Blade lifting appliance control method, control system and controller

Abstract

The invention provides a control method, a control system and a controller of a blade lifting appliance. The blade lifting appliance comprises a first blade clamping unit, the first blade clamping unit comprises an upper arm and a lower arm which are connected with each other to clamp a blade, the upper arm comprises a pressing arm and a first active driving unit for driving the pressing arm, the lower arm comprises a bottom support, a second active driving unit for driving the bottom support to move and a lower arm support, and the bottom support comprises an upper bottom support and a lower bottom support. The upper cork base is installed on the upper arm support, the lower cork base is installed on the lower arm support, one of the upper cork base and the lower cork base comprises a limiting piece, the other of the upper cork base and the lower cork base comprises a limiting hole, the upper cork base is movably connected to the lower cork base through the limiting piece and the limiting hole, and the control method comprises the steps that the first active driving unit is controlled to drive the pressing arm so that the pressing arm and the cork base can be matched to clamp the blade; and the second active driving unit is controlled to drive the limiting piece to move in the limiting hole so as to adjust the fitting degree of the bottom support and the blade. According to the control method of the blade lifting appliance, the fitting degree of the bottom support and the blade can be automatically adjusted.

Description

Technical Field

[0001] The present disclosure relates to the field of wind power, and in particular to a control method, a control system and a controller for a blade hanger. Background Art

[0002] At present, the clamping blocks used for blade clamping are mainly customized, which can improve the efficiency of on-site lifting, but each replacement of the clamping blocks will increase the cost.

[0003] In addition, there is currently a solution that automatically adjusts the fit based on the blade angle through a ball-jointed base support structure. However, there is a deviation between theory and practice in this solution, and it cannot completely fit the blade. Although the ball-jointed design can adaptively adjust the fit, the ball-jointed base support structure is unstable when clamping the blade. As the blade clamps and shakes, the clamping time of the blade is prolonged. At the same time, the ball-jointed base support structure cannot change in real time according to the blade clamping opening. During the clamping process, the blade often rubs against the rubber on the clamping block and is damaged. Summary of the invention

[0004] One of the purposes of the present disclosure is to provide a control method and a control system that can autonomously adjust the fit between a base and a blade.

[0005] According to one aspect of the present disclosure, a control method for a blade hanger is provided, the blade hanger includes a first blade clamping unit, the first blade clamping unit includes an upper arm and a lower arm connected to each other to clamp the blade, the upper arm includes a pressure arm and a first active driving unit to drive the pressure arm, the lower arm includes a base, a second active driving unit to drive the base to move, and a lower arm bracket, the base includes an upper base and a lower base, the lower base is installed on the lower arm bracket, one of the upper base and the lower base includes a limiting piece, the other of the upper base and the lower base includes a limiting hole, the upper base is movably connected to the lower base via the limiting piece and the limiting hole, the control method includes: controlling the first active driving unit to drive the pressure arm so that the pressure arm and the base cooperate to clamp the blade; controlling the second active driving unit to drive the limiting piece to move in the limiting hole to adjust the fit between the base and the blade.

[0006] The upper base support may include an upper vertical plate extending downward, and the limiting member is arranged on the upper vertical plate. The lower base support may include a lower vertical plate extending upward, and a limiting hole is arranged in the lower vertical plate. The limiting member passes through the limiting hole and can move up and down in the limiting hole.

[0007] The upper arm may further include an upper arm bracket, two ends of the first active driving unit are respectively connected to the upper arm bracket and one end of the pressure arm, and the other end of the pressure arm is movably connected to the upper arm bracket.

[0008] The pressure arm may include: a lower pressure arm, one end of which is connected to the first active driving unit, and the other end of which is connected to the upper arm bracket; a clamping block, which is connected to the lower pressure arm via a universal joint assembly and contacts the blade during the blade lifting process, and a pressure detection device is installed on the universal joint assembly.

[0009] The lower pressure arm may include a telescopic beam and a pressure arm seat, the pressure arm seat is configured to be rotatably connected to the upper arm support, the telescopic beam is movably connected to the pressure arm seat, and the first active drive unit is a linear drive structure, and the telescopic part of the linear drive structure is connected to the ear plate above the telescopic beam.

[0010] The control method may further include: in response to a pressure detection value of the pressure detection device being greater than a second predetermined threshold and the degree of fit being greater than a first predetermined threshold, controlling the blade hoist to lift the blade.

[0011] The blade hanger may also include a second blade clamping unit having the same structure as the first blade clamping unit, a beam connecting the first blade clamping unit and the second blade clamping unit, and an adjuster connected to the beam and used to adjust the shaft angle of the blade. The control method also includes: in response to the shaft angle of the blade being outside a preset range, controlling the regulator and / or adjusting the first blade clamping unit and / or the second blade clamping unit to synchronously extend and retract multiple actuators of the second active drive unit.

[0012] In response to the blade shaft angle being greater than the upper limit value of the preset range and less than the first threshold value, the telescopic parts of the multiple actuators of the second active drive unit of the first blade clamping unit serving as the blade root clamping mechanism can be controlled to retract simultaneously and / or the telescopic parts of the multiple actuators of the second active drive unit of the second blade clamping unit serving as the blade tip clamping mechanism can be controlled to extend simultaneously. In response to the blade shaft angle being less than the lower limit value of the preset range and greater than the second threshold value, the telescopic parts of the multiple actuators of the second active drive unit of the first blade clamping unit serving as the blade root clamping mechanism can be controlled to extend simultaneously and / or the telescopic parts of the multiple actuators of the second active drive unit of the second blade clamping unit serving as the blade tip clamping mechanism can be controlled to retract simultaneously.

[0013] The second active driving unit may include a first actuator and a second actuator arranged between the upper base and the lower base. The step of controlling the second active driving unit to drive the limiting member to move in the limiting hole to adjust the fit between the base and the blade may include: in response to the absolute value of the difference between the pressure applied to the first actuator and the pressure applied to the second actuator exceeding a predetermined range, controlling the extension and retraction of at least one of the first actuator and the second actuator to make the limiting member move in the limiting hole, thereby adjusting the absolute value of the difference to within a predetermined range.

[0014] In response to the pressure applied to the first actuator being greater than the pressure applied to the second actuator and the absolute value of the difference exceeding a predetermined range, the telescopic portion of the first actuator can be controlled to retract and / or the telescopic portion of the second actuator can be controlled to extend; in response to the pressure applied to the first actuator being less than the pressure applied to the second actuator and the absolute value of the difference exceeding a predetermined range, the telescopic portion of the first actuator can be controlled to extend and / or the telescopic portion of the second actuator can be controlled to retract.

[0015] In response to the absolute value of the difference being within a predetermined range, the first actuating member and the second actuating member, which are hydraulic cylinders, may be controlled to maintain oil pressure unchanged.

[0016] According to a second aspect of the present disclosure, a control system of a blade hanger is provided, the blade hanger includes a first blade clamping unit, the first blade clamping unit includes an upper arm and a lower arm connected to each other to clamp a blade, the upper arm includes a pressure arm and a first active driving unit driving the pressure arm, the lower arm includes a base, a second active driving unit driving the base to move, and a lower arm bracket, the base includes an upper base and a lower base, the lower base is installed on the lower arm bracket, one of the upper base and the lower base includes a limiting piece, the other of the upper base and the lower base includes a limiting hole, the upper base is movably connected to the lower base via the limiting piece and the limiting hole, the control system includes: a pressure detection device, which is installed on the upper arm and is used to detect the clamping force of the first blade clamping unit; a controller, which controls the first active driving unit to drive the pressure arm so that the pressure arm and the base cooperate to clamp the blade and control the clamping force within a preset range, and controls the second active driving unit to drive the limiting piece to move in the limiting hole to adjust the fit between the base and the blade.

[0017] The upper base support may include an upper vertical plate extending downward, and the limiting member is arranged on the upper vertical plate. The lower base support includes a lower vertical plate extending upward, and a limiting hole is arranged in the lower vertical plate. The limiting member passes through the limiting hole and can move up and down in the limiting hole.

[0018] The upper arm may further include an upper arm bracket, two ends of the first active driving unit are respectively connected to the upper arm bracket and one end of the pressure arm, and the other end of the pressure arm is movably connected to the upper arm bracket.

[0019] The pressure arm may include: a lower pressure arm, one end of which is connected to the first active driving unit, and the other end of the lower pressure arm is connected to the upper arm bracket; a clamping block, which is connected to the lower pressure arm via a universal joint assembly and contacts the blade during the blade lifting process, and a pressure detection device is installed on the universal joint assembly.

[0020] The blade hanger also includes a second blade clamping unit having the same structure as the first blade clamping unit, a beam connecting the first blade clamping unit and the second blade clamping unit, and an adjuster connected to the beam and used to adjust the shaft angle of the blade. The control system also includes an inclination detection device arranged above the surface of the blade and used to detect the shaft angle of the blade. The controller is configured to: in response to the detected shaft angle of the blade being outside a preset range, control the adjuster and / or adjust the first blade clamping unit and / or the second blade clamping unit The multiple actuators of the second active drive unit to extend and retract synchronously.

[0021] The controller can be further configured to: in response to the blade shaft angle being greater than the upper limit value of the preset range and less than the first threshold value, control the telescopic parts of the multiple actuators of the second active drive unit of the first blade clamping unit serving as the blade root clamping mechanism to retract simultaneously and / or control the telescopic parts of the multiple actuators of the second active drive unit of the second blade clamping unit serving as the blade tip clamping mechanism to extend simultaneously; in response to the blade shaft angle being less than the lower limit value of the preset range and greater than the second threshold value, control the telescopic parts of the multiple actuators of the second active drive unit of the first blade clamping unit serving as the blade root clamping mechanism to extend simultaneously and / or control the telescopic parts of the multiple actuators of the second active drive unit of the second blade clamping unit serving as the blade tip clamping mechanism to retract simultaneously.

[0022] The second active driving unit may include a first actuator and a second actuator arranged between the upper base and the lower base, and the controller may be configured to: in response to the absolute value of the difference between the pressure applied to the first actuator and the pressure applied to the second actuator exceeding a predetermined range, control the extension and retraction of at least one of the first actuator and the second actuator to move the limiting member in the limiting hole, thereby adjusting the absolute value of the difference to within a predetermined range.

[0023] According to a third aspect of the present disclosure, a controller for a blade hanger is provided, the controller comprising a memory and a processor, the memory storing a program or instructions, and the above control method is implemented when the program or instructions are executed by the processor.

[0024] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, which stores a program or instruction, and implements the above control method when the program or instruction is executed by a processor.

[0025] According to the control method and control system of the blade hanger of the embodiment of the present disclosure, the blade clamping unit can control the blade clamping unit to firmly clamp the blade, and the blade clamping time is relatively short. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and / or other objects and advantages of the present disclosure will become more apparent through the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0027] Figure 1 is an exploded perspective view showing a blade clamping unit according to an embodiment of the present disclosure;

[0028] Figure 2 is a perspective view showing a blade clamping unit according to an embodiment of the present disclosure;

[0029] Figure 3 is a schematic diagram showing a blade clamping unit clamping a blade according to an embodiment of the present disclosure;

[0030] Figure 4 is an enlarged view showing a pressing arm according to an embodiment of the present disclosure;

[0031] Figure 5 is an exploded perspective view showing a bottom support structure according to an embodiment of the present disclosure;

[0032] Figure 6 is a perspective view showing an upper base according to an embodiment of the present disclosure;

[0033] Figure 7 is a schematic diagram showing the arrangement of the bottom support rubber block according to an embodiment of the present disclosure;

[0034] Figure 8 is a perspective view showing a blade hanger according to an embodiment of the present disclosure;

[0035] Fig. 9 is a flow chart showing a control method of a blade hanger according to a first embodiment of the present disclosure;

[0036] Fig.10 is a flow chart showing a global control method of a blade hanger according to a first embodiment of the present disclosure;

[0037] Fig.11 is a flow chart showing a global control method of a blade hanger according to a second embodiment of the present disclosure;

[0038] Fig.12 is a block diagram illustrating a control system according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0039] The embodiments will now be described in detail with reference to the accompanying drawings. However, such a description should not be understood as limiting the embodiments of the present disclosure to the embodiments described herein. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted.

[0040] In the description of the present disclosure, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

[0041] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, unless otherwise specified, "plurality" means two or more, and generalizations involving quantities are enumerated generalizations.

[0042] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, it can be a mechanical connection, an electrical connection, or a communication connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0043] The features, structures or characteristics described in the present disclosure may be combined in one or more embodiments in any suitable manner. In the above description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of the specific details, or other methods, components, materials, etc. may be adopted. In other cases, known structures, materials or operations are not shown or described in detail to avoid blurring the various aspects of the present disclosure. The following will be described in detail in conjunction with the embodiments of the present disclosure.

[0044] Figure 1 is an exploded perspective view showing a blade clamping unit according to an embodiment of the present disclosure, Figure 2 is a perspective view showing a blade clamping unit according to an embodiment of the present disclosure, Figure 3 is a schematic diagram showing a blade clamping unit clamping a blade according to an embodiment of the present disclosure, Figure 4 is an enlarged view showing a pressing arm according to an embodiment of the present disclosure, Figure 5 is an exploded perspective view showing a bottom support structure according to an embodiment of the present disclosure, Figure 6is a perspective view showing an upper base according to an embodiment of the present disclosure, Figure 7 Schematic diagram showing the arrangement of the bottom support rubber block according to an embodiment of the present disclosure.

[0045] Figures 1 to 3 The blade clamping unit shown can be a blade tip clamping unit or a blade root clamping unit. The blade hanger disclosed in the present invention may include two such blade clamping units (a first blade clamping unit and a second blade clamping unit), and the control method disclosed in the present invention can control at least one of the blade clamping units.

[0046] Reference Figures 1 to 3 , the blade hanger of the present disclosure may include a first blade clamping unit 4 .

[0047] The first blade clamping unit 4 includes an upper arm 41 and a lower arm 43 connected to each other to clamp the blade. The upper arm 41 and the lower arm 43 can be connected to each other to form a accommodating space for accommodating the blade. The upper arm 41 and the lower arm 43 can be generally L-shaped, and the shapes of the upper arm 41 and the lower arm 43 are not specifically limited.

[0048] The upper arm 41 includes a pressing arm 45 and a first active driving unit 48 for driving the pressing arm 45. The upper arm 41 may further include an upper arm bracket 411, and the upper arm bracket 411 may have an L-shaped structure.

[0049] The first active drive unit 48 can be an actuator such as a cylinder or an electric telescopic rod (for example, a linear drive structure). Both ends of the first active drive unit 48 can be respectively connected to the upper arm support 411 and one end of the pressure arm 45. The other end of the pressure arm 45 can be movably connected to the upper arm support 411, for example, it can be movably connected to the bending part of the upper arm support 411 with an L-shaped structure.

[0050] Specifically, one end of the first active drive unit 48 can be movably connected to a part of the upper arm bracket 411, and the other end of the first active drive unit 48 can be fixed to the upper surface of one end of the pressure arm 45 through the ear plate 47 and the pin shaft 46 that passes through the ear plate 47 and the other end of the first active drive unit 48, and the other end of the pressure arm 45 can be movably connected to the upper arm bracket 411, and the lower surface of one end of the pressure arm 45 can face the blade.

[0051] As described above, the first active drive unit 48 can be realized by a hydraulic cylinder or formed by an electric push rod. Although not shown, the driving oil circuit and the power supply circuit required by the first active drive unit 48 can be connected to an external hydraulic system or a power supply system through oil pipes or cables arranged on the surface or inside of the upper arm bracket 411, and the hydraulic oil or electricity required by the first active drive unit 48 is provided by the hydraulic system or the power supply system.

[0052] In addition, refer to Figure 4, the pressing arm 45 may include a lower pressing arm 49 and a clamping block 457, one end of the lower pressing arm 49 may be connected to the first active driving unit 48, and the other end of the lower pressing arm 49 may be connected to the upper arm bracket 411. The lower pressing arm 49 may have a telescopic structure, specifically, the lower pressing arm 49 may include a telescopic beam and a pressing arm seat, the pressing arm seat is rotatably connected to the upper arm bracket 411, the telescopic beam is movably connected to the pressing arm seat, and the telescopic portion of the first active driving unit as a linear driving structure may be connected to the ear plate 47 above the telescopic beam of the lower pressing arm 49. In other words, the telescopic structure of the lower pressing arm 49 can be used as a box-type nested structure for a wider range of adjustment.

[0053] Reference Figure 4 , the clamping block 457 can be connected to the lower pressure arm 49 via the universal joint assembly 450 and contact the blade during the blade lifting process. A pressure detection device can be installed on the universal joint assembly 450, and the pressure detection device can be used to detect the force applied by the first active drive unit 48 or the clamping force on the blade. As an example, the pressure detection device can be a pressure sensor. In addition, the setting position and manner of the pressure detection device are not limited to this. In one example, the above-mentioned pressure detection device can be set at different positions of the upper arm 41. For example, the pressure detection device can be set between one end of the first active drive unit and the upper arm bracket 411, or between the other end of the first active drive unit and the lower pressure arm.

[0054] Reference Figure 4 The universal joint assembly 450 may include a cross universal joint 455, a connecting seat 454 and a rolling support member 451. The rolling support member 451 may be arranged between the connecting seat 454 and the lower pressure arm 49, that is, the rolling support member 451 may be arranged on the side of the connecting seat 454 away from the clamping block 457. When the clamping block 457 is in contact with the blade, the rolling support member 451 can provide the connecting seat 454 with a supporting force roughly along the normal direction of the outer surface of the blade, thereby avoiding deformation of the clamping block, thereby improving the reliability of the contact between the clamping block and the blade.

[0055] The first axis of the cross universal joint 455 is rotatably connected to the connecting seat 454, so that the cross universal joint 455 can rotate around the first axis relative to the connecting seat 454, and the clamping block 457 is rotatably connected to the second axis of the cross universal joint 455, so that the clamping block 457 can rotate around the second axis relative to the cross universal joint 455, wherein the first axis and the second axis are arranged perpendicularly, so that the clamping block 457 rotates relative to the connecting seat 454 through the cross universal joint 455, so that the clamping block 457 can rotate flexibly within a larger range, thereby adapting to the outer surfaces of different blades, or adapting to different clamping parts of the same blade, and can be firmly clamped on the outer surface of the blade, thereby improving the versatility and reliability of the blade clamping unit.

[0056] As an example, this embodiment is described by taking the rolling support member including a rolling bearing as an example, but is not limited to this. The rolling support member can also be a hemisphere fixed on the connecting seat, or a ball.

[0057] The connecting seat 454 can be connected to the lower pressure arm 49, and the clamping block 457 is rotatably connected to the connecting seat 454, so that the clamping block 457 can be rotated relative to the connecting seat 454, so as to fit with the outer surface of the blade, further improving the versatility of the blade clamping unit.

[0058] As an example, the universal joint assembly 450 may also include a clamping block seat 453, which is rotatably connected to the connecting seat 454, and a clamping block 457 is fixed on the clamping block seat 453. For example, but not limited to, the clamping block 457 is connected to the side of the connecting seat 454 facing the base, so that the clamping block 457 can be rotatable relative to the connecting seat 454 together with the clamping block seat 453, so that it can fit with the outer surface of the blade, further improving the versatility of the blade clamping unit.

[0059] As an example, in this embodiment, a pressure detection device (e.g., a pressure sensor) may be provided on the cross universal joint 455 to monitor the magnitude of the clamping force acting on the cross universal joint 455, but the invention is not limited thereto. The cross universal joint 455 may also function as a pin sensor to monitor the magnitude of the clamping force acting on the cross universal joint, and may also function as a pin to achieve the connection between the clamping block and the connecting seat.

[0060] As an example, the universal joint assembly 450 may also include an elastic support member 456, which can be fixed to the circumference of the clamping block seat 453 and an elastic member is provided at one end of the elastic support member 456 facing the clamping block 457. The elastic member is supported on the clamping block 457. When the blade clamping unit is clamped on the blade, the elastic support member 456 can be used as a buffer after clamping the blade to avoid damage to the blade, thereby improving the reliability of the blade clamping unit.

[0061] Reference Figure 4, a first inclination detection device 458 may be provided in the clamping block 457, and the first inclination detection device 458 may be used to detect the shaft angle of the blade. The setting position of the first inclination detection device 458 is not specifically limited, as long as the first inclination detection device 458 is located above the surface of the blade (for example, the pressure surface (PS surface)) and can detect the shaft angle of the blade. For example, the first inclination detection device 458 may be provided on the circumferential outer side wall of the clamping block seat 453. There may be two or more first inclination detection devices 458, and they may be provided above the surface of the blade opposite to the clamping block 457. The clamping block seat 453 is substantially parallel to the surface of the blade, and the first inclination detection device 458 may also detect the inclination angle of the clamping block seat 453, so that the inclination angle of the surface of the blade can be detected, which can be converted into the shaft angle of the blade based on the inclination angle of the surface of the blade. The relationship between the inclination angle of the surface at different positions and the shaft angle of the blade can be predetermined.

[0062] The first inclination angle detection device 458 may be a horizontal inclinometer for detecting the angle between the axis of the blade and the horizontal plane (ie, the shaft angle).

[0063] Reference Figure 5 And combined with Figures 1 to 4 The lower arm 43 may include a base 44 , a second active driving unit 440 that drives the base 44 to move, and a lower arm bracket 431 .

[0064] The base support 44 may include an upper base support 443 and a lower base support 444, the lower base support 444 may be installed on the lower arm bracket 431, one of the upper base support 443 and the lower base support 444 includes a limiting piece, the other of the upper base support 443 and the lower base support 444 may include a limiting hole, and the upper base support 443 may be movably connected to the lower base support 444 through the limiting piece and the limiting hole.

[0065] As an example, the lower base support 444 may include a stopper 446, and the upper base support 443 may include a stopper hole 445. The stopper may be a bolt or a bump, and the stopper 446 of the lower base support 444 may pass through the stopper hole 445 in the upper base support 443. As an example, the stopper hole 445 may be provided on the lower base support 444, and the stopper 446 may be provided on the upper base support 443. The stopper hole 445 may be a waist-shaped stopper hole, and the stopper 446 may move up and down in the waist-shaped stopper hole 445.

[0066] The upper base support 443 and the lower base support 444 may be connected by an interlocking structure, and the lower base support 444 may have a double-layer hollow structure, and the upper base support 443 can slide and move in the double-layer hollow structure to adjust the fit.

[0067] Reference Figure 5The upper base support 443 may include an upper vertical plate 4431 extending downward, the lower base support 444 may include a lower vertical plate 4441 extending upward, the limiting hole 445 may be set on the upper vertical plate 4431, the limiting member 446 may be set on the lower vertical plate 4441, and the limiting member 446 may pass through the limiting hole 445 and can move up and down in the limiting hole 445.

[0068] As an example, the limiting member 446 may be disposed on the upper vertical plate 4431 , and a limiting hole 445 may be disposed in the lower vertical plate 4441 . The limiting member 446 may pass through the limiting hole 445 and can move up and down in the limiting hole 445 .

[0069] As an example, each of the upper base bracket 443 and the lower base bracket 444 may include both the stopper 446 and the stopper hole 445. The upper vertical plate 4431 of the upper base bracket 443 may be located inside the lower vertical plate 4441 of the lower base bracket 444, that is, a portion of the upper vertical plate 4431 may be accommodated in the lower base bracket 444. The upper vertical plate 4431 may be symmetrically arranged on both sides of the bottom of the upper base bracket, and the lower vertical plate 4441 may be symmetrically arranged on both sides of the bottom of the lower base bracket 444.

[0070] Specific reference Figure 6 The upper vertical plate 4431 may include a left upper vertical plate 44312 and a right upper vertical plate 44311. The upper bottom bracket 443 may also include an elastic member 4435 (e.g., a rubber block) supported by the upper vertical plate 4431 and in contact with the blade. The elastic member 4435 may support the blade. The upper portion of the upper vertical plate 4431 may be provided with a notch 4432 for accommodating the bottom of the elastic member 4435. The elastic member 4435 may move up and down on the left and right vertical plates of the upper bottom bracket to adjust the height of the two vertical plates. The upper vertical plate 4431 may also include a bottom bracket anti-collision rubber 4434 for protecting the blade. The anti-collision rubber 4434 may be installed on the left upper vertical plate 44312 and the right upper vertical plate 44311, and may be separated from the elastic member 4435.

[0071] Specifically, refer to Figure 7 The elastic member 4435 may be provided with a clamping rib 44351 matching the slot 4432, and the clamping rib 44351 may be rotatably disposed in the slot 4432. As an example, the clamping rib 44351 may be rotatably disposed in the slot 4432, so that the elastic member may be rotatably supported on the above-mentioned vertical plate structure.

[0072] The second active drive unit 440 can be arranged between the upper base 443 and the lower base 444. Specifically, one end of the second active drive unit 440 can be connected (for example, hinged) to the lower base 444, and the other end of the second active drive unit 440 can be connected (for example, fixedly connected) to the upper base 443.

[0073] The second active driving unit 440 may be implemented in the same manner as the first active driving unit 48. The second active driving unit 440 may also include a plurality of actuators, and each actuator may be a linear driving structure.

[0074] In other words, the second active drive unit 440 can be realized by means of an electric telescopic rod and a hydraulic cylinder. The second active drive unit 440 can be connected to the power supply system or the hydraulic system through a power supply cable or a hydraulic oil circuit located inside or outside the lower arm bracket 431 .

[0075] Reference Figure 5 The second active drive unit 440 may include a plurality of actuators (for example, a left tilt cylinder 441 and a right tilt cylinder 442), and the left tilt cylinder 441 and the right tilt cylinder 442 may correspond to the upper vertical plate 4431 and the lower vertical plate 4441, respectively. The left tilt cylinder 441 and the right tilt cylinder 442 may be equipped with a pressure detection device such as a pressure sensor, thereby obtaining the cylinder thrust in real time to adjust the fit.

[0076] In addition, refer to Figure 2 and Figure 3 The upper base 443 may be provided with a second inclination detection device 459, which can be used to detect the shaft angle of the blade. The second inclination detection device 459 is not particularly limited in its location, as long as the second inclination detection device 459 is disposed above the surface of the blade (e.g., the suction surface (SS surface)) and can detect the shaft angle of the blade. As an example, the second inclination detection device 459 may be disposed in the elastic member 4435.

[0077] When the degree of fit is greater than a first predetermined threshold and the pressure detection value of the pressure detection device arranged on the universal joint assembly is greater than a second predetermined threshold, the blade hoist can be controlled to lift the blade.

[0078] As an example, when the difference between the pressure values ​​fed back by the left tilt cylinder 441 and the right tilt cylinder 442 is small (eg, within a preset range) and the clamping force reaches a second predetermined threshold, the blade hoist may be controlled to lift the blade.

[0079] That is, the control method of the blade hanger according to the embodiment of the present disclosure may further include: in response to the pressure detection value of the pressure sensor being greater than a second predetermined threshold and the fit being greater than a first predetermined threshold, controlling the blade hanger to lift the blade.

[0080] Reference Figure 8 The blade hanger of the present disclosure may further include a second blade clamping unit 5 having the same structure as the first blade clamping unit 4, a beam 3 connecting the first blade clamping unit 4 and the second blade clamping unit 5, and an adjuster 1 connected to the beam 3 and used to adjust the shaft angle of the blade.

[0081] Specifically, the adjuster 1 may include a suspension part 11 for suspending the beam 3 , a hook part 7 connected to the suspension part 11 , and a tilt cylinder 12 disposed between the hook part and the suspension part 11 .

[0082] The suspension part 11 can be connected to both sides of the beam 3 , the hook part 7 can be set in the middle position of the suspension part 11 , one end of the tilt cylinder 12 can be connected to the hook part 7 , and the other end of the tilt cylinder 12 can be connected to the suspension part 11 .

[0083] However, the implementation of the regulator for adjusting the shaft angle of the blade disclosed in the present invention is not limited thereto, and the control method of the blade hanger disclosed in the present invention can control various types of regulators to adjust the shaft angle of the blade.

[0084] Reference Figure 8 According to the embodiment of the present disclosure, the lifting process of the blade hoist can be as follows: after the blade is transported to the position (with a certain shaft angle (i.e., blade transport angle)), the crane with the hook part 7 lifts the entire clamp, retracts the arm pressure cylinder (i.e., the first active drive unit), places the blade in a suitable position, and then performs pre-clamping and clamping operations. The control method of the present disclosure will be described in detail below.

[0085] Fig. 9 is a flow chart showing a control method of a blade hanger according to a first embodiment of the present disclosure.

[0086] The control method according to an embodiment of the present disclosure may include step S910 and step S920.

[0087] In step S910, the first active driving unit is controlled to drive the pressing arm so that the pressing arm cooperates with the bottom bracket to clamp the blade.

[0088] Specifically, the controller can control the hydraulic system or the power supply system to supply power or oil to the first active drive unit 48, so that one end (for example, the telescopic part) of the first active drive unit 48 is extended, thereby pressing one end of the pressure arm 45 downward and moving the clamping block 457 downward so that it can fit with the outer surface of the blade. The clamping force of the clamping block 457 can be detected by a pressure sensor provided on the cross universal joint. When the detection value detected by the pressure sensor is greater than a second predetermined threshold value, the first active drive unit 48 can be controlled to stop moving.

[0089] In step S920, the second active driving unit is controlled to drive the limiting member to move in the limiting hole to adjust the fit between the base and the blade.

[0090] For example, the controller can control the hydraulic system or the power supply system to supply power or oil to the second active drive unit, so that one end of the second active drive unit extends, thereby allowing the upper base to move upward, so that the elastic part of the upper base can fit with the outer surface of the blade, thereby improving the fit between the upper base and the blade.

[0091] The shaft angle of the blade can be directly detected by the second inclination detection device 459 and / or the first inclination detection device 458, or can be obtained by converting the data detected by the second inclination detection device 459 and / or the first inclination detection device 458. In addition to the horizontal inclinometer, the second inclination detection device 459 and / or the first inclination detection device 458 can also be implemented with an instrument with position data feedback, such as a GPS detection device. The GPS detection device set at different positions of the blade can obtain information such as the height of different positions (different points) and / or the distance between different points, and the angle (i.e., shaft angle) of the blade axis relative to the horizontal plane can be calculated by the difference in height of different points and / or the distance between different points. In other words, the shaft angle θ can be controlled within a set range (e.g., 0°≤θ≤1°) in combination with the detection data of the second inclination detection device 459 and / or the first inclination detection device 458 to ensure the safety and reliability of the hoisting.

[0092] In addition, the fit degree between the base and the blade of the present disclosure can be determined by the difference in thrust between the left tilt cylinder 441 and the right tilt cylinder 442. That is, when the difference in thrust between the left tilt cylinder 441 and the right tilt cylinder 442 is less than a predetermined threshold, it can be determined that the fit degree of the blade meets the requirement (for example, exceeds a first predetermined threshold).

[0093] Specifically, the telescopic rods of the left tilt cylinder 441 and the right tilt cylinder 442 can be extended by the controller, thereby driving the upper vertical plate 4431 to move upward. The left tilt cylinder 441 and the right tilt cylinder 442 can be equipped with pressure detection devices such as pressure sensors, thereby obtaining the cylinder thrust in real time. The difference in thrust of the two cylinders can correspond to the degree of fit. The larger the difference, the worse the fit, and the smaller the difference, the better the fit. The corresponding relationship between the size of the specific difference and the fit can be predetermined by experiment, and the fit can be determined based on the size of the difference, and can be an empirical value.

[0094] For example, if the left and right sides fit well, the oil pressures of the left tilt cylinder 441 and the right tilt cylinder 442 are the same, for example, both are the first predetermined value. If the pressure values ​​fed back by the left tilt cylinder 441 and the right tilt cylinder 442 differ greatly, it can be simply understood that the left or right side of the elastic member 4435 fits poorly with the blade. If the pressure value fed back by the left tilt cylinder 441 is larger, the right tilt cylinder 442 can be controlled to extend further. If the pressure value fed back by the right tilt cylinder 442 is larger, the left tilt cylinder can be controlled to extend further.

[0095] As an example, the second active drive unit may include a plurality of actuators (eg, a first actuator and a second actuator) disposed between the upper base 443 and the lower base 444. As an example, the first actuator may be a left tilt cylinder 441, and the second actuator may be a right tilt cylinder 442.

[0096] The step S920 of controlling the second active driving unit to drive the limiting member to move in the limiting hole to adjust the fit between the base and the blade may include:

[0097] In response to the absolute value of the difference between the pressure applied to the first actuator and the pressure applied to the second actuator exceeding a predetermined range, the extension and retraction of at least one of the first actuator and the second actuator are controlled to cause the limiting member to move in the limiting hole, thereby adjusting the absolute value of the difference to within the predetermined range.

[0098] Specifically, in response to the pressure applied to the first actuator being greater than the pressure applied to the second actuator and the absolute value of the difference exceeding the predetermined range, the telescopic portion of the first actuator is controlled to retract and / or the telescopic portion of the second actuator is controlled to extend.

[0099] In response to the pressure applied to the first actuator being less than the pressure applied to the second actuator and the absolute value of the difference exceeding the predetermined range, the telescopic portion of the first actuator is controlled to extend and / or the telescopic portion of the second actuator is controlled to retract.

[0100] When all the actuating members are implemented by hydraulic cylinders, in response to the absolute value of the difference being within a predetermined range, the first actuating member and the second actuating member can be controlled to maintain the oil pressure unchanged.

[0101] As an example, the control method according to an embodiment of the present disclosure may also include: in response to the shaft angle of the blade being outside a preset range, controlling the regulator and / or adjusting the synchronous extension and retraction of multiple actuators of the second active drive unit of the first blade clamping unit and / or the second blade clamping unit.

[0102] Optionally, when the shaft angle of the blade is outside the preset range and has a large difference from the corresponding limit value of the preset range, the shaft angle of the blade can be adjusted by controlling the regulator.

[0103] Specific reference Figure 8 When the blade shaft angle is outside the preset range and the difference with the upper limit value of the preset range is large, for example, the blade shaft angle is 3° (clockwise is positive), and the difference with the upper limit value of the preset range (for example, 1°) is large, the blade shaft angle can be reduced by controlling the retraction of the tilt cylinder 12 of the regulator 1.

[0104] When the blade shaft angle is outside the preset range and the difference with the corresponding limit value of the preset range is small, for example, the blade shaft angle is 1.05°, and the difference with the upper limit value of the preset range (for example, 1°) is small, the blade shaft angle can be adjusted to the preset range by controlling the synchronous extension and retraction of multiple actuators of the second active drive unit of the first blade clamping unit and / or the second blade clamping unit.

[0105] For example, in response to the blade shaft angle being greater than the upper limit value of the preset range and less than the first threshold value, the telescopic parts of the multiple actuators of the second active drive unit of the first blade clamping unit serving as the blade root clamping mechanism are controlled to retract simultaneously and / or the telescopic parts of the multiple actuators of the second active drive unit of the second blade clamping unit serving as the blade tip clamping mechanism are controlled to extend simultaneously; in response to the blade shaft angle being less than the lower limit value of the preset range and greater than the second threshold value, the telescopic parts of the multiple actuators of the second active drive unit of the first blade clamping unit serving as the blade root clamping mechanism are controlled to extend simultaneously and / or the telescopic parts of the multiple actuators of the second active drive unit of the second blade clamping unit serving as the blade tip clamping mechanism are controlled to retract simultaneously.

[0106] The thresholds, preset ranges, etc. mentioned in the present disclosure may all be empirical values ​​and may be changed according to design requirements.

[0107] Fig.10 is a flow chart showing a global control method of a blade hanger according to a first embodiment of the present disclosure, Fig.11 is a flow chart showing a global control method of a blade hanger according to a second embodiment of the present disclosure.

[0108] The global control method of the blade hanger according to the first embodiment of the present disclosure may include step S1010 , step S1020 , step S1030 , step S1040 , and step S1050 .

[0109] In step S1010, the blade clamp is controlled to pre-clamp the blade, for example, the blade clamp can be controlled to pre-clamp the blade placed on the transport vehicle and lift the blade to a certain height. Specifically, one end of the first active drive unit can be controlled to retract first and then extend to pre-clamp the blade.

[0110] In step S1020, it is determined whether the blade shaft angle θ is within a preset range (eg, -2°≤θ≤2°).

[0111] In step S1030, in response to the blade shaft angle θ being within a preset range (eg, -2°≤θ≤2°), the blade is clamped. For example, the blade may be clamped in the control manner described in steps S910 and S920.

[0112] In step S1040 , in response to the blade shaft angle being greater than 2 degrees, the tilt cylinder 12 may be controlled to retract to reduce the blade shaft angle.

[0113] In step S1050, in response to the blade shaft angle being less than -2 degrees, the tilt cylinder 12 is controlled to extend to increase the blade shaft angle.

[0114] The control of the blade clamping unit during the above-mentioned pre-clamping and lifting the blade to a certain height may temporarily not consider the fit. The global control method of the blade hanger according to the second embodiment of the present disclosure may include steps S1110, S1120, S1130, S1141, S1142, S1143, S1150, S1160, S1170, S1180, and S1190.

[0115] In step S1110, the first active driving unit (eg, the pressure arm cylinder) is controlled to operate. Specifically, the pressure arm cylinder may be controlled to drive the pressure arm so that the pressure arm cooperates with the bottom support to clamp the blade.

[0116] Specifically, the controller can control the hydraulic system or the power supply system to supply power or oil to the first active drive unit 48, so that one end of the first active drive unit 48 extends, thereby pressing one end of the pressure arm 45 downward, and the clamping block 457 moves downward so that it can fit with the outer surface of the blade. The clamping force of the clamping block 457 can be detected by a pressure sensor provided on the cross universal joint. When the detection value detected by the pressure sensor is greater than the second predetermined threshold value, the first active drive unit 48 can be controlled to stop moving.

[0117] In step S1120, the second active drive unit (e.g., the base support cylinder) is controlled to work. Specifically, the base support cylinder (e.g., the left tilt cylinder and the right tilt cylinder) can be controlled to drive the limit member to move in the limit hole to adjust the fit between the base support and the blade.

[0118] In step S1130, the magnitude relationship between the pressure difference between the pressure value F1 fed back by the left tilt cylinder and the pressure value F2 fed back by the right tilt cylinder and a threshold value is determined.

[0119] In step S1141 , in response to the pressure difference between the pressure value F1 fed back by the left tilt cylinder and the pressure value F2 fed back by the right tilt cylinder being greater than a threshold, the left tilt cylinder is controlled to retract and the right tilt cylinder is controlled to extend.

[0120] In step S1142 , in response to the pressure difference between the pressure value F2 fed back by the right tilt cylinder and the pressure value F1 fed back by the left tilt cylinder being greater than a threshold, the right tilt cylinder is controlled to retract and the left tilt cylinder is controlled to extend.

[0121] In step S1143, in response to the pressure difference between the pressure value F2 fed back by the right tilt cylinder and the pressure value F1 fed back by the left tilt cylinder being equal to the threshold, or the pressure difference between the pressure value F1 fed back by the left tilt cylinder and the pressure value F2 fed back by the right tilt cylinder being equal to the threshold, the left tilt cylinder and the right tilt cylinder are controlled to maintain pressure.

[0122] In step S1150, in response to the pressure difference between the pressure value F2 fed back by the right tilt cylinder and the pressure value F1 fed back by the left tilt cylinder or the pressure difference between the pressure value F1 fed back by the left tilt cylinder and the pressure value F2 fed back by the right tilt cylinder being less than a threshold, the cylinder adjustment is controlled to stop.

[0123] In step S1160, the left tilt cylinder and the right tilt cylinder are controlled to maintain pressure.

[0124] In step S1170, in response to the blade shaft angle being greater than 1 degree, the blade shaft angle may be adjusted. The specific adjustment method may be as described above by synchronously extending and retracting the tilt cylinder and / or the second active drive unit of each blade clamping unit, thereby further adjusting the blade shaft angle.

[0125] In step S1180, it is determined whether the shaft angle of the blade is less than 1 degree. If the shaft angle of no blade is not less than 1 degree, step S1170 may be repeatedly performed until the shaft angle meets the requirement.

[0126] In step S1190, in response to the blade shaft angle being less than 1 degree, the blade starts to be lifted.

[0127] Fig.12 is a block diagram illustrating a control system according to an embodiment of the present disclosure.

[0128] The control system 1200 of the blade hanger according to an embodiment of the present disclosure may include a pressure sensor 1210 and a controller 1220. The pressure sensor 1210 may be mounted on the upper arm as described above and used to detect the clamping force of the first blade clamping unit, and the pressure sensor 1210 may be the pressure detection device as described above, which may be provided on the cross universal joint.

[0129] The controller 1220 can control the first active driving unit to drive the pressing arm so that the pressing arm and the base cooperate to clamp the blade and control the clamping force within a preset range, and control the second active driving unit to drive the limiting member to move in the limiting hole to adjust the fit between the base and the blade.

[0130] The control system 1200 may further include an inclination sensor disposed above the surface of the blade, which may be used to detect the shaft angle of the blade. The inclination sensor may include the first inclination detection device and / or the second inclination detection device as described above.

[0131] The controller 1220 may be configured to control the regulator and / or adjust the synchronous extension and retraction of multiple actuators of the second active drive unit of the first blade clamping unit and / or the second blade clamping unit in response to the detected shaft angle of the blade being outside a preset range.

[0132] Specifically, the controller 1220 can be further configured to: in response to the blade shaft angle being greater than the upper limit value of a preset range and less than a first threshold value, control the telescopic parts of multiple actuators of the second active drive unit of the first blade clamping unit serving as the blade root clamping mechanism to retract simultaneously and / or control the telescopic parts of multiple actuators of the second active drive unit of the second blade clamping unit serving as the blade tip clamping mechanism to extend simultaneously.

[0133] Controller 1220 can be configured to: in response to the blade shaft angle being less than the lower limit value of a preset range and greater than a second threshold value, control the telescopic parts of multiple actuators of the second active drive unit of the first blade clamping unit serving as a blade root clamping mechanism to extend simultaneously and / or control the telescopic parts of multiple actuators of the second active drive unit of the second blade clamping unit serving as a blade tip clamping mechanism to retract simultaneously.

[0134] As an example, the controller may be configured to: in response to the absolute value of the difference between the pressure applied to the first actuator and the pressure applied to the second actuator exceeding a predetermined range, control the extension and retraction of at least one of the first actuator and the second actuator, so that the limiting member moves in the limiting hole, thereby adjusting the absolute value of the difference to within a predetermined range.

[0135] Specifically, the controller 1220 can be configured to control the telescopic parts of the multiple actuators of the second active drive unit of the first blade clamping unit serving as the blade root clamping mechanism to retract simultaneously and / or control the telescopic parts of the multiple actuators of the second active drive unit of the second blade clamping unit serving as the blade tip clamping mechanism to extend simultaneously in response to the blade shaft angle being greater than the upper limit value of the preset range and less than the first threshold value; and to control the telescopic parts of the multiple actuators of the second active drive unit of the first blade clamping unit serving as the blade root clamping mechanism to extend simultaneously and / or control the telescopic parts of the multiple actuators of the second active drive unit of the second blade clamping unit serving as the blade tip clamping mechanism to retract simultaneously in response to the blade shaft angle being less than the lower limit value of the preset range and greater than the second threshold value.

[0136] It should be understood that the various units or modules in the control device according to the exemplary embodiments of the present disclosure may be implemented as hardware components and / or software components. Those skilled in the art may implement the various units, for example, using a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a software algorithm, etc., according to the processing performed by the various units defined.

[0137] Each operation of the above steps can be written as a software program or instruction. Therefore, the control method according to the exemplary embodiment of the present disclosure can be implemented via software. The computer-readable storage medium of the exemplary embodiment of the present disclosure can store a computer program. When the computer program is executed by a processor, the control method of the exemplary embodiment described above is implemented.

[0138] According to various embodiments of the present disclosure, a device (e.g., a module or their functions) or a method may be implemented by a program or instruction stored in a computer-readable storage medium. When the instruction is executed by a processor, the processor may perform a function corresponding to the instruction or perform a method corresponding to the instruction. At least a portion of a module may be implemented (e.g., executed) by a processor. Computer-readable storage media include non-temporary computer-readable storage media, for example, magnetic media such as floppy disks and tapes, optical media (including compact disks (CD) ROMs and DVD ROMs), magneto-optical media such as floppy disks, hardware devices such as ROMs, RAMs designed for storing and executing program commands, and flash memories.

[0139] For example, according to an exemplary embodiment of the present disclosure, a controller may be provided, which may include: a processor (not shown) and a memory (not shown), wherein the memory stores a computer program, and when the computer program is executed by the processor, the control method of the exemplary embodiment described above is implemented. As an example, the controller may include a computer-readable storage medium as described above.

[0140] The control method and control system of the blade hanger disclosed in the present invention can meet the requirements of blade clamping and force fitting of the web main beam, while expanding the adjustment range through the telescopic beam structure, further realizing the arbitrary matching of large megawatt units and different web (single-layer, double-layer, multi-layer) structures.

[0141] In addition, an inclination sensor is provided on the base, and can be combined with the oil cylinder to provide real-time feedback on the clamping force of the blade root and blade tip, thereby adjusting the fit of the blade clamping. At the same time, the inclination detection devices on the pressure surface (PS) and the suction surface (SS) can also measure the blade shaft angle in real time, thereby ensuring that the blade shaft angle is within a safe range and ensuring safety during the blade clamping process.

[0142] The control method and control system disclosed in the present invention can autonomously adjust the fit between the base and the blade.

[0143] The control method and control system disclosed in the present invention can avoid the problem of poor shaft angle clamping fit caused by the current blade transportation height limit.

[0144] The control method and control system disclosed in the present invention can control the blade hanger to clamp and hoist blades from different manufacturers, and has high clamping adaptability.

[0145] The control method and control system disclosed in the present invention can reduce the cost of replacing the base support, and overcome the problem that the existing ball joint base support is very random and causes unstable lifting.

[0146] According to the control method and control system of the blade hanger of the embodiment of the present disclosure, the blade clamping unit can be controlled to firmly clamp the blade, and the blade clamping time is relatively short. Although some exemplary embodiments of the present disclosure have been shown and described, it should be understood by those skilled in the art that these embodiments can be modified without departing from the principles and spirit of the present disclosure whose scope is defined by the claims and their equivalents. For example, the technical features of different embodiments can be combined.

Claims

1. A method for controlling a blade hanger, characterized in that: The blade hanger comprises a first blade clamping unit, the first blade clamping unit comprises an upper arm and a lower arm connected to each other to clamp the blade, the upper arm comprises a pressure arm and a first active driving unit driving the pressure arm, the lower arm comprises a base, a second active driving unit driving the base to move, and a lower arm bracket, the base comprises an upper base and a lower base, the lower base is mounted on the lower arm bracket, one of the upper base and the lower base comprises a limiting member, the other of the upper base and the lower base comprises a limiting hole, the upper base is movably connected to the lower base through the limiting member and the limiting hole, and the control method comprises: Controlling the first active driving unit to drive the pressing arm so that the pressing arm cooperates with the bottom support to clamp the blade; The second active driving unit is controlled to drive the limiting member to move in the limiting hole to adjust the fit between the base and the blade.

2. The control method of the blade hanger according to claim 1, characterized in that: The upper base support includes an upper vertical plate extending downward, and the limiting member is arranged on the upper vertical plate. The lower base support includes a lower vertical plate extending upward, the limiting hole is arranged in the lower vertical plate, and the limiting member passes through the limiting hole and can move up and down in the limiting hole.

3. The control method of the blade hanger according to claim 2, characterized in that: The upper arm also includes an upper arm bracket, two ends of the first active driving unit are respectively connected to the upper arm bracket and one end of the pressure arm, and the other end of the pressure arm is movably connected to the upper arm bracket.

4. The control method of the blade hanger according to claim 3, characterized in that: The pressing arm comprises: A lower pressure arm, one end of which is connected to the first active driving unit, and the other end of which is connected to the upper arm bracket; The clamping block is connected to the lower pressure arm via a universal joint assembly and contacts the blade during the blade hoisting process. A pressure detection device is installed on the universal joint assembly.

5. The control method of the blade hanger according to claim 4, characterized in that: The lower pressure arm includes a telescopic beam and a pressure arm seat, the pressure arm seat is configured to be rotatably connected to the upper arm support, the telescopic beam is movably connected to the pressure arm seat, and the first active drive unit is a linear drive structure, and the telescopic part of the linear drive structure is connected to the ear plate above the telescopic beam.

6. The control method of the blade hanger according to claim 5, characterized in that: The control method further includes: in response to the pressure detection value of the pressure detection device being greater than a second predetermined threshold and the degree of fit being greater than a first predetermined threshold, controlling the blade hanger to lift the blade.

7. The control method of the blade hanger according to claim 1, characterized in that: The blade hanger further includes a second blade clamping unit having the same configuration as the first blade clamping unit, a beam connecting the first blade clamping unit and the second blade clamping unit, and an adjuster connected to the beam and used to adjust the shaft angle of the blade, The control method further comprises: In response to the shaft angle of the blade being outside a preset range, the regulator and / or the second active drive unit that adjusts the first blade clamping unit and / or the second blade clamping unit are controlled to synchronously extend and retract multiple actuators.

8. The control method of the blade hanger according to claim 7, characterized in that: In response to the blade shaft angle being greater than an upper limit value of the preset range and less than a first threshold value, controlling the telescopic parts of a plurality of actuators of a second active drive unit of a first blade clamping unit as a blade root clamping mechanism to be retracted simultaneously and / or controlling the telescopic parts of a plurality of actuators of a second active drive unit of a second blade clamping unit as a blade tip clamping mechanism to be extended simultaneously; In response to the blade shaft angle being less than the lower limit of the preset range and greater than a second threshold value, the telescopic parts of multiple actuators of the second active drive unit of the first blade clamping unit serving as the blade root clamping mechanism are controlled to extend simultaneously and / or the telescopic parts of multiple actuators of the second active drive unit of the second blade clamping unit serving as the blade tip clamping mechanism are controlled to retract simultaneously.

9. The control method of the blade hanger according to claim 1, characterized in that: The second active driving unit includes a first actuating member and a second actuating member disposed between the upper base and the lower base. The step of controlling the second active driving unit to drive the limiting member to move in the limiting hole to adjust the fit between the base and the blade includes: In response to the absolute value of the difference between the pressure applied to the first actuator and the pressure applied to the second actuator exceeding a predetermined range, the extension and retraction of at least one of the first actuator and the second actuator is controlled to cause the limiting member to move in the limiting hole, thereby adjusting the absolute value of the difference to within the predetermined range.

10. The control method of the blade hanger according to claim 9, characterized in that: In response to the pressure applied to the first actuating member being greater than the pressure applied to the second actuating member and the absolute value of the difference exceeding the predetermined range, controlling the telescopic portion of the first actuating member to retract and / or controlling the telescopic portion of the second actuating member to extend; In response to the pressure applied to the first actuator being less than the pressure applied to the second actuator and the absolute value of the difference exceeding the predetermined range, the telescopic portion of the first actuator is controlled to extend and / or the telescopic portion of the second actuator is controlled to retract.

11. The control method of the blade hanger according to claim 10, characterized in that: In response to the absolute value of the difference being within the predetermined range, the first actuating member and the second actuating member, which are hydraulic cylinders, are controlled to maintain oil pressure unchanged.

12. A control system for a blade hanger, characterized in that: The blade hanger comprises a first blade clamping unit, the first blade clamping unit comprises an upper arm and a lower arm connected to each other to clamp the blade, the upper arm comprises a pressure arm and a first active driving unit driving the pressure arm, the lower arm comprises a base, a second active driving unit driving the base to move, and a lower arm bracket, the base comprises an upper base and a lower base, the lower base is mounted on the lower arm bracket, one of the upper base and the lower base comprises a limiting member, the other of the upper base and the lower base comprises a limiting hole, the upper base is movably connected to the lower base through the limiting member and the limiting hole, and the control system comprises: a pressure detection device, mounted on the upper arm and used to detect the clamping force of the first blade clamping unit; The controller controls the first active driving unit to drive the pressing arm so that the pressing arm cooperates with the base to clamp the blade and the clamping force is controlled within a preset range, and controls the second active driving unit to drive the limiting member to move in the limiting hole to adjust the fit between the base and the blade.

13. The control system of the blade hanger according to claim 12, characterized in that: The upper base support includes an upper vertical plate extending downward, and the limiting member is arranged on the upper vertical plate. The lower base support includes a lower vertical plate extending upward, the limiting hole is arranged in the lower vertical plate, and the limiting member passes through the limiting hole and can move up and down in the limiting hole.

14. The control system of the blade hanger according to claim 13, characterized in that: The upper arm also includes an upper arm bracket, two ends of the first active driving unit are respectively connected to the upper arm bracket and one end of the pressure arm, and the other end of the pressure arm is movably connected to the upper arm bracket.

15. The control system of the blade hanger according to claim 14, characterized in that: The pressure arm includes: a lower pressure arm, one end of which is connected to the first active driving unit, and the other end of which is connected to the upper arm bracket; a clamping block, which is connected to the lower pressure arm via a universal joint assembly and contacts the blade during the blade lifting process, and the pressure detection device is installed on the universal joint assembly.

16. The control system of the blade hanger according to claim 12, characterized in that: The blade hanger further includes a second blade clamping unit having the same configuration as the first blade clamping unit, a beam connecting the first blade clamping unit and the second blade clamping unit, and an adjuster connected to the beam and used to adjust the shaft angle of the blade, The control system further comprises an inclination angle detection device arranged above the surface of the blade and used for detecting the shaft angle of the blade, The controller is configured to control the regulator and / or adjust the multiple actuators of the second active drive unit of the first blade clamping unit and / or the second blade clamping unit to synchronously extend and retract in response to the detected shaft angle of the blade being outside a preset range.

17. The control system of the blade hanger according to claim 16, characterized in that: The controller is further configured to: In response to the blade shaft angle being greater than the upper limit value of the preset range and less than the first threshold value, the telescopic parts of the multiple actuators of the second active drive unit of the first blade clamping unit as the blade root clamping mechanism are controlled to be retracted simultaneously and / or the telescopic parts of the multiple actuators of the second active drive unit of the second blade clamping unit as the blade tip clamping mechanism are controlled to be extended simultaneously, In response to the blade shaft angle being less than the lower limit of the preset range and greater than a second threshold value, the telescopic parts of multiple actuators of the second active drive unit of the first blade clamping unit serving as the blade root clamping mechanism are controlled to extend simultaneously and / or the telescopic parts of multiple actuators of the second active drive unit of the second blade clamping unit serving as the blade tip clamping mechanism are controlled to retract simultaneously.

18. The control system of the blade hanger according to claim 12, characterized in that: The second active driving unit includes a first actuating member and a second actuating member disposed between the upper base and the lower base. The controller is configured to: in response to the absolute value of the difference between the pressure applied to the first actuator and the pressure applied to the second actuator exceeding a predetermined range, control the extension and retraction of at least one of the first actuator and the second actuator, so that the limiting member moves in the limiting hole, thereby adjusting the absolute value of the difference to within the predetermined range.

19. A controller for a blade hanger, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a program or an instruction, and when the program or the instruction is executed by the processor, the control method according to any one of claims 1 to 11 is implemented.

20. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program or an instruction, and when the program or the instruction is executed by a processor, the control method according to any one of claims 1 to 11 is implemented.

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