Movable and fixable auxiliary dumping device for wind driven generator

Abstract

The invention discloses an auxiliary dumping device of a wind driven generator, and belongs to the field of fan installation and maintenance. The whole machine is composed of an advancing balance unit I, a four-rod dumping unit II, a moving turnover unit III and a multi-stage clamping unit IV. The advancing balance unit I is provided with a movable and fixable main body structure and a lifting rope balance structure, economical efficiency is improved, and device balance is maintained. The four-rod dumping unit II drives the fan to dump through the combination of multiple four-rod mechanisms, multiple rods share stress together, meanwhile, the movable turnover unit III is provided with a movable turnover platform to assist the fan in dumping, and the accuracy and stability of fan dumping are improved. And the multi-stage clamping unit IV realizes clamping of different tower shapes by utilizing a self-adaptive clamping mechanism, so that the universality of the device is ensured. The device can be used for installation and maintenance work of different fans, the operation complexity and the operation height are low, and the safety and the working efficiency of workers can be guaranteed.

Description

Technical Field

[0001] The invention relates to an auxiliary dumping device for a wind turbine generator, comprising a traveling balancing unit I, a four-rod dumping unit II, a moving flipping unit III and a multi-stage clamping unit IV, and belongs to the field of wind turbine installation and maintenance. Background Art

[0002] In order to make full use of wind energy, in places with abundant wind resources, the assembly and maintenance of wind turbines usually require large cranes, hoists and other large mechanical equipment, and even these large equipment themselves require huge transportation resources and time costs. Secondly, since the blades of wind turbines are usually installed at an altitude of more than 50 meters, the maintenance and replacement efficiency is low, and during daily maintenance, the safety factor of workers working at high altitudes is low. Therefore, it is urgent to develop a controllable lodging and standing structure for wind turbines, so that wind turbines can be assembled first and then installed. The lodging during maintenance allows workers to work on the ground, reducing the installation cost of wind turbines and alleviating maintenance safety issues.

[0003] As the scale of the global wind power industry continues to expand, the main methods for installing, maintaining and repairing wind turbines are: (1) Installation method: The overall structure of the wind turbine is divided into multiple sections, which are transported to the installation site separately. After the foundation is laid, they are connected from bottom to top using a crane. The disadvantages are that the assembly is complicated and the cycle is long, and the risks are high and maintenance is difficult; (2) There are two main maintenance methods: 1. Ladder high-altitude work: Wind power maintenance personnel climb the ladder to the height of the fault to repair it by hand. The work intensity and risk vary depending on the height of the fault. The disadvantages are that the ladder work is high in intensity and risk, and the working environment is highly dependent on climate conditions; 2. Lifting platform assisted maintenance. Patent CN202023335160.9 adopts a guide rail platform. The electric track climber on the suspension track drives the double hanging chair to move horizontally on the suspension track to perform maintenance around the blades, avoiding the large amount of labor of the staff climbing the ladder. The disadvantage of this device is that the adjustment of the moving direction and the coverage surface during the maintenance process may be limited by the setting and position of the track. At the same time, the hanging basket moves vertically up and down along the fixed track, and the electric climbing track is used to adapt the track for lateral movement. Although this method ensures the smoothness of the movement, it limits the flexibility of the operation. Secondly, the multiple components contained in this invention patent (such as the hanging basket device, the electric track climber, the double hanging chair, etc.) may make the maintenance workload large, High cost; Patent CN202023350188.2 adopts a telescopic platform, a maintenance platform, and an auxiliary hanging basket that fits around the tower body, which further emphasizes the functions of retractability and rotation, allowing the equipment to be adjusted in multiple directions and positions, providing greater operational flexibility. The disadvantage of this device is that the highly variable and flexible system requires a more complicated installation process, and there are maintenance platforms with multiple adjustable functions (such as telescopic and rotation), which require a higher level of training and technical proficiency, increase the learning cost and maintenance pressure of workers, and are still in a high-altitude operation state, which poses a safety risk. The mechanical complexity of the system will also lead to an increase in the maintenance difficulty and cost of the device itself, and insufficient adaptability to harsh environments. In addition, the above device requires each wind turbine to be assembled separately, resulting in a high cumulative cost. In summary, the installation and maintenance methods and devices can be seen that the device for assisting the installation and maintenance of wind turbines needs to achieve high stability, low cost, reduce the intensity of manual work, avoid high-altitude operations, and have sufficient maintenance coverage. At the same time, the device itself must avoid complex operating difficulties and must also have adaptability to various environments.

[0004] In order to overcome the above problems, the present invention discloses a movable and fixable wind turbine auxiliary dumping device, which comprehensively considers the shortcomings of the above-mentioned installation and maintenance methods, and innovatively adopts movable and fixable functional design, rope balance horizontal force design, multi-rod mechanism parallel stress sharing, mobile and rotating platform auxiliary dumping, and multi-stage adaptive clamping mechanism. The dumping movement of the wind turbine is realized through ground operation, so that workers can work on the ground. The device itself does not require complicated operation, reducing the workload of workers. At the same time, its structural complexity is low, it has good pressure resistance, and the versatility of installation and use and multi-machine sharing effectively reduces the use cost and enhances the practicability of the device. Summary of the invention

[0005] The present invention is used to solve the problems of stability, operation strength and safety of existing maintenance devices, and provides a movable and fixable wind turbine auxiliary dumping device, which ensures the maintenance coverage and maintenance efficiency of workers in the form of tower dumping, and reduces the maintenance cost by sharing multiple machines;

[0006] The present invention aims to solve the problems existing in the existing wind turbine maintenance devices and makes fundamental innovations. The basic ideas are: ① Movable and fixable functional design. The device can clamp and assemble the wind turbine when each wind turbine needs maintenance, and unlock and disassemble it after the maintenance is completed. The cost of one device can meet the needs of several wind turbines, avoiding high usage costs. ② Rope balance structure design. During the tipping process of the wind turbine, the extension of the boom is controlled by a motor and a rope, and a counterweight is added to the hanging box at the terminal of the boom to achieve lateral force balance of the wind turbine. ③ Multi-structure stress sharing design. After the device clamps the wind turbine, the connecting rod of the four-rod tipping unit II and the platform of the mobile flipping unit III jointly provide the auxiliary driving force required by the wind turbine on the tipping plane. Multiple mechanisms jointly share the stress to complete the tipping movement of the wind turbine, ensuring the uniformity of the structural force and greatly reducing the possibility of damage to the device.

[0007] To achieve the above purpose and principle, the technical solution of the present invention is as follows:

[0008] A movable and fixable wind turbine auxiliary dumping device is composed of four parts: a traveling balance unit I, a four-rod dumping unit II, a movable flipping unit III, and a multi-stage clamping unit IV;

[0009] The traveling balance unit I is the main part of the device, including the device body 1, the motor 2, the coil 3, the coil support 4, the boom connector 5, the hollow boom 6, the hanging box 7, the hanging rope 8, the hanging rope 9, the motor 10, the coil 11, the hanging rope 12, the dovetail groove 13, the roller group 14, the groove 15, the motor 16, the worm 17, the worm wheel 18, the bearing support group 19, the wheel frame 20, the front drive wheel 21, the rear drive wheel 22, and the screw lifting assembly 23;

[0010] The device body 1 serves as a carrier for other units and has a load-bearing function;

[0011] The output end of the motor 2 is connected to the coil 3, and the motor 2 and the coil 3 are fixed on the coil support 4 at the same time. The coil support 4 is welded on the device body 1. The arm connector 5.1 is installed on the right side of the device body 1. The arm connector 5.1 is hinged to the hollow arm 6.1. A hanging box 7.1 is installed at the end of the hollow arm 6.1. The arm connector 5.2 is installed on the left side of the device body 1. The arm connector 5.2 is hinged to the hollow arm 6.2. A hanging box 7.2 is installed at the end of the hollow arm 6.2. The lifting and lowering of the hanging boxes 7.1 and 12.2 are controlled by the hanging ropes 8.1 and 8.2.

[0012] The head end of the suspension rope 8 is connected to the four-rod tipping unit II, and the tail end passes through the hollow suspension arm 6 to connect the suspension box 7. By adding counterweights to the suspension boxes 7.1 and 7.2 on both sides, the forces on both sides of the device body 1 are balanced to prevent the tower 47 from tilting, thereby ensuring the directional accuracy of the tipping movement.

[0013] The head end of the suspension rope 9 is wound around the coil 3, and the end is connected to the hollow suspension arm 6. The motor 10 is installed on the device body 1, and the coil 11 is installed at the output end of the motor 10. The head end of the suspension rope 12 is wound around the coil 11, and the end of the suspension rope 12 is connected to the hollow suspension arm 6. The motor 2 controls the coil 3 to wind the suspension rope 9, and the end of the suspension rope 9 pulls the hollow suspension arm 6. At the same time, the motor 10 controls the coil 11 to wind the suspension rope 12, and the end of the suspension rope 12 also pulls the hollow suspension arm 6. Through the mutual cooperation of the motor 2 and the motor 10, the hollow suspension arm 6 is closely attached to the side of the device body 1 when the device is not in working state, and is extended to a state vertical to the side of the device body 1 in working state;

[0014] The device body 1 is designed with a dovetail groove 13, in which a roller group 14 is neatly arranged, and a movable concave table 38 of a movable flip unit III is installed on the roller group 14, so that the movable concave table 38 can move in the dovetail groove 13 to reduce friction, and at the same time, the dovetail groove 13 limits the moving path of the movable concave table 38;

[0015] The device body 1 is designed with grooves 15.1 and 15.2, a motor 16.1 is installed in the groove 15.1, the output end of the motor 16.1 is connected to a worm 17.1, the worm 17.1 is meshed with a worm wheel 18.1, the worm wheel 18.1 is fixed on a bearing support assembly 19.1, the bearing support assembly 19.1 is installed on the device body 1, and the worm wheel 18.1 is welded to the rocker 33.1 of the four-bar tilting unit II, and the motor 16.1 is installed in the groove 15.2. The motor 16.2, the output end of the motor 16.2 is connected to the worm 17.2, the worm 17.2 is meshed with the worm wheel 18.2, the worm wheel 18.2 is fixed on the bearing support assembly 19.2, the bearing support assembly 19.2 is installed on the device body 1, and the worm wheel 18.2 is welded to the rocker 33.2 of the four-bar tilting unit II, and the motor 16 drives the worm 17 to drive the worm wheel 18 to rotate, providing power for the rotation of the rocker 33.1 and the rocker 33.2;

[0016] The lower surface of the device body 1 is provided with a wheel frame 20, the front drive wheels 21 are provided on the wheel frames 20.1 and 20.2, and the rear drive wheels 22 are provided on the wheel frames 20.3 and 20.4, for moving the wind turbine auxiliary dumping device;

[0017] The screw lifting assembly 23 is installed on the lower surface of the device body 1. In the non-working state, the screw lifting assembly 23 is retracted to make the front-drive wheel 21 and the rear-drive wheel 22 touch the ground, which is convenient for the movement of the device; in the working state, the screw lifting assembly 23 is extended to lift the device body 1, so that the front-drive wheel 21 and the rear-drive wheel 22 are suspended in the air, so that the device is fixed;

[0018] The screw rod lifting assembly 23 includes a screw rod 23.1, a nut 23.2, a motor 23.3, and a lifting platform 23.4; the upper end of the screw rod 23.1 is connected to the device body 1, and the lifting platform 23.4 is installed at the lower end of the screw rod 23.1, while the nut 23.2 is fixed to the output end of the motor 23.3, and the tail of the motor 23.3 is fixed on the lifting platform 23.4; the motor 23.3 drives the screw rod 23.1 to rotate, and the height of the lifting platform 23.4 is converted between the wheel suspended in the air and on the ground by the cooperation of the screw rod 23.1 and the nut 23.2, thereby realizing the movable and fixable function of the wind turbine auxiliary dumping device, so that one wind turbine auxiliary dumping device can be used for the installation and maintenance of multiple wind turbines, thereby improving the economy and versatility of the device.

[0019] The four-bar tilting unit II includes a crank support 24, a motor 25, a worm 26, a worm wheel 27, a bearing support assembly 28, a crank 29, a connecting rod 30, a connecting pin 31, a connecting rod 32, and a rocker 33;

[0020] The crank support 24 is welded on the device body 1, and a motor 25 is installed on the crank support 24. The output end of the motor 25 is connected to a worm 26, and the worm 26 is meshed with a worm wheel 27. The worm wheel 27 is fixed on a bearing support assembly 28, and the bearing support assembly 28 is installed on the end surfaces of both sides of the crank support 24. At the same time, the worm wheel 27 and the head end of the crank 29 are coaxially welded together. When the worm wheel 27 moves, it is ensured that the worm wheel 27 and the crank 29 rotate at the same angular velocity;

[0021] The tail end of the crank 29 is hingedly mounted to the head end of the connecting rod 30, and the tail end of the connecting rod 30 is hingedly connected to the head ends of the connecting rods 32.1 and 32.2 through the connecting pin 31. The connecting rod 32 is connected to the suspension rope 8. By adjusting the weight of the counterweight block in the suspension box 7, the pulling force of the suspension ropes 8.1 and 8.2 on the connecting rods 32.1 and 32.2 can be adjusted to maintain the balance of the device.

[0022] The motor 25 drives the worm 26 to rotate the worm wheel 27, so that the crank 29 pushes the connecting rod 30 forward. Since the multi-stage clamping unit IV is installed on the connecting pin 31, the connecting rod 30 drives the multi-stage clamping unit IV to move when it moves. The multi-stage clamping unit IV clamps the tower 47 of the wind turbine, so that the tower 47 performs a tilting movement, lowering the height of the wind turbine, avoiding the staff from performing high-altitude operations, and improving the safety of maintenance work;

[0023] The tail end of the connecting rod 32.1 is hinged to the head end of the rocking arm 33.1, and the tail end of the rocking arm 33.1 is coaxially welded to the worm gear 18.1; the tail end of the connecting rod 32.2 is hinged to the head end of the rocking arm 33.2, and the tail end of the rocking arm 33.2 is coaxially welded to the worm gear 18.2;

[0024] Since the rocker 33.1 and the rocker 33.2 are subjected to large loads and torques at both ends, they are designed as castings with groove structures at both ends to reduce the torque and ensure the structural stability of the device.

[0025] The motor 16.1 drives the worm 17.1 to rotate the worm wheel 18.1, and the motor 16.2 drives the worm 17.2 to rotate the worm wheel 18.2, providing power for the rocker 33.1 and the rocker 33.2 to make circular motions. At the same time, the worm gear structure can achieve self-locking when not driven by the motor, so that after the tower 47 of the wind turbine is tilted to the required height, the motor 16 can be controlled to rotate to fix the device state, thereby improving the accuracy of the tilting degree and the stability of the tilting state;

[0026] The mobile flip unit III includes a bidirectional motor 34, a nut 35, a screw 36, a bearing support 37, a mobile concave platform 38, a lifting slot 39, a straight slot 40, a screw 41, a double-hole lifting assembly 42, a screw 43, a bearing baffle 44, a rotating platform 45, a fan fixing column 46, and a tower 47;

[0027] The bidirectional motor 34 is installed on the device body 1, and nuts 35 are fixed at both ends of the bidirectional motor 34. The output end of the bidirectional motor 34 is connected to the head end of the screw rod 36, and the tail end of the screw rod 36 is connected to the bearing support 37. The bearing support 37 is fixed on the movable concave platform 38. Both sides of the movable concave platform 38 are embedded in the dovetail groove 13. Through the rotation of the roller group 14, the movable concave platform 38 can move in the dovetail groove 13;

[0028] The output end of the bidirectional motor 34 rotates to drive the screw 36 to rotate, and the screw 36 cooperates with the nut 35 to make the bearing support 37 move the screw, and finally the bearing support 37 drives the axial movement of the movable concave platform 38;

[0029] The lifting slot 39 is installed on the lower surface of the device body 1. The lifting slot 39 is designed with a straight slot 40. A double-hole lifting component 42 is installed in the straight slot 40 of the lifting slot 39. The double-hole lifting component 42 is designed with a pillar 42.2. The pillar 42.2 is embedded in the straight slot 40, so that the double-hole lifting component 42 can move in the vertical direction in the lifting slot 39, while limiting the moving path of the double-hole lifting component 42.

[0030] The double-hole lifting assembly 42 includes a housing 42.1, a support column 42.2, a vertical hole 42.3, a horizontal hole 42.4, a unidirectional motor 42.5, a bidirectional motor 42.6, and a nut 42.7;

[0031] The unidirectional motor 42.5 is installed in the upper part of the housing 42.1. The upper surface of the housing 42.1 is designed with a vertical hole 42.3. The output end of the unidirectional motor 42.5 passes through the vertical hole 42.3 to connect the head end of the screw 41. The tail end of the screw 41 is connected to the threaded hole 1.1 on the lower surface of the device body 1. The bidirectional motor 42.6 is installed in the lower part of the housing 42.1. The front and rear surfaces of the housing 42.1 have horizontal holes 42.4. The horizontal hole 42.4 is used to place the screw 43. The output end of the bidirectional motor 42.6 is connected to the head end of the screw 43. The tail end of the screw 43 is connected to the bearing of the bearing baffle 44.

[0032] The baffle of the bearing baffle 44 is connected to the rotating platform 45, and the rotating platform 45 is installed in the concave part of the movable concave platform 38. The rotating platform 45 and the movable concave platform 38 form a rotating pair. The fan fixing column 46 is installed at the center position of the upper surface of the rotating platform 45, and the fan fixing columns 46 are arranged in a circle.

[0033] The bearing baffle 44 needs to block the propagation of the rotational motion of the lead screw 43 while ensuring that it is connected to the rotating platform 45, and only allows the screw motion of the lead screw 43 to be transmitted, so a baffle structure including a bearing is designed;

[0034] The output end of the unidirectional motor 42.5 drives the screw 41 to rotate, thereby driving the shell 42.1 to move the screw in the vertical direction. The output end of the bidirectional motor 42.6 drives the screw 43 to rotate. The screw 43 is moved axially by the cooperation with the nut 42.7. The screw 43 is driven by the unidirectional motor 42.5 and the bidirectional motor 42.6, so that the screw 43 can move axially and vertically at the same time, thereby turning the rotating platform 45 over. The wind turbine fixing column 46 is fixed to the rotating platform 45 by inserting the pin hole on the base of the wind turbine.

[0035] The multi-stage clamping unit IV includes a clamping main part 48, a motor clamping part 49, a small motor 50, a pin 51, a left clamping part 52, a right clamping part 53, a motor 54, a gear 55, a rotating support 56, and an iris clamping mechanism 57;

[0036] The clamping main part 48 is fixed at the connecting pin shaft 31, and a motor clamping part 49.1 is installed on the upper surface of the left end of the clamping main part 48, and a small motor 50.1 is installed on the motor clamping part 49.1, and a connecting pin 51.1 is connected to the output end of the small motor 50.1. At the same time, a hinge pin 51.1 is fixed to the left clamping part 52 at the left end of the clamping main part 48, and a motor clamping part 49.2 is installed on the upper surface of the right end of the clamping main part 48, and a small motor 50.2 is installed on the motor clamping part 49.2, and a connecting pin 51.2 is connected to the output end of the small motor 50.2. At the same time, a hinge pin 51.2 is fixed to the left clamping part 52 at the right end of the clamping main part 48;

[0037] The small motor 50 drives the hinge pin 51.1 to rotate clockwise and the hinge pin 51.2 to rotate counterclockwise, so that the left clamping piece 52 and the right clamping piece 53 are opened, and the tower 47 is preliminarily positioned. Then, the small motor 50 drives the hinge pin 51.1 and the hinge pin 51.2 to rotate in opposite directions at the same time, so that the left clamping piece 52 and the right clamping piece 53 are closed, and the first level of clamping of the tower 47 of the wind turbine is achieved.

[0038] The upper and lower end surfaces of the clamping main part 48 are respectively mounted with a motor 54.1 and a motor 54.2, the output end of the motor 54.1 is connected to a gear 55.1, the gear 55.1 is meshed with a rotating support 56.1, the rotating support 56.1 is mounted on an iris clamping mechanism 57.1, the output end of the motor 54.2 is connected to a gear 55.2, the gear 55.2 is meshed with a rotating support 56.2, the rotating support 56.2 is mounted on the iris clamping mechanism 57.2;

[0039] The iris clamping mechanism 57 comprises a fixed plate 57.3, a polygonal clip 57.4, and a rotating plate 57.5. The fixed plate 57.3 is mounted on the end surface of the clamping main part 48, a plurality of polygonal clips 57.4 are mounted on the fixed plate 57.3, the pillars on the polygonal clips 57.4 are inserted into the arc grooves of the rotating plate 57.5, and a rotating pillar 56 is mounted on the rotating plate 57.5;

[0040] The output end of the motor 54 drives the gear 55 to rotate, and the gear 55 drives the rotating pillar 56 to rotate, thereby driving the rotating plate 57.5 to rotate clockwise, and the rotating plate 57.5 rotates to drive the pillar of the polygonal clamp 57.4 to move, so that the polygonal clamp 57.4 is gathered to clamp the tower 47 of the wind turbine, and finally the wind turbine auxiliary dumping device performs the second-level clamping on the tower 47 of the wind turbine. The clamping method adopted by the multi-stage clamping unit IV ensures that the tower 47 will not fall off when the wind turbine auxiliary dumping device is working;

[0041] The iris clamping mechanism 57 is designed as a semicircular structure, which is beneficial for the tower 47 of the wind turbine to enter from the side. The arc groove designed on the rotating plate 57.5 can constrain the moving path of the polygonal clamp 57.4. The polygonal clamp 57.4 is adaptive to the shape of the clamped object through the clamping method of multiple clamps gathered together, and can clamp wind turbines with different types of towers 47, thereby improving the versatility of the device.

[0042] The beneficial effects of the present invention are:

[0043] 1. The present invention adopts a functional design that allows the fan to be tilted to assist maintenance. By lowering the maintenance part of the fan to close to the ground, the risk of workers working at high altitudes is avoided and safety is improved.

[0044] 2. The present invention is designed with a movable and fixable main structure, so that one device can assist in the installation and maintenance of various types of wind turbines, which is more economical;

[0045] 3. The present invention adopts a method of sharing the fan tipping stress with multiple structures. The stress during the fan tipping process is shared by driving with a double four-bar mechanism, rotating the platform to assist in flipping, and connecting the structures with ropes to balance the forces on both sides, so as to ensure the accuracy and stability of the fan tipping movement.

[0046] 4. The present invention designs a clamping mechanism which is adaptive to the shape of the clamped object and can be applied to wind turbine towers of different shapes, thus having higher versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 Schematic diagram of a movable and fixable wind turbine auxiliary dumping device

[0048] Figure 2 Top view of the traveling balance unit I

[0049] Figure 3 Partial view of the traveling balance unit I

[0050] Figure 4 Partial view of the traveling balance unit I

[0051] Figure 5 Bottom-up view of the traveling balance unit I

[0052] Figure 6 Schematic diagram of the screw lifting assembly of the traveling balance unit I

[0053] Figure 7 Structural diagram of four-rod tipping unit II

[0054] Figure 8 Top view of mobile flip unit III

[0055] Fig. 9 Schematic diagram of the transmission structure of the mobile flip unit III

[0056] Fig.10 Partial transmission section view of mobile flip unit III

[0057] Fig.11 Structural diagram of multi-stage clamping unit IV

[0058] Fig.12 Schematic diagram of the iris clamping mechanism of the multi-stage clamping unit IV

[0059] The numbers in the figure are: 1-device body, 2-motor, 3-coil, 4-coil support, 5-arm connector, 6-hollow arm, 7-hanging box, 8-hanging rope, 9-hanging rope, 10-motor, 11-coil, 12-hanging rope, 13-dovetail groove, 14-roller group, 15-groove, 16-motor, 17-worm, 18-worm wheel, 19-bearing support group, 20-wheel frame, 21-front drive wheel, 22-rear drive wheel, 23-screw lifting assembly, 24-crank support, 25-motor, 26-worm, 27-worm wheel, 28-bearing support group, 29-crank, 30 -connecting rod, 31-connecting pin, 32-connecting rod, 33-rocker, 34-bidirectional motor, 35-nut, 36-screw, 37-bearing support, 38-movable concave table, 39-lifting slot, 40-straight slot, 41-screw, 42-double-hole lifting assembly, 43-screw, 44-bearing baffle, 45-rotating platform, 46-fan fixing column, 47-tower, 48-clamping main part, 49-motor clamp, 50-small motor, 51-pin, 52-left clamp, 53-right clamp, 54-motor, 55-gear, 56-rotating support, 57-iris clamping mechanism. DETAILED DESCRIPTION

[0060] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0061] Embodiment 1: The device of the present invention takes the auxiliary maintenance process of a wind turbine with a cylindrical tower as an example.

[0062] like Figure 1-12 As shown, a movable and fixable wind turbine auxiliary dumping device is composed of four parts: a traveling balance unit I, a four-rod dumping unit II, a movable flipping unit III, and a multi-stage clamping unit IV;

[0063] Step 1: Move the auxiliary dumping device of the wind turbine generator to place the wind turbine generator in a position where the device can be clamped;

[0064] The traveling balancing unit I is as follows Figure 2 As shown, it is the main part of the device, including the device body 1, the motor 2, the coil 3, the coil support 4, the boom connector 5, the hollow boom 6, the hanging box 7, the hanging rope 8, the hanging rope 9, the motor 10, the coil 11, the hanging rope 12, the dovetail groove 13, the roller group 14, the groove 15, the motor 16, the worm 17, the worm wheel 18, the bearing support group 19, the wheel frame 20, the front drive wheel 21, the rear drive wheel 22, and the screw lifting assembly 23;

[0065] The device body 1 is a carrier of other units and has a load-bearing function. There is a groove in the middle to facilitate the fan to enter from the front of the device;

[0066] The output end of the motor 2 is connected to the coil 3, and the motor 2 and the coil 3 are fixed on the coil support 4 at the same time. The coil support 4 is welded on the device body 1. The arm connector 5.1 is installed on the right side of the device body 1. The arm connector 5.1 is hinged to the hollow arm 6.1. A hanging box 7.1 is installed at the end of the hollow arm 6.1. The arm connector 5.2 is installed on the left side of the device body 1. The arm connector 5.2 is hinged to the hollow arm 6.2. A hanging box 7.2 is installed at the end of the hollow arm 6.2. The lifting and lowering of the hanging boxes 7.1 and 12.2 are controlled by the hanging ropes 8.1 and 8.2.

[0067] The head end of the suspension rope 8 is connected to the four-rod tilting unit II, and the tail end passes through the hollow suspension arm 6 to connect the suspension box 7. By adding counterweight blocks to the suspension boxes 7.1 and 7.2 on both sides, the forces on both sides of the device body 1 are balanced to prevent the tower 47 from tilting.

[0068] The head end of the suspension rope 9 is wound around the coil 3, and the end is connected to the hollow suspension arm 6. The motor 10 is installed on the device body 1, and the coil 11 is installed at the output end of the motor 10. The head end of the suspension rope 12 is wound around the coil 11, and the end of the suspension rope 12 is connected to the hollow suspension arm 6. The motor 2 controls the coil 3 to wind the suspension rope 9, and the end of the suspension rope 9 pulls the hollow suspension arm 6. At the same time, the motor 10 controls the coil 11 to wind the suspension rope 12, and the end of the suspension rope 12 also pulls the hollow suspension arm 6. Through the cooperation of the motor 2 and the motor 10, the hollow suspension arm 6 is placed in a vertical state to the side of the device body 1, which is convenient for balancing the device;

[0069] The device body 1 is designed with a dovetail groove 13, in which a roller group 14 is neatly arranged, and a movable concave table 38 of a movable flip unit III is installed on the roller group 14, so that the movable concave table 38 can move in the dovetail groove 13 to reduce friction, and at the same time, the dovetail groove 13 limits the moving path of the movable concave table 38;

[0070] The device body 1 is designed with grooves 15.1 and 15.2 as shown in FIG. Figure 4 As shown, a motor 16.1 is installed in the groove 15.1, and the output end of the motor 16.1 is connected to a worm 17.1, and the worm 17.1 is meshed with a worm wheel 18.1, and the worm wheel 18.1 is fixed on a bearing support assembly 19.1, and the bearing support assembly 19.1 is installed on the device body 1, and the worm wheel 18.1 is welded to a rocker 33.1 of a four-bar tilting unit II, and a motor 16.2 is installed in the groove 15.2, and the output end of the motor 16.2 is connected to a worm 17.2, and the worm 17.2 is meshed with a worm wheel 18.2, and the worm wheel 18.2 is fixed on a bearing support assembly 19.2, and the bearing support assembly 19.2 is installed on the device body 1, and the worm wheel 18.2 is welded to a rocker 33.2 of a four-bar tilting unit II, and the worm 17 is driven by the motor 16 to drive the worm wheel 18 to rotate, thereby providing power for the rotation of the rocker 33.1 and the rocker 33.2;

[0071] The lower surface of the device body 1 is provided with a wheel frame 20, the front drive wheel 21 is provided on the wheel frame 20.1 and the wheel frame 20.2, and the rear drive wheel 22 is provided on the wheel frame 20.3 and the wheel frame 20.4, so as to move the auxiliary dumping device of the wind turbine generator to a predetermined position;

[0072] The screw rod lifting assembly 23 is as follows Figure 6 As shown, it includes a screw rod 23.1, a nut 23.2, a motor 23.3, and a lifting platform 23.4;

[0073] The upper end of the screw rod 23.1 is connected to the device body 1, and the lower end of the screw rod 23.1 is installed with a lifting platform 23.4. At the same time, the nut 23.2 is fixed to the output end of the motor 23.3, and the tail of the motor 23.3 is fixed on the lifting platform 23.4;

[0074] The motor 23.3 drives the screw rod 23.1 to rotate, and the screw rod 23.1 cooperates with the nut 23.2 to make the lifting platform 23.4 move the screw rod, and the height of the lifting platform 23.4 is adjusted to realize the conversion of the wheel suspended in the air and on the ground, thereby realizing the movable and fixable function of the auxiliary dumping device of the wind turbine generator;

[0075] In this step, the device first moves the front-drive wheel 21 and the rear-drive wheel 22 of the traveling balance unit I, so that the fan is located directly below the multi-stage clamping unit IV, and the lifting platform 23.4 of the screw lifting assembly 23 is lowered to lift up the entire device, so that the front-drive wheel 21 and the rear-drive wheel 22 are suspended in the air, and the device is kept fixed;

[0076] Step 2: Use a jack to lift the wind turbine generator and fix it on the wind turbine generator auxiliary dumping device;

[0077] The mobile flip unit III is as follows Figure 8 and Fig. 9 As shown, it includes a bidirectional motor 34, a nut 35, a screw 36, a bearing support 37, a movable concave platform 38, a lifting slot 39, a straight slot 40, a screw 41, a double-hole lifting assembly 42, a screw 43, a bearing baffle 44, a rotating platform 45, a fan fixing column 46, and a tower 47;

[0078] The bidirectional motor 34 is installed on the device body 1, and nuts 35 are fixed at both ends of the bidirectional motor 34. The output end of the bidirectional motor 34 is connected to the head end of the screw rod 36, and the tail end of the screw rod 36 is connected to the bearing support 37. The bearing support 37 is fixed on the movable concave platform 38. Both sides of the movable concave platform 38 are embedded in the dovetail groove 13. Through the rotation of the roller group 14, the movable concave platform 38 can move in the dovetail groove 13;

[0079] The output end of the bidirectional motor 34 rotates to drive the screw 36 to rotate, and the screw 36 cooperates with the nut 35 to make the bearing support 37 move the screw, and finally the bearing support 37 drives the axial movement of the movable concave platform 38. When the wind turbine is lifted by the jack until the base of the wind turbine is higher than the movable concave platform 38, the output end of the bidirectional motor 34 rotates to make the movable concave platform 38 move axially to the bottom of the wind turbine;

[0080] The lifting slot 39 is installed on the lower surface of the device body 1. The lifting slot 39 is designed with a straight slot 40. A double-hole lifting component 42 is installed in the straight slot 40 of the lifting slot 39. The double-hole lifting component 42 is designed with a pillar 42.2. The pillar 42.2 is embedded in the straight slot 40, so that the double-hole lifting component 42 can move in the vertical direction in the lifting slot 39, while limiting the moving path of the double-hole lifting component 42.

[0081] The double hole lifting assembly 42 is as follows Fig.10As shown, it includes a housing 42.1, a support 42.2, a vertical hole 42.3, a horizontal hole 42.4, a unidirectional motor 42.5, a bidirectional motor 42.6, and a nut 42.7;

[0082] The unidirectional motor 42.5 is installed in the upper part of the housing 42.1. The upper surface of the housing 42.1 is designed with a vertical hole 42.3. The output end of the unidirectional motor 42.5 passes through the vertical hole 42.3 to connect the head end of the screw 41. The tail end of the screw 41 is connected to the threaded hole 1.1 on the lower surface of the device body 1. The bidirectional motor 42.6 is installed in the lower part of the housing 42.1. The front and rear surfaces of the housing 42.1 have horizontal holes 42.4. The horizontal hole 42.4 is used to place the screw 43. The output end of the bidirectional motor 42.6 is connected to the head end of the screw 43. The tail end of the screw 43 is connected to the bearing of the bearing baffle 44.

[0083] The baffle of the bearing baffle 44 is connected to the rotating platform 45, and the rotating platform 45 is installed in the inner concave part of the movable concave platform 38. The rotating platform 45 and the movable concave platform 38 form a rotating pair. The wind turbine fixing column 46 is installed at the center position of the upper surface of the rotating platform 45. The wind turbine fixing columns 46 are arranged in a circle. After the movable concave platform 38 is axially moved to the bottom of the wind turbine, the wind turbine fixing column 46 is inserted into the pin hole of the base of the wind turbine to fix the tower 47 on the rotating platform 45;

[0084] The bearing baffle 44 needs to block the propagation of the rotational motion of the lead screw 43 while ensuring that it is connected to the rotating platform 45, and only allows the screw motion of the lead screw 43 to be transmitted, so a baffle structure including a bearing is designed;

[0085] The output end of the unidirectional motor 42.5 drives the lead screw 41 to rotate, thereby driving the housing 42.1 to move the lead screw in the vertical direction. The output end of the bidirectional motor 42.6 drives the lead screw 43 to rotate. The lead screw 43 is moved axially by the cooperation between the lead screw 43 and the nut 42.7. The lead screw 43 can move in the axial and vertical directions at the same time through the cooperative driving of the unidirectional motor 42.5 and the bidirectional motor 42.6, thereby causing the rotating platform 45 to flip.

[0086] The multi-stage clamping unit IV is as follows Fig.11 As shown, it includes a clamping main part 48, a motor clamping part 49, a small motor 50, a pin 51, a left clamping part 52, a right clamping part 53, a motor 54, a gear 55, a rotating support 56, and an iris clamping mechanism 57;

[0087] The clamping main part 48 is fixed at the connecting pin shaft 31, and a motor clamping part 49.1 is installed on the upper surface of the left end of the clamping main part 48, and a small motor 50.1 is installed on the motor clamping part 49.1, and a connecting pin 51.1 is connected to the output end of the small motor 50.1. At the same time, a hinge pin 51.1 is fixed to the left clamping part 52 at the left end of the clamping main part 48, and a motor clamping part 49.2 is installed on the upper surface of the right end of the clamping main part 48, and a small motor 50.2 is installed on the motor clamping part 49.2, and a connecting pin 51.2 is connected to the output end of the small motor 50.2. At the same time, a hinge pin 51.2 is fixed to the left clamping part 52 at the right end of the clamping main part 48;

[0088] When the multi-stage clamping unit IV performs the first-stage clamping on the tower 47, the small motor 50 drives the hinge pin 51.1 to rotate clockwise and the hinge pin 51.2 to rotate counterclockwise, so that the left clamping piece 52 and the right clamping piece 53 are opened, and the tower 47 is preliminarily positioned for installation. Then, the small motor 50 drives the hinge pin 51.1 and the hinge pin 51.2 to rotate in opposite directions at the same time, so that the left clamping piece 52 and the right clamping piece 53 are closed, and the first-stage clamping of the tower 47 of the wind turbine is achieved;

[0089] The upper and lower end surfaces of the clamping main part 48 are respectively mounted with a motor 54.1 and a motor 54.2, the output end of the motor 54.1 is connected to a gear 55.1, the gear 55.1 is meshed with a rotating support 56.1, the rotating support 56.1 is mounted on an iris clamping mechanism 57.1, the output end of the motor 54.2 is connected to a gear 55.2, the gear 55.2 is meshed with a rotating support 56.2, the rotating support 56.2 is mounted on the iris clamping mechanism 57.2;

[0090] The iris clamping mechanism 57 comprises a fixed plate 57.3, a polygonal clip 57.4, and a rotating plate 57.5. The fixed plate 57.3 is mounted on the end surface of the clamping main part 48, a plurality of polygonal clips 57.4 are mounted on the fixed plate 57.3, the pillars on the polygonal clips 57.4 are inserted into the arc grooves of the rotating plate 57.5, and a rotating pillar 56 is mounted on the rotating plate 57.5;

[0091] When the multi-stage clamping unit IV performs the second-stage clamping on the tower 47, the output end of the motor 54 drives the gear 55 to rotate, and the gear 55 drives the rotating pillar 56 to rotate, thereby driving the rotating plate 57.5 to rotate clockwise, and the rotating plate 57.5 rotates to drive the pillar of the polygonal clamp 57.4 to move, thereby gathering the polygonal clamp 57.4 to clamp the tower 47 of the wind turbine, and finally realizing the second-stage clamping of the wind turbine tower 47 by the auxiliary dumping device of the wind turbine;

[0092] The iris clamping mechanism 57 is designed as a semicircular structure, which is beneficial for the tower 47 of the wind turbine to enter from the side. The arc groove designed on the rotating plate 57.5 can constrain the moving path of the polygonal clamp 57.4. The polygonal clamp 57.4 is adaptive to the shape of the clamped object through the clamping method of multiple clamps gathered together, and can clamp wind turbines with different types of towers 47, thereby improving the versatility of the device.

[0093] Step 3: Use the traveling balance unit I, the four-rod tipping unit II and the mobile flip unit III to realize the tipping movement of the tower 47, and stop the movement after reaching a height convenient for maintenance;

[0094] The four-rod dumping unit II is as follows Figure 7 As shown, it includes a crank support 24, a motor 25, a worm 26, a worm wheel 27, a bearing support assembly 28, a crank 29, a connecting rod 30, a connecting pin 31, a connecting rod 32, and a rocker 33;

[0095] The crank support 24 is welded on the device body 1, and a motor 25 is installed on the crank support 24. The output end of the motor 25 is connected to a worm 26, and the worm 26 is meshed with a worm wheel 27. The worm wheel 27 is fixed on a bearing support assembly 28, and the bearing support assembly 28 is installed on the end surfaces of both sides of the crank support 24. At the same time, the worm wheel 27 and the head end of the crank 29 are coaxially welded together. When the worm wheel 27 moves, it is ensured that the worm wheel 27 and the crank 29 rotate at the same angular velocity;

[0096] The tail end of the crank 29 is hingedly mounted to the head end of the connecting rod 30, and the tail end of the connecting rod 30 is hingedly connected to the head ends of the connecting rods 32.1 and 32.2 through the connecting pin 31. The connecting rod 32 is connected to the suspension rope 8. By adjusting the weight of the counterweight block in the suspension box 7, the pulling force of the suspension ropes 8.1 and 8.2 on the connecting rods 32.1 and 32.2 can be adjusted to maintain the balance of the device.

[0097] The tail end of the connecting rod 32.1 is hinged to the head end of the rocking arm 33.1, and the tail end of the rocking arm 33.1 is coaxially welded to the worm gear 18.1; the tail end of the connecting rod 32.2 is hinged to the head end of the rocking arm 33.2, and the tail end of the rocking arm 33.2 is coaxially welded to the worm gear 18.2;

[0098] Since the rocker 33.1 and the rocker 33.2 are subjected to large loads and torque at both ends, they are designed as castings with groove structures at both ends to reduce the torque and ensure their stability;

[0099] The motor 16.1 drives the worm 17.1 to rotate the worm wheel 18.1, and the motor 16.2 drives the worm 17.2 to rotate the worm wheel 18.2, providing power for the rocker 33.1 and the rocker 33.2 to make circular motion;

[0100] The motor 16 of the traveling balance unit I drives the rocker 33 to rotate, so as to drive the connecting rod 32 to move forward. The motor 25 of the four-bar tipping unit II drives the worm 26 to drive the worm wheel 27 to rotate, thereby moving the crank 29. The movement of the crank 29 can push the connecting rod 30 forward. The connecting rod 32 and the connecting rod 30 are both hingedly connected to the pin shaft 31, so they jointly push the tower 47 clamped by the multi-stage clamping unit IV installed on the connecting pin shaft 31 to move. At the same time, the bidirectional motor 34 of the mobile flip unit III controls the mobile concave platform 38 to be fixed, and the double-hole lifting assembly 42 drives the rotating platform 45 to rotate, so that the tower 47 of the wind turbine rotates with the base as the axis to achieve the tipping effect.

[0101] After the tower 47 of the wind turbine is tilted to a predetermined height, the motor 16 of the traveling balance unit I, the motor 25 of the four-rod tilting unit II, the bidirectional motor 34 of the mobile flip unit III and the internal motor of the double-hole lifting assembly 42 control the driving structures to stop running, thus achieving self-locking;

[0102] Step 4: After the repair is completed, all devices are operated in reverse to make the fan stand upright again;

[0103] The installation steps of the wind turbine generator are opposite to the maintenance steps. The wind turbine generator is first assembled and then installed on the wind turbine generator auxiliary tipping device. Then the maintenance steps are performed in reverse order to achieve the installation of the wind turbine generator.

[0104] The specific embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. A movable and fixable wind turbine auxiliary dumping device, characterized in that: It includes a traveling balance unit I, a four-rod tipping unit II, a mobile flipping unit III, and a multi-stage clamping unit IV; The traveling balancing unit I is the main part of the device, which is used to move, fix and balance the device. The four-rod tipping unit II is located at the upper part of the overall device to drive the fan tipping movement. The moving flipping unit III is located at the lower part of the overall device, and uses the moving and flipping platform to assist the fan tipping. The multi-stage clamping unit IV is located in the middle of the four-rod tipping unit II to clamp the fan tower.

2. The traveling balancing unit I according to claim 1, characterized in that: The device comprises a device body (1), a motor (2), a coil (3), a coil support (4), a boom connector (5), a hollow boom (6), a suspension box (7), a suspension rope (8), a suspension rope (9), a motor (10), a coil (11), a suspension rope (12), a dovetail groove (13), a roller group (14), a groove (15), a motor (16), a worm (17), a worm wheel (18), a bearing support group (19), a wheel frame (20), a front drive wheel (21), a rear drive wheel (22), and a screw lifting assembly (23); The device body (1) is a carrier of the entire device. The output end of the motor (2) is connected to the coil (3). The motor (2) and the coil (3) are fixed on the coil support (4) at the same time. The coil support (4) is welded to the device body (1). A boom connector (5.1) is installed on the right side of the device body (1). The boom connector (5.1) is hinged to the hollow boom (6.1). A hanging box (7.1) is installed at the end of the hollow boom (6.1). A boom connector (5.2) is installed on the left side of the device body (1). The boom connector (5.2) is hinged to the hollow boom (6.2). A hanging box (7.2) is installed at the end of the hollow boom (6.2). The head end of the hanging rope (8) is connected to the four-rod tipping unit II. The end of the lifting rope (9) passes through the hollow lifting arm (6) and is connected to the lifting box (7). The head end of the lifting rope (9) is wound around the coil (3) and the end is connected to the hollow lifting arm (6). The motor (10) is installed on the device body (1). The output end of the motor (10) is installed with a coil (11). The head end of the lifting rope (12) is wound around the coil (11). The end of the lifting rope (12) is connected to the hollow lifting arm (6). The device body (1) is designed with a dovetail groove (13). The roller group (14) is neatly arranged in the dovetail groove (13). The moving concave table (38) of the moving flip unit III is installed on the roller group (14). At the same time, the device body (1) is designed with a groove (15.1) and a groove (15.2). The motor (1) is installed in the groove (15.1). 6.1), the output end of the motor (16.1) is connected to the worm (17.1), the worm (17.1) and the worm wheel (18.1) are meshed, the worm wheel (18.1) is fixed on the bearing support group (19.1), the bearing support group (19.1) is installed on the device body (1), and the worm wheel (18.1) is welded to the rocker (33.1) of the four-bar tilting unit II, the motor (16.2) is installed in the groove (15.2), the output end of the motor (16.2) is connected to the worm (17.2), the worm (17.2) and the worm wheel (18.2) are meshed, the worm wheel (18.2) is fixed on the bearing support group (19.2), and the bearing support group (19.2) is installed on the device body ( 1), and the worm gear (18.2) is welded to the rocker (33.2) of the four-bar tilting unit II, a wheel frame (20) is installed on the lower surface of the device body (1), a front-drive wheel (21) is installed on the wheel frame (20.1) and the wheel frame (20.2), and a rear-drive wheel (22) is installed on the wheel frame (20.3) and the wheel frame (20.4), a screw rod lifting assembly (23) is installed on the lower surface of the device body (1), the upper end of the screw rod (23.1) is connected to the device body (1), and the lower end of the screw rod (23.1) is installed with a lifting platform (23.4), and a nut (23.2) is fixed to the output end of the motor (23.3), and the tail of the motor (23.3) is fixed on the lifting platform (23.4).

3. The four-rod tipping unit II according to claim 1, characterized in that: It comprises a crank support (24), a motor (25), a worm (26), a worm wheel (27), a bearing support assembly (28), a crank (29), a connecting rod (30), a connecting pin (31), a connecting rod (32), and a rocker (33); The crank support (24) is welded to the device body (1), a motor (25) is mounted on the crank support (24), an output end of the motor (25) is connected to a worm (26), the worm (26) is meshed with a worm wheel (27), the worm wheel (27) is fixed to a bearing support assembly (28), the bearing support assembly (28) is mounted on both side end surfaces of the crank support (24), the worm wheel (27) and the head end of the crank (29) are coaxially welded together, and a connecting rod (30) is mounted on the tail end of the crank (29) through a hinge. The head end and the tail end of the connecting rod (30) are hinged to the connecting rod (32.1) and the head end of the connecting rod (32.2) through the connecting pin (31), the connecting rod (32) is connected to the suspension rope (8), the tail end of the connecting rod (32.1) is hinged to the head end of the rocker (33.1), the tail end of the rocker (33.1) is coaxially welded to the worm gear (18.1), the tail end of the connecting rod (32.2) is hinged to the head end of the rocker (33.2), and the tail end of the rocker (33.2) is coaxially welded to the worm gear (18.2).

4. The mobile flip unit III according to claim 1, characterized in that: It includes a bidirectional motor (34), a nut (35), a screw (36), a bearing support (37), a movable concave platform (38), a lifting slot (39), a straight slot (40), a screw (41), a double-hole lifting component (42), a screw (43), a bearing baffle (44), a rotating platform (45), a fan fixing column (46), and a tower (47); The bidirectional motor (34) is mounted on the device body (1), nuts (35) are fixed at both ends of the bidirectional motor (34), the output end of the bidirectional motor (34) is connected to the head end of the screw rod (36), the tail end of the screw rod (36) is connected to the bearing support (37), the bearing support (37) is fixed on the movable concave platform (38), both sides of the movable concave platform (38) are embedded in the dovetail groove (13), the lifting slot (39) is mounted on the lower surface of the device body (1), and the lifting slot (39) is fixed on the lower surface of the device body (1). 9) is designed with a straight groove (40), a double-hole lifting assembly (42) is installed in the straight groove (40) of the lifting slot (39), the double-hole lifting assembly (42) is designed with a pillar (42.2), the pillar (42.2) is embedded in the straight groove (40), a one-way motor (42.5) is installed in the upper part of the housing (42.1), the upper surface of the housing (42.1) is designed with a vertical hole (42.3), and the output end of the one-way motor (42.5) passes through the vertical hole (42.3). 2.3) is connected to the head end of the lead screw (41), the tail end of the lead screw (41) is connected to the threaded hole (1.1) on the lower surface of the device body (1), the bidirectional motor (42.6) is installed in the lower half of the housing (42.1), the front and rear surfaces of the housing (42.1) have horizontal holes (42.4), the horizontal holes (42.4) are used to place the lead screw (43), the output end of the bidirectional motor (42.6) is connected to the head end of the lead screw (43), the tail end of the lead screw (43) is connected to the bearing stop The bearing of the plate (44) is connected, the baffle of the bearing baffle (44) is connected to the rotating platform (45), the rotating platform (45) is installed in the inner concave part of the movable concave platform (38), the rotating platform (45) and the movable concave platform (38) form a rotating pair, the wind turbine fixing column (46) is installed at the center position of the upper surface of the rotating platform (45), and the tower (47) is fixed on the rotating platform (45) by inserting the pin hole on the base of the wind turbine into the wind turbine fixing column (46).

5. The multi-stage clamping unit IV according to claim 1, characterized in that: It includes a clamping main part (48), a motor clamping part (49), a small motor (50), a pin (51), a left clamping part (52), a right clamping part (53), a motor (54), a gear (55), a rotating support (56), and an iris clamping mechanism (57); The clamping main part (48) is fixed at the connecting pin shaft (31), a motor clamping part (49.1) is installed on the upper surface of the left end of the clamping main part (48), a small motor (50.1) is installed on the motor clamping part (49.1), and a connecting pin (51.1) is connected to the output end of the small motor (50.1). At the same time, a hinge pin (51.1) is fixed to the left clamping part (52) at the left end of the clamping main part (48), a motor clamping part (49.2) is installed on the upper surface of the right end of the clamping main part (48), a small motor (50.2) is installed on the motor clamping part (49.2), and a connecting pin (51.2) is connected to the output end of the small motor (50.2). At the same time, a hinge pin (51.2) is fixed to the left clamping part (52) at the right end of the clamping main part (48), and the pin (51.2) is fixed to the left clamping part (52). The upper and lower end surfaces of the clamping main part (48) are respectively A motor (54.1) and a motor (54.2) are installed, the output end of the motor (54.1) is connected to a gear (55.1), the gear (55.1) is meshed with a rotating support (56.1), the rotating support (56.1) is installed on an iris clamping mechanism (57.1), the output end of the motor (54.2) is connected to a gear (55.2), the gear (55.2) is meshed with a rotating support (56.2), the rotating support (56.2) is installed on the iris clamping mechanism (57.2), a fixed plate (57.3) is installed on the end surface of the clamping main component (48), a plurality of polygonal clips (57.4) are installed on the fixed plate (57.3), the support on the polygonal clip (57.4) is inserted into the arc groove of the rotating plate (57.5), and the rotating support (56) is fixed on the rotating plate (57.5).

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