Blade lifting assembly for mounting and demounting blades to / from a wind turbine rotor hub

Abstract

A blade lifting assembly (50) for mounting or demounting a blade (22) to or from a rotor hub (20) of a wind turbine (10) comprises a gripper (52) configured for gripping a central region (54) of the blade (22), the gripper (52) comprising a blade rotation device (56) configured for rotating the blade (22) about a rotation axis perpendicular to a longitudinal blade axis (76) of the blade (22), a root support device (70) configured to be mounted to a root section (71) of the blade (22), and a connection component (74) connecting the root support device (70) to the gripper (52), the connection component (74) being configured for transmitting an axial load (82) of the blade (22) from the root support device (70) to the gripper (52).

Description

Technical Field

[0001] This disclosure generally relates to wind turbines, and more particularly to a blade lift assembly for mounting blades to or removing blades from the rotor hub of a wind turbine. Background Technology

[0002] Wind power is considered one of the cleanest and most environmentally friendly energy sources available today, and wind turbines are receiving increasing attention in this area. A modern wind turbine typically consists of a tower, generator, gearbox, nacelle, and one or more rotor blades. The rotor blades extract kinetic energy from the wind using the known airfoil principle and transfer this kinetic energy through rotation to rotate a shaft that connects the rotor blades to the gearbox (or, if a gearbox is not used, directly to the generator). The generator then converts the mechanical energy into electrical energy, which can be deployed to the public grid.

[0003] The size of the rotor blades affects the energy efficiency of a wind turbine. Specifically, increasing the size of the rotor blades can increase the energy output of the wind turbine. The economic benefits of increasing the size of the wind turbine or the rotor blades must be weighed against the corresponding costs of manufacturing, transporting, assembling, or repairing the wind turbine. Typically, assembling a wind turbine involves mounting the rotor hub to the nacelle on top of the tower, and using a crane to individually lift each rotor blade to the hub. For example, blades can be lifted and installed to the hub with their blade axes oriented horizontally.

[0004] As wind turbine or blade size increases, cranes with increased height or lifting capacity can be used to lift the blades. However, using such cranes can increase the costs associated with installing or removing the blades from the rotor hub (e.g., during wind turbine assembly or disassembly, or during rotor blade repair or replacement).

[0005] Accordingly, this disclosure relates to a blade lifting assembly for mounting blades to or removing blades from the rotor hub of a wind turbine, which provides safe, rapid and / or cost-effective raising, lowering and / or positioning of blades for mounting or removing them. Summary of the Invention

[0006] Aspects and advantages of the invention will be set forth in part in the description which follows, or may be apparent from the description, or may be learned by practicing the invention.

[0007] In one aspect, this disclosure relates to a blade lifting assembly for mounting a blade to or removing a blade from a wind turbine rotor hub. The blade lifting assembly includes a gripper configured to grip a central region of the blade, the gripper including a blade rotation device configured to rotate the blade about an axis of rotation perpendicular to the blade's longitudinal axis. The blade lifting assembly includes a root support configured to be mounted to a root section of the blade, and connecting members connecting the root support to the gripper, these connecting members being configured to transfer axial loads on the blade from the root support to the gripper. It should be understood that the blade lifting assembly may also include any of the additional features described herein.

[0008] On the other hand, this disclosure relates to a lifting device for mounting blades to or removing blades from the rotor hub of a wind turbine. The lifting device includes: a crane including a crane hook; and a blade lifting assembly according to embodiments described herein, wherein a clamp of the blade lifting assembly hooks to the crane hook.

[0009] In another aspect, this disclosure relates to a method for mounting a blade to or removing a blade from the rotor hub of a wind turbine, the wind turbine including a tower and a nacelle mounted on the tower, the rotor hub being coupled to the nacelle. The method includes using a clamp to hold the central region of the blade. The method includes mounting a root support to a root section of the blade. The method includes using connecting members to connect the root support to the clamp, these connecting members being configured to transfer axial loads of the blade from the root support to the clamp. The method includes using a crane with a crane hook to move the blade vertically, the crane hook engaging the clamp. The method includes using a blade rotating mechanism of the clamp to rotate the blade about an axis of rotation perpendicular to the longitudinal blade axis of the blade. The method includes attaching the blade to the rotor hub or disconnecting the blade from the rotor hub. It should be understood that the method may also include any of the additional steps and / or features described herein.

[0010] Technical Solution 1. A blade lifting assembly for mounting blades to or removing blades from the rotor hub of a wind turbine, comprising:

[0011] - A gripper configured to grip the central region of the blade, the gripper including a blade rotating device configured to rotate the blade about an axis of rotation perpendicular to the longitudinal blade axis of the blade;

[0012] - A root support device, the root support device being configured to be mounted to the root section of the blade; and

[0013] - A connecting component that connects the root support to the clamp, the connecting component being configured to transfer the axial load of the blade from the root support to the clamp.

[0014] Technical Solution 2. The blade lifting assembly according to Technical Solution 1, wherein the root support device is configured to be installed on the root section by clamping the root support device to the root section and / or by connecting a first joint member of the root support device to a second joint member of the root section.

[0015] Technical Solution 3. According to any one of Technical Solutions 1 and 2, the blade lifting assembly includes a clamping portion and a clamping frame connected to the clamping portion, the clamping frame being connected to the root support device via the connecting member, the clamping portion being configured to clamp the blade, and wherein the clamping frame is axially movable relative to the clamping portion.

[0016] Technical Solution 4. The blade lifting assembly according to any of the foregoing technical solutions is configured to use the blade rotating device to rotate the blade to an inclined orientation, wherein in the inclined orientation, the angle between the longitudinal blade axis and a reference plane perpendicular to the longitudinal tower axis is greater than 20 degrees.

[0017] Technical Solution 5. The blade lifting assembly according to any of the foregoing technical solutions further includes an actuator device configured to actuate the connecting member in the axial direction of the blade.

[0018] Technical Solution 6. The blade lifting assembly according to Technical Solution 5, wherein the actuator device includes at least one of a hydraulic actuator, an electric actuator, and a pneumatic actuator.

[0019] Technical Solution 7. The blade lifting assembly according to any one of Technical Solutions 5 and 6, wherein the actuator device comprises at least two actuators interconnected to balance the axial load among the at least two actuators.

[0020] Technical Solution 8. The blade lifting assembly according to Technical Solution 7, wherein the at least two actuators are hydraulic actuators, and wherein the at least two actuators are connected to a hydraulic accumulator for balancing the axial load in the at least two actuators.

[0021] Technical Solution 9. The blade lifting assembly according to any one of technical solutions 5 to 8 further includes a component controller configured to control the actuator device based on the axial load of the blade.

[0022] Technical Solution 10. The blade lifting assembly according to any one of technical solutions 5 to 9, wherein the actuator device is configured to actuate the connecting member such that the distance between the clamp and the root support remains at least substantially constant.

[0023] Technical Solution 11. The blade lifting assembly according to any of the foregoing technical solutions, wherein the connecting component includes at least one of a rod, beam, line, chain, and rope.

[0024] Technical Solution 12. A lifting device for mounting blades to or removing blades from the rotor hub of a wind turbine, comprising:

[0025] - A crane, the crane including a crane hook; and

[0026] -The blade lifting assembly according to any of the foregoing technical solutions, wherein the clamp of the blade lifting assembly is hooked to the crane hook.

[0027] Technical Solution 13. A method for mounting blades to or removing blades from the rotor hub of a wind turbine, the wind turbine including a tower and a nacelle mounted on the tower, the rotor hub being coupled to the nacelle, the method comprising:

[0028] - Use a clamp to hold the central region of the blade;

[0029] - Install the root support device onto the root section of the blade;

[0030] - A connecting member is used to connect the root support device to the clamp, the connecting member being configured to transfer the axial load of the blade from the root support device to the clamp;

[0031] - Use a crane with a crane hook to move the blade in the vertical direction, the crane hook hooking onto the clamp;

[0032] - Using the blade rotation device of the clamp to rotate the blade about a rotation axis perpendicular to the longitudinal blade axis; and

[0033] - Connect the blade to the rotor hub or disconnect the blade from the rotor hub.

[0034] Technical Solution 14. The method according to Technical Solution 13, wherein the central region held by the gripper includes the center of gravity of the blade.

[0035] Technical Solution 15. The method according to any one of Technical Solutions 13 and 14, wherein rotating the blade includes rotating the blade to an inclined orientation, wherein in the inclined orientation, the angle between the longitudinal blade axis and a reference plane perpendicular to the longitudinal tower axis is greater than 20 degrees.

[0036] These and other features, aspects, and advantages of the invention will be further supported and described with reference to the following description and the appended claims. Embodiments of the invention are illustrated in the accompanying drawings, which are incorporated in and form part of this specification, and together with the description serve to explain the principles of the invention. Attached Figure Description

[0037] The complete and enabling disclosure of the invention (including its best mode) to those skilled in the art is set forth in the description with reference to the accompanying drawings, in which:

[0038] Figure 1 A perspective view of a wind turbine is shown;

[0039] Figure 2 A simplified interior view of the nacelle of a wind turbine is shown, particularly during normal operation.

[0040] Figure 3 A view of a wind turbine during the mounting of blades to a rotor hub, according to an embodiment of the present disclosure;

[0041] Figure 4 A view showing a blade and a blade lifting assembly according to an embodiment of the present disclosure;

[0042] Figures 5A-5C Views of blades and blade lifting assemblies, each according to a further embodiment of this disclosure, are shown; and

[0043] Figure 6 A flowchart illustrating an embodiment of a method for mounting blades to a rotor hub is shown; and

[0044] Figure 7 A flowchart illustrating an embodiment of a method for removing blades from a rotor hub is shown. Detailed Implementation

[0045] Reference will now be made in detail to embodiments of the invention, one or more of which are illustrated in the figures. Each example is provided as an explanation of the invention and is not intended to limit it. Indeed, it will be apparent to those skilled in the art that various modifications and variations may be made in the invention without departing from its scope or spirit. For example, features shown or described as part of one embodiment may be used with another embodiment to produce yet another embodiment. Thus, it is intended that the invention cover such modifications and variations as fall within the scope of the appended claims and their equivalents.

[0046] Now refer to the diagram. Figure 1 A perspective view of a wind turbine 10 according to this disclosure is shown. As shown, the wind turbine 10 generally includes a tower 12 extending from a support surface 14 (also referred to herein as the ground), a nacelle 16 mounted on the tower 12, and a rotor 18 coupled to the nacelle 16.

[0047] like Figure 1 As shown, rotor 18 includes a rotatable rotor hub 20 and at least one blade 22 coupled to and extending outward from rotor hub 20. For example, in the illustrated embodiment, rotor 18 includes three blades 22. However, in alternative embodiments, rotor 18 may include more or fewer than three blades 22. Each blade 22 may be spaced around rotor hub 20 to allow rotation of rotor 18 to convert kinetic energy from wind into usable mechanical energy and subsequently into electrical energy. For example, rotor hub 20 may be rotatably coupled to generator 24 located within nacelle 16. Figure 2 This allows for the generation of electrical energy.

[0048] The wind turbine 10 may also include a wind turbine controller 26 centralized within the nacelle 16. However, in other embodiments, the controller 26 may be located within any other component of the wind turbine 10 or at a location external to the wind turbine 10. Furthermore, the controller 26 may be communicatively coupled to any number of components of the wind turbine 10 to control those components. Therefore, the controller 26 may include a computer or other suitable processing unit. Accordingly, in several embodiments, the controller 26 may include suitable computer-readable instructions that, upon implementation, configure the controller 26 to perform various functions, such as receiving, transmitting, and / or executing wind turbine control signals.

[0049] Now refer to Figure 2 , shown in Figure 1A simplified internal view of the nacelle 16 of the wind turbine 10 is shown, with particular emphasis on its drivetrain components. More specifically, as shown, a generator 24 may be coupled to a rotor 18 to generate electrical power from the rotational energy produced by the rotor 18. The rotor 18 may be coupled to a main shaft 34, which is rotatable via a main bearing (not shown). The main shaft 34 is then rotatably coupled to a gearbox output shaft 36 of the generator 24 via a gearbox 30. The gearbox 30 may include a gearbox housing 38 connected to a platform 46 by one or more torque arms 48. More specifically, in some embodiments, the platform 46 may be a forged component in which the main bearing (not shown) is housed, and through which the main shaft 34 extends. As generally understood, the main shaft 34 provides a low-speed, high-torque input to the gearbox 30 in response to the rotation of the rotor blades 22 and the rotor hub 20. Therefore, gearbox 30 converts low-speed, high-torque input into high-speed, low-torque output to drive gearbox output shaft 36 and thus drive generator 24.

[0050] Each blade 22 may also include a pitch adjustment mechanism 32 configured to rotate each blade 22 about its pitch axis 28 via a pitch bearing 40. Similarly, the wind turbine 10 may include one or more yaw drive mechanisms 42 communicatively coupled to the controller 26, wherein each yaw drive mechanism 42 is configured to change the angle of the nacelle 16 relative to the wind (e.g., by engaging the yaw bearing 44 of the wind turbine 10).

[0051] Assembling, disassembling, or repairing wind turbine blades typically involves lifting or lowering them with the longitudinal blade axis oriented horizontally. Using clamps to hold the blades and tilting them relative to the horizontal axis can involve high clamping forces, particularly posing a risk of damaging or crushing the blades or their outer skin. Therefore, this disclosure relates to a blade lifting assembly 50 for mounting blade 22 to or removing blade 22 from the rotor hub 20 of a wind turbine 10, providing a safe, rapid, and / or cost-effective raising, lowering, or positioning of blade 22 for installation or removal.

[0052] According to embodiments of this disclosure, the blade lifting assembly 50 includes a gripper 52. In one embodiment, the gripper 52 includes a gripping member 67. The gripping member 67 is connectable to a gripper frame 62 of the gripper 52. In another embodiment, the gripper 52 includes a gripper pad. Specifically, the gripper pad may be disposed on the gripping member 67. The gripper pad may be configured to contact the outer skin of the blade 22. The gripping force between the gripper 52 and the blade 22 may be provided by friction between the gripping pad of the gripper 52 and the outer skin of the blade 22. In some embodiments, the gripper 52 includes a gripper actuator for actuating at least one of the gripping members 67 toward the outer skin of the blade 22 to grip the blade 22 or actuating away from the outer skin of the blade 22 to release the blade 22. In an embodiment, the gripper 52 is configured to grip the blade 22 on a first side and a second side of the blade, particularly using a gripper pad to grip the blade on both the first and second sides. Each of the first and second sides extends from the trailing edge of the blade to the leading edge of the blade, with the first side differing from the second side.

[0053] In embodiments of this disclosure, the gripper 52 is configured to grip the central region 54 of the blade 22. The central region 54 can be understood as an axial region of the blade 22, and more particularly as an axial region including the center of gravity of the blade 22. As used herein, the terms “axial,” “radial,” “tangential,” or “circumferential” are understood specifically relative to the longitudinal blade axis 76 of the blade 22. In some embodiments, the gripper 52 includes a gripping member 67 and a gripper pad for contacting the outer skin of the blade 22 at a first axial position and a second axial position. The gripper 52 may be configured to grip the blade 22 such that the center of gravity of the blade 22 is axially positioned between the first axial position and the second axial position.

[0054] For example, Figure 3 This diagram shows a view of the wind turbine 10 during the installation of blade 22 onto rotor hub 20 (which is mounted onto nacelle 16 of the wind turbine 10), with nacelle 16 mounted on tower 12 of the wind turbine 10. Blade 22 is lifted by lifting device 96 including crane 97 and blade lifting assembly 50. Blade 22 is held by gripper 52 of blade lifting assembly 50. Gripper 52 includes gripping member 67 and gripper pad disposed on gripping member 67. Gripper 52 uses gripping member 67 to hold blade 22 around the center of gravity of blade 22 at a first axial position and a second axial position.

[0055] According to an embodiment, the gripper 52 includes a blade rotation device 56 configured to rotate the blade 22 about an axis of rotation perpendicular to the longitudinal blade axis 76 of the blade 22. In an embodiment, the axis of rotation may be at least substantially perpendicular to the longitudinal tower axis 79 of the tower 12. The axis of rotation may be a horizontal axis. A horizontal axis, a horizontal direction, or a horizontal plane is understood to be at least substantially perpendicular to the direction of gravity. In some embodiments, the blade rotation device 56 may be configured to rotate the blade 22 about a vertical axis.

[0056] In one embodiment, the blade rotating device 56 includes a first device portion and a second device portion. The blade rotating device 56 may include a motor for rotating the first device portion relative to the second device portion. The first device portion may be connected to a crane link 58 of the gripper 52. The crane link 58 may be configured to hook the gripper 52 onto a crane hook 98 of a crane 97. The second device portion may be connected to a gripper frame 62 of the gripper 52 or to a gripping member 67.

[0057] According to an embodiment, the blade lifting assembly 50 includes a root support device 70 configured to be mounted to the root section 71 of the blade 22. In this embodiment, the root section 71 includes the root of the blade 22. The root section 71 may include an axial root region at the root of the blade 22. In this embodiment, the root section 71 may particularly have a circular periphery surrounding the longitudinal blade axis 76, particularly a periphery that is at least substantially circular or elliptical.

[0058] In an embodiment, the root support device 70 is configured to be mounted to the root section 71 by clamping the root support device 70 to the root section 71. Specifically, clamping may include any of two-way clamping, multi-directional clamping, tangential or circumferential clamping, or radial clamping. For example, the root support device 70 may be mounted to the root section 71 of the blade 22 using a band clamp, such as (e.g., in...) Figure 3 As shown in the middle.

[0059] In some embodiments, the root support device 70 is configured to be mounted to the root section 71 by connecting a first connector member 72 of the root support device 70 to a second connector member 73 of the root section 71. In embodiments, the first connector member 72 and the second connector member 73 may be connected by a form-fit locking mechanism. In embodiments, the first connector member 72 or the second connector member 73 includes at least one of a bolt, thread, hook, and eye. In particular, the first connector member 72 may be bolted to the second connector member 73. In an exemplary embodiment, the second connector member 73 may be connected to a bolted connection of the blade bearing of the blade 22. In some embodiments, the root support device 70 may be clamped to the root section 71 and mounted to the root section 71 by connecting the first connector member 72 to the second connector member 73. In some embodiments, the second connector member 73 may be permanently attached to the blade. In other embodiments, the second connector member 73 may be removable, particularly removable before the wind turbine 10 is in normal operation.

[0060] For example, Figure 4 The blade lifting assembly 50 is shown, wherein a root support 70 is circumferentially clamped to the root section 71 of the blade 22. A first connector member 72 includes a hook extending from the root support 70 toward the root end of the blade 22. The hook of the first connector member 72 hooks into a second connector member 73, which specifically includes an eye projecting radially from the root section 71.

[0061] According to embodiments of this disclosure, the blade lifting assembly 50 includes a connecting member 74 that connects the root support 70 to the clamp 52. Specifically, the connecting member 74 connects the root support 70 and the clamp 52 in an axial direction. In an embodiment, the connecting member 74 is configured to transfer an axial load 82 of the blade 22 from the root support 70 to the clamp 52. The axial load 82 may, for example, include the axial component of the gravity load of the blade 22. The axial load 82 may include the wind load on the blade 22 in the direction of its longitudinal blade axis 76. In an embodiment, the connecting member 74 may have an axial length of at least 2 m (particularly at least 4 m or at least 6 m) and / or a maximum of 20 m (particularly a maximum of 15 m or a maximum of 10 m). The connecting member 74 may be configured to transfer an axial load of at least 10 kN (particularly at least 30 kN, at least 50 kN, or at least 80 kN). In some embodiments, the connecting member 74 is configured to transmit an axial load of at least 25% of the blade weight (particularly at least 50% of the blade weight, at least 75% of the blade weight, or at least the blade weight).

[0062] In some embodiments, the connecting member 74 includes at least one of a rod, beam, line, chain, and rope. In some embodiments, the connecting member 74 may include a rigid connecting member. The rigid connecting member may have a fixed length or an adjustable length. For example, the connecting member 74 may include a tubular rod or a rod with an adjustable length. Figure 4 In the middle, the connecting component 74 includes a tubular rod.

[0063] In some embodiments, the blade lifting assembly 50 is configured to rotate the blade 22 to a tilt orientation using the blade rotating device 56. In the tilt orientation, the angle 80 between the longitudinal blade axis 76 and a reference plane 78 perpendicular to the longitudinal tower axis 79 can be greater than 20 degrees (particularly greater than 25 degrees) and / or a maximum of 60 degrees (particularly a maximum of 50 degrees or a maximum of 45 degrees). For example, the blade lifting assembly 50 can be configured to rotate the blade 22 to an angle 80 of up to 30 degrees.

[0064] In an embodiment, the blade lifting assembly 50 may be configured to rotate the blade 22 to an angle 80 greater than 30 degrees (particularly greater than 45 degrees or greater than 60 degrees). For example, the blade lifting assembly 50 may be configured to rotate the blade 22 to an angle 80 of up to 90 degrees.

[0065] In some embodiments, the blade lifting assembly 50 is configured to rotate the blade 22 such that the root section 71 points upward. The blade lifting assembly 50 may also be configured to rotate the blade 22 such that the root section 71 points downward. The connecting member 74 may include a rigid connecting member, such as a rod or beam. When the root section 71 points upward or downward, the rigid connecting member may specifically transmit an axial load 82. In another embodiment, the blade lifting assembly 50 may be configured to rotate the blade 22 such that the root section 71 points downward, specifically only downward. The connecting member 74 may include a connecting member capable of withstanding tensile loads, such as a chain, line, or rope. The upward and downward directions should be understood specifically relative to the direction of gravity.

[0066] For example, in Figure 3 and Figure 4 In the middle, blade 22 is tilted to an angle 80 of approximately 60 degrees. Root section 71 points in an upward direction. Axial load 82 includes at least a first portion of the axial component of the weight of blade 22. Axial load 82 can be supported at blade 22 by root support device 70. Axial load 82 is transferred from root support device 70 to clamp 52 via connecting member 74.

[0067] The clamping portion 66 of the clamp 52 can support the lateral load 83 of the blade 22, such as in, for example, Figure 4As shown in the diagram. The lateral load 83 may specifically include the component of the weight of the blade 22 in the direction perpendicular to the longitudinal blade axis 76. In an embodiment, the clamping portion 66 is configured to clamp the blade 22. The clamping portion 66 may include, for example, a clamping member 67 and / or a clamping pad. Where the longitudinal blade axis 76 is at least substantially oriented in the orientation of the blade 22 in a horizontal plane, the lateral load 83 may at least substantially include the weight of the blade 22. In an embodiment, the clamping portion 66 may support additional axial loads on the blade 22, particularly including a second portion of the axial component of the weight of the blade 22. The clamping portion 66 may support the additional axial loads via frictional contact between the clamping portion 66 (e.g., the clamping pad) and the outer skin of the blade 22. In an embodiment, the second portion of the axial component of the weight may be smaller than the first portion supported by the root support device 70. The axial load 82, the additional axial load, and the lateral load 83 may be transmitted to the crane 97 via the crane link 58 of the clamp 52.

[0068] In some embodiments, the gripper 52 may include a counterweight, wherein the gripping portion 66, the crane link 58, and the counterweight are arranged in this order in the direction of the rotation axis. The counterweight may include at least 25% of the blade weight (particularly at least 50% of the blade weight) and / or a maximum of 125% of the blade weight (particularly a maximum of the blade weight). The combined center of gravity of the blade 22 and the blade lifting assembly 50 may be moved away from the blade 22 in the direction of the rotation axis by the counterweight.

[0069] In this embodiment, during the rotation of the blade 22 (particularly during changes in the axial load 82), the connecting member 74 may be compressed, bent, or expanded. For example, Figure 5A The blade 22 is shown in a first orientation (e.g., where the longitudinal blade axis 76 is parallel to a reference plane 78 or a horizontal plane). Specifically, the axial load may be small or substantially zero. The clamping portion 66 of the gripper can support the lateral load 83 of the blade 22, which specifically includes at least substantially the weight of the blade 22. The root support 70 and the gripper frame 62 of the gripper 52 (the gripper frame 62 is connected to the connecting member 74) can be arranged at a distance 84 in the axial direction of the blade 22. In a second orientation, particularly in such an orientation… Figure 5B and Figure 5C In the tilted orientation shown, the axial load 82 may be greater than in the first orientation. The connecting member 74 may be compressed or bent.

[0070] According to an embodiment, the gripper frame 62 is connected to the root support device 70 via a connecting member 74. The gripper frame 62 is axially movable relative to the gripping portion 66. The gripping portion 66 and the gripper frame 62 may be connected by a gripper joint 68. The gripper joint 68 may include, for example, a parallelogram hinge mechanism, a rod with a pivot joint, or a slide rail mechanism. For example, in Figure 5B In the middle, the clamping joint 68 includes a parallelogram hinge mechanism, which includes a rod with a pivot joint. Figure 5B In the inclined orientation shown, the connecting member 74 is compressed by an axial load 82. This compression causes the root support 70 and the clamping frame 62 to be spaced by a reduced axial distance 86. This reduced axial distance 86 can be particularly smaller than the distance 84 in the first orientation. The clamping frame 62 can be axially movable relative to the clamping portion 66 such that the axial load 82 transmitted from the root support 70 via the connecting member 74 to the clamping frame 62 is not transmitted to the clamping portion 66. For example, axial slippage of the clamping portion 66 (particularly the clamping pad) on the outer skin of the blade 22 can be reduced or avoided.

[0071] In some embodiments, the blade lifting assembly 50 includes an actuator device 90 configured to actuate the connecting member 74 in the axial direction of the blade 22. The actuator device 90 may be configured to provide an axial force on the connecting member 74, particularly to push and / or pull the connecting member 74 in the direction of the longitudinal blade axis 76. For example, the actuator device 90 may include a linear actuator.

[0072] According to an embodiment, the actuator device 90 includes at least one of a hydraulic actuator, an electric actuator, and a pneumatic actuator. In some embodiments, the actuator device 90 is arranged on the gripper frame 62. In another embodiment, the actuator device 90 may be arranged on the root support device 70. Figure 5C In an exemplary embodiment, the blade lifting assembly 50 includes an actuator device 90. The actuator device 90 includes an actuator 92, particularly a hydraulic actuator arranged on the gripper frame 62.

[0073] In some embodiments, the actuator device 90 includes at least two actuators 92. The at least two actuators 92 may be interconnected to balance an axial load 82 within the at least two actuators 92. Specifically, the at least two actuators 92 may be hydraulic actuators and may be hydraulically interconnected. In another embodiment, the at least two actuators may be pneumatic actuators and may be pneumatically interconnected.

[0074] According to an embodiment, the at least two actuators 92 are hydraulic actuators, wherein the at least two actuators 92 are connected to a hydraulic accumulator 94 for balancing the axial load 82 in the at least two actuators 92. For example, in Figure 5C In this configuration, actuator 92 is hydraulically interconnected and connected to hydraulic accumulator 94. Hydraulic accumulator 94 can be used as a pressure storage reservoir to balance the axial load 82 within actuator 92.

[0075] In some embodiments, the blade lifting assembly 50 includes a component controller. The component controller is configured to control the actuator device 90 based on the axial load 82 of the blade 22. Specifically, the component controller is configured to receive a load signal indicating the axial load 82 of the blade 22. The load signal may be based on a measurement of the axial load 82 by a load sensor of the blade lifting assembly 50. The component controller is configured to control the axial force provided by the actuator device 90, for example, by controlling the pressure in a hydraulic actuator of the actuator device 90. The component controller may be disposed within or on the blade lifting assembly 50. In other embodiments, the component controller may be located within any other component of the blade lifting assembly 50 or at a location external to the blade lifting assembly 50. The component controller may include a computer or other suitable processing unit. In embodiments, the component controller may include suitable computer-readable instructions that, upon implementation, configure the component controller to perform various functions, such as receiving, transmitting, and / or executing control signals of the blade lifting assembly 50 (particularly according to the embodiments described herein).

[0076] In an embodiment, the actuator device 90 is configured to actuate the connecting member 74 such that the distance 84 between the gripper 52 and the root support device 70 remains at least substantially constant. Specifically, the distance 84 can be maintained at least substantially constant during rotation of the blade 22. The actuator device 90 can be controlled by a component controller to maintain the distance 84 at least substantially constant. For example, in an actuator device 90 including a hydraulic actuator, the pressure of the hydraulic actuator can be controlled. Specifically, "at least substantially constant" can be understood as such that the change in distance 84 by rotation from the first orientation to the second orientation is less than 10% of the distance 84, particularly less than 5% or less than 3%. In an embodiment, the actuator device 90 can be controlled to compensate for compression or bending of the connecting member 74. Maintaining the distance 84 at least substantially constant reduces or avoids axial gripping forces of the gripper 52 on the blade 22. In particular, it reduces or avoids slippage of the gripping portion 66 (particularly the gripper pad) in the axial direction on the outer skin of the blade 22. In some embodiments, the gripper frame 62 may be rigidly connected to the gripping portion 66. In other embodiments, the gripper 52 may include a gripper connector 68 configured to allow axial movement of the gripper frame 62 relative to the gripping portion 66 (as described herein, such as in...). Figure 5C (As shown in the image).

[0077] According to embodiments of this disclosure, methods 100 and 200 are provided for mounting a blade 22 to or removing a blade 22 from a rotor hub 20 of a wind turbine 10. Methods 100 and 200 may particularly utilize a blade lifting assembly 50 or lifting device 96 according to embodiments described herein. Methods 100 and 200 include using a clamp 52 to clamp a central region 54 of the blade. In embodiments, the central region 54 clamped by the clamp 52 includes the center of gravity of the blade 22. Specifically, clamping the blade 22 may include clamping the blade 22 at a first axial position and a second axial position using clamping members 67, wherein the center of gravity of the blade 22 is axially disposed between the first and second axial positions. According to embodiments described herein, clamping the blade 22 may include clamping the blade 22 on a first side and a second side of the blade 22.

[0078] In embodiments, methods 100 and 200 include mounting a root support device 70 to the root section 71 of the blade 22. Specifically, the root support device 70 may be clamped to the root section 71, and / or the root support device 70 may be mounted to the root section 71 by connecting a first connector member 72 of the root support device 70 to a second connector member 73 of the root section 71.

[0079] According to embodiments, methods 100 and 200 include using a connecting member 74 to connect a root support device 70 to a clamp 52, the connecting member 74 being configured to transfer an axial load 82 of the blade 22 from the root support device 70 to the clamp 52. The connecting member 74 may transfer the axial load 82, particularly in the tilt orientation of the blade 22 (particularly tilted relative to a reference plane 78 or a horizontal plane).

[0080] In embodiments, methods 100 and 200 include using a crane 97 with a crane hook 98 to move the blade 22 in a vertical direction, the crane hook 98 engaging with the clamp 52. Specifically, moving the blade 22 in a vertical direction may include raising the blade 22 toward the rotor hub 20 or lowering the blade 22 toward the support surface 14 below the rotor hub 20. In embodiments, moving the blade 22 in a vertical direction can be specifically understood as moving the blade 22 from a first height to a second height different from the first height. Moving the blade 22 in a vertical direction may include moving the blade 22 along a vertical axis. In embodiments, moving the blade 22 in a vertical direction may include moving the blade in a vertical direction inclined relative to the vertical axis.

[0081] According to embodiments, methods 100, 200 include using a blade rotation device 56 of a gripper 52 to rotate the blade 22 about an axis of rotation perpendicular to the longitudinal blade axis 76 of the blade 22. Specifically, the axis of rotation may be a horizontal axis, or it may be at least substantially perpendicular to the longitudinal tower axis 79 of the tower 12. In some embodiments, rotating the blade 22 includes rotating it to an inclined orientation, wherein in this inclined orientation, the angle 80 between the longitudinal blade axis 76 and a reference plane 78 perpendicular to the longitudinal tower axis 79 is greater than 20 degrees (particularly greater than 25 degrees), and / or rotated to an angle 80 of a maximum of 60 degrees (particularly a maximum of 50 degrees or a maximum of 45 degrees). Rotating the blade 22 to an inclined orientation between a horizontal and vertical orientation, compared to a vertical orientation, may, for example, require a smaller counterweight to balance the weight of the blade 22 relative to the crane link 67.

[0082] In this embodiment, the blade 22 can be rotated to an angle 80 greater than 30 degrees (particularly greater than 45 degrees or greater than 60 degrees). For example, the blade 22 can be rotated to an angle 80 of approximately 90 degrees.

[0083] In one embodiment, blade 22 can be rotated to an angle of 80° to match the orientation of the blade connection portion of rotor hub 20 for mounting blade 22 to rotor hub 20. In some embodiments, blade 22 can be rotated from an inclined orientation to at least a substantially horizontal orientation during removal of blade 22 from rotor hub 20 for placing blade 22 on support surface 14. Rotating blade 22 to an orientation closer to vertical or to a vertical orientation can, for example, reduce the crane height required to move blade 22 between support surface 14 and rotor hub 20.

[0084] In embodiments, methods 100, 200 include connecting the blade 22 to the rotor hub 20 (particularly for mounting the blade 22 to the rotor hub 20) or disconnecting the blade 22 from the rotor hub 20 (particularly for removing the blade 22 from the rotor hub 20). In some embodiments, methods 100, 200 may include releasing the blade 22. Releasing the blade 22 may include releasing the blade 22 from the holder 52. Releasing the blade 22 may include removing the root support device 70 from the root section 71.

[0085] It should be understood that at least some of the method elements described above can be performed in a different order than that described. In particular, connecting blade 22 to rotor hub 20 or disconnecting blade 22 from rotor hub 20 can be performed at different stages.

[0086] For example, Figure 6 A flowchart of a method 100 for mounting a blade 22 to a rotor hub 20 is shown. At block 110, method 100 includes using a clamp 52 to clamp the blade 22. At block 120, a root support 70 is mounted to the root section 71 of the blade 22. At block 130, the root support 70 is connected to the clamp 52 using a connecting member 74. At block 140, the blade 22 moves in a vertical direction (particularly upward toward the rotor hub 20). At block 150, the blade rotates about a rotation axis (e.g., about a horizontal axis). Specifically, the blade 22 rotates by an angle 80° to match the orientation of the blade connection portion of the rotor hub 20. At block 160, the blade 22 is connected to the rotor hub 20, particularly to the blade connection portion of the rotor hub 20. The blade 22 can be released from the clamp 52 and the root support 70.

[0087] Figure 7A flowchart of method 200 for removing blade 22 from rotor hub 20, specifically connected to rotor hub 20 of wind turbine 10, is shown. Blocks 210, 220, and 230 can be performed similarly to blocks 110, 120, and 130 of method 100. At block 240, blade 22 is disconnected from rotor hub 20. At block 250, blade 22 is moved in a vertical direction (particularly downward toward support surface 14). At block 260, blade 22 is rotated, particularly to an orientation that is at least substantially horizontal. Blade 22 can be lowered onto support surface 14. Blade can be released from clamp 52 and root support device 70.

[0088] In some embodiments, the blade 22 may be a segmented blade comprising at least two blade segments. These at least two blade segments may be connected at at least one blade joint (e.g., at one, two, or more blade joints). For example, the segmented blade may include a root segment comprising the root of the blade 22. The segmented blade may include one or more extended segments configured to connect to the root segment along the longitudinal axis of the blade, particularly a terminal segment comprising the end of the blade 22. In some embodiments, the segmented blade may include tangential segments configured to connect to the root segment in the tangential direction at a tangential joint. For example, the tangential segment may include a portion of the blade 22 at its maximum tangential extension.

[0089] In some embodiments, the blade lifting assembly may be configured to support a segmented blade or a segmented blade blade at the blade joint of a segmented blade. According to an embodiment, the blade lifting assembly 50 may be configured to mount a segment of blade 22 to the rotor hub 20 or to remove a segment of blade 22 (particularly the root segment of a segmented blade) from the rotor hub 20. In an embodiment, the gripper 52 of the blade lifting assembly 50 may be configured to grip the central axial region of the blade segment (e.g., the root segment). In an embodiment, at least two blade segments of a segmented blade may be mounted or removed together to the rotor hub, for example, a complete blade or root segment together with a tangential segment. In another embodiment, one or more blade segments of a blade (e.g., the root segment) may be mounted to or removed from the rotor hub individually. According to some embodiments, a root support device may be configured to be mounted to the root section of a blade segment, particularly to the root section of a root segment.

[0090] Embodiments of this disclosure offer the following advantages: during blade installation or removal, the axial load on the blade can be supported at the root section of the blade. The blade can be lifted and rotated (particularly without applying reinforcing clamping forces to the outer skin of the blade) using a clamp. According to embodiments, reinforcement of the blade's load-bearing structure or the outer skin of the blade to support strong clamping forces can be avoided. Rotating the blade allows it to be installed onto the rotor hub at a lower height relative to the ground or in various orientations relative to the hub. In particular, a crane with a lower height can be used to install or remove the blade, or multiple angular movements of the rotor hub during installation or removal can be reduced. In embodiments, the time and / or cost (particularly crane costs) for installing and / or removing the blade from the rotor hub can be reduced.

[0091] This written description uses examples to disclose the invention (including the best mode) and also enables any person skilled in the art to practice the invention, including making and using any device or system and performing any combined methods. The patentable scope of the invention is defined by the claims and may include other examples that would occur to a person skilled in the art. Such other examples are intended to be within the scope of the claims if they include structural elements that are not different from the literal language of the claims, or if they include equivalent structural elements that are not substantially different from the literal language of the claims.

Claims

1. A blade lifting assembly (50) for mounting a blade (22) to or dismounting a blade (22) from a rotor hub (20) of a wind turbine (10), comprising - a gripper (52) configured for gripping a central region (54) of the blade (22), the gripper (52) comprising a blade rotation device (56) configured for rotating the blade (22) about a rotation axis perpendicular to a longitudinal blade axis (76) of the blade (22); - a root support device (70) configured to be mounted to a root section (71) of the blade (22); and - a connection component (74) connecting the root support device (70) to the gripper (52), the connection component (74) being configured for transmitting an axial load (82) of the blade (22) from the root support device (70) to the gripper (52), wherein the blade lifting assembly (50) further comprises an actuator device (90) configured for actuating the connection component (74) in an axial direction of the blade (22) such that a distance (84) between the gripper (52) and the root support device (70) remains at least substantially constant.

2. The blade lifting assembly (50) according to claim 1, wherein the root support device (70) is configured to be mounted to the root section (71) by clamping the root support device (70) to the root section (71) and / or by joining a first joint member (72) of the root support device (70) to a second joint member (73) of the root section (71).

3. The blade lifting assembly (50) according to claim 1, the gripper (52) comprising a gripping portion (66) and a gripper frame (62) connected to the gripping portion (66), the gripper frame (62) being connected to the root support device (70) via the connection component (74), the gripping portion (66) being configured for gripping the blade (22), and wherein the gripper frame (62) is axially movable relative to the gripping portion (66).

4. The blade lifting assembly (50) according to any of the preceding claims, configured for rotating the blade (22) into an inclined orientation using the blade rotation device (56), wherein in the inclined orientation an angle (80) between the longitudinal blade axis (76) and a reference plane (78) perpendicular to a longitudinal tower axis (79) is greater than 20 degrees.

5. The blade lifting assembly (50) according to claim 1, wherein the actuator device (90) comprises at least one of a hydraulic actuator, an electric actuator and a pneumatic actuator. ​ 6. Blade lifting assembly (50) according to claim 5, wherein the actuator device (90) comprises at least two actuators (92) interconnected for balancing the axial load (82) among the at least two actuators (92).

7. Blade lifting assembly (50) according to claim 6, wherein the at least two actuators (92) are hydraulic actuators, and wherein the at least two actuators (92) are connected to a hydraulic accumulator (94) for balancing the axial load (82) among the at least two actuators (92).

8. Blade lifting assembly (50) according to any one of claims 5 to 7, further comprising an assembly controller configured for controlling the actuator device (90) based on an axial load (82) of the blade (22).

9. Blade lifting assembly (50) according to any one of claims 1 to 3, 5 to 7, wherein the connection means (74) comprises at least one of a rod, a beam, a wire, a chain and a rope.

10. Lifting device (96) for mounting or dismounting a blade (22) to or from a rotor hub (20) of a wind turbine (10), comprising - a crane (97) comprising a crane hook (98); and - a blade lifting assembly (50) according to any one of the preceding claims, wherein the gripper (52) of the blade lifting assembly (50) is hooked to the crane hook (98).

11. Method (100) for mounting or dismounting a blade (22) to or from a rotor hub (20) of a wind turbine (10), the wind turbine (10) comprising a tower (12) and a nacelle (16) mounted on the tower (12), the rotor hub (20) being coupled to the nacelle (16), the method comprising - gripping a central region (54) of the blade (22) using a gripper (52); - mounting a root support device (70) to a root section (71) of the blade (22); - connecting the root support device (70) to the gripper (52) using connection means (74) configured for transmitting an axial load (82) of the blade (22) from the root support device (70) to the gripper (52); - moving the blade (22) in vertical direction using a crane (97) having a crane hook (98) hooked to the gripper (52); - rotating the blade (22) around a rotation axis perpendicular to a longitudinal blade axis (76) of the blade (22) using a blade rotation device (56) of the gripper (52); and - connecting the blade (22) to the rotor hub (20) or disconnecting the blade (22) from the rotor hub (20). ​ wherein the method further comprises urging the connection member (74) in an axial direction of the blade (22) using an urging device (90) such that a distance (84) between the gripper (52) and the root support arrangement (70) remains at least substantially constant.

12. The method (100) according to claim 11, wherein the central region (54) gripped by the gripper (52) comprises a center of gravity of the blade (22).

13. The method (100) according to any one of claims 11 and 12, wherein rotating the blade (22) comprises rotating the blade (22) into an inclined orientation, wherein in the inclined orientation an angle (80) between the longitudinal blade axis (76) and a reference plane (78) perpendicular to a longitudinal tower axis (79) is greater than 20 degrees.

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