An adaptive blade posture adjustment device and a method of operation thereof

Abstract

The application discloses a device for self-adaptive blade posture adjustment and a working method thereof. The device comprises a center frame, a pair of clamp supports are arranged in the center frame, and a clamp is hingedly arranged in the clamp supports. The device is characterized in that a driving device for driving the clamps on both sides to swing is arranged in a clamp placing cavity, a rotating shaft is rotatably arranged in the clamp, a clamping plate mounting plate is arranged on one side of the rotating shaft, clamping plates are rotatably arranged on both sides of the clamping plate mounting plate, and the clamping plate on the right side is hingedly arranged with the clamping plate mounting plate through a pin shaft type force sensor. The device can clamp and lift the blade, and can realize assembly and pushing out of the blade within a range of 0-90 degrees. When the blade is assembled into the device, the blade can swing within a range of ±135 degrees, thereby realizing the function of adjusting the posture of the blade.

Description

Technical Field

[0001] This invention relates to the field of adaptive blade attitude adjustment equipment technology, specifically an adaptive blade attitude adjustment device and its working method. Background Technology

[0002] In the field of wind power, the main function of blade attitude adjustment equipment is to adjust the attitude of wind turbine blades, including blade rotation and lifting. Blade rotation is mainly achieved by clamping the blade and then rotating it. Blade lifting is mainly achieved by clamping the blade and then raising it. Existing equipment has many drawbacks, such as the cumbersome positioning and retraction of blades and the limited range of blade angle adjustment. Extensive research has been conducted on these issues. For example, the Chinese patent document CN202210835875.8, entitled "Method for Self-Adjusting Storage and Lifting of Wind Turbine Blades," includes the following steps: assembling an integrated device for adaptive operation between blades; assembling a blade root storage and lifting device; placing the integrated device for adaptive operation between blades and the blade root storage and lifting device, and placing the blade; attaching the assembled upper half of the rotating drum to the lower half of the rotating drum and fixing it; first lifting the integrated device for adaptive operation between blades, automatically adjusting the blade from a horizontal to a side-standing position, and then lifting it simultaneously. When the blade installation is complete, the crane slightly loosens the hook, moving the integrated device for adaptive operation between blades and the blade root storage and lifting device a certain distance below, separating the device from the blade, and then moving the device along the long axis of the blade, ultimately detaching it from the blade. This invention completely solves the problem of blade side-standing posture flipping adjustment without external intervention; the transportation, storage, and lifting of the blades only require one set of devices, which is simple to operate, allowing for direct lifting, and the device is fully automated.

[0003] Therefore, it can be seen that in the above-mentioned prior art, the positioning and removal of the blades are relatively troublesome, the range of blade angle adjustment is also small, and it is not possible to achieve multi-degree-of-freedom adaptive clamping of the blades, making the blades easy to be damaged when clamping. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an adaptive blade attitude adjustment device and its working method, which can solve the problems in the prior art.

[0005] This invention is achieved through the following technical solution: An adaptive blade attitude adjustment device and its working method, comprising a central frame, a pair of clamp supports provided within the central frame, and clamps hinged within the clamp supports. The device is characterized in that a driving device is provided within the clamp placement cavity to drive the clamps on both sides to swing; a rotating shaft is rotatably provided within each clamp; a clamp mounting plate is provided on one side of the rotating shaft; clamps are rotatably provided on both sides of the clamp mounting plate; and the clamp on the right side is hinged to the clamp mounting plate via a pin-type force sensor.

[0006] A further technical solution includes a drive device comprising a power reduction motor disposed within the fixture placement cavity, a lead screw being connected to one side of the power reduction motor, a T-nut being threadedly connected to the outer surface of the lead screw, a connecting rod being hinged inside the T-nut, the connecting rod being hinged to one end of the fixture, and limit switches being provided on one side of both ends of the lead screw.

[0007] A further technical solution also includes a turntable, wherein a loading cavity is provided inside the turntable, an opening is provided on one side of the loading cavity, and a central frame shaft is rotatably provided at the end of the loading cavity away from the opening, and the central frame shaft is connected and fixed to a mounting hole on one side of the central frame.

[0008] In a further technical solution, a base is provided inside the turntable, and a central frame shaft is rotatably provided inside the base. A radial bearing and a thrust bearing are provided between the central frame shaft and the base.

[0009] In a further technical solution, the loading cavity is provided with one upper and one lower slider on the side away from the central frame rotating shaft, and the central frame is provided with one upper and one lower sliding groove on the other side, with the slider and the sliding groove sliding and limiting each other.

[0010] A further technical solution also includes a bracket, which has an inner cavity, and a plurality of guide wheels and support rollers are provided in the inner cavity. The turntable abuts against the outer surface of the guide wheels and support rollers, and a rotating device is provided between the turntable and the bracket to make the turntable rotate around the center of the turntable.

[0011] A further technical solution includes a rotating device comprising a reduction motor within the inner cavity, with one reduction motor on each side. A drive sprocket is poweredly connected to one side of each reduction motor, and a driven sprocket is located on the other side of the drive sprocket. A chain is wound around the outer surfaces of the drive and driven sprockets, connecting them. A first rotating shaft is located within the driven sprocket and rotatably connected to the inner cavity. A drive gear is located on the outer surface of the first rotating shaft, and a driven gear meshes with one side of the drive gear. A second rotating shaft is located within the driven gear and rotatably connected to the inner cavity. Support rollers are located on the front and rear sides of the outer surface of the second rotating shaft. A toothed ring is located on the outer surface of the turntable. The turntable abuts against the guide wheel and the support rollers, and the toothed ring meshes with the driven gear.

[0012] In a further technical solution, the gear ring is installed by segmented assembly and fixing. Positioning pin holes and fixing holes are opened on the side of the segmented gear ring. The positioning pin holes are used to accurately position and arrange multiple gear rings. After positioning, the gear ring is completely fastened by the fixing holes. A mounting plate is welded to the outer surface of the turntable, and all the gear rings are fixed on the mounting plate to form a gear ring.

[0013] A further technical solution also includes a frame, on one side of which a plurality of first hydraulic cylinders are provided, and on the other side of which a second hydraulic cylinder is provided. A pair of first guide posts are provided between the first hydraulic cylinders and are fixed to the frame. A column is provided at the other end of the frame, and a pair of second guide posts are provided inside the column. Two first hydraulic cylinder lifting plates are provided at one end of the bracket and are fixed to the top of the push rod. A second hydraulic cylinder lifting plate is provided on the other side of the bracket and is fixed to the top of the push rod inside the second hydraulic cylinder. A plurality of vertically arranged guide fitting plates are provided on the front and rear sides of the bracket. The first guide posts slide through the guide fitting plates. A plurality of guide grooves located on the front and rear sides of the bracket are provided on the lower side of the second hydraulic cylinder lifting plate and are slidably connected to the second guide posts.

[0014] A method for adaptive attitude adjustment of blades, characterized in that: Step 1: When the connecting rod triggers the lower limit switch, the clamping device is fully opened. At this time, the blade can be loaded. The blade is loaded from the opening side at an angle of 0-90° and enters the clamping plate. The clamping plate clamps and holds multiple parts of the blade together.

[0015] Step 2: After the power reduction motor on the left starts working, it drives the T-nut to swing the connecting rod until the connecting rod touches the limit switch at the upper left end. Then the power reduction motor on the left stops working and the brake is locked.

[0016] Step 3: After that, the power reduction motor on the right side works, causing the T-nut on the right side to drive the connecting rod to swing. After the clamping plate and the blade are clamped and pressed together, the feedback force of the pin-type force sensor reaches the set value, and the T-nut on the right side locks the brake.

[0017] Step 4: After the clamping plate comes into contact with the blade, the center frame rotates back and forth around the center frame axis to make the clamping plate adapt to the shape of the blade's outer surface, so that the clamping plate can fully contact and abut the blade.

[0018] Step 5: The geared motor drives the drive sprocket to rotate, which in turn causes the driven sprocket to rotate under the action of the chain. The driven sprocket drives the first rotating shaft to rotate. Since the first rotating shaft meshes with the driven gear, the driven gear meshes with the gear ring, causing the turntable to rotate on the axis centered on the turntable on one side of the guide wheel and support roller. The range of rotation of the turntable is ±135°. The turntable drives the blades to rotate synchronously by ±135° to adjust the blade posture.

[0019] Step 6: After the frame and the second hydraulic cylinder work, the bracket is lifted, which in turn drives the blade to be lifted to adjust the height of the blade.

[0020] The beneficial effects of this invention are: 1. When loading and unloading blades, the turntable device is set at an angle of 0-90° within the bracket device, ensuring that the opening in the turntable device does not overlap with the bracket device. This allows the blades to be loaded or unloaded through the opening in the turntable device. After the blades are loaded, they can rotate ±135° with the turntable device, improving the range of blade attitude adjustment.

[0021] II. The lifting of the equipment is achieved through the first hydraulic cylinder 13 and the second hydraulic cylinder 16. The first hydraulic cylinder 13 is installed at a lower height using a single column, while the second hydraulic cylinder 16 is installed at a higher height using an A-type column 19 structure to improve stability. Simultaneously, the space within the column 19 is used to accommodate large components such as the control cabinet and hydraulic station, improving space utilization and resulting in a more compact structure. To prevent the first hydraulic cylinder 13 and the second hydraulic cylinder 16 from experiencing radial forces during equipment operation, a first guide column 15 and a second guide column 17 are provided. These guide columns cooperate with corresponding parts within the bracket device, and through mechanical limiting, the vertical lifting of the bracket device is ensured.

[0022] Second, because the equipment is equipped with multiple sensors, when the turntable rotates, the cable collector 25 can automatically release or reel in the cable to prevent the cable from being dragged and scattered.

[0023] Third, the turntable device is mainly supported by the support roller 41, and the support roller 41 is in contact with the turntable device. After the turntable device is assembled with the bracket device, the guide wheel 23 provides auxiliary positioning for the turntable device to ensure that the turntable device rotates around the axis.

[0024] Fourth, the gear ring 55 is installed by segmented assembly and fixing. Positioning pin holes and fixing holes are opened on the side of the segmented gear ring 55. The positioning pin holes are used to accurately position and arrange multiple gear rings 55. After positioning, the gear ring 55 is completely fastened by the fixing holes. The outer surface of the turntable 52 is welded with a mounting plate 59. All the gear rings 55 are fixed on the mounting plate 59 to form a complete gear ring.

[0025] V. Due to the specific curvature of the wind turbine blade, the clamping angle of the clamping device will dynamically change during attitude adjustment. The center frame device is designed to swing freely, allowing the equipment to adapt to the blade, and the slider 56 is used to limit the movement of the center frame device to prevent excessive swinging. The slider 56 is arc-shaped and is respectively set on both sides of the opening 51. The slider 56 cooperates with the slide groove 66 in the center frame device, and the slider 56 is embedded in the slide groove 66. The surface of the slider 56 is covered with non-metallic wear-resistant material to reduce frictional resistance and facilitate replacement after wear. The base 57 and the turntable 52 are welded into a whole to ensure strength. A radial bearing 50 and a thrust bearing 58 are provided to withstand the axial and radial forces on the center frame shaft 54.

[0026] 6. The clamping plate 77 is used to rotate around the rotating shaft 78, so that the direction of rotation of the clamping plate 77 is perpendicular to the angle of rotation of the center frame device, thereby forming an omnidirectional swing to adapt to any angle change during the blade attitude adjustment process. The clamping plate 74 rotates around the shaft 75, which can make the clamping plate 74 fully fit with the blade. The pin-type force sensor 73 provides real-time feedback of the force when the clamping plate 74 clamps the blade to prevent over-clamping and damage to the blade.

[0027] 7. The sling 82 is used to support and lift the blade, and the clamp 74 clamps and supports the blade, so that the blade can be stably clamped by the clamping device. Attached Figure Description

[0028] For ease of explanation, the present invention will be described in detail below with reference to specific embodiments and accompanying drawings.

[0029] Figure 1This is a schematic diagram of the overall structure of the device of the present invention; Figure 2 for Figure 1 A schematic diagram of the structure after the blades are raised in the middle of the equipment; Figure 3 for Figure 1 Schematic diagram of the loading of the intermediate blade; Figure 4 for Figure 1 Schematic diagram of the middle frame device; Figure 5 for Figure 1 Schematic diagram of the middle bracket device; Figure 6 for Figure 5 Schematic diagram of the cross-sectional structure of the middle bracket device; Figure 7 for Figure 6 Top view of the central support device; Figure 8 for Figure 1 A schematic diagram of the rotary table device; Figure 9 for Figure 8 A partial cross-sectional schematic diagram of the rotary table device; Figure 10 for Figure 1 Schematic diagram of the central frame device; Figure 11 for Figure 10 A schematic diagram of the left side of the central frame device; Figure 12 for Figure 1 Schematic diagram of the clamping device; Figure 13 for Figure 12 A front view of the clamping device; Figure 14 A schematic diagram of the installation structure of the center frame device and the clamping device; Figure 15 for Figure 14 A schematic diagram of the clamping device; In the diagram, the components are: push rod 11, frame 12, first hydraulic cylinder 13, roller 14, first guide column 15, second hydraulic cylinder 16, second guide column 17, column 19, bracket 21, first hydraulic cylinder lifting plate 22, guide wheel 23, inner cavity 24, cable collector 25, guide groove 26, second hydraulic cylinder lifting plate 27, geared motor 32, drive sprocket 33, chain 34, driven sprocket 35, first rotating shaft 36, second rotating shaft 37, driven gear 38, drive gear 39, support roller 41, and radial bearing. 50. Opening 51. Turntable 52. Loading cavity 53. Center frame shaft 54. Gear ring 55. Slider 56. Base 57. Thrust bearing 58. Mounting plate 59. Center frame 61. Mounting hole 62. Fixture support 63. Fixture placement cavity 64. Connecting rod 65. Slide groove 66. Worm gear lifter 71. Handle 72. Pin-type force sensor 73. Clamping plate 74. Clamping plate mounting plate 77. Shaft 78. Fixture 79. Sling 82. T-nut 83. Limit switch 84. Power geared motor 85. Lead screw 86. Detailed Implementation

[0030] like Figures 1-15 As shown, the present invention will be described in detail. For ease of description, the directions mentioned below are defined as follows: the directions of up, down, left, right, front, and back mentioned below are the same as... Figure 1 The present invention provides an adaptive blade attitude adjustment device and its working method, wherein the projection relationships of the blades are consistent in the vertical, horizontal, front-back, and vertical directions. The device includes a frame assembly with a bracket assembly on it. The frame assembly drives the bracket assembly to move up and down. The bracket assembly is an open circular ring structure. A turntable assembly is rotatably mounted inside the bracket assembly. One end of the turntable assembly has an opening to facilitate the placement of the blade. The turntable assembly rotates within the bracket assembly at an angle of ±135°. The turntable assembly rotates circumferentially in the vertical plane of the bracket assembly. A central frame assembly is rotatably mounted inside the turntable assembly. The central frame assembly can flip back and forth and contains a clamping device for holding the blade. This device enables adaptive clamping of the blade, allowing for lifting and rotation of the blade to achieve blade attitude adjustment.

[0031] When the blades are being loaded and unloaded, the turntable device is set at an angle of 0-90° within the bracket device to ensure that the opening in the turntable device does not overlap with the bracket device, allowing the blades to be loaded or unloaded through the opening in the turntable device. After the blades are loaded, they can rotate ±135° with the turntable device.

[0032] Advantageously, the frame device includes a frame 12, with multiple rollers 14 at its bottom. Two first hydraulic cylinders 13 are located at one end of the frame 12, each with a push rod 11 connected to it. A pair of first guide columns 15 are positioned between the first hydraulic cylinders 13 and fixed to the frame 12. A column 19 is located at the other end of the frame 12, with a pair of second guide columns 17 inside. The lifting of the equipment is achieved through the first hydraulic cylinders 13 and 16. The first hydraulic cylinders 13 are installed at a lower height using a single column, while the second hydraulic cylinders 16 are installed at a higher height using an A-type column 19 structure, improving stability. The space within the column 19 is used to accommodate large components such as the control cabinet and hydraulic station, improving space utilization and resulting in a more compact structure. To prevent the first hydraulic cylinders 13 and 16 from bearing radial force during operation, the first guide columns 15 and 17 are configured to cooperate with corresponding parts within the bracket device, ensuring vertical lifting of the bracket device through mechanical limiting.

[0033] Advantageously, the bracket device includes a bracket 21. One end of the bracket 21 is provided with two first hydraulic cylinder lifting plates 22, which are fixed to the top of the push rod 11. The other side of the bracket 21 is provided with a second hydraulic cylinder lifting plate 27, which is fixed to the top of the push rod inside the second hydraulic cylinder 16. The front and rear sides of the bracket 21 are provided with multiple vertically arranged guide plates 28. The first guide post 15 slides through the guide plates 28. The lower side of the second hydraulic cylinder lifting plate 27 is provided with multiple guide grooves 26 located on the front and rear sides of the bracket 21. The guide grooves 26 are slidably connected to the second guide post 17. The guide plates 28 and guide grooves 26 are used to slide and limit the first guide post 15 and the second guide post 17 respectively, so that the stability of the push rod 11 and the second hydraulic cylinder 16 when lifting the bracket 21 through the first hydraulic cylinder lifting plates 22 and the second hydraulic cylinder lifting plates 27 is improved.

[0034] Advantageously, the bracket device also includes a cable collector 25 disposed on the top of the bracket 21. Since multiple sensors are installed in the device, the cable collector 25 can automatically release or reel in the cable when the turntable device rotates, preventing the cable from being dragged and scattered.

[0035] Advantageously, the bracket device also includes an inner cavity 24 disposed within the bracket 21. Symmetrical geared motors 32 are disposed within the inner cavity 24, one on each side. A drive sprocket 33 is poweredly connected to one side of each geared motor 32, and a driven sprocket 35 is disposed to one side of the drive sprocket 33. A chain 34 is wound around the outer surfaces of the drive sprocket 33 and the driven sprocket 35, powering them. A first rotating shaft 36 is disposed within the driven sprocket 35, and the first rotating shaft 36 is rotatably connected to the inner cavity 24. A drive gear 39 is disposed on the outer surface of the first rotating shaft 36, and one side of the drive gear 39 is engaged. A driven gear 38 is provided, and a second rotating shaft 37 is disposed within the driven gear 38. The second rotating shaft 37 is rotatably connected to the inner cavity 24. Support rollers 41 are disposed on the front and rear sides of the outer surface of the second rotating shaft 37. Multiple guide wheels 23 are disposed within the inner cavity 24. When the reduction motor 32 is working, it drives the drive sprocket 33 to rotate, and the driven sprocket 35 is rotated through the power connection of the chain 34. Since the first rotating shaft 36 coaxially connects the drive gear 39 and the driven sprocket 35, the drive gear 39 drives the driven gear 38 and the second rotating shaft 37 to rotate, thereby causing the turntable device to rotate after meshing with the driven gear 38. The turntable device is mainly supported by the support rollers 41, and the support rollers 41 are in contact with the turntable device. After the turntable device is assembled with the bracket device, the guide wheels 23 provide auxiliary positioning for the turntable device to ensure that the turntable device rotates around the axis.

[0036] Advantageously, the turntable device includes a turntable 52, on the outer surface of which a toothed ring 55 is provided. The turntable 52 abuts against the guide wheel 23 and the support roller 41. The toothed ring 55 meshes with the driven gear 38. Since the diameter of the turntable 52 is relatively large, the toothed ring 55 is installed in a segmented combination and fixed manner for easy processing. Positioning pin holes and fixing holes are opened on the side of the segmented toothed ring 55. The positioning pin holes are used to accurately position and arrange multiple toothed rings 55. After positioning, the toothed ring 55 is completely fastened by the fixing holes. A mounting plate 59 is welded to the outer surface of the turntable 52. All the toothed rings 55 are fixed on the mounting plate 59 to form a complete gear ring.

[0037] Advantageously, the turntable device also includes a loading cavity 53 disposed within the turntable 52. An opening 51 is provided on one side of the loading cavity 53. A base 57 is provided at the end of the loading cavity 53 away from the opening 51. The base 57 is welded and fixed to the turntable 52. A central frame shaft 54 ​​is rotatably disposed within the base 57. A radial bearing 50 and a thrust bearing 58 are disposed between the central frame shaft 54 ​​and the base 57. A slider 56 is disposed at the top and bottom of the loading cavity 53 away from the central frame shaft 54. A central frame device is rotatably disposed at one end of the base 57. Because the wind turbine blade has a specific curvature, the clamping angle of the clamping device will dynamically change during attitude adjustment. The central frame device is designed to swing freely, allowing the equipment to adapt to the blade, and the sliders 56 are used to limit the movement of the central frame device, preventing excessive swinging. The sliders 56 are arc-shaped and are respectively located on both sides of the opening 51. The sliders 56 mate with the grooves 66 in the center frame assembly, with the sliders 56 embedded in the grooves 66. The surface of the sliders 56 is covered with a non-metallic wear-resistant material to reduce frictional resistance and facilitate replacement after wear. The base 57 and turntable 52 are welded together to ensure strength. A radial bearing 50 and a thrust bearing 58 are provided to withstand the axial and radial forces on the center frame shaft 54. Advantageously, the central frame device includes a central frame 61, in which a mounting hole 62 is provided. The central frame shaft 54 ​​is rotatably connected to the mounting hole 62. On the other side of the central frame 61, there are two sliding grooves 66, one at the top and one at the bottom. The slider 56 is slidably engaged with the sliding groove 66. The central frame 61 has a clamp placement cavity 64. The clamp placement cavity 64 has a clamp support 63 on the left and one on the right. A clamp 79 is hinged in the clamp support 63. A connecting rod 65 is hinged at one end of the clamp 79. A drive assembly for driving the connecting rod 65 to swing is provided in the clamp placement cavity 64.

[0038] Advantageously, the drive assembly includes a power reduction motor 85 disposed in the clamp placement cavity 64, a lead screw 86 is provided on one side of the power reduction motor 85, a T-nut 83 is provided on the outer surface of the lead screw 86 with thread engagement, the T-nut 83 is hinged to the connecting rod 65, and a limit switch 84 is provided on one side of both ends of the lead screw 86 to limit the movement range of the T-nut 83.

[0039] Advantageously, the clamping device includes a clamp 79 with a rotating shaft 78 rotatably mounted inside. A clamping plate mounting plate 77 is mounted on one side of the rotating shaft 78, and clamping plates 74 are rotatably mounted on both sides of the clamping plate mounting plate 77. The right-side clamping plate 74 is hinged to the clamping plate mounting plate 77 via a pin-type force sensor 73. A worm gear jack 71 is mounted on one side of the left-side clamping plate mounting plate 77, and a handle 72 is mounted on one side of the worm gear jack 71. The worm gear jack 71 is existing technology; rotating the handle 72 allows the worm gear jack 71 to extend and retract. The other end of 71 is provided with a sling 82, which is fixed to one end of the clamping plate 77 on the right side. The clamping plate 77 is used to rotate around the rotating shaft 78, so that the direction of rotation of the clamping plate 77 is perpendicular to the angle of rotation of the center frame device, thus forming an omnidirectional swing to adapt to any angle change during the blade attitude adjustment process. The clamping plate 74 rotates around the hinge axis with the clamping plate 77, which can make the clamping plate 74 fully fit with the blade. The pin-type force sensor 73 provides real-time feedback of the force when the clamping plate 74 clamps the blade to prevent over-clamping and damage to the blade.

[0040] This equipment can clamp and lift blades, and can assemble and eject blades within a range of 0-90°. Once the blades are assembled into the equipment, they can swing at an angle of ±135°, thereby adjusting the blades' attitude.

[0041] When clamping and controlling the blades: 1. When the connecting rod 65 triggers the lower limit switch 84, the clamping device is fully opened, and the blade can be loaded at this time.

[0042] 2. After the left-side power reduction motor 85 starts working, it drives the T-nut 83 to swing the connecting rod 65 until the connecting rod 65 touches the limit switch 84 at the upper left side. Then the left-side power reduction motor 85 stops working and the brake is locked.

[0043] Third, the power reduction motor 85 on the right then works, causing the T-nut 83 on the right to drive the connecting rod 65 to swing. After the clamping plate 74 clamps and abuts against the blade, the feedback force of the pin-type force sensor 73 reaches the set value, and the T-nut 83 on the right then locks the brake.

[0044] When the equipment is working, the blade can be clamped in the clamping device when the opening 51 on one side of the central frame device is at 0-90°. Then, driven by the driven gear 38 in the bracket device, the turntable device drives the clamping device to rotate ±135°, thereby adjusting the posture of the blade.

[0045] After the first hydraulic cylinder 13 and the second hydraulic cylinder 16 work, the bracket device, the center frame device and the clamp device can be raised and lowered, thereby raising and lowering the blade to achieve the function of lifting the blade.

[0046] When the turntable 52 is driven to rotate, the drive sprocket 33 is driven to rotate by the reduction motor 32. Under the action of the chain 34, the driven sprocket 35 is rotated, which in turn drives the first rotating shaft 36 to rotate. Since the first rotating shaft 36 meshes with the driven gear 38, the driven gear 38 meshes with the gear ring 55, causing the turntable 52 to rotate on the axis with the turntable 52 as the center on one side of the guide wheel 23 and the support roller 41.

[0047] The center frame 61 is hinged to the center frame shaft 54 ​​through the mounting hole 62. After the slider 56 slides and abuts against the slide groove 66, the direction in which the center frame 61 is flipped is perpendicular to the direction of rotation of the turntable 52, so that the clamping device inside the center frame 61 can adapt to the angle of the blade after contacting it.

[0048] The clamping plate 77 rotates around the pivot 78 on the clamp 79, and the clamping plate 74 is connected to the clamping plate 77, so that the clamping plate 74 can make full contact with the blade to clamp it, avoiding damage to the blade during clamping. The pin-type force sensor 73 can control the force of the clamping plate 74 on the right side to clamp the blade.

[0049] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions conceived without inventive effort should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. An adaptive blade attitude adjustment device, comprising a central frame (61), wherein a pair of clamp supports (63) are provided within the central frame (61), and clamps (79) are hinged within the clamp supports (63), characterized in that, The central frame (61) is provided with a driving device that drives the clamps (79) on both sides to swing. A rotating shaft (78) is rotatably provided in the clamp (79). A clamp mounting plate (77) is provided on one side of the rotating shaft (78). Clamps (74) are rotatably provided on both sides of the clamp mounting plate (77). The clamp (74) on the right side is hinged to the clamp mounting plate (77) through a pin-type force sensor (73). It also includes a turntable (52), in which a loading cavity (53) is provided, and an opening (51) is provided on one side of the loading cavity (53). A central frame shaft (54) is rotatably provided at the end of the loading cavity (53) away from the opening (51). The central frame shaft (54) is connected and fixed to a mounting hole (62) on one side of the central frame (61). It also includes a bracket (21), which has an inner cavity (24) and a plurality of guide wheels (23) and support rollers (41) inside the inner cavity (24). The turntable (52) abuts against the outer surfaces of the guide wheels (23) and support rollers (41). A rotating device is provided between the turntable (52) and the bracket (21) to make the turntable (52) rotate around the center of the turntable (52). The loading cavity (53) is provided with a slider (56) on the side away from the central frame pivot (54), and the central frame (61) is provided with a groove (66) on the other side, with the slider (56) sliding and engaging with the groove (66) for limiting.

2. The adaptive blade attitude adjustment device according to claim 1, characterized in that: The drive device includes a power reduction motor (85) installed in the center frame (61). A lead screw (86) is connected to one side of the power reduction motor (85). A T-nut (83) is threadedly connected to the outer surface of the lead screw (86). A connecting rod (65) is hinged inside the T-nut (83). The connecting rod (65) is hinged to one end of the clamp (79). Limit switches (84) are installed on one side of both ends of the lead screw (86).

3. The adaptive blade attitude adjustment device according to claim 1, characterized in that: A base (57) is provided inside the turntable (52), and a central frame shaft (54) is rotatably provided inside the base (57). A radial bearing (50) and a thrust bearing (58) are provided between the central frame shaft (54) and the base (57).

4. The adaptive blade attitude adjustment device according to claim 1, characterized in that: The rotating device includes a geared motor (32) inside the inner cavity (24), with one geared motor (32) on each side. A drive sprocket (33) is connected to one side of the geared motor (32), and a driven sprocket (35) is connected to one side of the drive sprocket (33). A chain (34) is wound around the outer surfaces of the drive sprocket (33) and the driven sprocket (35), and the chain (34) connects the drive sprocket (33) and the driven sprocket (35). A first rotating shaft (36) is provided inside the driven sprocket (35), and the first rotating shaft (36) rotates with the inner cavity (24). The first rotating shaft (36) is provided with a driving gear (39) on its outer surface. A driven gear (38) is meshed on one side of the driving gear (39). A second rotating shaft (37) is provided inside the driven gear (38). The second rotating shaft (37) is rotatably connected to the inner cavity (24). Support rollers (41) are provided on the front and rear sides of the outer surface of the second rotating shaft (37). A toothed ring (55) is provided on the outer surface of the turntable (52). The turntable (52) abuts against the guide wheel (23) and the support roller (41). The toothed ring (55) meshes with the driven gear (38).

5. The adaptive blade attitude adjustment device according to claim 4, characterized in that: The gear ring (55) is installed by segmented assembly and fixing. Positioning pin holes and fixing holes are opened on the side of the segmented gear ring (55). The positioning pin holes are used to accurately position and arrange multiple gear rings (55). After positioning, the gear ring (55) is completely tightened by fixing holes. The outer surface of the turntable (52) is welded with a mounting plate (59). All the gear rings (55) are fixed on the mounting plate (59) to form a gear ring.

6. The adaptive blade attitude adjustment device according to claim 1, characterized in that: It also includes a frame (12), on one side of which a plurality of first hydraulic cylinders (13) are provided, and a push rod (11) is provided in the first hydraulic cylinder (13) for power connection. A second hydraulic cylinder (16) is provided on the other side of the frame (12). A pair of first guide columns (15) are provided between the first hydraulic cylinders (13), and the first guide columns (15) are fixed to the frame (12). A column (19) is provided at the other end of the frame (12), and a pair of second guide columns (17) are provided in the column (19). Two first hydraulic cylinder lifting plates (22) are provided at one end of the bracket (21). The cylinder lifting plate (22) is fixed to the top of the push rod (11). A second hydraulic cylinder lifting plate (27) is provided on the other side of the bracket (21). The second hydraulic cylinder lifting plate (27) is fixed to the top of the push rod inside the second hydraulic cylinder (16). A plurality of vertically arranged guide fitting plates (28) are provided on the front and rear sides of the bracket (21). The first guide post (15) slides through the guide fitting plate (28). A plurality of guide grooves (26) located on the front and rear sides of the bracket (21) are provided on the lower side of the second hydraulic cylinder lifting plate (27). The guide grooves (26) are slidably connected to the second guide post (17).

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