Wind turbine hoisting support device and method

Abstract

The application discloses a wind turbine hoisting support device and method, the wind turbine hoisting support device includes a support frame, a walking mechanism, a counterweight assembly, a turnover driving device, a turnover device, a detection device and a control system, the walking mechanism is arranged at the lower end of the support frame and is used for providing driving force for the support frame, the counterweight assembly is symmetrically arranged at both ends of the support frame and is used for ensuring the balance of the support frame, the turnover device is arranged on the support frame through the turnover driving device and is used for fixing and turning over the wind turbine, the detection device is arranged in the middle of the turnover device and is used for detecting the fixing information of the wind turbine to the turnover device, and the control system is arranged on the support frame and is used for controlling the driving force of the walking mechanism, the counterweight assembly, the turnover driving device and the turnover device. The application satisfies the fixing of wind turbines of various specifications, can be hoisted by cooperating with one crane, effectively improves the installation efficiency, reduces the installation cost and effectively solves the problem of insufficient hoisting space.

Description

Technical Field

[0001] This invention belongs to the field of wind turbine technology, and in particular relates to a wind turbine hoisting support device and method. Background Technology

[0002] During the hoisting of wind turbine units, especially the tower and hub hoisting (the hub hoisting corresponds to the single-blade high-altitude hoisting, where the hub is hoisted from the ground transport state to the high-altitude turbine position where the hub flange is connected to the main shaft), auxiliary cranes are required. Therefore, a large construction space is needed. Due to special installation requirements, the hoisting site is small (such as the small site for some turbine positions on land and the small working area on the deck of the offshore turbine hoisting platform), which cannot fully meet the space requirements for two cranes (main and auxiliary cranes) to work at the same time, resulting in hoisting difficulties and installation problems. Summary of the Invention

[0003] To at least partially solve the technical problems existing in the prior art, the present invention provides a wind turbine hoisting support device and method.

[0004] The wind turbine hoisting support device of the present invention includes a support frame, a traveling mechanism, a counterweight assembly, a tilting drive device, a tilting device, a detection device, and a control system. The traveling mechanism is disposed at the lower end of the support frame and provides driving force to the support frame. The counterweight assembly is symmetrically disposed at both ends of the support frame to ensure the balance of the support frame. The tilting device is disposed on the support frame via the tilting drive device and is used to fix and tilt the wind turbine. The detection device is disposed in the middle of the tilting device and is used to detect the fixing information of the wind turbine by the tilting device. The control system is disposed on the support frame and is used to control the driving force of the traveling mechanism, the counterweight assembly, the tilting drive device, and the tilting device, wherein:

[0005] The traveling mechanism includes a traveling frame, a traveling drive motor, a traveling drive wheel, a traveling steering motor, a mechanical brake, an electromagnetic brake assembly, and a wheel pressure detector. The traveling drive wheel is rotatably mounted on the traveling frame via the traveling steering motor, which provides steering force to the traveling drive wheel. The traveling drive motor is located on one side of the traveling drive wheel and provides driving force to the traveling drive wheel. The mechanical brake is located on the traveling drive wheel and is used to brake the traveling drive wheel. The electromagnetic brake assembly is located on one side of the traveling frame and is used to brake the traveling frame. The wheel pressure detector is located on the traveling drive wheel and is used to detect the pressure of the traveling drive wheel.

[0006] The flipping device includes a flipping platform, a support frame, a radial drive assembly, and a clamping drive assembly. The support frame is arranged in a cross shape on the flipping platform via the radial drive assembly. The clamping drive assembly is located on the outside of the support frame and is used to fix the wind turbine.

[0007] The control system includes a controller, a power system, and a hydraulic system. The power system is connected to the controller and is used to control the power output. The hydraulic system is connected to the controller and is used to control the hydraulic oil output.

[0008] Furthermore, in the aforementioned wind turbine hoisting support device, the counterweight assembly includes a counterweight block, a counterweight slide, a counterweight drive rack, a counterweight drive gear, and a counterweight drive motor. The counterweight block is slidably disposed on both sides of the support frame via the counterweight slide. The counterweight drive rack is fixedly disposed on the support frame near the counterweight slide. The counterweight drive motor is mounted on the counterweight slide. The counterweight drive gear is keyed to the output shaft of the counterweight drive motor. The counterweight drive gear meshes with the counterweight drive rack. The counterweight drive motor is electrically connected to the power system.

[0009] Furthermore, in the aforementioned wind turbine hoisting support device, the tilting drive device includes a first hydraulic cylinder, a second hydraulic cylinder, and a third hydraulic cylinder. The length of the second hydraulic cylinder is twice the length of the first hydraulic cylinder. The first hydraulic cylinder is symmetrically hinged to one side of the top of the support frame, and the second hydraulic cylinder is symmetrically hinged to the other side of the top of the support frame. The third hydraulic cylinder is hinged between the first hydraulic cylinder and the second hydraulic cylinder, and the output end of the third hydraulic cylinder is hinged to the second hydraulic cylinder. The output ends of both the first and second hydraulic cylinders are hinged to the tilting platform. The first, second, and third hydraulic cylinders are connected to the hydraulic circuit of the hydraulic system.

[0010] Furthermore, in the aforementioned wind turbine hoisting support device, the radial drive assembly includes a radial drive rack, a radial slide, a radial drive gear, and a radial drive motor. The radial drive rack is welded to the tilting platform, the radial slide is slidably disposed on the tilting platform near the radial drive rack, the radial drive motor is mounted on the radial slide, the radial drive gear is keyed to the output end of the radial drive motor, the radial drive gear meshes with the radial drive rack gear, and the radial drive motor is electrically connected to the power system.

[0011] Furthermore, in the aforementioned wind turbine hoisting support device, the support frame is arranged in a right-angled triangular structure, and the bottom of the support frame is fixedly connected to the radial slide by bolts.

[0012] Furthermore, in the aforementioned wind turbine hoisting support device, the clamping drive assembly includes a clamping drive rack, an outer clamping platform, an inner clamping platform, an outer clamping platform drive motor, an inner clamping platform drive motor, an outer clamping platform drive gear, and an inner clamping platform drive gear. The clamping drive rack is welded to the outside of the support frame. The outer clamping platform and the inner clamping platform are symmetrically and slidably arranged on the support frame near the clamping drive rack. The outer clamping platform drive motor is mounted on the outer clamping platform. The outer clamping drive gear is keyed to the output shaft of the outer clamping platform drive motor. The inner clamping platform drive motor is mounted on the inner clamping platform. The inner clamping drive gear is keyed to the output shaft of the inner clamping platform drive motor. Both the outer clamping drive gear and the inner clamping drive gear mesh with the clamping drive rack gear. Both the outer clamping platform drive motor and the inner clamping platform drive motor are electrically connected to the power system.

[0013] Furthermore, in the aforementioned wind turbine hoisting support device, the detection device includes an end detection device, a clamping detection device, an inner clamping platform detection device, and an outer clamping platform detection device. The end detection device is installed on the top of the support frame, the clamping detection device is installed on the radial slide near the inner clamping platform, the inner clamping platform detection device is installed on the inner clamping platform, and the outer clamping platform detection device is installed on the outer clamping platform. The end detection device, the clamping detection device, the inner clamping platform detection device, and the outer clamping platform detection device are all connected to the controller input terminal.

[0014] Furthermore, in the aforementioned wind turbine hoisting support device, the wheel pressure detector is connected to the input terminal of the controller.

[0015] Furthermore, in the aforementioned wind turbine hoisting support device, the traveling drive motor, the traveling steering motor, the mechanical brake, and the electromagnetic brake assembly are all electrically connected to the power system.

[0016] The wind turbine hoisting and support method of the present invention includes:

[0017] Once the wind turbine installation location is determined, the wind turbine is transported to one side of the installation location using a transport device. A steel plate is laid at the installation location. At this point, the controller, through the hydraulic system, controls the tilting drive device to tilt, causing it to flip. The travel drive motor drives the travel drive wheels towards the tilting side of the device, and the travel steering motor adjusts the orientation to insert the support frame into the wind turbine. When the end detection device detects that the support frame has penetrated to a certain depth into the wind turbine, it sends a control command to the controller. The controller, through the power system, controls the mechanical brake to brake and position the travel drive wheels, while simultaneously controlling the electromagnetic... The rotation of the brake assembly parallel to the steel plate causes the electromagnetic brake to generate magnetic force and attract and fix it to the steel plate. At this time, the controller controls the radial drive assembly through the power system to drive the support frame to move outward. When the clamping detection device detects the wind turbine connection port, it sends a control command to the controller. The controller controls the radial drive assembly to stop moving through the power system. At this time, the controller controls the clamping drive assembly to move in opposite directions through the power system. When the inner clamping stage detection device and the outer clamping stage detection device reach the set position, they send a control command to the controller. The controller controls the clamping drive assembly to stop moving through the power system. The wind turbine and the tilting device are completely fixed.

[0018] At this time, the controller controls the tilting drive device through the hydraulic system to tilt the wind turbine together. During the tilting process, the wheel pressure detector detects the wheel pressure value. When the pressure value on one side is greater than the set value, the wheel pressure detector sends a control command to the controller. The controller controls the counterweight component on the same side with the excessive wheel pressure value to move inward to the inside of the support frame through the power system, and at the same time controls the counterweight component on the other side to move outward to the outside of the support frame, until the wind turbine is vertically supported, and then lifted by the crane.

[0019] The wind turbine hoisting support device and method of the present invention have the following advantages and beneficial effects:

[0020] This invention, through the cooperation of a radial drive component and a clamping drive component, can satisfy the fixing of wind turbine units of various specifications. Through the cooperation of a flipping drive device and a flipping device, the wind turbine units in the horizontal transportation state can be effectively flipped to the vertical installation state. The installation can be carried out by a single crane, which effectively improves the installation efficiency, reduces the installation cost, and effectively solves the problem of insufficient lifting space. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only for further understanding of the embodiments of the present invention and constitute a part of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings:

[0022] Figure 1 This is a schematic diagram of the overall structure of the wind turbine hoisting support device of the present invention;

[0023] Figure 2 This is a schematic diagram of the walking mechanism of the wind turbine hoisting support device of the present invention;

[0024] Figure 3 This is a schematic diagram of the overturning device structure of the wind turbine hoisting support device of the present invention;

[0025] Figure 4 This is a schematic diagram of the counterweight component structure of the wind turbine hoisting support device of the present invention;

[0026] Figure 5 This is a schematic diagram showing the connection state between the overturning device and the wind turbine after the overturning device has been overturned during the implementation of the wind turbine hoisting and support method of the present invention.

[0027] Figure 6 This is a schematic diagram of the electromagnetic brake assembly after braking during the implementation of the wind turbine hoisting and support method of the present invention;

[0028] Figure 7 This is a schematic diagram of the wind turbine's supported state during the implementation of the wind turbine hoisting and support method of the present invention.

[0029] Explanation of reference numerals in the attached figures:

[0030] 1: Supporting framework;

[0031] 2: Walking mechanism; 21: Walking frame; 22: Walking drive motor; 23: Walking drive wheel; 24: Walking steering motor; 25: Mechanical brake; 26: Electromagnetic brake assembly; 27: Wheel pressure detector.

[0032] 3: Counterweight assembly; 31: Counterweight block; 32: Counterweight slide; 33: Counterweight drive rack; 34: Counterweight drive gear; 35: Counterweight drive motor;

[0033] 4: Tilting drive device; 41: First hydraulic cylinder; 42: Second hydraulic cylinder; 43: Third hydraulic cylinder;

[0034] 5: Tilting device; 51: Tilting platform; 52: Support frame;

[0035] 53: Radial drive assembly; 531: Radial drive rack; 532: Radial slide; 533: Radial drive gear; 534: Radial drive motor;

[0036] 54: Clamping drive assembly; 541: Clamping drive rack; 542: Outer clamping stage; 543: Inner clamping stage; 544: Outer clamping stage drive motor; 545: Inner clamping stage drive motor; 546: Outer clamping stage drive gear; 547: Inner clamping stage drive gear.

[0037] 6: Detection device; 61: End detection device; 62: Clamping detection device; 63: Inner clamping stage detection device; 64: Outer clamping stage detection device;

[0038] 7: Control system; 71: Controller; 72: Power system; 73: Hydraulic system. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0040] like Figures 1 to 4 As shown, the wind turbine hoisting support device of the present invention includes a support frame 1, a traveling mechanism 2, a counterweight assembly 3, a tilting drive device 4, a tilting device 5, a detection device 6, and a control system 7. The traveling mechanism 2 is located at the lower end of the support frame 1 and is used to provide driving force to the support frame 1. The counterweight assembly 3 is symmetrically arranged at both ends of the support frame 1 to ensure the balance of the support frame 1. The tilting device 5 is mounted on the support frame 1 via the tilting drive device 4 and is used to fix and tilt the wind turbine. The detection device 6 is located in the middle of the tilting device 5 and is used to detect the fixing information of the tilting device 5 to the wind turbine. The control system 7 is mounted on the support frame 1 and is used to control the driving force of the traveling mechanism 2, the counterweight assembly 3, the tilting drive device 4, and the tilting device 5, wherein:

[0041] The traveling mechanism 2 includes a traveling frame 21, a traveling drive motor 22, a traveling drive wheel 23, a traveling steering motor 24, a mechanical brake 25, an electromagnetic brake assembly 26, and a wheel pressure detector 27. The traveling drive wheel 23 is rotatably mounted on the traveling frame 21 via the traveling steering motor 24, which provides steering force to the traveling drive wheel 23. The traveling drive motor 22 is located on one side of the traveling drive wheel 23, which provides driving force to the traveling drive wheel 23. The mechanical brake 25 is located on the traveling drive wheel 23, which brakes the traveling drive wheel 23. The electromagnetic brake assembly 26 is located on one side of the traveling frame 21, which brakes the traveling frame 21. The wheel pressure detector 27 is located on the traveling drive wheel 23, which detects the pressure of the traveling drive wheel 23.

[0042] The overturning device 5 includes an overturning platform 51, a support frame 52, a radial drive assembly 53, and a clamping drive assembly 54. The support frame 52 is arranged in a cross shape on the overturning platform 51 through the radial drive assembly 53. The clamping drive assembly 54 is arranged on the outside of the support frame 52 and is used to fix the wind turbine.

[0043] The control system 7 includes a controller 71, a power system 72, and a hydraulic system 73. The power system 72 is connected to the controller 71 and is used to control the power output. The hydraulic system 73 is connected to the controller 71 and is used to control the hydraulic oil output.

[0044] Furthermore, in the aforementioned wind turbine hoisting support device, the counterweight assembly 3 includes a counterweight block 31, a counterweight slide 32, a counterweight drive rack 33, a counterweight drive gear 34, and a counterweight drive motor 35. The counterweight block 31 is slidably mounted on both sides of the support frame 1 via the counterweight slide 32. The counterweight drive rack 33 is fixedly mounted on the side of the support frame 1 near the counterweight slide 32. The counterweight drive motor 35 is mounted on the counterweight slide 32. The counterweight drive gear 34 is keyed to the output shaft of the counterweight drive motor 35. The counterweight drive gear 34 meshes with the counterweight drive rack 33. The counterweight drive motor 35 is electrically connected to the power system 72, thereby powering the counterweight drive motor 35 through the power system 72 to drive the counterweight drive gear 34, causing the counterweight slide 32 to move the counterweight block 31 along the counterweight drive rack 33.

[0045] The tilting drive device includes a first hydraulic cylinder, a second hydraulic cylinder, and a third hydraulic cylinder. The length of the second hydraulic cylinder is twice the length of the first hydraulic cylinder. The first hydraulic cylinder is symmetrically hinged to one side of the top of the support frame, and the second hydraulic cylinder is symmetrically hinged to the other side of the top of the support frame. The third hydraulic cylinder is hinged between the first and second hydraulic cylinders, and its output end is hinged to the second hydraulic cylinder.

[0046] Furthermore, in the aforementioned wind turbine hoisting support device, the tilting drive device 4 includes a first hydraulic cylinder 41, a second hydraulic cylinder 42, and a third hydraulic cylinder 43. The length of the second hydraulic cylinder 42 is twice the length of the first hydraulic cylinder 41. The first hydraulic cylinder 41 is symmetrically hinged to one side of the top of the support frame 1, and the second hydraulic cylinder 42 is symmetrically hinged to the other side of the top of the support frame 1. The third hydraulic cylinder 43 is hinged between the first hydraulic cylinder 41 and the second hydraulic cylinder 42. The output end of the third hydraulic cylinder 43 is hinged to the second hydraulic cylinder 42, thereby maintaining the stability of the tilting drive platform 51 through the third hydraulic cylinder 43. The output ends of the first hydraulic cylinder 41 and the second hydraulic cylinder 42 are both hinged to the tilting platform 51. The first hydraulic cylinder 41, the second hydraulic cylinder 42, and the third hydraulic cylinder 43 are connected to the hydraulic oil circuit of the hydraulic system 73. Thus, by controlling the extension and retraction of the first hydraulic cylinder 41 and the second hydraulic cylinder 42 through the hydraulic system 73, the tilting platform 51 can be tilted.

[0047] Furthermore, in the aforementioned wind turbine hoisting support device, the radial drive assembly 53 includes a radial drive rack 531, a radial slide 532, a radial drive gear 533, and a radial drive motor 534. The radial drive rack 531 is welded to the tilting platform 51. The radial slide 532 is slidably disposed on the tilting platform 51 near the radial drive rack 531. The radial drive motor 534 is mounted on the radial slide 532. The radial drive gear 533 is keyed to the output end of the radial drive motor 534. The radial drive gear 533 meshes with the radial drive rack 531. The radial drive motor 534 is electrically connected to the power system 72, thereby powering the radial drive motor 534 through the power system 72 to drive the radial drive gear 533 to move the radial slide 532 along the radial drive rack 531, thus meeting the interface requirements of different wind turbines.

[0048] Furthermore, in the aforementioned wind turbine hoisting support device, the support frame 52 is arranged in a right-angled triangular structure, and the bottom of the support frame 52 is fixedly connected to the radial slide table 532 by bolts, thereby ensuring stable support for the wind turbine.

[0049] Furthermore, in the aforementioned wind turbine hoisting support device, the clamping drive assembly 54 includes a clamping drive rack 541, an outer clamping platform 542, an inner clamping platform 543, an outer clamping platform drive motor 544, an inner clamping platform drive motor 545, an outer clamping platform drive gear 546, and an inner clamping platform drive gear 547. The clamping drive rack 541 is welded to the outside of the support frame 52. The outer clamping platform 542 and the inner clamping platform 543 are symmetrically slidably arranged on the support frame 52 near the clamping drive rack 541. The outer clamping platform drive motor 544 is mounted on the outer clamping platform 542. The outer clamping drive gear is keyed to the output shaft of the outer clamping platform drive motor 544. The inner clamping platform drive motor 545... 5. Installed on the inner clamping platform 543, the inner clamping drive gear is keyed to the output shaft of the inner clamping platform drive motor 545. Both the outer clamping drive gear and the inner clamping drive gear mesh with the clamping drive rack 541. The outer clamping platform drive motor 544 and the inner clamping platform drive motor 545 are electrically connected to the power system 72. Thus, the power system 72 supplies power to the outer clamping platform drive motor 544 and the inner clamping platform drive motor 545 respectively, driving the outer clamping platform drive gear 546 and the inner clamping platform drive gear 547 to rotate, causing the outer clamping platform 542 and the inner clamping platform to move relative to each other along the clamping drive rack 541, thereby meeting the requirements of wind turbine units at different depths and different flange clamping thicknesses.

[0050] Furthermore, in the aforementioned wind turbine hoisting support device, the detection device 6 includes an end detection device 61, a clamping detection device 62, an inner clamping platform detection device 63, and an outer clamping platform detection device 64. The end detection device 61 is installed on the top of the support frame 52, the clamping detection device 62 is installed on the radial slide 532 near the inner clamping platform 543, the inner clamping platform detection device 63 is installed on the inner clamping platform 543, and the outer clamping platform detection device 64 is installed on the outer clamping platform 542. The end detection device 61, the clamping detection device 62, the inner clamping platform detection device 63, and the outer clamping platform detection device 64 are all connected to the input terminal of the controller 71, so that the controller 71 outputs corresponding control information according to the position information input by the end detection device 61, the clamping detection device 62, the inner clamping platform detection device 63, and the outer clamping platform detection device 64, thereby enabling the wind turbine to be quickly and accurately fixed.

[0051] Furthermore, in the aforementioned wind turbine hoisting support device, the wheel pressure detector 27 is connected to the input terminal of the controller 71, thereby enabling the controller 71 to output corresponding control information based on the pressure information input by the wheel pressure detector 27.

[0052] Furthermore, in the aforementioned wind turbine hoisting support device, the travel drive motor 22, travel steering motor 24, mechanical brake 25, and electromagnetic brake assembly 26 are all electrically connected to the power system 72, thereby controlling the operation of the travel drive motor 22, travel steering motor 24, mechanical brake 25, and electromagnetic brake assembly 26 by controlling the output of the power system 72.

[0053] The wind turbine hoisting and support method of the present invention includes:

[0054] The wind turbine installation location is determined, and the wind turbine is transported to one side of the installation location using a transport device. A steel plate is laid at the installation location. At this time, the controller 71 controls the tilting drive device 4 via the hydraulic system 73 to tilt the device 5. The travel drive motor 22 drives the travel drive wheels 23 to move towards the tilting side of the device 5, and the travel steering motor 24 adjusts the orientation so that the support frame 52 is inserted into the wind turbine. Figure 5 As shown, when the end detection device 61 detects that the support frame 52 has been inserted into the wind turbine to a certain depth, the end detection device 61 sends a control command to the controller 71. The controller 71 controls the mechanical brake 25 through the power system 72 to brake and position the walking drive wheel 23, and at the same time controls the electromagnetic brake assembly 26 to rotate parallel to the steel plate so that the electromagnetic brake generates magnetic force to attract and fix it to the steel plate. Figure 6 As shown, at this time, the controller 71 controls the radial drive component 53 to drive the support frame 52 to move outward through the power system 72. When the clamping detection device 62 detects the wind turbine connection port, it sends a control command to the controller 71. The controller 71 controls the radial drive component 53 to stop moving through the power system 72. At this time, the controller 71 controls the clamping drive component 54 to move in opposite directions through the power system 72. When the inner clamping stage detection device 63 and the outer clamping stage detection device 64 reach the set position, they send a control command to the controller 71. The controller 71 controls the clamping drive component 54 to stop moving through the power system 72. The wind turbine and the tilting device 5 are completely fixed.

[0055] At this time, the controller 71 controls the tilting drive device 4 through the hydraulic system 73 to tilt the tilting device 5 along with the wind turbine. During the tilting process, the wheel pressure detector 27 detects the wheel pressure value. When the pressure value on one side is greater than the set value, the wheel pressure detector 27 sends a control command to the controller 71. The controller 71 controls the counterweight component 3 on the same side as the excessive wheel pressure value to move inward to the support frame 1 through the power system 72, and at the same time controls the counterweight component 3 on the other side to move outward to the support frame 1 until the wind turbine is vertically supported. Figure 7 As shown, the lifting is carried out in conjunction with a crane.

[0056] In summary, compared with the prior art, the wind turbine hoisting support device and method of the present invention have the following advantages and beneficial effects: The present invention, through the cooperation of radial drive component and clamping drive component, can meet the fixing of wind turbines of various specifications, and through the cooperation of flipping drive device and flipping device, can effectively flip the wind turbine components in the horizontal transportation state to the vertical installation state, and can be hoisted by a single crane, which effectively improves the installation efficiency, reduces the installation cost, and effectively solves the problem of insufficient hoisting space.

[0057] It should be noted that, unless otherwise expressly specified and limited, the term "connection" or its synonyms should be interpreted broadly in this document. For example, "connection" can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two elements or the interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. Furthermore, expressions such as "first" and "second" are merely used to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Meanwhile, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. In addition, the terms "front," "rear," "left," "right," "upper," and "lower" in this document refer to the placement states shown in the accompanying drawings.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wind turbine hoisting support device, characterized in that, The wind turbine hoisting support device comprises a support frame, a walking mechanism, a counterweight assembly, a turnover driving device, a turnover device, a detection device and a control system, the walking mechanism is arranged at the lower end of the support frame and is used for providing driving force for the support frame, the counterweight assembly is symmetrically arranged at both ends of the support frame and is used for ensuring the balance of the support frame, the turnover device is arranged on the support frame through the turnover driving device and is used for fixing and turning over the wind turbine, the detection device is arranged in the middle of the turnover device and is used for detecting the fixing information of the wind turbine on the turnover device, and the control system is arranged on the support frame and is used for controlling the driving force of the walking mechanism, the counterweight assembly, the turnover driving device and the turnover device. The walking mechanism comprises a walking frame, a walking driving motor, a walking driving wheel, a walking steering motor, a mechanical brake, an electromagnetic brake assembly and a wheel pressure detector, the walking driving wheel is rotatably arranged on the walking frame through the walking steering motor and is used for providing steering force for the walking driving wheel, the walking driving motor is arranged on one side of the walking driving wheel and is used for providing driving force for the walking driving wheel, the mechanical brake is arranged on the walking driving wheel and is used for braking the walking driving wheel, the electromagnetic brake assembly is arranged on one side of the walking frame and is used for braking the walking frame, and the wheel pressure detector is arranged on the walking driving wheel and is used for detecting the pressure of the walking driving wheel. The turnover device comprises a turnover platform, a support frame, a radial driving assembly and a clamping driving assembly, the support frame is arranged in a cross shape on the turnover platform through the radial driving assembly, and the clamping driving assembly is arranged outside the support frame and is used for fixing the wind turbine; The control system comprises a controller, a power system and a hydraulic system, the power system is connected with the controller and is used for controlling the power output, and the hydraulic system is connected with the controller and is used for controlling the hydraulic oil output; The counterweight assembly comprises a counterweight block, a counterweight sliding table, a counterweight driving rack, a counterweight driving gear and a counterweight driving motor, the counterweight block is slidably arranged on both sides of the support frame through the counterweight sliding table, the counterweight driving rack is fixedly arranged on one side of the support frame close to the counterweight sliding table, the counterweight driving motor is mounted on the counterweight sliding table, the counterweight driving gear is connected with the output shaft of the counterweight driving motor through a key, and the counterweight driving gear is in gear engagement with the counterweight driving rack, and the counterweight driving motor is electrically connected with the power system. The turnover driving device comprises a first hydraulic cylinder, a second hydraulic cylinder and a third hydraulic cylinder, the second hydraulic cylinder has a length twice that of the first hydraulic cylinder, the first hydraulic cylinder is symmetrically hinged on one side of the top of the support frame, the second hydraulic cylinder is symmetrically hinged on the other side of the top of the support frame, the third hydraulic cylinder is hinged between the first hydraulic cylinder and the second hydraulic cylinder, the output end of the third hydraulic cylinder is hinged with the second hydraulic cylinder, the output ends of the first hydraulic cylinder and the second hydraulic cylinder are hinged with the turnover platform, and the first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder are connected with the hydraulic oil circuit of the hydraulic system; The radial driving assembly comprises a radial driving rack, a radial sliding table, a radial driving gear and a radial driving motor, the radial driving rack is welded on the turnover platform, the radial sliding table is slidingly arranged on one side of the turnover platform close to the radial driving rack, the radial driving motor is installed on the radial sliding table, the radial driving gear is key-connected with the output end of the radial driving motor, the radial driving gear is in gear meshing with the radial driving rack, and the radial driving motor is electrically connected with the power system; The support frame is arranged in a right triangle structure, and the bottom of the support frame is fixedly connected with the radial sliding table through bolts; The clamping driving assembly comprises a clamping driving rack, an outer clamping table, an inner clamping table, an outer clamping table driving motor, an inner clamping table driving motor, an outer clamping table driving gear and an inner clamping table driving gear, the clamping driving rack is welded on the outer side of the support frame, the outer clamping table and the inner clamping table are symmetrically slidingly arranged on one side of the support frame close to the clamping driving rack, the outer clamping table driving motor is installed on the outer clamping table, the outer clamping table driving gear is key-connected with the output shaft of the outer clamping table driving motor, the inner clamping table driving motor is installed on the inner clamping table, the inner clamping table driving gear is key-connected with the output shaft of the inner clamping table driving motor, the outer clamping table driving gear and the inner clamping table driving gear are in gear meshing with the clamping driving rack, and the outer clamping table driving motor and the inner clamping table driving motor are electrically connected with the power system; The detection device comprises an end detection device, a clamping detection device, an inner clamping table detection device and an outer clamping table detection device, the end detection device is installed on the top of the support frame, the clamping detection device is installed on one side of the radial sliding table close to the inner clamping table, the inner clamping table detection device is installed on the inner clamping table, the outer clamping table detection device is installed on the outer clamping table, the end detection device, the clamping detection device, the inner clamping table detection device and the outer clamping table detection device are connected with the input end of the controller, the controller outputs corresponding control information according to the position information input by the end detection device, the clamping detection device, the inner clamping table detection device and the outer clamping table detection device, so that the wind turbine can be quickly and accurately fixed. The wheel pressure detector is connected with the controller input end, so that the controller outputs corresponding control information according to the pressure information input by the wheel pressure detector; The walking driving motor, the walking steering motor, the mechanical brake and the electromagnetic brake assembly are electrically connected with the power system, and the output of the power system controls the working of the walking driving motor, the walking steering motor, the mechanical brake and the electromagnetic brake assembly.

2. A wind turbine hoisting support method using the wind turbine hoisting support apparatus according to claim 1, characterized by, The wind turbine hoisting support method comprises: The wind turbine hoisting support method comprises: The wind turbine hoisting support method comprises:

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