Weight conveying device and method for interior of hub of 3MW wind driven generator

Abstract

The invention provides a heavy object conveying device and method used in a 3MW wind driven generator hub, and relates to the technical field of wind driven generator hubs, the device comprises a hub and a hub cap covering the hub, a hub opening is formed in the side face of the hub cap, and a conveying assembly is installed on the inner wall of the hub; the conveying assembly comprises a sectional type rail fixed to the inner wall of the hub, the sectional type rail extends into the hub from a hub opening, the starting end and the ending end of the sectional type rail are each provided with two servo motors, an electric tackle is carried on the sectional type rail, and a self-adaptive clamping mechanism is arranged at the top of the electric tackle. Manual carrying is replaced by the sectional track and the electric pulley, the problem of low efficiency is solved, the self-adaptive clamping mechanism is used for preventing heavy objects from slipping and overturning, potential safety hazards are eliminated, the sectional track is matched with the radian of the inner wall of a hub, the problem that hoisting equipment is poor in adaptability is solved, meanwhile, the conveying efficiency and accuracy are improved, and the manual labor intensity is reduced; the operation safety is ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of wind turbine hubs, and in particular relates to a device and method for transporting heavy objects inside a 3MW wind turbine hub. Background Art

[0002] The wind turbine hub is a key component of a wind turbine generator set. It's typically located at the top of the tower, connecting the blades to the main shaft. Its function is to convert wind energy captured by the blades into mechanical energy and transmit it to the generator. For a 3MW wind turbine, the hub integrates core mechanisms such as the pitch system, including heavy components like the pitch motor and pitch reducer. These components require regular maintenance or replacement during long-term operation. Because the hub is located at high altitude and has a closed interior, its internal structure is complex and the space is small. Furthermore, the hub rotates during operation, making the internal operating environment highly specialized and challenging. This also creates numerous difficulties in transporting and maintaining these heavy components. In existing technologies, the internal space of the wind turbine hub is small, and heavy components (such as pitch motors and pitch reducers weighing hundreds of kilograms) need to be frequently maintained or replaced. Traditional operation methods rely on manual handling or simple lifting equipment, which has the following problems: (1) Low efficiency: manual handling is time-consuming and susceptible to space constraints; (2) Safety hazards: heavy objects may slip or overturn easily, threatening the safety of operators; (3) Poor adaptability: Existing lifting equipment is large in size and cannot adapt to the complex internal structure of the hub. Summary of the Invention

[0003] The present invention provides a device and method for transporting heavy objects inside a 3MW wind turbine hub, to solve at least one of the above-mentioned technical problems.

[0004] To solve the above technical problems, the present invention discloses a device and method for transporting heavy objects inside a 3MW wind turbine hub. The device includes a hub and a hub cover covering the outside of the hub. A hub opening is formed on the side of the hub cover, and a transport assembly is installed on the inner wall of the hub. The transport component includes a segmented track fixed to the inner wall of the hub. The segmented track extends from the hub mouth to the inside of the hub. Two servo motors are installed at the starting end and the ending end of the segmented track respectively. The segmented track is equipped with an electric pulley, and an adaptive clamping mechanism is provided on the top of the electric pulley.

[0005] Preferably, the segmented track is an arc-shaped double-groove structure, the upper groove carries the running wheel of the electric pulley, and the lower groove is embedded in the anti-drop chain; The segmented track has a segment length of ≤1.5m and is spliced by quick snap fasteners, with its curvature matching the radian of the inner wall of the wheel hub.

[0006] Preferably, the two servo motors adopt a coordinated control mode, the starting end servo motor mainly drives the pulley forward, and the ending end servo motor provides reverse torque braking in real time to prevent the pulley from overshooting; the power distribution of the two servo motors satisfies: ;in, is the servo motor power at the starting end, is the servo motor power at the terminal end, is the distance between the electric pulley and the starting end, The total length of the segmented track.

[0007] Preferably, the electric pulley is provided with a lubrication and cleaning assembly on both sides, and the lubrication and cleaning assembly includes: The cleaning execution module includes an air flow conveying pipe installed in the circumference of the electric pulley and dust collection nozzles arranged at intervals on the air flow conveying pipe; A lubrication execution module includes a lubrication medium delivery pipe installed in the circumference of the electric pulley and medium nozzles arranged at intervals on the lubrication medium delivery pipe; The power supply module includes a negative pressure supply submodule, a medium supply submodule, and an integrated control submodule. The negative pressure supply submodule is connected to the air flow pipe and is used to generate negative pressure. The medium supply submodule is connected to the medium delivery pipe and is used to deliver lubricating medium to the medium delivery pipe. The integrated control submodule is used to control the dust collection pressure of the cleaning execution module and the lubricating medium supply flow rate of the lubrication execution module. The lubrication and cleaning monitoring module is used to monitor the severity of the difficulty of traveling on the segmented track surface, and control the actions of the cleaning execution module, lubrication execution module and power supply module based on the monitoring results.

[0008] Preferably, the lubrication cleaning monitoring module includes: The submodule for calculating the severity evaluation coefficient of the travel difficulty is used to calculate the severity evaluation coefficient of the travel difficulty on the segmented track surface based on the detection value of the friction sensor installed at the bottom of the electric pulley: ;in, is the severity evaluation coefficient of the difficulty of traveling on the segmented track surface of unit length of the i-th section, e is a natural number with a value of 2.71, is the correction factor 1, )express The maximum value in It represents the detection value of the friction sensor when the electric pulley moves to the i-th unit length of the segmented track. The segmented track is divided into p segments. It represents the average value of the friction force sensor detection value of the segmented track when the electric pulley moves in p segments. is the correction factor of two; The lubrication and cleaning decision submodule controls the cleaning execution module, the lubrication execution module and the power supply module to act when the assessment coefficient of the severity of the difficulty of traveling on the segmented track surface per unit length is greater than the preset assessment coefficient of the severity of the difficulty of traveling on the segmented track surface; otherwise, no action is taken.

[0009] Preferably, the integrated control submodule controls the suction pressure of the cleaning execution module including: Calculate the suction pressure of the cleaning execution module when the electric pulley reaches the i-th unit length of the segmented track: ;in, is the suction pressure of the cleaning execution module when the electric pulley reaches the i-th unit length of the segmented track, The base suction pressure for cleaning the execution module is is the real-time travel speed of the electric pulley, is the reference travel speed of the electric pulley; Based on the calculated value of the dust suction pressure of the cleaning execution module when the electric pulley reaches the i-th unit length of the segmented track, the cleaning execution module is controlled when the electric pulley moves to the corresponding unit length of the segmented track.

[0010] Preferably, the integrated control submodule controls the lubrication medium supply flow of the lubrication execution module, including: Calculate the lubricating medium supply flow rate of the lubrication actuator module when the electric pulley reaches the i-th unit length of the segmented track: ;in, The lubricating medium supply flow rate of the lubricating actuator module when the electric pulley reaches the i-th unit length of the segmented track, The reference lubricating medium supply flow for the lubrication execution module, is the reference friction coefficient of the segmented track surface, is the cross-sectional area of the segmented track groove, is the curvature radius of the segmented track; Based on the calculated value of the lubrication medium supply flow rate of the lubrication execution module when the electric pulley moves to the i-th unit length of the segmented track, the lubrication execution module is controlled when the electric pulley moves to the corresponding unit length of the segmented track.

[0011] Preferably, the adaptive clamping mechanism includes a hydraulic clamp and a pressure feedback sensor; The hydraulic clamp is fixed to the top of the electric pulley with bolts. The clamping jaws of the hydraulic clamp are symmetrically distributed and the inner side is attached to the memory alloy elastic sheet. The back of the memory alloy elastic sheet is bonded to the high-strength carbon fiber skeleton with epoxy resin. The opening and closing ends of the clamping jaws are driven by a hydraulic cylinder. The oil inlet of the hydraulic cylinder is connected to the hydraulic pipeline embedded in the inner wall of the wheel hub. The pressure feedback sensor is embedded in the anti-slip tooth pattern on the inner side of the clamping jaw. The pitch adjustment component of the anti-slip tooth pattern includes a micro heating resistor arranged at the bottom of the memory alloy elastic sheet. The micro heating resistor and the pressure feedback sensor are both electrically connected to the clamping controller.

[0012] Preferably, a visual navigation system is also included, and the visual navigation system includes: A video monitoring module is provided on the electric pulley and is used to obtain a monitoring video in the wheel hub and obtain a plurality of key frame images based on the monitoring video; A wheel hub 3D point cloud model construction module is used to construct a wheel hub 3D point cloud model based on a number of key frame images; The target component to be replaced preliminary recognition module is used to input a number of key frame images into the trained component recognition model to obtain component recognition results of the key frame images; The navigation control module controls the electric pulley to stop moving when the component identification result is "the component is the target component to be replaced".

[0013] A method for transporting heavy objects inside a 3MW wind turbine hub comprises the following steps: Step 1: Install the component to be installed on the adaptive clamping mechanism, then start the transport assembly, and the electric pulley begins to slide along the segmented track, while simultaneously building a three-dimensional point cloud model of the wheel hub; Step 2: During the transportation process, the trained component recognition model is used to identify all components within the forward line of sight in real time and determine the location of the target component to be replaced; Step 3: Control the travel stop position of the transport assembly based on the position of the target component to be replaced, and after the transport assembly slides into position, remove the target component to be replaced and install the component to be installed in place; Step 4: After the components to be installed are in place, the lubrication and cleaning monitoring module is started during the return journey of the electric pulley. The lubrication and cleaning monitoring module is used to perform targeted lubrication and cleaning on the parts of the segmented track that need lubrication and cleaning.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The present invention replaces manual handling of heavy objects by providing a transport assembly consisting of a segmented track and an electric pulley, thereby solving the problem of low efficiency caused by time-consuming manual handling and susceptibility to space limitations in the prior art. An adaptive clamping mechanism is provided on the top of the electric pulley to clamp the heavy objects, thereby preventing the heavy objects from slipping or overturning during the transportation process, and solving the safety hazard problems existing in the prior art. The segmented track extends from the hub mouth to the inside of the hub, and its curvature matches the curvature of the inner wall of the hub, so that the transport device can adapt to the complex structure inside the hub, solving the problem of poor adaptability of existing lifting equipment due to its large size. In addition, the electric pulley slides along the track to transport heavy objects, which also improves transportation efficiency and accuracy, reduces manual labor intensity, and ensures the safety of operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 This is a schematic diagram of the heavy object transporting device used inside the hub of a 3MW wind turbine according to the present invention.

[0016] In the figure: 1. Wheel hub; 2. Hub cover; 3. Hub opening; 4. Segmented track; 5. Servo motor. DETAILED DESCRIPTION

[0017] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0018] In addition, in the present invention, descriptions such as "first" and "second" are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but this must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0019] The present invention provides the following embodiments Example 1 The embodiment of the present invention provides a device and method for transporting heavy objects inside the hub of a 3MW wind turbine. Figure 1As shown, it includes a wheel hub 1 and a hub cover 2 covering the outside of the wheel hub 1, a wheel hub opening 3 is opened on the side of the hub cover 2, and a conveying assembly is installed on the inner wall of the wheel hub 1; The transport assembly includes a segmented track 4 fixed to the inner wall of the hub 1. The segmented track 4 extends from the hub opening 3 to the inside of the hub 1. Two servo motors 5 are installed at the starting end and the ending end of the segmented track 4 respectively. An electric pulley is mounted on the segmented track 4, and an adaptive clamping mechanism is provided on the top of the electric pulley.

[0020] A method for transporting heavy objects inside a 3MW wind turbine hub comprises the following steps: Step 1: Install the component to be installed on the adaptive clamping mechanism, then start the transport assembly, and the electric pulley begins to slide along the segmented track 4. During the sliding process, a three-dimensional point cloud model of the hub 1 is synchronously constructed; Step 2: During the transportation process, the trained component recognition model is used to identify all components within the forward line of sight in real time and determine the location of the target component to be replaced; Step 3: Control the travel stop position of the transport assembly based on the position of the target component to be replaced, and after the transport assembly slides into position, remove the target component to be replaced and install the component to be installed in place; Step 4: After the components to be installed are in place, the lubrication and cleaning monitoring module is started during the return journey of the electric pulley, and the lubrication and cleaning monitoring module is used to perform targeted lubrication and cleaning on the parts of the segmented track 4 that need lubrication and cleaning.

[0021] The working principle and beneficial effects of the above technical solution are as follows: the component to be installed is installed on the adaptive clamping mechanism, and then the transport assembly is started, and the electric pulley starts to slide along the segmented track 4, and a three-dimensional point cloud model of the wheel hub 1 is synchronously constructed during the sliding process. During the transportation process, all components within the front sight range are recognized in real time through the trained component recognition model, and the position of the target component to be replaced is determined. The travel stop position of the transport assembly is controlled based on the position of the target component to be replaced. After the transport assembly slides into place, the target component to be replaced is removed, and the component to be installed is installed in place. After the component to be installed is installed in place, the lubrication and cleaning monitoring module is started on the return journey of the electric pulley, and the parts of the segmented track 4 that need lubrication and cleaning are targetedly lubricated and cleaned through the lubrication and cleaning monitoring module; The present invention provides a transport assembly consisting of a segmented track 4 and an electric pulley to replace manual transport of heavy objects, thereby solving the problem of low efficiency caused by time-consuming manual transport and susceptibility to space limitations in the prior art. An adaptive clamping mechanism is provided on the top of the electric pulley to clamp the heavy objects, thereby preventing the heavy objects from slipping or overturning during transportation, and solving the safety hazard problems existing in the prior art. The segmented track 4 extends from the hub mouth 3 to the inside of the hub 1, and its curvature matches the curvature of the inner wall of the hub 1, so that the transport device can adapt to the complex structure inside the hub 1, solving the problem of poor adaptability of existing lifting equipment due to its large size. In addition, the electric pulley slides along the track to transport heavy objects, which also improves transportation efficiency and accuracy, reduces manual labor intensity, and ensures the safety of operators.

[0022] Example 2 On the basis of Example 1, the segmented track 4 is an arc-shaped double-groove structure, the upper groove carries the running wheel of the electric pulley, and the lower groove is embedded in the anti-drop chain; The segmented track 4 has a segment length of ≤1.5m and is spliced by quick snap fastening, and its curvature matches the curvature of the inner wall of the hub 1.

[0023] Preferably, the two servo motors 5 adopt a coordinated control mode, the starting end servo motor 5 mainly drives the pulley forward, and the ending end servo motor 5 provides reverse torque braking in real time to prevent the pulley from overshooting; the power distribution of the two servo motors 5 satisfies: ;in, is the power of servo motor 5 at the starting end, The power of the servo motor 5 at the terminal end, is the distance between the electric pulley and the starting end, The total length of the segmented track is 4.

[0024] The working principle and beneficial effects of the above technical solution are as follows: the segmented track 4 with an arc-shaped double-groove structure, the upper groove carries the walking wheel to ensure the normal movement of the electric pulley, and the lower groove is embedded with an anti-slip chain to prevent the electric pulley from derailing, thereby improving the safety and stability of the transportation device. The segmented track 4 has a segment length of ≤1.5m and is spliced by quick snap-fit, which is convenient for installation, disassembly and maintenance. At the same time, it can better adapt to the curvature of the inner wall of the hub 1, thereby improving the adaptability of the device. The two servo motors 5 adopt a collaborative control mode, and the power distribution formula realizes the main drive of the servo motor at the starting end and the real-time braking of the servo motor at the ending end to prevent the pulley from overshooting, so that the electric pulley can run smoothly and accurately, thereby improving the accuracy and efficiency of heavy object transportation. The power distribution logic is based on the proportional relationship between the distance of the pulley from the starting end and the total length of the track, so that the power of the motors at both ends is dynamically adjusted with the position of the pulley to ensure precise braking.

[0025] Example 3 On the basis of Example 1, a lubrication and cleaning assembly is provided on both sides of the electric pulley, and the lubrication and cleaning assembly includes: The cleaning execution module includes an air flow conveying pipe installed in the circumference of the electric pulley and dust collection nozzles arranged at intervals on the air flow conveying pipe; A lubrication execution module includes a lubrication medium delivery pipe installed in the circumference of the electric pulley and medium nozzles arranged at intervals on the lubrication medium delivery pipe; The power supply module includes a negative pressure supply submodule, a medium supply submodule, and an integrated control submodule. The negative pressure supply submodule is connected to the air flow pipe and is used to generate negative pressure. The medium supply submodule is connected to the medium delivery pipe and is used to deliver lubricating medium to the medium delivery pipe. The integrated control submodule is used to control the dust collection pressure of the cleaning execution module and the lubricating medium supply flow rate of the lubrication execution module. The lubrication and cleaning monitoring module is used to monitor the severity of the difficulty of traveling on the surface of the segmented track 4, and control the actions of the cleaning execution module, the lubrication execution module and the power supply module based on the monitoring results.

[0026] The working principle and beneficial effects of the above technical solution are as follows: by setting a lubrication and cleaning component, the surface of the segmented track 4 can be monitored in real time. When it is monitored that the travel difficulty severity assessment coefficient is greater than a preset value, the cleaning and lubrication action is automatically started, and the track is vacuumed and cleaned through the vacuum nozzle of the cleaning execution module to remove dust, debris, etc. on the track, thereby reducing the friction resistance of the track surface. The track is lubricated through the medium nozzle of the lubrication execution module to reduce the friction between the track and the electric pulley running wheel, thereby extending the service life of the track and the electric pulley, ensuring the normal operation of the conveying device, improving the reliability and stability of the device, and at the same time reducing the workload of manual maintenance and improving maintenance efficiency.

[0027] Example 4 Based on Example 3, the lubrication and cleaning monitoring module includes: The submodule for calculating the severity evaluation coefficient of the travel difficulty is used to calculate the severity evaluation coefficient of the travel difficulty on the surface of the segmented track 4 based on the detection value of the friction sensor installed at the bottom of the electric pulley: ;in, is the severity evaluation coefficient of the difficulty of traveling on the surface of the segmented track 4 of unit length of the i-th section, e is a natural number with a value of 2.71, is the correction factor 1, express The maximum value in It represents the detection value of the friction sensor when the electric pulley travels to the i-th unit length of the segmented track 4. The segmented track 4 is divided into p segments. It represents the average value of the friction force sensor detection value of the electric pulley on the segmented track 4 when the electric pulley is traveling on the segmented track 4. is the correction factor of two; The lubrication and cleaning decision submodule controls the cleaning execution module, the lubrication execution module and the power supply module to act when the evaluation coefficient of the severity of the difficulty of traveling on the surface of the segmented track 4 per unit length is greater than the preset evaluation coefficient of the severity of the difficulty of traveling on the surface of the segmented track 4; otherwise, no action is taken.

[0028] Preferably, the integrated control submodule controls the suction pressure of the cleaning execution module including: Calculate the suction pressure of the cleaning execution module when the electric pulley reaches the i-th unit length of the segmented track 4: ;in, is the suction pressure of the cleaning execution module when the electric pulley reaches the i-th unit length of the segmented track 4, The base suction pressure for cleaning the execution module is is the real-time travel speed of the electric pulley, is the reference travel speed of the electric pulley; Based on the calculated value of the dust suction pressure of the cleaning execution module when the electric pulley reaches the i-th unit length of the segmented track 4, the cleaning execution module is controlled when the electric pulley moves to the corresponding unit length of the segmented track 4.

[0029] Preferably, the integrated control submodule controls the lubrication medium supply flow of the lubrication execution module, including: Calculate the lubricating medium supply flow rate of the lubrication execution module when the electric pulley reaches the i-th unit length of the segmented track 4: ;in, The lubricating medium supply flow rate of the lubrication execution module when the electric pulley reaches the i-th unit length of the segmented track 4, The reference lubricating medium supply flow for the lubrication execution module, is the reference friction coefficient of the surface of the segmented track 4, is the cross-sectional area of the 4 grooves of the segmented track, is the curvature radius of the segmented track 4; Based on the calculated value of the lubrication medium supply flow of the lubrication execution module when the electric pulley reaches the i-th unit length of the segmented track 4, the lubrication execution module is controlled when the electric pulley moves to the corresponding unit length of the segmented track 4.

[0030] The working principle and beneficial effects of the above technical solution: through the calculation formula of the travel difficulty severity assessment coefficient, the maximum value, average value and discreteness of the friction sensor detection value are included in the calculation, which can accurately assess the travel difficulty of the segmented track 4 surface, and control the cleaning and lubrication actions based on the assessment results, thereby achieving targeted maintenance and improving the efficiency and accuracy of maintenance. The dust suction pressure calculation formula of the cleaning execution module combines the assessment coefficient, the travel speed ratio and the friction dispersion, and can automatically adjust the dust suction pressure according to the actual condition of the track to ensure the cleaning effect. The lubrication medium supply flow calculation formula of the lubrication execution module comprehensively assesses the coefficient, speed ratio, track friction coefficient, groove cross-sectional area and curvature radius r, and can automatically adjust the supply flow of the lubricating medium according to different positions and conditions of the track, which not only ensures the lubrication effect, but also avoids the waste of the lubricating medium. Through precise calculation and control, the service life of the segmented track 4 and the operating stability of the conveying device are improved, and the maintenance cost and workload are reduced.

[0031] Example 5 Based on Example 1, the adaptive clamping mechanism includes a hydraulic clamp and a pressure feedback sensor; The hydraulic clamp is fixed to the top of the electric pulley by bolts. The clamping jaws of the hydraulic clamp are symmetrically distributed and the inner side is attached to the memory alloy elastic sheet. The back of the memory alloy elastic sheet is bonded to the high-strength carbon fiber skeleton by epoxy resin. The opening and closing ends of the clamping jaws are driven by a hydraulic cylinder. The oil inlet of the hydraulic cylinder is connected to the hydraulic pipeline embedded in the inner wall of the wheel hub 1. The pressure feedback sensor is embedded in the anti-slip tooth pattern on the inner side of the clamping jaw. The pitch adjustment component of the anti-slip tooth pattern includes a micro heating resistor arranged at the bottom of the memory alloy elastic sheet. The micro heating resistor and the pressure feedback sensor are both electrically connected to the clamping controller.

[0032] The working principle and beneficial effects of the above technical solution are as follows: the adaptive clamping mechanism includes a hydraulic clamp and a pressure feedback sensor. The hydraulic clamp is fixedly installed on the top of the electric pulley by bolts. The clamping jaws of the hydraulic clamp are symmetrically distributed and the inner side is fitted with a memory alloy elastic sheet. The back of the memory alloy elastic sheet is bonded to the high-strength carbon fiber frame by epoxy resin. The opening and closing ends of the clamping jaws are driven by a hydraulic cylinder. The oil inlet of the hydraulic cylinder is connected to the hydraulic pipeline pre-buried in the inner wall of the wheel hub 1. The pressure feedback sensor is embedded in the anti-slip tooth pattern on the inner side of the clamping jaw. The pitch adjustment component of the anti-slip tooth pattern includes a micro heating resistor arranged at the bottom of the memory alloy elastic sheet. The micro heating resistor and the pressure feedback sensor are both electrically connected to the clamping controller. When a heavy object needs to be clamped, the hydraulic pipeline supplies oil to the hydraulic cylinder to drive the clamping jaw to open and close. The memory alloy elastic sheet deforms according to the shape of the heavy object. At the same time, the pressure feedback sensor monitors the clamping pressure and feeds back to the clamping controller. The controller controls the micro heating resistor to heat the memory alloy elastic sheet according to the pressure data, adjusts the pitch of the anti-slip tooth pattern to adapt to heavy objects of different shapes, and realizes adaptive clamping. By providing a hydraulic clamp and a memory alloy elastic sheet, a hydraulic cylinder drives the jaws to open and close, providing sufficient clamping force. The memory alloy elastic sheet has elasticity and memory functions, and can automatically deform according to the shape of the weight, achieving adaptive clamping for weights of different shapes, improving the adaptability of the clamping mechanism. The high-strength carbon fiber frame is bonded to the memory alloy elastic sheet, enhancing the strength and stability of the jaws, preventing deformation or damage to the jaws when clamping the weight. A pressure feedback sensor monitors the clamping pressure in real time to ensure moderate clamping force, avoiding damage to the weight by over-tightening the clamping or slipping due to over-loose clamping, thereby improving the safety and reliability of the clamping. Micro-heating resistors adjust the pitch of the anti-slip teeth, further increasing the friction between the jaws and the weight, enhancing the stability of the clamping, and adapting to weights with different surface roughness. This adaptive clamping mechanism can stably clamp heavy components weighing hundreds of kilograms, such as variable pitch motors and variable pitch reducers, solving the safety hazard of slipping or overturning when handling heavy objects in the background art, and improving the safety and reliability of heavy object transportation.

[0033] Example 6 On the basis of embodiment 1, a visual navigation system is further included, and the visual navigation system includes: A video monitoring module is provided on the electric pulley, and is used to obtain a monitoring video inside the hub 1 and obtain a plurality of key frame images based on the monitoring video; A wheel hub three-dimensional point cloud model construction module is used to construct a wheel hub three-dimensional point cloud model of the wheel hub 1 based on a plurality of key frame images; The target component to be replaced preliminary recognition module is used to input a number of key frame images into the trained component recognition model to obtain component recognition results of the key frame images; The navigation control module controls the electric pulley to stop moving when the component identification result is "the component is the target component to be replaced".

[0034] The working principle and beneficial effects of the above technical solution are as follows: the visual navigation system includes a video monitoring module, a wheel hub three-dimensional point cloud model construction module, a target part to be replaced preliminary identification module and a navigation control module. The video monitoring module is arranged on the electric pulley, and is used to obtain the monitoring video inside the wheel hub 1, and obtain a number of key frame images based on the monitoring video. The wheel hub three-dimensional point cloud model construction module is used to construct a wheel hub three-dimensional point cloud model of the wheel hub 1 based on a number of key frame images. The target part to be replaced preliminary identification module is used to input a number of key frame images into a trained part recognition model to obtain part recognition results of a number of key frame images. When the part recognition result of the navigation control module is "the part is the target part to be replaced", the electric pulley is controlled to stop moving. During the process of the electric pulley transporting heavy objects, the video monitoring module obtains images in real time, constructs a three-dimensional model and identifies the target part, thereby accurately controlling the stop position of the pulley; Through the visual navigation system, it is possible to obtain image information inside the hub 1 in real time, construct a three-dimensional point cloud model, and achieve accurate modeling of the internal structure of the hub 1. The target parts to be replaced are identified through the trained component recognition model, thereby improving the accuracy and efficiency of recognition. The navigation control module accurately controls the stopping position of the electric pulley according to the recognition results, thereby achieving accurate transportation and positioning of heavy objects, avoiding errors in manual position judgment, improving the accuracy and efficiency of transportation and installation, reducing manual intervention, and reducing labor intensity. At the same time, the construction of the three-dimensional point cloud model provides an accurate model reference for subsequent maintenance and inspection, which helps to improve the efficiency and accuracy of the internal maintenance of the entire wind turbine hub 1.

[0035] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A heavy object transport device for the interior of a 3MW wind turbine hub, characterized in that: It comprises a wheel hub (1) and a wheel hub cover (2) covering the outside of the wheel hub (1), a wheel hub opening (3) is provided on the side of the wheel hub cover (2), and a conveying assembly is installed on the inner wall of the wheel hub (1); The transport assembly comprises a segmented track (4) fixed to the inner wall of the wheel hub (1), the segmented track (4) extending from the wheel hub opening (3) to the interior of the wheel hub (1), two servo motors (5) being respectively installed at the starting end and the ending end of the segmented track (4), an electric pulley being mounted on the segmented track (4), and an adaptive clamping mechanism being provided on the top of the electric pulley.

2. The heavy object transporting device for the interior of a 3MW wind turbine hub according to claim 1, characterized in that: The segmented track (4) is an arc-shaped double-groove structure, the upper groove carries the running wheel of the electric pulley, and the lower groove is embedded in the anti-drop chain; The segmented track (4) has a segment length of ≤1.5m and is spliced by quick snap fastening, and its curvature matches the curvature of the inner wall of the wheel hub (1).

3. The heavy object transporting device for the interior of a 3MW wind turbine hub according to claim 1, characterized in that: The two servo motors (5) adopt a coordinated control mode, the starting end servo motor (5) mainly drives the pulley forward, and the ending end servo motor (5) provides reverse torque braking in real time to prevent the pulley from overshooting; the power distribution of the two servo motors (5) satisfies: ;in, is the power of the servo motor (5) at the starting end, is the power of the servo motor (5) at the terminal end, is the distance between the electric pulley and the starting end, is the total length of the segmented track (4).

4. The heavy object transporting device for the interior of a 3MW wind turbine hub according to claim 1, characterized in that: The electric pulley is equipped with lubrication and cleaning components on both sides, which include: The cleaning execution module includes an air flow conveying pipe installed in the circumference of the electric pulley and dust collection nozzles arranged at intervals on the air flow conveying pipe; A lubrication execution module includes a lubrication medium delivery pipe installed in the circumference of the electric pulley and medium nozzles arranged at intervals on the lubrication medium delivery pipe; The power supply module includes a negative pressure supply submodule, a medium supply submodule, and an integrated control submodule. The negative pressure supply submodule is connected to the air flow pipe and is used to generate negative pressure. The medium supply submodule is connected to the medium delivery pipe and is used to deliver lubricating medium to the medium delivery pipe. The integrated control submodule is used to control the dust collection pressure of the cleaning execution module and the lubricating medium supply flow rate of the lubrication execution module. The lubrication and cleaning monitoring module is used to monitor the severity of the difficulty of traveling on the surface of the segmented track (4), and control the actions of the cleaning execution module, the lubrication execution module and the power supply module based on the monitoring results.

5. The heavy object transporting device for the interior of a 3MW wind turbine hub according to claim 4, characterized in that: The lubrication and cleaning monitoring module includes: The submodule for calculating the severity evaluation coefficient of the difficulty of traveling is used to calculate the severity evaluation coefficient of the difficulty of traveling on the surface of the segmented track (4) based on the detection value of the friction sensor installed at the bottom of the electric pulley: ;in, is the evaluation coefficient of the severity of the difficulty of traveling on the surface of the segmented track (4) of unit length of the i-th section, e is a natural number with a value of 2.71, is the correction factor 1, )express The maximum value in It represents the detection value of the friction sensor when the electric pulley moves to the i-th unit length segmented track (4). The segmented track (4) is divided into p segments. It represents the average value of the friction force sensor detection value when the electric pulley travels on the segmented track (4) of the p-segment track. is the correction factor of two; The lubrication and cleaning decision submodule controls the cleaning execution module, the lubrication execution module and the power supply module to act when the evaluation coefficient of the severity of the difficulty of traveling on the surface of the segmented track (4) per unit length is greater than the preset evaluation coefficient of the severity of the difficulty of traveling on the surface of the segmented track (4); otherwise, no action is taken.

6. The heavy object transporting device for the interior of a 3MW wind turbine hub according to claim 5, characterized in that: The integrated control submodule controls the suction pressure of the cleaning execution module including: Calculate the suction pressure of the cleaning execution module when the electric pulley reaches the i-th unit length of the segmented track (4): ;in, is the suction pressure of the cleaning execution module when the electric pulley reaches the i-th unit length of the segmented track (4), The base suction pressure for cleaning the execution module is is the real-time travel speed of the electric pulley, is the reference travel speed of the electric pulley; Based on the calculated value of the dust suction pressure of the cleaning execution module when the electric pulley reaches the i-th unit length segmented track (4), the cleaning execution module is controlled when the electric pulley moves to the corresponding unit length segmented track (4).

7. The heavy object transporting device for the interior of a 3MW wind turbine hub according to claim 5, characterized in that: The integrated control submodule controls the lubrication medium supply flow of the lubrication execution module, including: Calculate the lubricating medium supply flow rate of the lubrication execution module when the electric pulley reaches the i-th unit length of the segmented track (4): ;in, The lubricating medium supply flow rate of the lubricating actuator module when the electric pulley reaches the i-th unit length of the segmented track (4) is The reference lubricating medium supply flow for the lubrication execution module, is the reference friction coefficient of the surface of the segmented track (4), is the cross-sectional area of the groove of the segmented track (4), is the curvature radius of the segmented track (4); Based on the calculated value of the lubrication medium supply flow of the lubrication execution module when the electric pulley reaches the i-th unit length of the segmented track (4), the lubrication execution module is controlled when the electric pulley moves to the corresponding unit length of the segmented track (4).

8. The heavy object transporting device for the interior of a 3MW wind turbine hub according to claim 1, characterized in that: The adaptive clamping mechanism includes a hydraulic clamp and a pressure feedback sensor; The hydraulic clamp is fixedly mounted on the top of the electric pulley by bolts, the clamping jaws of the hydraulic clamp are symmetrically distributed and the inner side is fitted with a memory alloy elastic sheet, the back side of the memory alloy elastic sheet is bonded to the high-strength carbon fiber skeleton by epoxy resin, the opening and closing ends of the clamping jaws are driven by a hydraulic cylinder, and the oil inlet of the hydraulic cylinder is connected to a hydraulic pipeline pre-buried in the inner wall of the wheel hub (1); The pressure feedback sensor is embedded in the anti-slip tooth pattern inside the clamping jaw. The pitch adjustment component of the anti-slip tooth pattern includes a micro heating resistor arranged at the bottom of the memory alloy elastic sheet. The micro heating resistor and the pressure feedback sensor are both electrically connected to the clamping controller.

9. The heavy object transporting device for the interior of a 3MW wind turbine hub according to claim 1, characterized in that: It also includes a visual navigation system, which includes: A video monitoring module is provided on the electric pulley and is used to obtain a monitoring video in the wheel hub (1) and obtain a plurality of key frame images based on the monitoring video; A wheel hub three-dimensional point cloud model building module is used to build a wheel hub three-dimensional point cloud model of the wheel hub (1) based on a plurality of key frame images; The target component to be replaced preliminary recognition module is used to input a number of key frame images into the trained component recognition model to obtain component recognition results of the key frame images; The navigation control module controls the electric pulley to stop moving when the component identification result is "the component is the target component to be replaced".

10. A method for transporting heavy objects inside a 3MW wind turbine hub, comprising transporting heavy objects using a heavy object transporting device for use inside a 3MW wind turbine hub according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: The component to be installed is mounted on the adaptive clamping mechanism, and then the transport assembly is started, and the electric pulley begins to slide along the segmented track (4), and a three-dimensional point cloud model of the wheel hub (1) is synchronously constructed during the sliding process; Step 2: During the transportation process, the trained component recognition model is used to identify all components within the forward line of sight in real time and determine the location of the target component to be replaced; Step 3: Control the travel stop position of the transport assembly based on the position of the target component to be replaced, and after the transport assembly slides into position, remove the target component to be replaced and install the component to be installed in place; Step 4: After the components to be installed are in place, the lubrication and cleaning monitoring module is started during the return journey of the electric pulley, and the lubrication and cleaning monitoring module is used to perform targeted lubrication and cleaning on the parts of the segmented track (4) that need lubrication and cleaning.

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