Turnover device for wind power generation blade

Abstract

The invention provides a wind power generation blade overturning device, and relates to the technical field of wind power generation blade overturning, the wind power generation blade overturning device comprises a position maintaining part, the position maintaining part comprises a fixed supporting position and a movable supporting position, the fixed supporting position is used for clamping a hub mounting end of a wind power generation blade through a fixed support supporting device, and the movable supporting position is used for supporting the hub mounting end of the wind power generation blade; the movable supporting position is used for supporting the erecting device through the movable support so as to clamp the end, away from a hub, of the wind power generation blade, and the moving freedom degree of the movable supporting position is larger than that of the fixed supporting position. A first adaptation unit that clamps and fixes the wind turbine blade at the fixed support position and acquires a first displacement amount of the blade with respect to the work space; a movement correction unit that corrects the position of the erection device at the movable support position on the basis of the first amount of shift; a second adaptation unit that adapts the rotation of the wind turbine blade at the movable support position and acquires a second amount of displacement of the blade with respect to the work space; and an operation execution unit that corrects the turning operation of the wind turbine blade on the basis of the second offset amount.

Description

Technical Field

[0001] The present invention relates to the technical field of wind power blade flipping, in particular to a wind power blade flipping device. Background Art

[0002] Wind power generation refers to the conversion of wind kinetic energy into mechanical kinetic energy, and then converting mechanical energy into electrical kinetic energy. The wind rotor rotates under the action of wind, converting the wind kinetic energy into mechanical energy of the wind rotor shaft. The generator rotates under the drive of the wind rotor shaft to generate electricity. It is an important form of wind energy utilization.

[0003] As an important component of the wind power generation system, a wind turbine generally includes components such as a wind rotor, a generator (including devices), a direction regulator (tail wing), a tower, a speed limiting safety mechanism and an energy storage device. The wind rotor is composed of blades, a hub, reinforcements and other components.

[0004] The patent document with announcement number CN220922345U discloses a flipping device for wind turbine blades. By setting a flipping component, the blade is placed in a movable wheel, and the blade is clamped and fixed by a clamping component. Then, the connecting ring can be held by hand to drive the movable wheel to rotate, so that the movable wheel rotates in the movable groove until the blade is flipped over. Using this device to flip the blade greatly reduces the cost of use compared to large machinery, and it is also more convenient and easy to use, which greatly increases the practicality of the device.

[0005] However, in the process of implementing the above technical solution, it was found that the above technical solution had the following technical problems: When using the flipping device of the wind turbine blade, the blade needs to be placed in the movable wheel for flipping, which is more convenient to use. However, in actual application, both ends of the blade need to be clamped and fixed, and then rotated synchronously. The shape of the blade is not square and not cylindrical. When using the existing flipping device to flip at one end, the other end is likely to interfere, which is inconvenient to use. Summary of the Invention

[0006] In order to overcome the problem that in the actual application of the existing wind turbine blade flipping device, both ends of the blade need to be clamped and fixed, and then rotated synchronously, and the shape of the blade is not square and not cylindrical, when the existing flipping device is used to flip at one end, the other end is likely to interfere, which is inconvenient to use, the embodiment of the present application provides a flipping device for wind turbine blades, which drives the wind turbine blades to rotate by controlling the rotation of the erection device on the top of the fixed bracket, and the end of the wind turbine blade located at the top of the movable bracket drives the erection device to rotate, so that the movable bracket can be matched with the movable sleeve and the column and supported by the second spring to move up and down, and at the same time, the four walking rollers at the bottom of the base frame are used to make the erection device move in the horizontal direction, thereby adapting to the rotation of the wind turbine blade away from the end installed with the hub, which is simple and convenient.

[0007] The technical solution adopted by the embodiment of the present application to solve the technical problem is: A wind turbine blade turning device having: A position holding portion, comprising a fixed support position and a movable support position, wherein the fixed support position is used to clamp the hub mounting end of the wind turbine blade through a fixed support support installation device, and the movable support position is used to clamp the end of the wind turbine blade away from the hub through a movable support support installation device, and the movable support position has a greater degree of freedom of movement than the fixed support position; a first adapting portion for clamping and fixing the wind turbine blade at a fixed support position to obtain a first offset of the blade relative to the working space; a moving correction unit configured to correct a position of the erection device at the movable support position according to the first offset; a second adapting portion, which performs rotational adaptation of the wind turbine blade at the movable support position to obtain a second offset of the blade relative to the working space; and An action execution unit corrects the flipping action of the wind turbine blade according to the second offset.

[0008] A wind turbine blade turning device having: A position holding portion, comprising a fixed support position and a movable support position, wherein the fixed support position is used to clamp the hub mounting end of the wind turbine blade through a fixed support support installation device, and the movable support position is used to clamp the end of the wind turbine blade away from the hub through a movable support support installation device, and the movable support position has a greater degree of freedom of movement than the fixed support position; An adaption part, which sequentially performs the blade clamping and fixing at the fixed support position and the blade rotation adaptation at the movable support position; a position data output unit configured to output position data representing a specific support position based on a first offset between the blade and the working space obtained by clamping and fixing at the fixed support position; and an action execution unit for correcting the turning action of the blade according to a second offset of the blade relative to the working space obtained by the rotation adaptation at the movable support position; The active support position is represented by the specific support position.

[0009] A wind turbine blade turning device having: A position holding portion having a fixed support position and a movable support position, wherein the fixed support position is used to clamp the hub mounting end of the wind turbine blade through a fixed support support installation device, and the movable support position is used to clamp the end of the wind turbine blade away from the hub through a movable support support installation device, and the movable support position has a greater degree of freedom of movement than the fixed support position; An adaption part, which sequentially performs the blade clamping and fixing at the fixed support position and the blade rotation adaptation at the movable support position; a position data output unit that outputs position data representing a specific support position based on a detected position of the blade obtained by clamping and fixing at the fixed support position; and an action execution unit for correcting the turning action of the blade according to an offset of the blade relative to the working space obtained by the rotation adaptation at the movable support position; The active support position is represented by the specific support position.

[0010] Furthermore, the movement correction unit corrects the position of the installation device by shifting a user coordinate system representing the movable support position according to the first offset amount.

[0011] Furthermore, the fixed support position is a teaching position expressed by a first coordinate system, and in the clamping and fixing based on the first adapting portion, the erection device moves according to the first coordinate system; The movable support position is a taught position expressed by a second coordinate system different from the first coordinate system, and the mounting device moves according to the second coordinate system during the rotational adaptation based on the second adapting portion; The movement correction unit corrects the position of the installation device by shifting the second coordinate system according to the first offset amount.

[0012] Furthermore, the second coordinate system is a user coordinate system set according to user settings.

[0013] Furthermore, the movement correction unit provides a user interface for specifying the object to be shifted according to the first offset, ie, the second coordinate system.

[0014] Furthermore, the movement correction unit has: a position data output unit that generates and sets basic data representing a specific support position based on the blade detection position of the first adaptation unit; The active support position is represented by the specific support position.

[0015] Furthermore, the position data output unit provides a user interface for accepting designation of a support position as an output destination for outputting the position data.

[0016] Furthermore, the specific support position is a user support position set by the user.

[0017] The beneficial effects of this application are: 1. The present invention's movable support has movable sleeves welded to the four corners of its base, which are internally slidably connected to the columns. The base of the columns is equipped with travel rollers via a base frame. This structure allows the movable support to have three degrees of freedom: horizontal movement, vertical floating, and rotation. When the mounting device at the fixed support end drives the blade to rotate, the blade will shift away from the hub end due to its irregular shape. In this case, the movable support can move horizontally via the travel rollers, while the movable sleeves cooperate with the columns and support the second spring to achieve vertical floating, thereby tracking the position changes of the blade end in real time. In the prior art, blade turning devices often use fixed clamping structures. When the blade is non-square or rotated, the other end is prone to interfering with the working space. However, the present invention utilizes horizontal movement of the travel rollers (e.g., the base frame can slide along the ground) and vertical movement of the movable sleeves (e.g., the second spring compression automatically adjusts with the blade height) to ensure that the mounting device at the movable support end always remains synchronized with the blade end. For example, when the blade rotates, the end is offset 3 cm to the left, and the walking roller will drive the movable bracket to move 3 cm to the right. At the same time, the movable sleeve rises 2 cm under the action of the second spring to compensate for the height change caused by rotation and prevent the blade from colliding with the ground or other equipment.

[0018] 2. A dual-coordinate system collaborative correction mechanism improves the positional accuracy and coordination of blade flipping. This application utilizes independent settings for the first coordinate system (fixed support position) and the second coordinate system (movable support position). A mobile correction unit adjusts the position of the second coordinate system based on a first offset, achieving precise synchronization of the mounting devices at both ends. The fixed support position clamps the blade using the first coordinate system as a reference and detects the deviation between the actual and theoretical blade positions (i.e., the first offset). The mobile correction unit then maps this offset to the second coordinate system. By shifting the origin and coordinate axes of the second coordinate system, the mounting device at the movable support position is adjusted accordingly. For example, if the blade is offset by 5 cm in the positive X-axis direction in the first coordinate system, the mobile correction unit shifts the second coordinate system by 5 cm in the negative X-axis direction. At this point, the movable support's travel rollers drive the base frame to move 5 cm in the negative X-axis direction. The movable sleeve, acting on a second spring, adjusts its vertical position to ensure that the mounting device at the movable end matches the blade end. Furthermore, the second coordinate system can be customized by the user, such as adjusting the origin position or coordinate axis orientation based on the workspace layout. If there's an obstacle on the right side of the workspace, the user can set the X-axis of the secondary coordinate system to the left, limiting the movable support's movement to the left, thus avoiding collision risk. Furthermore, for blades of varying lengths (e.g., 50 to 80 meters), the user can set the horizontal origin of the secondary coordinate system to align the initial position of the movable support with the blade length, eliminating the need for repeated adjustments to the mechanical structure.

[0019] 3. The spring buffer support structure takes into account both blade clamping stability and damage protection. A first spring and a second spring are respectively arranged at the clamping end and the movable support end to form an elastic support system. The first spring is installed between the pressure plate and the support plate at the clamping end. When the pull rod passes through the threaded connection nut of the load-bearing plate, the first spring is compressed to generate an elastic clamping force, so that the pressure plate is tightly attached to the blade surface. This design can not only ensure that the clamping force is evenly distributed (avoiding local stress concentration that may cause damage to the blade), but also adapt to the irregular shape of the blade surface (for example, when the root of the blade is a curved surface, the spring compression amount is automatically adjusted to ensure fit). In addition, the elastic compensation function of the spring structure can automatically adapt to blade manufacturing errors. For example, the hub mounting end dimensions of blades from different batches may have a deviation of ±2cm. The compression amount of the first spring can be automatically adjusted as the size changes, without the need for manual modification of the clamping parameters, thereby improving the versatility of the device.

[0020] 4. The motion correction unit is equipped with a user interface that allows users to specify the displacement object and parameters of the second coordinate system, achieving human-machine collaborative control. Users can use the interface to input the displacement direction (e.g., positive / negative direction of the X-axis) and amplitude (e.g., 5cm). The system converts the instructions into the number of rotations of the travel roller and the sliding amount of the movable sleeve, accurately adjusting the position of the movable bracket. For example, if the blade is detected to be offset 4.7cm to the left at the fixed support end, the user can directly enter "4.7cm in the negative direction of the X-axis of the second coordinate system" in the interface. The system will drive the travel roller to move 4.7cm to ensure accurate compensation at the movable end. Users can first perform a coarse correction (e.g., a 5cm shift), observe the blade status, and then perform a fine correction (e.g., a 0.3cm shift) to adapt to complex flipping scenarios. At the same time, the interface has a safety limit function. When the input displacement exceeds the mechanical travel of the movable bracket (e.g., the maximum travel distance of the travel roller ±10cm), the system automatically prompts an error and prohibits execution to prevent equipment overload and damage.

[0021] 5. Multi-dimensional offset detection and dynamic correction ensure the accuracy of the blade flipping trajectory. Specifically, the first adaptation unit and the second adaptation unit respectively obtain the offset of the blade in the clamping stage and the rotation stage, and combine with the action execution unit to achieve dual correction. In the clamping stage, the first adaptation unit detects the first offset between the actual position of the blade and the theoretical position (such as X-axis offset +3cm, Y-axis offset -2cm) through a sensor (such as a displacement sensor on the pressure plate). The mobile correction unit adjusts the position of the movable bracket according to this offset to complete the pre-correction. In the rotation stage, the second adaptation unit detects the second offset between the blade rotation trajectory and the theoretical trajectory (such as the angle deviation of +1° caused by inertia). The action execution unit controls the drive motor of the fixed end mounting device to adjust the rotation angle, and at the same time, the mobile correction unit fine-tunes the position of the movable bracket to achieve dynamic compensation. In addition, this mechanism can adapt to nonlinear motion during the blade flipping process. When the blade rotates to 45°, an additional offset occurs due to the change in the center of gravity. The second adaptation unit detects the offset in real time and feeds it back to the action execution unit. The drive motor immediately adjusts the speed (for example, from 5° / s to 6° / s). At the same time, the movable bracket moves 0.5 cm through the walking roller to compensate for the position deviation and ensure a smooth and continuous flipping trajectory. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention in use; Figure 2 A schematic diagram of the connection structure between the mounting device and the fixing bracket of the present invention; Figure 3 A schematic diagram of the connection structure between the mounting device and the movable bracket of the present invention; Figure 4 For the present invention Figure 3 A magnified schematic diagram of part A in the middle; Figure 5It is a structural schematic diagram of the buckle of the present invention; Figure 6 For the present invention Figure 5 Enlarged schematic diagram of part B in the middle.

[0023] Figure numerals: 1. erection device; 101. buckle; 102. support ring; 103. pressure plate; 104. circular ring; 105. guide rod; 106. first spring; 107. pull rod; 108. load-bearing plate; 109. support plate; 110. nut; 111. snap ring; 2. wind turbine blade; 3. first ring groove; 4. fixed bracket; 5. first roller; 6. movable notch; 7. second roller; 8. movable bracket; 9. movable sleeve; 10. column; 11. base frame; 12. walking roller; 13. second ring groove; 14. second spring. DETAILED DESCRIPTION

[0024] The technical solution in the embodiments of the present application is to solve the problems of the above-mentioned background technology, and the overall idea is as follows: A flipping device for a wind turbine blade comprises: a position holding portion, which includes a fixed support position and a movable support position, wherein the fixed support position is used to support an erection device 1 through a fixed bracket 4 to clamp the hub mounting end of the wind turbine blade 2, and the movable support position is used to support the erection device 1 through a movable bracket 8 to clamp the end of the wind turbine blade 2 away from the hub, and the movable support position has a greater degree of freedom of movement than the fixed support position; a first adaptation portion, which clamps and fixes the wind turbine blade 2 at the fixed support position to obtain a first offset of the blade relative to the working space; a movement correction portion, which corrects the position of the erection device 1 at the movable support position according to the first offset; a second adaptation portion, which rotates and adapts the wind turbine blade 2 at the movable support position to obtain a second offset of the blade relative to the working space; and an action execution portion, which corrects the flipping action of the wind turbine blade 2 according to the second offset.

[0025] In the above embodiment, the fixed support position is a combination of the fixed bracket 4 and the erection device 1. The top of the fixed bracket 4 forms a triangular support structure through the first roller 5 and the second roller 7 at the bottom of the erection device 1, such as Figure 2 As shown, the mounting device 1 can rotate around its own axis while limiting its axial movement. This position achieves stable clamping of the hub mounting end of the wind turbine blade 2 by fixing the rigid structure of the bracket 4, and its only degree of freedom of movement is rotation around the axis.

[0026] The movable support position is composed of a movable bracket 8, a movable sleeve 9, a column 10, a second spring 14 and a base frame 11. The movable bracket 8 is welded with movable sleeves 9 at the four corners, and the column 10 is internally slidably connected. The base frame 11 is welded at the bottom of the column 10, and the four corners of the base frame 11 are equipped with walking rollers 12. Figure 3This structure enables the movable support position to have three-dimensional freedom of movement: horizontal movement is achieved through the walking roller 12, vertical floating is achieved through the sliding fit between the movable sleeve 9 and the column 10 and the elastic support of the second spring 14, and the mounting device 1 can rotate around the axis.

[0027] The clamping and fixing mechanism of the first adapting part: In the fixed support position, the buckle 101 of the mounting device 1 and the support ring 102 form a clamping structure. Specifically, the hub mounting end of the wind turbine blade 2 is placed between the pressure plate 103 and the bearing plate 108. The pull rod 107 passes through the bearing plate 108 and is threadedly connected to the nut 110, compressing the first spring 106 between the support plate 109 and the pressure plate 103, so that the pressure plate 103 is tightly attached to the blade surface for fixation. Figure 5 During the clamping process, the first offset is obtained by detecting the difference between the actual position of the blade relative to the working space and the theoretical position. This offset may be caused by factors such as the shape error of the blade itself and the installation error of the fixing bracket 4.

[0028] The position calibration principle of the movable correction part: According to the first offset, the position of the erection device 1 is adjusted through the mechanical structure of the movable support position. Specifically, the walking roller 12 at the bottom of the base frame 11 can move in the horizontal direction to adjust the horizontal position of the movable bracket 8; the movable sleeve 9 cooperates with the column 10, and under the action of the second spring 14, the movable bracket 8 can float up and down to compensate for the vertical offset. Figure 4 When the fixed support position detects that the blade is deflected in a certain direction, the movable correction unit drives the movable bracket 8 to move in the opposite direction via the travel roller 12. At the same time, the second spring 14 adjusts the height of the movable bracket 8 so that the mounting device 1 at the movable support position matches the position of the blade away from the hub end, avoiding interference during flipping.

[0029] The second adaption part's rotation adaptation process: In the movable support position, when the mounting device 1 at the fixed support position drives the blade to rotate, the mounting device 1 at the movable support position rotates synchronously with the blade. At this time, the movable bracket 8 adapts to the height change caused by the blade rotation through the sliding of the movable sleeve 9 and the column 10 and the elastic support of the second spring 14. At the same time, the walking roller 12 allows the movable bracket 8 to move slightly in the horizontal direction to compensate for the position deviation during the blade rotation. Figure 1 shown.

[0030] Second offset acquisition: During the rotation adaptation process, the difference between the actual rotation trajectory of the blade relative to the working space and the theoretical trajectory is detected to obtain the second offset. This offset is mainly caused by factors such as the inertia of the blade during rotation and the mechanical clearance of the movable support position.

[0031] The action execution unit's flip correction function includes adjusting the rotation of the fixed support position mounting device 1 based on the second offset. For example, if the blade's rotation trajectory deviates from the theoretical value, the action execution unit controls the mounting device 1's drive mechanism, such as the motor, to adjust the rotation speed or angle to ensure precise blade flipping. The action execution unit works in conjunction with the motion correction unit. When the second offset involves both positional and angular deviations, the motion correction unit not only adjusts the mounting device 1's rotation but also fine-tunes the coordinates of the movable support position to ensure synchronization between both ends of the blade during flipping.

[0032] In some embodiments, a flipping device for a wind turbine blade comprises: a position maintaining portion, which includes a fixed support position and a movable support position, wherein the fixed support position is used to support the erection device 1 through a fixed bracket 4 to clamp the hub mounting end of the wind turbine blade 2, and the movable support position is used to support the erection device 1 through a movable bracket 8 to clamp the end of the wind turbine blade 2 away from the hub, and the movable support position has a greater degree of freedom of movement than the fixed support position; an adaptation portion, which sequentially performs blade clamping and fixing at the fixed support position and blade rotation adaptation at the movable support position; a position data output portion, which outputs position data representing a specific support position based on a first offset between the blade and the working space obtained by clamping and fixing at the fixed support position; and an action execution portion, which corrects the flipping action of the blade based on a second offset between the blade and the working space obtained by rotation adaptation at the movable support position; the movable support position is represented by the specific support position.

[0033] In the above embodiment, the fixed support position clamping is performed by the retaining ring 101, support ring 102, pressure plate 103 and first spring 106 of the mounting device 1, so as to fix the blade hub mounting end in the mounting device 1 at the top of the fixed bracket 4. During this process, the first spring 106 between the support plate 109 and the pressure plate 103 is compressed, generating an elastic clamping force to ensure that the blade is firmly fixed and avoid damage, such as Figure 5 shown.

[0034] The movable support position rotation adaptation is that when the erection device 1 at the fixed support position drives the blade to rotate, the erection device 1 at the movable support position rotates synchronously with the blade. At this time, the movable bracket 8 floats in the vertical direction through the sliding fit between the movable sleeve 9 and the column 10 and the elastic support of the second spring 14; the walking roller 12 at the bottom of the base 11 allows the movable bracket 8 to move in the horizontal direction, thereby adapting to the position change when the blade rotates and avoiding interference, such as Figure 3 shown.

[0035] The offset processing mechanism of the position data output unit: After clamping the blade at the fixed support position, the actual position of the blade relative to the workspace is detected, and the difference between this and the theoretical position is calculated to generate first offset data. This data is processed by the position data output unit and used to determine the "specific support position," the target position to which the movable support position should be adjusted. For example, if the blade is detected to be offset 5 cm to the left at the fixed support position, the position data output by the position data output unit should instruct the mounting device 1 of the movable support position to offset 5 cm to the right to compensate for this deviation.

[0036] The position data output unit converts the first offset into a coordinate offset of the movable support position, such as the horizontal movement distance of the movable support 8 via the travel rollers 12 and the vertical movement distance via the movable sleeve 9. For example, the movement of the travel rollers 12 directly corresponds to the change in the horizontal coordinate, and the sliding distance of the movable sleeve 9 corresponds to the change in the vertical coordinate.

[0037] The mechanical realization principle of the specific support position includes: the first coordinate definition: the specific support position is determined by the position data output unit according to the first offset, which is essentially the target coordinate of the movable support position. The target coordinate is reflected by the position of the movable bracket 8, specifically including: the moving distance of the base frame 11 through the walking roller 12 in the horizontal direction, the sliding distance of the movable bracket 8 through the movable sleeve 9 and the column 10 in the vertical direction, and the rotation angle of the erection device 1. The second dynamic adjustment process: after the position data output unit outputs the position data of the specific support position, the mobile correction unit adjusts the movable bracket 8 to the specific support position by controlling the movement of the walking roller 12 and the sliding of the movable sleeve 9. For example, if the position data indicates that the movable support position needs to move upward by 10 cm, the second spring 14 is compressed by 10 cm, driving the movable bracket 8 to rise, so that the erection device 1 reaches the target position.

[0038] The flip correction optimization of the action execution unit includes: dual offset coordinated correction, the specific action execution unit not only corrects the flipping action of the blade according to the second offset, but also combines the specific support position information provided by the position data output unit to achieve more precise control. For example, when the blade generates position offset and angle deviation at the same time during the rotation process, the action execution unit adjusts the rotation angle of the fixed support position erection device 1 to correct the angle deviation on the one hand, and on the other hand, fine-tunes the coordinates of the movable support position through the mobile correction unit to correct the position offset, ensuring that the blade flipping trajectory is consistent with the theoretical trajectory. The correction action of the action execution unit is realized by the driving mechanism of the erection device 1, for example, the motor drives the erection device 1 to rotate; at the same time, the mobile correction unit realizes the position adjustment of the movable bracket 8 through the driving motor of the walking roller 12 and the hydraulic or pneumatic device in the movable sleeve 9. This mechatronic design enables the action execution unit to accurately perform the flip correction action according to the instructions of the position data output unit.

[0039] In some embodiments, a flipping device for a wind turbine blade comprises: a position maintaining portion having a fixed support position and a movable support position, wherein the fixed support position is used to support the erection device 1 through a fixed bracket 4 to clamp the hub mounting end of the wind turbine blade 2, and the movable support position is used to support the erection device 1 through a movable bracket 8 to clamp the end of the wind turbine blade 2 away from the hub, and the movable support position has a greater degree of freedom of movement than the fixed support position; an adaptation portion, which sequentially performs blade clamping and fixing at the fixed support position and blade rotation adaptation at the movable support position; a position data output portion, which outputs position data representing a specific support position based on the detection position of the blade obtained by clamping and fixing at the fixed support position; and an action execution portion, which corrects the flipping action of the blade based on the offset of the blade relative to the working space obtained by the rotation adaptation at the movable support position; the movable support position is represented by the specific support position.

[0040] In the above embodiment, the blade position detection principle is as follows: when a blade is clamped in a fixed support position, sensors can be installed in the structure of the erection device 1 to detect key points on the blade surface, such as the blade edge and centerline, to obtain the actual position of the blade relative to the working space. For example, displacement sensors can be installed on the pressure plate 103 and the support plate 108 of the erection device 1 to detect the difference between the actual position of the blade after clamping and the theoretical clamping position.

[0041] The detection process depends on the precise structure of the mounting device 1, such as the concentricity of the buckle 101 and the support ring 102, the parallelism of the pressure plate 103 and the load-bearing plate 108, etc. Among them, "the four pull rods 107 are respectively slidably connected to the inside of the four corners of the pressure plate 103", such as Figure 5 As shown, it is ensured that the pressure plate 103 uniformly compresses the first spring 106, so that the blade clamping position is accurate, providing a basis for the reliability of the detection position.

[0042] The processing logic of the position data output unit includes: calculating the deviation between the detected actual position of the blade and the theoretical position, and generating the first offset data. This data includes the position deviation and the angle deviation in the horizontal and vertical directions. For example, the blade is offset 3 cm to the left at the fixed support position and rotates 2° clockwise at the same time. Based on the first offset, the position data output unit determines the target coordinates of the movable support position, that is, the specific support position. This process is equivalent to "mapping" the offset of the fixed support position to the movable support position, so that the installation device 1 of the movable support position can compensate for the offset. For example, if the blade at the fixed support position is offset 3 cm to the left, the specific support position should instruct the installation device 1 of the movable support position to offset 3 cm to the right to ensure that the two ends of the blade are synchronized when flipping.

[0043] Mapping between the movable support position and the specific support position: The specific support position is the specific position parameter of the movable bracket 8, including: Horizontal direction: The distance the base frame 11 moves via the running rollers 12, for example, 3 cm to the right. Vertical direction: The distance the movable bracket 8 slides between the movable sleeve 9 and the column 10, for example, 2 cm upward. Rotation angle: The rotation angle of the mounting device 1 relative to the initial position, for example, 2° counterclockwise.

[0044] Dynamic Adjustment Process: The motion correction unit controls the drive motor of the travel roller 12 and the elastic mechanism within the movable sleeve 9, specifically the second spring 14, based on the parameters of the specific support position, to adjust the movable support 8 to the target position. For example, if the travel roller 12 rolls 3 cm to the right, the movable support 8 moves 2 cm upward under the action of the second spring 14, and the mounting device 1 rotates 2° counterclockwise, precisely aligning the movable support position with the specific support position.

[0045] The collaborative mechanism of offset correction includes: first offset preprocessing: before the movable support position is rotated and adapted, the first offset is converted into a specific support position through the position data output unit, so that the erection device 1 of the movable support position is adjusted to the compensation position in advance, thereby reducing the offset in the subsequent rotation adaptation process. For example, if the blade offset of the fixed support position is not compensated, the blade of the movable support position may produce a larger second offset due to the initial position deviation when rotating. By adjusting the movable support position in advance, the amplitude of the second offset can be reduced. Second offset fine correction: during the rotation adaptation process, after obtaining the second offset, the action execution unit further corrects the flipping action of the blade in combination with the reference of the specific support position. For example, if the specific support position has compensated for the 3cm offset of the fixed support position, and a new offset of 1cm is generated during rotation, the action execution unit only needs to correct this 1cm deviation, thereby improving the correction efficiency and accuracy.

[0046] In some embodiments, the movement correction unit corrects the position of the erection device 1 by shifting a user coordinate system representing the movable support position according to the first offset.

[0047] In the above description, the user coordinate system is a relative coordinate system based on the fixed support position. The X-axis corresponds to the horizontal direction, which is consistent with the movement direction of the travel roller 12; the Y-axis corresponds to the vertical direction, which is consistent with the sliding direction of the movable sleeve 9; and the Z-axis corresponds to the axis of rotation of the mounting device 1 in the direction of the blade axis. Each coordinate point in the user coordinate system corresponds to a specific position of the movable support 8. For example, the coordinates X = 5 cm, Y = 3 cm, and Z = 0° indicate that the movable support 8 has moved 5 cm horizontally and 3 cm vertically, and the mounting device 1 has rotated 0°.

[0048] The relationship between the first offset and the coordinate system shift includes the following: after the first adaptation unit obtains the first offset of the blade relative to the workspace, the motion correction unit converts the offset into a coordinate offset in the user coordinate system. For example, if the first offset is a 5 cm offset in the positive X-axis direction at the fixed support position, the user coordinate system needs to be shifted 5 cm in the negative X-axis direction so that the installation device 1 at the movable support position matches the blade position in the new coordinate system.

[0049] The user coordinate system is shifted through the mechanical movement of the movable bracket 8: X-axis shift: The travel rollers 12 at the bottom of the base frame 11 move along the X-axis, a distance equal to the coordinate system shift. Y-axis shift: The movable bracket 8 moves along the Y-axis through the sliding movement of the movable sleeve 9 and the column 10. The movement distance is determined by the compression or extension of the second spring 14. Z-axis shift: The mounting device 1 rotates about the Z-axis, and the rotation angle is determined by the angular deviation in the coordinate system shift.

[0050] Blade shape deviation compensation: When a blade's non-square shape causes deviation during clamping at a fixed support position, the mobile correction unit shifts the user coordinate system to adjust the mounting device 1 at the movable support position to the deviation. For example, if the root of a blade is thicker and deflects to one side during clamping, the movable support 8 moves via the running rollers 12 and the sliding of the movable sleeve 9 to adjust the position to match the blade end, avoiding interference caused by asynchronous rotation between the two ends during flipping.

[0051] Installation Error Compensation: If there's an error in the installation position of the fixed support 4 or the movable support 8, causing the blade to shift after clamping, the user coordinate system shift can compensate for this error. For example, if the fixed support 4 is offset 2cm to the left during installation, the mobile correction unit will shift the user coordinate system 2cm to the right, causing the mounting device 1 at the movable support position to shift right accordingly, ensuring that both ends of the blade are aligned on the same axis.

[0052] Driving of the walking roller 12: The displacement of the user coordinate system in the X-axis direction is achieved by the driving motor of the walking roller 12. The motor controls the number of rotations of the walking roller 12 according to the displacement amount to accurately adjust the horizontal position of the movable bracket 8.

[0053] Elastic adjustment of the second spring 14: The displacement in the Y-axis direction depends on the elastic force of the second spring 14. When the coordinate system needs to shift upward, the second spring 14 is compressed to push the movable bracket 8 up; when shifting downward, the second spring 14 extends and the movable bracket 8 descends.

[0054] Rotation control of the erection device 1: The displacement in the Z-axis direction is achieved by the driving mechanism of the erection device 1, for example, the motor drives the erection device 1 to rotate so that the blade axis coincides with the Z-axis of the user coordinate system.

[0055] In some embodiments, the fixed support position is a teaching position expressed by a first coordinate system, and in the clamping fixation based on the first adaptation part, the erection device 1 moves according to the first coordinate system; the movable support position is a teaching position expressed by a second coordinate system different from the first coordinate system, and in the rotation adaptation based on the second adaptation part, the erection device 1 moves according to the second coordinate system; the moving correction part corrects the position of the erection device 1 by shifting the second coordinate system according to the first offset.

[0056] In the above embodiment, the first coordinate system is an absolute coordinate system established with the fixed support position as its origin, and its coordinate axis directions are fixed to the workspace. For example, the X-axis is defined as horizontally pointing to the right, the Y-axis is defined as vertically pointing upward, and the Z-axis is defined as the blade axis direction, which is consistent with the rotation axis of the mounting device 1.

[0057] The fixed support position of the mounting device 1 is fixed in the first coordinate system, and its movements, such as blade clamping and rotation, are based on this coordinate system. The rigid structure of the fixed support 4 ensures the stable position of the mounting device 1 in the first coordinate system. For example, the first roller 5 at the top of the fixed support 4 and the second roller 7 at the bottom of the mounting device 1 form a fixed support, so that the rotation axis of the mounting device 1 coincides with the Z axis of the first coordinate system.

[0058] The second coordinate system is an independent coordinate system different from the first coordinate system. Its origin and coordinate axis directions can be set according to the requirements of the movable support position, such as the movable coordinate system of movable support 8. The origin of the second coordinate system can be set to the center of the mounting device 1 when the movable support 8 is in the initial position, and the coordinate axis directions change dynamically with the movement of the movable support 8.

[0059] The variability of the second coordinate system is achieved through the mechanical structure of movable bracket 8: Origin Movement: The movable bracket 8 moves horizontally via running rollers 12 and vertically via movable sleeve 9, causing the origin of the second coordinate system to change position within the first coordinate system. Coordinate Axis Direction: The Z axis of the second coordinate system always aligns with the rotation axis of the mounting device 1, ensuring consistent blade rotation direction.

[0060] The coordinate system shifting mechanism of the motion correction unit includes the following steps: after the first adaptation unit detects a first offset of the blade in the first coordinate system, the motion correction unit adjusts the position of the second coordinate system based on the offset, so that the installation device 1 at the movable support position matches the position of the blade in the new second coordinate system. For example, if the blade is offset by 5 cm in the positive direction of the X-axis in the first coordinate system, the motion correction unit shifts the second coordinate system by 5 cm in the negative direction of the X-axis, which is equivalent to moving the installation device 1 at the movable support position by 5 cm in the negative direction of the X-axis in the first coordinate system.

[0061] The second coordinate system is shifted through the mechanical movement of movable bracket 8: X-axis shift: The running rollers 12 at the bottom of the chassis 11 move 5 cm along the X-axis, causing the origin of the second coordinate system to shift -5 cm along the X-axis in the first coordinate system. Y-axis shift: The movable bracket 8 moves a corresponding distance along the Y-axis through the sliding movement of the movable sleeve 9 and the column 10, controlled by the compression or extension of the second spring 14. Z-axis shift: The rotation axis of the mounting device 1 always coincides with the Z-axis of the second coordinate system, requiring no additional adjustment.

[0062] Clamping Phase: At the fixed support position, the mounting device 1 clamps the blade according to the first coordinate system, detects the blade's position in the first coordinate system, and obtains a first offset. For example, if the blade's coordinates in the first coordinate system are X=10cm, Y=5cm, and Z=0°, while the theoretical coordinates are X=5cm, Y=5cm, and Z=0°, then the first offset is 5cm in the positive direction of the X-axis. Calibration Phase: The mobile calibration unit shifts the second coordinate system by 5cm in the negative direction of the X-axis based on the first offset. At this point, the theoretical position of the mounting device 1 in the first coordinate system at the movable support position becomes X=5cm-5cm=0cm, Y=5cm, and Z=0°, compensating for the deviation from the blade's actual position of X=10cm in the first coordinate system. Rotation Phase: At the movable support position, the mounting device 1 rotates and adapts according to the shifted second coordinate system. At this point, the two ends of the blade rotate synchronously in coordination with the dual coordinate systems to avoid interference.

[0063] In some embodiments, the second coordinate system is a user coordinate system set according to user settings.

[0064] The user enters the second coordinate system's parameters, including the origin position and coordinate axis directions, through the user interface. These parameters are converted into the mechanical position parameters of movable bracket 8. For example: Origin position: corresponds to the horizontal position of movable bracket 8 in its initial state, which is determined by the initial position of travel rollers 12, and the vertical position is determined by the initial relative position of movable sleeve 9 and column 10. Coordinate axis directions: These are typically consistent with the first coordinate system to ensure consistent blade rotation direction, but users can adjust the horizontal orientation based on the layout of the workspace.

[0065] According to the parameters set by the user, the initial position of the movable bracket 8 is adjusted: Horizontal position: The walking roller 12 drives the movable bracket 8 to move to the horizontal coordinate set by the user. Vertical position: By adjusting the initial compression amount of the second spring 14, the movable bracket 8 is placed at the vertical height set by the user.

[0066] For wind turbine blades 2 of different lengths and shapes, users can adjust the initial coordinates of the movable support position by setting the second coordinate system, so that the device can adapt to the clamping requirements of different blades. For example, for longer blades, the user moves the origin of the second coordinate system horizontally away from the fixed support position, so that the initial position of the movable bracket 8 moves backward, ensuring that both ends of the blade can be clamped by the mounting device 1. When there are obstacles in the working space, the user can set the coordinate axis direction of the second coordinate system so that the moving path of the movable bracket 8 avoids the obstacles. For example, if there is equipment on the right side of the working space, the user sets the X-axis direction of the second coordinate system to the left, so that the movable bracket 8 can only move in the left area to avoid collision.

[0067] When setting the second coordinate system, the user can pre-compensate for known system errors, such as the installation deviation of the fixed bracket 4. For example, it is known that the fixed bracket 4 is offset by 2 cm to the left. When setting the second coordinate system, the user offsets the origin by 2 cm to the right, so that the erection device 1 of the movable support position and the erection device 1 of the fixed support position are on the same straight line in the initial state. After the first adaptation part detects the first offset of the blade, the mobile correction part shifts it based on the second coordinate system set by the user to further compensate for the offset. For example, if the origin of the second coordinate system set by the user is at X=10 cm, and the first offset is 5 cm in the positive direction of the X axis, the mobile correction part will shift the second coordinate system by 5 cm in the negative direction of the X axis, so that the origin becomes X=5 cm, and the erection device 1 of the movable support position moves to X=5 cm to match the position of the blade.

[0068] Adjustable preload of second spring 14: By adjusting the preload of second spring 14, the initial vertical position and floating range of movable bracket 8 can be changed to adapt to the user's setting of the Y-axis coordinate of the second coordinate system. Independent rotation of mounting device 1: Regardless of the setting of the second coordinate system, mounting device 1 can always rotate about its own axis, ensuring the freedom of the blade flipping action, consistent with the Z-axis definition of the user coordinate system.

[0069] In some embodiments, the mobile correction unit provides a user interface for specifying the object to be shifted according to the first offset, namely the second coordinate system. Coordinate system selection interface: The user interface provides options, allowing the user to specify that the shift object of the mobile correction unit is the second coordinate system. This interface usually contains a drop-down menu or button, marked with the "second coordinate system" option. After the user selects it, the mobile correction unit will only shift the second coordinate system without affecting the first coordinate system. Shift parameter input: The user can enter the direction and amplitude of the shift in the interface, such as "5cm in the negative direction of the X-axis" and "3cm in the positive direction of the Y-axis". These parameters will be converted into mechanical movement instructions for the movable bracket 8 to control the moving distance of the walking roller 12 and the sliding amount of the movable sleeve 9.

[0070] After the user selects the second coordinate system in the interface and enters the shift parameters, the control system transmits the following instructions to the actuator: Horizontal shift instructions: Controls the drive motor of the travel roller 12, rotating the travel roller 12 according to the shift direction and distance, driving the base frame 11 and movable bracket 8 to move. Vertical shift instructions: Controls the hydraulic or pneumatic device in the movable sleeve 9, adjusting the compression of the second spring 14 to move the movable bracket 8 in the vertical direction.

[0071] The user interface displays the current position of the movable bracket 8, its corresponding coordinates in the second coordinate system, and the target position after the shift in real time, allowing the user to confirm the accuracy of the operation. For example, the interface displays "Current coordinates: X=10cm, Y=5cm, Target coordinates: X=5cm, Y=5cm" and prompts "Calibration completed" after the shift is completed.

[0072] When users need to precisely control the displacement of the movable support position, they can directly specify the second coordinate system as the displacement target through the user interface and enter specific parameters to avoid errors that may be caused by the system's automatic calculation. For example, if the blade's displacement at the fixed support position is known to be 4.7cm in the positive direction of the X-axis, the user can enter "4.7cm in the negative direction of the second coordinate system's X-axis" in the interface to accurately compensate for this displacement.

[0073] During complex flipping operations, users can adjust the shift of the second coordinate system in stages through the user interface. For example, they can first perform a rough correction of 5cm, then perform a fine correction of 0.3cm after observing the blade's condition to ensure a smooth flipping process.

[0074] Safety limit parameters are set in the user interface. If the input displacement exceeds the mechanical travel of the movable bracket 8, such as the maximum travel distance of the running roller 12 or the maximum sliding distance of the movable sleeve 9, the interface displays an error message and prohibits execution to prevent equipment damage. For example, if the horizontal movement range of the movable bracket 8 is ±10cm and the user inputs a displacement of 15cm, the interface displays "Displacement exceeds range."

[0075] The user interface records all shift operations on the second coordinate system, including time, shift parameters, operator, and other information, making it easier to trace and troubleshoot. For example, if an abnormality occurs during the flip process, the log can be used to verify whether the previous shift operation was correct.

[0076] In some embodiments, the movement correction unit includes: a position data output unit that generates and sets basic data representing a specific support position based on the blade detection position of the first adaptation unit; the active support position is represented by the specific support position.

[0077] Detection Point Arrangement: Multiple detection points are arranged on the pressure plate 103 and the support plate 108 of the mounting device 1. For example, pressure sensors or displacement sensors can be installed at the four corners and the center of the pressure plate 103 to detect the actual contact position of the blade when it is clamped. A displacement sensor can be installed on the tie rod 107 to determine the clamping position of the blade by detecting the extension of the tie rod 107.

[0078] When the blade is clamped between pressure plate 103 and support plate 108, sensors collect data at each detection point, such as pressure and displacement, and use this data to calculate the blade's actual detection position. For example, if the displacement sensor data at the four corners indicates that the blade is tilted to the lower left, the detection position is the coordinate offset to the lower left.

[0079] Data processing logic: The position data output unit processes the detected blade position data to generate basic data representing a specific support position, including: Offset data: The deviation between the detected blade position and the theoretical position, such as an X-axis offset of +3cm, a Y-axis offset of -2cm, and an angular offset of +1°. Correction parameters: The parameters that should be adjusted for the movable support position calculated based on the offset data, such as moving the travel roller 12 by 3cm, raising the movable sleeve 9 by 2cm, and rotating the mounting device 1 counterclockwise by 1°.

[0080] Data Setting Mechanism: After basic data is generated, the position data output unit sets it as an input parameter for the motion correction unit to control the mechanical adjustment of the movable bracket 8. For example, if the travel distance of the travel roller 12 is set to 3 cm, the drive motor controls the travel roller 12 to rotate a corresponding number of times based on this set value.

[0081] Coordinate mapping: The calibration parameters in the basic data directly correspond to the mechanical position of the movable support 8, allowing the specific support position to be expressed as follows: Horizontal coordinate: Determined by the movement distance of the travel roller 12. For example, if the basic data sets a horizontal displacement of 3cm, the movable support 8 will move 3cm horizontally. Vertical coordinate: Determined by the sliding distance of the movable sleeve 9. For example, if the basic data sets a vertical displacement of 2cm, the movable support 8 will move 2cm vertically. Rotation angle: Determined by the rotation amount of the erection device 1. For example, if the basic data sets a rotation angle of 1°, the erection device 1 will rotate 1° around its axis.

[0082] Dynamic Adjustment Process: The mobile calibration unit synchronizes the movement of the travel rollers 12, movable sleeve 9, and mounting device 1 based on basic data, allowing the movable support 8 to quickly reach the specified support position. For example, as the travel rollers 12 begin rolling, the second spring 14 in the movable sleeve 9 compresses, and the mounting device 1 begins rotating. These three coordinated actions shorten calibration time.

[0083] Real-time feedback mechanism: After generating the basic data, the position data output unit monitors the position of the movable bracket 8 in real time to ensure that it accurately reaches the specific support position. For example, the actual movement distance is detected by the encoder on the travel roller 12 and compared with the set value in the basic data. If there is a deviation, a compensation instruction is automatically issued. If an error is detected between the actual position of the movable bracket 8 and the specific support position, the position data output unit regenerates the basic data and performs a secondary correction. For example, if the travel roller 12 moves less than 3 cm due to friction with the ground, the position data output unit will detect it and generate basic data with an additional shift of 0.5 cm to ensure the correction accuracy.

[0084] In some embodiments, the position data output unit provides a user interface for accepting designation of a support position as an output destination for outputting the position data.

[0085] The user interface provides a drop-down menu or input box that allows the user to specify the output destination of the position data, i.e., the support position. Output destinations include: Fixed support position: Position data is output to the control system of the fixed support 4 for adjusting the erection device 1 of the fixed support position. Movable support position: Position data is output to the control system of the movable support 8 for adjusting the erection device 1 of the movable support position.

[0086] After the user selects an output destination in the interface and clicks the "Confirm" button, the position data output unit sends the processed position data to the specified destination. For example, after selecting "Active Support Position," the position data is transmitted via the bus to the controller of the movable support 8, which controls the movement of the travel rollers 12 and the movable sleeve 9.

[0087] Output to the movable support position: When the user specifies the output destination as the movable support position, the position data output unit converts the offset data into mechanical action instructions for the movable support 8: Horizontal movement instruction: Based on the X-axis offset, the movement distance and direction of the travel roller 12 are generated. For example, if the offset is 5cm in the positive direction of the X-axis, the travel roller 12 is instructed to move 5cm in the negative direction of the X-axis. Vertical movement instruction: Based on the Y-axis offset, the sliding distance of the movable sleeve 9 is generated. For example, if the offset is 3cm in the negative direction of the Y-axis, the second spring 14 is instructed to compress 3cm, and the movable support 8 is instructed to rise 3cm.

[0088] Output to fixed support position: If the user specifies the output destination as a fixed support position, the position data output unit converts the offset data into an adjustment instruction for the fixed bracket 4, such as adjusting the installation position of the fixed bracket 4. The fixed bracket 4 is a rigid structure and is usually not dynamically adjusted. This function is mainly used for offline calibration.

[0089] During the blade flipping process, users can specify different destinations for position data output based on the needs of different stages. For example, during the clamping stage, position data can be output to the movable support position to adjust the position of the movable bracket 8; during the rotation stage, position data can be output to both the fixed and movable support positions to synchronously adjust the movement of the mounting devices 1 at both ends.

[0090] When multiple turning devices are working together, users can output position data to the control systems of other devices to ensure synchronized movement. For example, if two devices are clamping the ends of a blade, position data can be output to the active support position of another device, achieving synchronized turning of both ends.

[0091] The user interface sets operational permissions, ensuring only authorized personnel can specify the output destination of position data, preventing misuse. For example, standard operators can only output data to the movable support position, while administrators can output to all destinations. The position data output unit verifies data before sending it, ensuring that the data format is correct and the values ​​are within a reasonable range. For example, if the Y-axis offset exceeds the maximum sliding range of the movable sleeve 9, the data verification fails, the interface displays an error, and output is rejected.

[0092] In some embodiments, the specific support position is based on the user support position set by the user. The user inputs the parameters of the user support position through the operation interface, including: coordinate values: coordinate values ​​of the horizontal X-axis and the vertical Y-axis, for example, X=100cm, Y=50cm. Rotation angle: the initial rotation angle of the erection device 1, such as 0°, 90°, etc. Mechanical adjustment process: According to the parameters input by the user, the mechanical structure of the movable bracket 8 is adjusted as follows: Horizontal position: The walking roller 12 drives the movable bracket 8 to move to the position of X=100cm. Vertical position: By adjusting the compression amount of the second spring 14, the movable bracket 8 is raised to a height of Y=50cm. Rotation angle: The erection device 1 rotates around the axis to the angle set by the user, for example, 90°.

[0093] The user can set different user support positions according to the layout of the working space and the specific needs of blade flipping. When the working space is narrow, the user sets the user support position close to the fixed support position to reduce the moving range of the movable bracket 8 and avoid collision. On the aerial work platform, the user sets the vertical coordinate of the user support position to the platform height so that the movable bracket 8 is flush with the platform, which is convenient for the operator to install the blade. For blades with special shapes or uneven weight distribution, the user can set the user support position to optimize the flipping torque: if the center of gravity of the blade is biased to one end, the user moves the user support position toward the center of gravity, so that the mounting device 1 of the movable support position bears more weight and reduces the load on the fixed support position. The user sets the initial rotation angle of the mounting device 1 to 45°, so that the blade is at a certain angle when the flip begins, reducing energy consumption during the flipping process.

[0094] When setting the user support position, the user can consider the possible offset in advance and set the user support position to a compensated position. For example, if it is known that the fixed support position will produce a 5cm offset in the positive direction of the X axis when clamping a blade, the user can set the X-axis coordinate of the user support position to -5cm. The initial position of the mounting device 1 of the movable support position will compensate for this offset, reducing the subsequent correction amount.

[0095] After the first adaptation part detects the first offset of the blade, the mobile correction part further shifts the position based on the user support position set by the user to achieve double correction. For example, the user support position set by the user is X=10cm, and the first offset is 3cm in the positive direction of the X-axis. The mobile correction part shifts the user support position 3cm in the negative direction of the X-axis, and the final X-axis coordinate of the movable support position is 7cm, ensuring that it matches the blade position. The driving motor of the walking roller 12 has a high-precision positioning function, which can accurately move the movable bracket 8 to the horizontal coordinate set by the user, with an error of no more than ±0.5cm. The compression amount of the second spring 14 is precisely controlled by a hydraulic or pneumatic device so that the vertical position of the movable bracket 8 reaches the user-set value. For example, if the user sets Y=50cm, the actual position error does not exceed ±1cm. An angle encoder is installed on the rotating shaft of the mounting device 1 to provide real-time feedback on the rotation angle to ensure that the rotation angle set by the user is reached, with an error of no more than ±0.5°.

[0096] It should be noted that the user interface can be set on the flip device, or it can be implemented by using operating devices such as an operating tablet and an operating handle, which will not be described in detail in this application.

[0097] Finally, it should be noted that the above embodiments are merely examples for the purpose of illustrating the present invention and are not intended to limit the embodiments. Those skilled in the art will readily appreciate that other variations or modifications based on the above description are possible. It is not necessary and impossible to provide an exhaustive list of all embodiments. However, obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A wind turbine blade turning device, characterized in that: have: A position holding portion comprising a fixed support position and a movable support position, wherein the fixed support position is used to support the erection device (1) through a fixed bracket (4) to clamp the hub mounting end of the wind power generation blade (2), and the movable support position is used to support the erection device (1) through a movable bracket (8) to clamp the end of the wind power generation blade (2) away from the hub, and the movable support position has a greater degree of freedom of movement than the fixed support position; A first adapting portion, which clamps and fixes the wind power generation blade (2) at a fixed support position to obtain a first offset of the blade relative to the working space; a movable correction part, which corrects the position of the erection device (1) at the movable support position according to the first offset; A second adaptation part, which performs rotational adaptation of the wind power generation blade (2) at a movable support position to obtain a second offset of the blade relative to the working space; as well as An action execution unit corrects the flipping action of the wind power generation blade (2) according to the second offset.

2. A wind turbine blade turning device, characterized in that: have: A position holding portion comprising a fixed support position and a movable support position, wherein the fixed support position is used to support the erection device (1) through a fixed bracket (4) to clamp the hub mounting end of the wind power generation blade (2), and the movable support position is used to support the erection device (1) through a movable bracket (8) to clamp the end of the wind power generation blade (2) away from the hub, and the movable support position has a greater degree of freedom of movement than the fixed support position; An adaption part, which sequentially performs the blade clamping and fixing at the fixed support position and the blade rotation adaptation at the movable support position; a position data output unit for outputting position data representing a specific support position based on a first offset between the blade and the working space obtained by clamping and fixing at the fixed support position; as well as an action execution unit for correcting the turning action of the blade according to a second offset of the blade relative to the working space obtained by the rotation adaptation at the movable support position; The active support position is represented by the specific support position.

3. A wind turbine blade turning device, characterized in that: have: A position holding portion having a fixed support position and a movable support position, wherein the fixed support position is used to support the erection device (1) through a fixed bracket (4) to clamp the hub mounting end of the wind power generation blade (2), and the movable support position is used to support the erection device (1) through a movable bracket (8) to clamp the end of the wind power generation blade (2) away from the hub, and the movable support position has a greater degree of freedom of movement than the fixed support position; An adaption part, which sequentially performs the blade clamping and fixing at the fixed support position and the blade rotation adaptation at the movable support position; a position data output unit for outputting position data representing a specific support position based on a detected position of the blade obtained by clamping and fixing at the fixed support position; as well as an action execution unit for correcting the turning action of the blade according to an offset of the blade relative to the working space obtained by the rotation adaptation at the movable support position; The active support position is represented by the specific support position.

4. The wind turbine blade turning device according to claim 1, characterized in that: The movement correction unit corrects the position of the installation device (1) by shifting the user coordinate system representing the movable support position according to the first offset.

5. The wind turbine blade turning device according to claim 1, characterized in that: The fixed support position is a teaching position represented by a first coordinate system, and in the clamping fixation based on the first adapting portion, the mounting device (1) moves according to the first coordinate system; The movable support position is a teaching position expressed by a second coordinate system different from the first coordinate system, and in the rotation adaptation based on the second adaptation part, the mounting device (1) moves according to the second coordinate system; The movement correction unit corrects the position of the installation device (1) by shifting the second coordinate system according to the first offset.

6. The wind turbine blade turning device according to claim 5, characterized in that: The second coordinate system is a user coordinate system set according to user settings.

7. The wind turbine blade turning device according to claim 5 or 6, characterized in that: The movement correction unit provides a user interface for designating the second coordinate system, which is an object to be shifted according to the first offset.

8. The wind turbine blade turning device according to claim 1, characterized in that: The movement correction unit includes: a position data output unit that generates and sets basic data representing a specific support position based on the blade detection position of the first adaptation unit; The active support position is represented by the specific support position.

9. The wind turbine blade turning device according to claim 1, characterized in that: The position data output unit provides a user interface for accepting designation of a support position as an output destination of the position data.

10. The wind turbine blade turning device according to claim 1 or 9, characterized in that: The specific support position is a user support position set by the user.

Images