponding operations according to different results (for example, as will be described later, one or more of the operations performed in response to various comparison results) to adjust the posture of the clamp 10, thereby ensuring that a safe distance is maintained between the clamp 10 and the blade 20.

[0064] The controller 200 may include a computing unit for comparing a first real-time distance parameter with a first target distance parameter, and determining how to control the first motor 134 or the crane action based on the comparison result; after determining the execution action, the control information is sent to the corresponding driving mechanism (for example, the first motor 134) to perform the above action.

[0065] How to control the actions of the blade root clamping mechanism 11 and / or the blade tip clamping mechanism 12 according to different comparison results will be described in detail below.

[0066] If the first comparison result is d1<d0, d4<d0, d2>d0 and d3>d0, in response to the comparison result, the first motor 134 is controlled to operate so that the blade root clamping mechanism 11 is raised and the blade tip clamping mechanism 12 is lowered until d1≥d0, d2≥d0, d3≥d0 and d4≥d0. Figure 4 In response to d1<d0, d4<d0, d2>d0 and d3>d0, the first motor 134 is controlled to operate to shorten the telescopic unit 132, that is, the main body 131 rotates around the rotation axis 133 in the clockwise direction ( Figure 4 The blade root clamping mechanism 11 is rotated in the direction B shown in FIG. 1 , thereby raising the blade root clamping mechanism 11 and lowering the blade tip clamping mechanism 12 .

[0067] If the first comparison result is d2<d0, d3<d0, d1>d0 and d4>d0, in response to the comparison result, the first motor 134 is controlled to operate so that the blade root clamping mechanism 11 is lowered and the blade tip clamping mechanism 12 is raised until d1≥d0, d2≥d0, d3≥d0 and d4≥d0. Figure 4 In response to d2<d0, d3<d0, d1>d0 and d4>d0, the first motor 134 is controlled to operate so that the telescopic unit 132 is extended, that is, the main body 131 rotates counterclockwise around the rotation axis 133 ( Figure 4 The blade root clamping mechanism 11 is rotated in the direction A shown in FIG. 1 , thereby lowering the blade root clamping mechanism 11 and raising the blade tip clamping mechanism 12.

[0068] If the first comparison result is d1>d0, d2>d0, d3<d0 and d4<d0, the lead-out length of the crane extension rope 30 is controlled to lower the blade root clamping mechanism 11 and the blade tip clamping mechanism 12, that is, the clamp 10 is lowered as a whole until d1≥d0, d2≥d0, d3≥d0 and d4≥d0.

[0069] If the first comparison result is d1<d0 and d2<d0, d3>d0 and d4>d0, in response to the comparison result, the crane is controlled to shorten the lead-out length of the hoisting rope 30 to raise the blade root clamping mechanism 11 and the blade tip clamping mechanism 12, that is, to raise the clamp 10 as a whole until d1≥d0, d2≥d0, d3≥d0 and d4≥d0.

[0070] If the first comparison result is d1≥d0, d2≥d0, d3≥d0 and d4≥d0, it can be determined based on the comparison result that the distance between each clamping block of the clamp 10 and the blade 20 meets the safety distance requirement, and there is no need to adjust the distance between the clamp 10 and the blade 20 by adjusting the posture of the clamp 10, then the crane is controlled to move horizontally.

[0071] In the above description, the safety distances between the various clamping blocks and the blade 20 are shown to be the same. However, the present invention is not limited thereto, and the safety distances between the various clamping blocks and the blade 20 may also be set to be different from each other according to the shape of the blade 20. As long as the set safety distance is changed, the above control method is still applicable.

[0072] By controlling one or more of the operations performed in response to various comparison results, the control method of the blade hanger according to an exemplary embodiment of the present invention solves the problem that the blade hanger cannot accurately judge whether the blade 20 is completely disengaged from the clamp 10 and reaches a safe distance from the clamp 10 during the blade clamping process and the clamping release process.

[0073] The control method of the blade hanger according to the exemplary embodiment of the present invention can determine whether the blade 20 is completely detached from the clamp 10 and reaches a safe distance from the clamp 10 based on the distance parameter between the clamp 10 and the blade 20 monitored in real time, thereby realizing the function of the blade hanger to avoid bumping or damaging the blade in the process of clamping the blade 20 and releasing the clamped blade 20. The control method of the blade hanger according to the present invention can effectively avoid economic and time losses caused by bumping, damage, etc. of the blade 20, improve the safety and reliability of the lifting, and save costs; it can also reduce manual operations, shorten the lifting time, and improve production efficiency

[0074] In addition, according to an exemplary embodiment of the present invention, when the clamp 10 can be provided with a limit block at a corresponding position corresponding to the blade 20 (for example, the rear side of the blade 20, where the rear side of the blade 20 is different from the upper side and the lower side of the blade 20), in order to further prevent the clamp 10 from hitting the blade, the posture of the clamp 10 can also be adjusted by adjusting the wind-catching mechanism. The control method of how to adjust the posture of the clamp 10 by the second adjustment mechanism 15 will be described in detail below.

[0075] Reference Figure 8According to an exemplary embodiment of the present invention, the control method of the blade hanger may further include: obtaining a second real-time distance parameter reflecting the distance between the blade root stopper 113 and the blade 20 and the distance between the blade tip stopper 123 and the blade 20 (step S1000); comparing the second real-time distance parameter with the second target distance parameter to obtain a second comparison result (step S1100); based on the second comparison result, controlling the blade root clamping mechanism 11 and the blade tip clamping mechanism 12 to swing to adjust the distance between the blade root stopper 113 and the blade 20 and the distance between the blade tip stopper 123 and the blade 20 (step S1200). According to an exemplary embodiment of the present invention, the second real-time distance parameter may be obtained by the fifth sensing unit 105 and the sixth sensing unit 106 provided on each of the blade root stopper 113 and the blade tip stopper 123. The second real-time distance parameters are respectively the real-time distance d5 between the blade root stopper 113 and the blade 20 and the real-time distance d6 between the blade tip stopper 123 and the blade 20.

[0076] For example, the second real-time distance parameter sensed by the sensing unit 100 may be sent to the controller 200. The controller 200 may pre-store a safety distance between the blade 20 and the stopper. After receiving the second real-time distance parameter, the controller 200 compares the second real-time distance parameter with a preset second target distance parameter to obtain a second comparison result. In the following description, for ease of description, the safety distances between each stopper and the blade 20 are represented as being the same as each other, and it is assumed that the preset second target distance parameter (or second safety distance) is L0. That is, when the conditions d5≥L0 and d6≥L0 are met, it can be determined that the distance between the stopper and the blade 20 is safe.

[0077] Step S1200 may include: based on the second comparison result, controlling and adjusting the lead-out lengths of the first and second wind ropes 151, 152 to swing the blade root clamping mechanism 11 and the blade tip clamping mechanism 12. The second motor 153 connected to the first wind rope 151 and driving the first wind rope 151 to extend and retract is controlled to operate so as to shorten or lengthen the lead-out length of the first wind rope 151; and the third motor 154 connected to the second wind rope 152 and driving the second wind rope 152 to extend and retract is controlled to operate so as to lengthen or shorten the lead-out length of the second wind rope 152, so as to swing the clamp 10 to adjust its posture.

[0078] The second comparison result may include multiple results. According to different results, the blade root clamping mechanism 11 and / or the blade tip clamping mechanism 12 may be controlled to perform corresponding operations to adjust the posture of the clamp 10, thereby ensuring that a safe distance is maintained between the clamp 10 and the blade 20.

[0079] The controller 200 may include a computing unit to compare the second real-time distance parameter with the second target distance parameter, and determine how to control the second motor 153, the third motor 154 or the crane action based on the comparison result; after determining the execution action, the control information is sent to the corresponding driving mechanism (for example, the second motor 153, the third motor 154) to perform the above action.

[0080] How to control the action of the first guy rope 151 and / or the second guy rope 152 according to different comparison results will be described in detail below.

[0081] If the second comparison result is d5>L0 and d6<L0, in response to the comparison result, the second motor 153 is controlled to operate to extend the lead-out length of the first guy rope 151, and the third motor 154 is controlled to operate to shorten the lead-out length of the second guy rope 152 until d5≥L0 and d6≥L0.

[0082] If the second comparison result is d5<L0 and d6>L0, in response to the comparison result, the second motor 153 is controlled to operate to shorten the lead-out length of the first guy rope 151, and the third motor 154 is controlled to operate to extend the lead-out length of the second guy rope 152 until d5≥L0 and d6≥L0.

[0083] If the second comparison result is d5<L0 and d6<L0, in response to the comparison result, the second motor 153 is controlled to operate to shorten the lead-out length of the first guy rope 151, and the third motor 154 is controlled to operate to shorten the lead-out length of the second guy rope 152 until d5≥L0 and d6≥L0.

[0084] If the second comparison result is d5≥L0 and d6≥L0, based on the comparison result, it can be determined that the distance between each limit block of the clamp 10 and the blade 20 meets the safety distance requirement, and there is no need to adjust the distance between the remaining blades 20 by adjusting the posture of the clamp 10, then the crane is controlled to move horizontally.

[0085] In the above description, the safety distances between the respective stoppers and the blade 20 are shown to be the same. However, the present invention is not limited thereto, and the safety distances between the respective stoppers and the blade 20 may also be set to be different from each other according to the shape of the blade 20. As long as the set safety distances are changed, the above control method is still applicable.

[0086] A control method of a blade hanger according to an exemplary embodiment of the present invention may include: Figure 7 The control method shown in Figure 8 At least one of the control methods shown in . Figure 7 The control method shown in Figure 8At least one of the control methods shown in is used to monitor the distance between the clamp 10 and the blade 20 in real time to adjust the posture of the clamp 10, thereby effectively preventing the clamp 10 from bumping or damaging the blade 20, ensuring the safety of lifting and improving the lifting efficiency.

[0087] The blade hanger control method, control system and blade hanger of the present invention can detect the safe distance between the clamping hanger and the blade in real time, automatically adjust the posture of the clamping hanger to effectively avoid collision and damage of the blade, and shorten the lifting time, thereby reducing economic and time losses.

[0088] While the invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the claims.

Claims

1. A method for controlling a blade hanger, characterized in that: The blade hanger comprises a clamp, wherein the clamp comprises a root clamping mechanism for clamping the root portion of the blade and provided with a root clamping block, and a tip clamping mechanism for clamping the tip portion of the blade and provided with a tip clamping block. The control method of the blade hanger comprises: Acquire a first real-time distance parameter reflecting the distance between the blade root clamping block and the blade and the distance between the blade tip clamping block and the blade; comparing the first real-time distance parameter with a first target distance parameter to obtain a first comparison result; Based on the first comparison result, controlling the blade root clamping mechanism and / or the blade tip clamping mechanism to rise or fall, so as to adjust the distance between the blade root clamping block and the blade and / or the distance between the blade tip clamping block and the blade; The blade root clamping mechanism and the blade tip clamping mechanism further include a blade root limit block and a blade tip limit block, respectively, wherein the blade root limit block and the blade root clamping block are arranged on different sides of the blade, and the blade tip limit block and the blade tip clamping block are arranged on different sides of the blade, Wherein, the control method of the blade hanger also includes: Acquire a second real-time distance parameter reflecting the distance between the blade root stopper and the blade and the distance between the blade tip stopper and the blade; comparing the second real-time distance parameter with a second target distance parameter to obtain a second comparison result; Based on the second comparison result, the blade root clamping mechanism and the blade tip clamping mechanism are controlled to swing, so as to adjust the distance between the blade root limit block and the blade and the distance between the blade tip limit block and the blade.

2. The control method of the blade hanger according to claim 1, characterized in that: The blade hanger also includes a first adjustment mechanism, which is connected between the hanger and the clamp and is located above the clamp, and is used to adjust the inclination angle of the clamp. Based on the first comparison result, the operation of controlling the blade root clamping mechanism and / or the blade tip clamping mechanism to rise or fall includes: in response to the first comparison result, controlling the first adjustment mechanism to perform an action to raise or lower the blade root clamping mechanism and / or the blade tip clamping mechanism.

3. The control method of the blade hanger according to claim 2, characterized in that: The first adjustment mechanism includes a main body and a telescopic unit, wherein a substantially central portion of the main body is connected to a suspension rope of the crane, and a first end and a second end of the main body are connected to one and the other of the blade root clamping mechanism and the blade tip clamping mechanism respectively through a suspension belt, Among them, based on the first comparison result, the operation of controlling the blade root clamping mechanism and / or the blade tip clamping mechanism to rise or fall includes: in response to the first comparison result, controlling the telescopic unit to extend or retract to drive the main body to rotate around the rotation axis, or controlling the crane to extend or shorten the lead-out length of the hoisting rope, thereby causing the blade root clamping mechanism and / or the blade tip clamping mechanism to rise or fall.

4. The control method of the blade hanger according to claim 3, characterized in that: The first adjustment mechanism also includes a first motor for driving the telescopic unit to telescope. Among them, based on the first comparison result, the operation of controlling the blade root clamping mechanism and / or the blade tip clamping mechanism to rise or fall includes: in response to the first comparison result, controlling the first motor to operate to drive the telescopic unit to telescopic movement and drive the main body to rotate around the rotation axis, thereby causing the blade root clamping mechanism or the blade tip clamping mechanism to rise or fall.

5. The control method of the blade hanger according to claim 4, characterized in that: The blade root clamping block comprises a first blade root clamping block and a second blade root clamping block respectively used for clamping opposite sides of the blade. The blade tip clamping block comprises a first blade tip clamping block and a second blade tip clamping block respectively used for clamping opposite sides of the blade, The first blade root clamping block and the first blade tip clamping block are located on a side of the blade facing the first adjustment mechanism, and the second blade root clamping block and the second blade tip clamping block are located on the other side of the blade opposite to the one side. Among them, the first real-time distance parameters are: the real-time distance d1 between the first blade root clamping block and the blade, the real-time distance d2 between the first blade tip clamping block and the blade, the real-time distance d3 between the second blade root clamping block and the blade, and the real-time distance d4 between the second blade tip clamping block and the blade.

6. The control method of the blade hanger according to claim 5, characterized in that: At least one sensing unit is provided on each of the first blade root clamping block, the second blade root clamping block, the first blade tip clamping block and the second blade tip clamping block for acquiring the first real-time distance parameter.

7. The control method of the blade hanger according to claim 5, characterized in that: Based on the first comparison result, the operation of controlling the blade root clamping mechanism and / or the blade tip clamping mechanism to rise or fall includes one or more of the following operations: In response to d1<d0, d4<d0, d2>d0 and d3>d0, controlling the first motor to operate so that the blade root clamping mechanism is raised and the blade tip clamping mechanism is lowered until d1≥d0, d2≥d0, d3≥d0 and d4≥d0; In response to d2<d0, d3<d0, d1>d0 and d4>d0, controlling the first motor to operate so that the blade root clamping mechanism is lowered and the blade tip clamping mechanism is raised until d1≥d0, d2≥d0, d3≥d0 and d4≥d0; In response to d1>d0, d2>d0, d3<d0 and d4<d0, controlling the crane to extend the lead-out length of the suspension rope to lower the blade root clamping mechanism and the blade tip clamping mechanism until d1≥d0, d2≥d0, d3≥d0 and d4≥d0; In response to d1<d0 and d2<d0, d3>d0 and d4>d0, controlling the hoist to shorten the lead-out length of the hoist rope to raise the blade root clamping mechanism and the blade tip clamping mechanism until d1≥d0, d2≥d0, d3≥d0 and d4≥d0; In response to d1≥d0, d2≥d0, d3≥d0 and d4≥d0, controlling the crane to translate, Wherein, d0 represents a first target distance parameter between each of the first blade root clamping block, the second blade root clamping block, the first blade tip clamping block and the second blade tip clamping block and the blade.

8. The control method of the blade hanger according to any one of claims 1 to 7, characterized in that: The second real-time distance parameters are respectively the real-time distance d5 between the blade root limit block and the blade and the real-time distance d6 between the blade tip limit block and the blade.

9. The control method of the blade hanger according to claim 8, characterized in that: At least one sensing unit is provided on each of the blade root limit block and the blade tip limit block, for acquiring the second real-time distance parameter.

10. The control method of the blade hanger according to claim 8, characterized in that: The blade hanger also includes a second adjustment mechanism, which includes a first guy rope arranged between the blade root clamping mechanism and the boom of the crane and a second guy rope arranged between the blade tip clamping mechanism and the boom, Among them, based on the second comparison result, the operation of controlling the swing of the blade root clamping mechanism and / or the blade tip clamping mechanism includes: based on the second comparison result, controlling and adjusting the lead-out length of the first guy rope and the second guy rope to make the blade root clamping mechanism and the blade tip clamping mechanism swing.

11. The control method of the blade hanger according to claim 10, characterized in that: The second adjustment mechanism further includes: A second motor is used to drive the first cable wind rope to extend and retract so as to adjust the lead-out length of the first cable wind rope; The third motor is used to drive the second cable wind rope to extend and retract to adjust the lead-out length of the second cable wind rope. Among them, based on the second comparison result, the operation of controlling the swing of the blade root clamping mechanism and / or the blade tip clamping mechanism includes: based on the second comparison result, controlling the second motor to operate so as to shorten or lengthen the lead-out length of the first wind rope, and controlling the third motor to operate so as to lengthen or shorten the lead-out length of the second wind rope.

12. The control method of the blade hanger according to claim 11, characterized in that: Based on the second comparison result, the operation of controlling the blade root clamping mechanism and the blade tip clamping mechanism to swing includes one or more of the following operations: In response to d5>L0 and d6<L0, controlling the second motor to operate so as to extend the lead-out length of the first guy rope, and controlling the third motor to operate so as to shorten the lead-out length of the second guy rope, until d5≥L0 and d6≥L0; In response to d5<L0 and d6>L0, controlling the second motor to operate so as to shorten the lead-out length of the first guy rope, and controlling the third motor to operate so as to extend the lead-out length of the second guy rope, until d5≥L0 and d6≥L0; In response to d5<L0 and d6<L0, controlling the second motor to operate so as to shorten the lead-out length of the first guy rope, and controlling the third motor to operate so as to shorten the lead-out length of the second guy rope, until d5≥L0 and d6≥L0; In response to d5≥L0 and d6≥L0, controlling the crane to translate, Wherein, L0 represents a second target distance parameter between each of the blade root limit block and the blade tip limit block and the blade.

13. A control system for a blade hanger, characterized in that: The control system comprises: A sensing unit is provided on a blade root clamping mechanism of the clamp for clamping a blade root portion of the blade and provided with a blade root clamping block, and a blade tip clamping mechanism for clamping a blade tip portion of the blade and provided with a blade tip clamping block, and is used to obtain a first real-time distance parameter reflecting the distance between the blade root clamping block and the blade and the distance between the blade tip clamping block and the blade; A controller, the controller being configured to: receiving the first real-time distance parameter; comparing the first real-time distance parameter with a first target distance parameter to obtain a first comparison result; Based on the first comparison result, controlling the blade root clamping mechanism and / or the blade tip clamping mechanism to rise or fall, so as to adjust the distance between the blade root clamping block and the blade and / or the distance between the blade tip clamping block and the blade; The sensing unit is also arranged on the blade root clamping mechanism and the blade tip clamping mechanism, and is used to obtain a second real-time distance parameter reflecting the distance between the blade root stopper of the blade root clamping mechanism and the blade and the distance between the blade tip stopper of the blade tip clamping mechanism and the blade; Wherein, the controller is further configured as: receiving the second real-time distance parameter; comparing the second real-time distance parameter with a second target distance parameter to obtain a second comparison result; Based on the second comparison result, the blade root clamping mechanism and the blade tip clamping mechanism are controlled to swing, so as to adjust the distance between the blade root limit block and the blade and the distance between the blade tip limit block and the blade.

14. The control system of the blade hanger according to claim 13, characterized in that: The controller is further configured to control the blade root clamping block and the blade tip clamping block to move to clamp or release the blade according to the first real-time distance parameter.

15. The control system of the blade hanger according to claim 13, characterized in that: The control system further comprises: a remote display terminal connected to the controller and used to display information received by the controller and / or information sent from the controller; A WIFI amplifier is installed on the fixture to convert information received by the controller and / or information sent from the controller into a WIFI signal and amplify the signal.

16. A blade hanger, characterized in that: The blade hanger comprises a control system as claimed in any one of claims 13-15.

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