Automatic blade locking device of wind generating set and control method of automatic blade locking device

Abstract

The invention relates to the field of wind power generation, and discloses a wind generating set blade automatic locking device and a control method thereof, the wind generating set blade automatic locking device comprises a fixed support, a push rod unit, a locking unit and a control unit; the fixed bracket is fixedly mounted on a hub of the wind power generator set; the fixed end of the push rod unit is fixedly mounted on the fixed bracket; the locking unit comprises a fixed lock hook assembly and a movable lock hook assembly, the fixed lock hook assembly is fixedly installed on a variable pitch bearing of the wind power generator set, the movable lock hook assembly is fixedly installed at the power output end of the push rod unit, and the sliding direction of the power output end of the push rod unit is perpendicular to the locking face of the fixed lock hook assembly and the locking face of the movable lock hook assembly. The control unit controls starting and stopping of the push rod unit, the fixed lock hook assembly and the movable lock hook assembly. The control unit controls the locking end of the fixed lock hook assembly and the locking end of the movable lock hook assembly to be locked. Therefore, the problem that in the prior art, a wind turbine generator cannot be remotely locked through a simple structure is solved.

Description

Technical Field

[0001] This invention relates to the field of wind turbine technology, and in particular to an automatic locking device for wind turbine blades and its control method. Background Technology

[0002] With the rapid development of the offshore wind power market, a large number of offshore turbines are facing the challenges of severe operating conditions such as typhoons. To cope with these extreme conditions, the blades need to be locked in the feathering position to reduce the blade load-bearing area and thus ensure the safe operation of the turbine. Traditional blade locking methods are time-consuming, labor-intensive, and costly, and some improved blade locking devices also suffer from complex control systems and insufficient reliability. Therefore, this paper proposes a simple, reliable, efficient, and convenient hook-type blade locking device. Summary of the Invention

[0003] The purpose of this invention is to provide an automatic locking device and control method for wind turbine blades, which solves the problem that wind turbine blades cannot be remotely locked using a simple structure in the prior art.

[0004] To achieve the above objectives, the technical solution of the present invention is as follows: In a first aspect, the present invention discloses an automatic locking device for wind turbine blades, comprising a fixed bracket, a push rod unit, a locking unit, and a control unit; The fixed bracket is fixedly installed on the hub of the wind turbine generator set; The fixed end of the push rod unit is fixedly mounted on the fixed bracket, and the power output end of the push rod unit faces the pitch bearing of the wind turbine generator set. The locking unit includes a fixed locking hook assembly and a movable locking hook assembly. The fixed locking hook assembly is fixedly installed on the pitch bearing of the wind turbine generator set, and the movable locking hook assembly is fixedly installed on the power output end of the push rod unit. The sliding direction of the power output end of the push rod unit is perpendicular to the locking surfaces of the fixed locking hook assembly and the movable locking hook assembly. The signal output terminal of the control unit is electrically connected to the signal input terminals of the push rod unit, the fixed locking hook assembly, and the movable locking hook assembly. The control unit controls the start and stop of the push rod unit, the fixed locking hook assembly, and the movable locking hook assembly. When the locking end of the fixed locking hook assembly and the locking end of the movable locking hook assembly are flush, the control unit controls the locking end of the fixed locking hook assembly and the locking end of the movable locking hook assembly to lock.

[0005] As an optional solution, the push rod unit includes an electric push rod and an extension rod; The electric push rod is fixedly mounted on the fixed bracket, and the end of the electric push rod away from the moving lock hook assembly is fixedly connected to the extension rod. The upper end of the extension rod passes through one side of the fixed bracket and is fixedly connected to the fixed bracket. The direction of motion of the power rod of the electric push rod is perpendicular to the locking surfaces of the fixed lock hook assembly and the moving lock hook assembly.

[0006] As an optional solution, the push rod unit also includes a mounting sleeve; One end of the power rod of the electric push rod is fixedly connected to the mounting sleeve, the fixed end of the movable locking hook assembly is sleeved on the outer wall of the mounting sleeve, and the bottom end face of the movable locking hook assembly is higher than the bottom end face of the mounting sleeve. The fixed bracket is provided with a limiting base plate on the side near the fixed locking hook assembly. When the limiting base plate abuts against the mounting sleeve, the moving locking hook assembly and the fixed locking hook assembly are locked.

[0007] As an optional solution, the fixed locking hook assembly includes a first locking pin, a first locking hook, and a first connecting crank, and the movable locking hook assembly includes a second locking pin, a second locking hook, and a second connecting crank. The first locking hook is rotatable relative to the first connecting crank and has a locked position; The first locking pin is movably disposed on the first connecting crank. When the first locking hook rotates to the locking position, the first locking pin moves down to the locking position inside the first connecting crank to restrict the rotation of the first locking hook. The second locking hook is rotatable relative to the second connecting crank and has a locked position; The second locking pin is movably disposed on the second connecting crank. When the second locking hook rotates to the locking position, the second locking pin moves down to the locking position inside the second connecting crank to restrict the rotation of the second locking hook.

[0008] As an optional solution, the control unit includes a console, a main fan controller, a slip ring, and a relay; The control console is communicatively connected to the main control unit of the wind turbine. The main control unit of the wind turbine is bidirectionally communicatively connected to the slip ring. The slip ring is electrically connected to the relay. The signal output terminal of the relay is connected to the signal input terminal of the push rod unit, the signal input terminal of the fixed locking hook assembly, and the signal input terminal of the movable locking hook assembly.

[0009] As an optional solution, the control unit also includes a wind power ring network, which serves as a relay station for signal transmission between the control console and the wind turbine main control unit.

[0010] Secondly, the present invention discloses a control method for an automatic locking device for wind turbine blades, comprising: Step S1: The control console issues a locking command, which activates the push rod unit via the main control of the fan, slip ring, and relay, causing the power rod to extend. Step S2: Determine whether the moving lock hook assembly has reached the preset locking position through the detection system, or make a judgment based on the stroke time of the push rod unit; Step S3: When the blade rotates to the preset locking position, the moving locking hook assembly and the fixed locking hook assembly collide and engage. The control unit outputs an electrical signal to the first locking pin and the second locking pin to drive the first locking pin and the second locking pin to move down, so as to lock the first locking hook and the second locking hook and complete the mechanical locking. Step S4: Receive the lock confirmation signal and stop all actions.

[0011] The present invention has the following unexpected beneficial effects: 1. The automatic locking device of the present invention optimizes the locking process of wind turbine blades by setting up a fixed bracket, a push rod unit, a locking unit, and a control unit. The fixed end of the push rod unit is fixedly installed on the fixed bracket, and the power output end of the push rod unit provides power for the downward movement of the moving locking hook assembly in the locking unit while moving towards the pitch bearing of the wind turbine. The fixed locking hook assembly of the locking unit is fixedly installed on the pitch bearing of the wind turbine. When the locking end of the fixed locking hook assembly and the locking end of the moving locking hook assembly are flush, the control unit controls the locking ends of the fixed locking hook assembly and the moving locking hook assembly to lock, so that the locking unit and the control unit of the present invention remotely lock the wind turbine blades under the control of the control unit, thereby solving the problem that wind turbines cannot be remotely locked using a simple structure in the prior art.

[0012] 2. The present invention uses a first locking hook respectively set on the fixed locking hook assembly and a second locking hook respectively on the moving locking hook assembly to lock. This mechanical interlocking structure enables the pitch bearing and hub of the wind turbine to lock, thereby improving the overall safety of the automatic locking device.

[0013] 3. The control unit of this invention communicates with the actuator through the wind power ring network, wind power main control and slip ring, and is perfectly integrated into the existing control system of the wind turbine. It realizes remote command issuance and status feedback from the ground control console to the rotating hub. It not only facilitates the installation of the device, but also realizes remote real-time monitoring of the locking status, and improves the level of intelligent operation and maintenance. Attached Figure Description

[0014] Figure 1 This is an overall schematic diagram of the automatic locking device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the fixed bracket of the automatic locking device according to an embodiment of the present invention; Figure 3This is a schematic diagram of the push rod unit of the automatic locking device according to an embodiment of the present invention; Figure 4 This is a top view of the locking unit of the automatic locking device according to an embodiment of the present invention; Figure 5 This is a part diagram of the locking unit of the automatic locking device according to an embodiment of the present invention; Figure 6 This is a control flowchart of the control unit of the automatic locking device according to an embodiment of the present invention; In the diagram, 1 is a fixed bracket; 101 is a limiting base plate; 2 is a push rod unit; 201 is an electric push rod; 202 is an extension rod; 203 is a mounting sleeve; 3 is a locking unit; 301 is a fixed locking hook assembly; 3011 is a first locking hook; 3012 is a first locking pin; 3013 is a first connecting crank; 302 is a movable locking hook assembly; 3021 is a second locking hook; 3022 is a second locking pin; and 3023 is a second connecting crank. Detailed Implementation

[0015] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0016] In the description of this invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0017] In the description of this invention, it should be understood that the terms "connected," "linked," and "fixed," etc., used in this invention should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or a welded connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly defined. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0018] In one embodiment, such as Figures 1 to 5 As shown, in a first aspect, the present invention provides an automatic locking device for wind turbine blades, including a fixed bracket 1, a push rod unit 2, a locking unit 3, and a control unit.

[0019] The fixed bracket 1 is fixedly installed on the hub of the wind turbine generator set.

[0020] The fixed end of the push rod unit 2 is fixedly mounted on the fixed bracket 1, and the power output end of the push rod unit 2 faces the pitch bearing of the wind turbine generator set.

[0021] The number of power output ends in the push rod unit 2 is not further limited here. When there is only one power output end in the push rod unit 2, the force application point of the power output end in the push rod unit 2 is easy to control, and the cost is reduced by the number of power output ends in the separately set push rod unit 2. When there are multiple power output ends in the push rod unit 2, the multiple power output ends in the push rod unit 2 can apply force to different positions, making the pushing process of the push rod unit 2 smoother.

[0022] The locking unit 3 includes a fixed locking hook assembly 301 and a movable locking hook assembly 302. The fixed locking hook assembly 301 is fixedly installed on the pitch bearing of the wind turbine generator set, and the movable locking hook assembly 302 is fixedly installed on the power output end of the push rod unit 2. The sliding direction of the power output end of the push rod unit 2 is perpendicular to the locking surfaces of the fixed locking hook assembly 301 and the movable locking hook assembly 302.

[0023] The signal output terminal of the control unit is electrically connected to the signal input terminals of the push rod unit 2, the fixed locking hook assembly 301 and the movable locking hook assembly 302. The control unit controls the start and stop of the push rod unit 2, the fixed locking hook assembly 301 and the movable locking hook assembly 302.

[0024] When the locking end of the fixed locking hook assembly 301 and the locking end of the movable locking hook assembly 302 are aligned, the control unit controls the locking end of the fixed locking hook assembly 301 and the locking end of the movable locking hook assembly 302 to lock.

[0025] Based on this, the automatic locking device of the present invention is remotely controlled by a control unit. The fixed locking hook assembly 301 and the movable locking hook assembly 302 of the locking unit 3 are respectively installed on the pitch bearing and the power output end of the push rod unit 2. The power output end of the push rod unit 2 faces the pitch bearing of the wind turbine generator and drives the movable locking hook assembly 302 to move. When the movable locking hook assembly 302 moves to be flush with the fixed locking hook assembly 301, the control unit controls the movable locking hook assembly 302 to move to lock with the fixed locking hook assembly 301. This allows the locking unit 3 and the push rod unit 2 of the present invention to remotely lock the wind turbine blades under the control of the control unit, thereby solving the problem that wind turbines cannot be remotely locked using a simple structure in the prior art.

[0026] Furthermore, such as Figures 1 to 5 As shown, the push rod unit 2 includes an electric push rod 201 and an extension rod 202.

[0027] The electric push rod 201 is fixedly mounted on the fixed bracket 1, and the end of the electric push rod 201 away from the moving lock hook assembly 302 is fixedly connected to the extension rod 202. The upper end of the extension rod 202 passes through one side of the fixed bracket 1 and is fixedly connected to the fixed bracket 1.

[0028] The direction of motion of the power rod of the electric push rod 201 is perpendicular to the locking surfaces of the fixed lock hook assembly 301 and the movable lock hook assembly 302.

[0029] The length of the extension rod 202 is not further limited here. In order to avoid the electric push rod 201 having an excessively long stroke and increasing unnecessary costs, the extension rod 202 is fixedly connected to the end of the electric push rod 201 to ensure that the electric push rod 201 can form an integral part with the fixed bracket 1.

[0030] Furthermore, such as Figures 1 to 5 As shown, the push rod unit 2 also includes a mounting sleeve 203.

[0031] One end of the power rod of the electric push rod 201 is fixedly connected to the mounting sleeve 203. The fixed end of the movable locking hook assembly 302 is sleeved on the outer wall of the mounting sleeve 203, and the bottom end face of the movable locking hook assembly 302 is higher than the bottom end face of the mounting sleeve 203. The cylinder body of the mounting sleeve 203 is parallel to the rod body of the electric push rod 201.

[0032] The fixed bracket 1 is provided with a limiting base plate 101 on the side near the fixed locking hook assembly 301. When the limiting base plate 101 abuts against the mounting sleeve 203, the movable locking hook assembly 302 locks against the fixed locking hook assembly 301.

[0033] The limiting base plate 101 abuts against the mounting sleeve 203, forming a mechanical hard limiting structure. When the limiting base plate 101 limits the mounting sleeve 203, the moving locking hook assembly 302 and the fixed locking hook assembly 301 reach a precise locking position. Therefore, this mechanical hard limiting structure provides a reliable position reference for the automatic blade retraction device.

[0034] Furthermore, such as Figures 1 to 5 As shown, the fixed locking hook assembly 301 includes a first locking pin 3012, a first locking hook 3011 and a first connecting crank 3013, and the movable locking hook assembly 302 includes a second locking pin 3022, a second locking hook 3021 and a second connecting crank 3023.

[0035] The structure of the first connecting crank 3013 and the second connecting crank 3023 is not further defined here. Both the first connecting crank 3013 and the second connecting crank 3023 are standard parts, and the first connecting crank 3013 and the second connecting crank 3023 are respectively provided with a first mounting hole and a second mounting hole. The first connecting crank 3013 is fixedly installed on the pitch bearing of the wind turbine generator set through the first mounting hole, and the second connecting crank 3023 is fixedly installed on the power rod of the electric push rod 201 through the second mounting hole.

[0036] The first locking hook 3011 is rotatable relative to the first connecting crank 3013 and has a locked position; The first locking pin 3012 is movably disposed on the first connecting crank 3013. When the first locking hook 3011 rotates to the locking position, the first locking pin 3012 moves down to the locking position inside the first connecting crank 3013 to restrict the rotation of the first locking hook 3011. The second locking hook 3021 is rotatable relative to the second connecting crank 3023 and has a locked position; The second locking pin 3022 is movably disposed on the second connecting crank 3023. When the second locking hook 3021 rotates to the locking position, the second locking pin 3022 moves down to the locking position within the second connecting crank 3023 to restrict the rotation of the second locking hook 3021.

[0037] The movement of the first locking pin 3012 and the second locking pin 3022 is not further limited here. The first locking pin 3012 and the second locking pin 3022 can be driven by a miniature electric cylinder or an electromagnet. When the first locking hook 3011 and the second locking hook 3021 need to be locked, the first locking hook 3011 and the second locking hook 3021 hook each other. The miniature electric cylinder or electromagnet controls the first locking pin 3012 and the second locking pin 3022 to enter the corresponding locking position, thereby forming a mechanical interlock. The way the first locking pin 3012 and the second locking pin 3022 restrict the first locking hook 3011 and the second locking hook 3021 is similar to the James coupler structure.

[0038] Furthermore, such as Figure 6 As shown, the control unit includes a console, a main fan controller, a slip ring, and a relay.

[0039] The control console is communicatively connected to the main control unit of the fan, the main control unit of the fan is bidirectionally communicatively connected to the slip ring, the slip ring is electrically connected to the relay, and the signal output terminal of the relay is connected to the signal input terminal of the push rod unit 2, the signal input terminal of the fixed locking hook assembly 301, and the signal input terminal of the movable locking hook assembly 302.

[0040] Furthermore, such as Figure 6 As shown, the control unit also includes a wind power ring network, which serves as a relay station for signal transmission between the control console and the wind turbine main control.

[0041] Furthermore, this embodiment is not shown in the accompanying drawings. The push rod unit 2 is also equipped with a sensor for detecting whether the electric push rod 201 pushes the movable locking hook assembly 302 to the working position, and the type of sensor is not further limited here. When the sensor is a position sensor, it directly detects whether the power rod of the electric push rod 201 has been pushed to a designated position. The position sensor can be installed at any position where the horizontal height of the movable locking hook assembly 302 can be monitored. When the sensor is a torque sensor, it is installed within the electric push rod 201 and... The torque sensor detects a sudden increase in the torque on the power rod, indicating that the mounting sleeve 203 has contacted the limiting base plate 101 (the bottom end face of the moving lock hook assembly 302 is flush with the bottom end face of the fixed lock hook assembly 301). Whether the sensor uses a position sensor or a torque sensor, its signal output terminal is connected to the signal input terminal of the control unit. Therefore, the data output by the sensor can provide feedback to the control unit on the state of the electric push rod 201. At this time, the sensor is the detection system within the control unit.

[0042] Secondly, this embodiment is not shown in the accompanying drawings. The present invention also discloses a control method for an automatic locking device for wind turbine blades, comprising: In step S1, the control console issues a locking command, which activates the push rod unit 2 via the main control of the fan, slip ring, and relay, causing the power rod to extend.

[0043] Step S2: The detection system determines whether the moving lock hook assembly 302 has reached the preset locking position, or the determination is made based on the stroke time of the push rod unit 2.

[0044] In step S3, when the blade rotates to the preset locking position, the moving locking hook assembly 302 and the fixed locking hook assembly 301 collide and engage. The control unit outputs an electrical signal to the first locking pin 3012 and the second locking pin 3022 to drive the first locking pin 3012 and the second locking pin 3022 to move downward, so as to lock the first locking hook 3011 and the second locking hook 3021 and complete the mechanical locking.

[0045] Step S4: Receive the lock confirmation signal and stop all actions.

[0046] In summary, the automatic locking device controls the power output end of the push rod unit 2 through the control unit to push the moving lock hook assembly 302 and the fixed lock hook assembly 301 in the locking unit 3 to lock, so that the locking unit 3 and the push rod unit 2 of the present invention can remotely lock the wind turbine blades under the control of the control unit, thereby solving the problem that wind turbines cannot be remotely locked using a simple structure in the prior art.

[0047] It should be understood that the terms "first," "second," etc., are used in this invention to describe various information, but this information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this invention, "first" information can also be referred to as "second" information, and similarly, "second" information can also be referred to as "first" information. In addition, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0048] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. An automatic locking device for wind turbine blades, characterized in that, It includes a fixed bracket (1), a push rod unit (2), a locking unit (3), and a control unit; The fixed bracket (1) is fixedly installed on the hub of the wind turbine generator set; The fixed end of the push rod unit (2) is fixedly installed on the fixed bracket (1), and the power output end of the push rod unit (2) faces the pitch bearing of the wind turbine generator set. The locking unit (3) includes a fixed locking hook assembly (301) and a movable locking hook assembly (302). The fixed locking hook assembly (301) is fixedly installed on the pitch bearing of the wind turbine generator set, and the movable locking hook assembly (302) is fixedly installed on the power output end of the push rod unit (2). The sliding direction of the power output end of the push rod unit (2) is perpendicular to the locking surfaces of the fixed locking hook assembly (301) and the movable locking hook assembly (302). The signal output terminal of the control unit is electrically connected to the signal input terminals of the push rod unit (2), the fixed locking hook assembly (301) and the movable locking hook assembly (302), and the control unit controls the start and stop of the push rod unit (2), the fixed locking hook assembly (301) and the movable locking hook assembly (302); When the locking end of the fixed locking hook assembly (301) and the locking end of the movable locking hook assembly (302) are aligned, the control unit controls the locking end of the fixed locking hook assembly (301) and the locking end of the movable locking hook assembly (302) to lock.

2. The automatic locking device according to claim 1, characterized in that, The push rod unit (2) includes an electric push rod (201) and an extension rod (202). The rod body of the electric push rod (201) is fixedly installed on the fixed bracket (1), and the end of the electric push rod (201) away from the moving lock hook assembly (302) is fixedly connected to the extension rod (202). The upper end of the extension rod (202) passes through one side of the fixed bracket (1) and is fixedly connected to the fixed bracket (1). The direction of motion of the power rod of the electric push rod (201) is perpendicular to the locking surfaces of the fixed locking hook assembly (301) and the moving locking hook assembly (302).

3. The automatic locking device according to claim 2, characterized in that, The push rod unit (2) also includes a mounting sleeve (203); One end of the power rod of the electric push rod (201) is fixedly connected to the mounting sleeve (203), the fixed end of the moving lock hook assembly (302) is sleeved on the outer wall of the mounting sleeve (203), and the bottom end face of the moving lock hook assembly (302) is higher than the bottom end face of the mounting sleeve (203). The fixed bracket (1) is provided with a limiting base plate (101) on the side near the fixed locking hook assembly (301). When the limiting base plate (101) abuts against the mounting sleeve (203), the moving locking hook assembly (302) locks against the fixed locking hook assembly (301).

4. The automatic locking device according to claim 1, characterized in that, The fixed locking hook assembly (301) includes a first locking pin (3012), a first locking hook (3011) and a first connecting crank (3013), and the movable locking hook assembly (302) includes a second locking pin (3022), a second locking hook (3021) and a second connecting crank (3023). The first locking hook (3011) is rotatable relative to the first connecting crank (3013) and has a locked position; The first locking pin (3012) is movably disposed on the first connecting crank (3013). When the first locking hook (3011) rotates to the locking position, the first locking pin (3012) moves down to the locking position inside the first connecting crank (3013) to restrict the rotation of the first locking hook (3011). The second locking hook (3021) is rotatable relative to the second connecting crank (3023) and has a locked position; The second locking pin (3022) is movably disposed on the second connecting crank (3023). When the second locking hook (3021) is rotated to the locking position, the second locking pin (3022) moves down to the locking position inside the second connecting crank (3023) to restrict the rotation of the second locking hook (3021).

5. The automatic locking device according to claim 1, characterized in that, The control unit includes a console, a main fan controller, slip rings, and relays; The control console is connected to the main control unit of the fan, the main control unit of the fan is connected to the slip ring in a two-way communication, the slip ring is electrically connected to the relay, and the signal output terminal of the relay is connected to the signal input terminal of the push rod unit (2), the signal input terminal of the fixed locking hook assembly (301), and the signal input terminal of the moving locking hook assembly (302).

6. The automatic locking device according to claim 1, characterized in that, The control unit also includes a wind power ring network, which serves as a relay station for signal transmission between the control console and the wind turbine main control unit.

7. A control method for an automatic locking device for wind turbine blades, characterized in that, include: Step S1: The control console issues a locking command, which activates the push rod unit (2) via the main control of the fan, slip ring and relay, causing the power rod to extend; Step S2: The detection system determines whether the moving lock hook assembly (302) has reached the preset locking position, or the determination is made based on the stroke time of the push rod unit (2); In step S3, when the blade rotates to the preset locking position, the moving locking hook assembly (302) and the fixed locking hook assembly (301) collide and engage. The control unit outputs an electrical signal to the first locking pin (3012) and the second locking pin (3022) to drive the first locking pin (3012) and the second locking pin (3022) to move down, so as to lock the first locking hook (3011) and the second locking hook (3021) and complete the mechanical locking. Step S4: Receive the lock confirmation signal and stop all actions.

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