Lifting device for lifting wind turbine component

Abstract

There is provided a lifting apparatus (10, 11) for lifting a wind turbine component (94, 96, 98, 100), the lifting apparatus comprising: a support frame (12) comprising a support (14) for holding the wind turbine component (94, 96, 98, 100); one or more lifting points (16) on the support frame (12), the one or more lifting points configured to be coupled to a lifting wire (76) of a crane (70); and a stabilizing device (18). The stabilizing device (18) comprises a first coupling point (20) configured to couple a first stabilizing cable (30) to the support frame and a second coupling point (22) configured to couple a second stabilizing cable (32) to the support frame, where the first coupling point (20) is arranged at a first end (34) of the support frame and the second coupling point (22) is arranged at a second end (34) of the support frame. And the second coupling point (22) is arranged at a second end (36) of the support frame opposite the first end (34); and at least one actuator (50-56) disposed on the support frame, where the at least one actuator (50-56) is configured to actuate the first stabilization cable (30) and / or the second stabilization cable (32) relative to the support frame to move the first end and / or the second end (34, 36) of the support frame in a vertical direction.

Description

Technical Field

[0001] The present invention relates to a lifting device for lifting wind turbine components, a crane including such a lifting device, and a method of using the lifting device for lifting wind turbine components. Background Technology

[0002] During wind turbine assembly, components are lifted by cranes. Specifically, wind turbine blades are typically lifted with their longitudinal direction horizontal and their chords (e.g., at the longitudinal position corresponding to the center of gravity) vertical. Due to this vertical orientation of the chords, wind impacts the suction or pressure side of the wind turbine blades perpendicularly. Viewed from the center of gravity and lifting point, a significant torque can be applied around the vertical axis because the blade portion extending towards the root is significantly shorter than the blade portion extending towards the tip. To counteract this torque, existing technology suggests using a tethering system. However, as blade sizes increase, the torque may reach the limit that the crane boom can compensate for via such a tethering system. Therefore, only short time windows with low wind speeds are available for installing such large blades.

[0003] For example, document EP 2526042 B1 discloses a system for stabilizing a load during lifting by a crane. Specifically, traction cables are connected to both the end of the load and a winch. The winch can be located at the bottom of the crane. By actuating the winch, the orientation of the load in the horizontal plane can be adjusted.

[0004] US 6,021,911 A discloses a gantry crane with a frame and a lifting structure movably mounted on the frame for lateral movement. The gantry crane is used to lift, lower, and transport standard shipping containers. The lifting structure of the gantry crane has a movable trolley and a gripper for grasping the container. The lifting structure also includes a sway stabilization system for controlling the orientation of the grasped container during lifting.

[0005] The inventors have discovered that, in order to reduce torque, the wind turbine blades can be lifted while being oriented so that the chord is substantially horizontal, so that the wind no longer impacts the suction or pressure side of the wind turbine blades. Therefore, the torque around the vertical axis generated by the wind impacting the blades is reduced. However, due to the aerodynamic shape of the wind turbine blades, the lifting motion generated by the wind turbine blades in the vertical direction may increase. These vertical movements increase with increasing wind speed. This vertical movement may make it difficult to align the wind turbine blades, especially the root end of the wind turbine blades, with the opening in the hub of the wind turbine rotor during assembly. Furthermore, unsafe situations may arise during assembly.

[0006] Improvements are desired in efficiency and safety during the assembly of wind turbine components, such as wind turbine blades. Particular emphasis is placed on the ability to install larger blades over extended time windows, especially at higher wind speeds. Summary of the Invention

[0007] Therefore, it is necessary to mitigate at least some of the disadvantages mentioned above and improve the installation of wind turbine components.

[0008] This requirement is satisfied by the features of the independent claim. The dependent claims describe embodiments of the invention.

[0009] According to an embodiment of the present invention, a lifting device for lifting wind turbine components is provided. The lifting device includes a support frame, one or more lifting points, and a stabilizing device. The support frame includes a support portion for holding the wind turbine components. The one or more lifting points are located on the support frame and configured to be connected to lifting cables of a crane. The stabilizing device includes a first connection point and a second connection point, and at least one actuator disposed on the support frame. The first connection point is configured to connect a first stabilizing cable to the support frame, and the second connection point is configured to connect a second stabilizing cable to the support frame. The first connection point is disposed at a first end of the support frame, and the second connection point is disposed at a second end of the support frame opposite to the first end. The at least one actuator is configured to actuate the first stabilizing cable and / or the second stabilizing cable relative to the support frame to move the first and / or second ends of the support frame in a vertical direction.

[0010] Wind turbine components may include, for example, wind turbine blades (rotor blades), a portion of a wind turbine tower, a nacelle, or a hub for receiving wind turbine blades. These wind turbine components are preferably adapted for mounting on a wind turbine.

[0011] The stabilizing device can achieve vertical stabilization of the support frame (and thus the wind turbine components held by the support frame). In particular, the stabilizing device can be configured to counteract tilting / rolling motion of the support frame about a horizontal axis extending perpendicular to the longitudinal direction of the support frame.

[0012] This is particularly advantageous when lifting wind turbine components by a lifting device at high wind speeds (e.g., lifting equipment that allows lifting operations at wind speeds exceeding 8, 10, 14, 16, 18, 20, or 22 m / s). Such high wind speeds can cause large vertical movements in the wind turbine components and consequently, large vertical movements in the support frame holding the components. This is especially true for large wind turbine components, such as large wind turbine blades, where large vertical movements can occur in high-speed winds. In particular, there is a risk of oscillations in the intrinsic frequency that lead to large vertical movements. Wind can also cause tilting movements in the wind turbine components and consequently, tilting movements in the support frame holding them.

[0013] The stabilizing device, and particularly by actuating the at least one actuator to cause vertical movement at the first and / or second ends, can generate a counter-torque that compensates for / counters the tilting motion caused by aerodynamic forces applied to the load.

[0014] Stabilization devices make the installation of wind turbine components less dependent on weather conditions, as assembly can be performed even at higher wind speeds. This results in significantly less downtime compared to other conventional systems that must wait until wind speeds decrease before continuing / starting the assembly process.

[0015] Once the wind turbine components have been raised to their final assembly height, they can be stabilized vertically and / or aligned with the components to which they will be attached using stabilizing devices. For example, the root end of a wind turbine blade can be aligned with an opening in the wind turbine hub.

[0016] The stabilizing device reduces the risk of damage during the assembly process and improves worker safety. It also allows for easier and more accurate alignment of the wind turbine components, resulting in a reduction in assembly time.

[0017] The at least one actuator is disposed on the support frame and thus close to the wind turbine component to be lifted. Therefore, the at least one actuator can react quickly to compensate for the vertical / tilting / rolling motion (torque) of the support frame.

[0018] The first stabilizing cable and / or the second stabilizing cable may be provided from the crane, and in particular from the top of the crane or the ground.

[0019] Preferably, actuating the stabilizing cable includes selectively pulling in or bringing the corresponding stabilizing cable closer by the at least one actuator, or releasing or giving out the corresponding stabilizing cable by the at least one actuator.

[0020] In the case where at least one actuator is a cylinder, the stabilizing cable can be selectively pulled into the cylinder by retraction of the cylinder, or released from the cylinder by extension of the cylinder.

[0021] When the at least one actuator is a winch, the pulling in or pulling out can be performed by winding the stabilizing cable onto the winch or at least by pulling the stabilizing cable closer to the winch. The releasing can be performed by unwinding the stabilizing cable from the winch or at least by releasing the stabilizing cable from the winch.

[0022] When the first stabilizing cable is pulled in or brought closer by the at least one actuator, the first end of the support frame (and therefore the first connection point) moves in a positive vertical (i.e., upward) direction. When the second stabilizing cable is pulled in or brought closer by the at least one actuator, the second end of the support frame (and therefore the second connection point) moves in a positive vertical (i.e., upward) direction.

[0023] When the first stabilizing cable is delivered or released by the at least one actuator, the first end of the support frame (and therefore the first connection point) moves in a negative vertical direction (i.e., downward) due to gravity. When the second stabilizing cable is delivered or released by the at least one actuator, the second end of the support frame (and therefore the second connection point) moves in a negative vertical direction (i.e., downward).

[0024] Wind force may cause the support frame to tilt vertically about its tilt axis (i.e., vertical movement of the first end / connection point and / or the second end / connection point). The tilt axis is an axis in a horizontal plane perpendicular to the longitudinal extension of the support frame / wind turbine component. Preferably, the tilt axis extends through the middle or substantially the middle of the longitudinal extension of the support frame.

[0025] By moving the first (or second) end in a positive vertical direction and optionally moving the second (or first) end in a negative vertical direction, a tilting motion that can counteract or compensate for tilting motion caused by wind can be generated on the support frame.

[0026] Preferably, the at least one actuator is configured to be coupled to the first stabilizing cable and / or coupled to the second stabilizing cable.

[0027] The stabilizing device may include an actuator configured to be connected to the first stabilizing cable and another actuator configured to be connected to the second stabilizing cable.

[0028] In another embodiment, the stabilizing device may include only one actuator, wherein one end is configured to be coupled to the first stabilizing cable and the opposite end is configured to be coupled to the second stabilizing cable. For example, the actuator is a winch on which a cable / rope is wound, and one end of the cable is connected to the first stabilizing cable and the opposite end of the cable is connected to the second stabilizing cable.

[0029] Alternatively, the two stabilizing cables can be connected, for example, by a single cable wound in a loop around the drum of a single winch or held by another actuator. Thus, when the winch rotates, the first stabilizing cable is pulled and the second stabilizing cable is released simultaneously (i.e., the first connection point moves in the positive vertical direction and the second connection point moves in the negative vertical direction) or vice versa.

[0030] Preferably, the support frame extends longitudinally to support the wind turbine component extending in the longitudinal direction, wherein the first end and the second end are located at opposite ends of the support frame in the longitudinal direction. Preferably, the first connection point and the second connection point are equidistant from the ends of the support frame. Preferably, the distances of the first connection point and the second connection point from the ends of the support frame in the longitudinal direction are at most 20%, 15%, 10%, or 5% of the longitudinal extension of the support frame, respectively.

[0031] During the lifting process, the support frame, and therefore the wind turbine components, extend in a horizontal or substantially horizontal direction (except for vertical movement due to wind force, compensated by the stabilizing device). For example, when the wind turbine component is a wind turbine blade, the blade can be lifted while it is oriented so that its chord is substantially horizontal. Due to the horizontal orientation of the blade's chord during lifting, the wind no longer impacts the suction or pressure side of the wind turbine blade. Therefore, the torque about the vertical axis generated by the wind impacting the blade can be reduced.

[0032] Preferably, the first connection point and / or the second connection point is provided by a pulley, which is arranged at the first end and / or the second end of the support frame and guides the corresponding stabilizing cable to the at least one actuator, or the first connection point and / or the second connection point is located on the at least one actuator. The at least one actuator may include a hydraulic cylinder or a pneumatic cylinder, and the first connection point and / or the second connection point is located at an end of the cylinder body.

[0033] Preferably, the first connection point and / or the second connection point are configured to receive the first stabilizing cable and / or the second stabilizing cable along a direction having a vertical component. Preferably, the first connection point is configured to receive the first stabilizing cable along a first direction and the second connection point is configured to receive the second stabilizing cable along a second direction, wherein the first direction and the second direction are parallel to each other. Preferably, the first connection point and the second connection point are configured to receive the first stabilizing cable and the second stabilizing cable such that the first stabilizing cable and the second stabilizing cable are parallel to each other or substantially parallel to each other.

[0034] The direction of the first stabilizing cable and / or the second stabilizing cable may have a vertical component and a horizontal component, wherein the vertical component is greater than the horizontal component. For example, the angle of the direction of the first stabilizing cable and / or the second stabilizing cable relative to the vertical direction may be less than 45°, 30°, or 15°. Preferably, the direction of the first stabilizing cable and / or the second stabilizing cable may have only a vertical component, that is, the connection point receives the corresponding stabilizing cable in a vertical or substantially vertical direction.

[0035] Preferably, the at least one actuator includes a hydraulic or pneumatic cylinder configured to be connected to a corresponding stabilizing cable, or includes a winch configured to be connected to a corresponding stabilizing cable.

[0036] The winch may have a motor and a drum for winding in and unwinding the corresponding stabilizing cable. The winch may have a cable / rope wound on the drum.

[0037] The at least one actuator may include a first winch connected to the first stabilizing cable and a second winch connected to the second stabilizing cable.

[0038] Alternatively, the stabilizing device may include only one actuator, such as a winch, wherein the stabilizing cable is provided as a single cable wound around the winch, or a rope / cable is wound around the winch and one end of the cable is configured to connect to the first stabilizing cable or the second stabilizing cable, and a second end of the cable is configured to connect to another stabilizing cable. When the winch is rotated, the first stabilizing cable and the second stabilizing cable are simultaneously actuated, causing the first and second ends of the support frame to move in opposite directions to compensate for tilting movements.

[0039] Preferably, the lifting device further includes a detection unit and a controller. The detection unit is configured to detect movement of the support frame in a vertical and / or horizontal direction, and the controller is configured to control the at least one actuator based on signals detected by the detection unit. The detection unit may include an inclinometer and / or an accelerometer.

[0040] The controller can provide feedback control to counteract vertical displacement (motion) at the first end and / or the second end (or connection point) or to counteract torque about the tilt axis of the support frame.

[0041] For example, when the tilting motion acts on the support frame in a clockwise direction (i.e., the first end moves in a positive / upward vertical direction and / or the second end moves in a negative / downward vertical direction), a reverse motion in a counterclockwise direction can be generated by actuating the first stabilizing cable and / or the second stabilizing cable using the at least one actuator, such that the first end moves in a negative / downward vertical direction and / or the second end moves in a positive / upward vertical direction.

[0042] When the tilting motion acts counterclockwise on the support frame (i.e., the first end moves in a negative / downward vertical direction and / or the second end moves in a positive / upward vertical direction), a counterclockwise motion can be generated by actuating the first stabilizing cable and / or the second stabilizing cable using the at least one actuator, such that the first end moves in a positive / upward vertical direction and / or the second end moves in a negative / downward vertical direction.

[0043] Preferably, the lifting device includes at least two actuators, wherein each actuator is configured to be coupled to a different stabilizing cable. For example, two cylinders or two winches. The at least two actuators can be configured to operate selectively, individually or simultaneously.

[0044] Therefore, it is possible to move only one of the first end and the second end of the support frame in the vertical direction.

[0045] The at least one actuator can be configured to be selectively operated manually or automatically. Automatic operation may mean that the at least one actuator is operated based on the signal detected by the detection unit. Manual operation may mean that a user can manually operate the at least one actuator to stabilize the lifted wind turbine component in a vertical direction. Specifically, the user can receive the signal detected by the detection unit and then manually operate the at least one actuator based on the detected signal.

[0046] Preferably, the support frame is a C-shaped yoke, wherein the support portion includes a first C-shaped support member and a second C-shaped support member configured to support wind turbine blades.

[0047] Each C-shaped support member may include a clamping member and means for displacing / moving the clamping member relative to the C-shaped support member so that the wind turbine blade is clamped in the C-shaped yoke and, in particular, clamped between the clamping member and the C-shaped support member.

[0048] Preferably, the C-shaped yoke includes a yoke frame member, and the first C-shaped support member is connected to a first end of the yoke frame member, and the second C-shaped support member is connected to a second end of the yoke frame member opposite to the first end.

[0049] Preferably, the support frame, and particularly the C-shaped yoke, is configured to support or hold the wind turbine blade during lifting, wherein the longitudinal extension of the wind turbine blade extends horizontally and is simultaneously oriented such that its chord is in a (substantially) horizontal orientation. For example, the support may be configured such that the chord of the blade profile having zero-degree torsion is horizontally oriented when the blade is held by the support. Due to the horizontal orientation of the chord of the blade during lifting, wind no longer impacts the suction or pressure side of the wind turbine blade. Therefore, the torque about the vertical axis generated by the wind impacting the blade can be reduced.

[0050] Preferably, the lifting device includes a first stabilizing cable and a second stabilizing cable. Preferably, the first stabilizing cable and the second stabilizing cable are parallel to each other or substantially parallel to each other.

[0051] The lifting device may include a beam configured to be fixedly mounted on the boom of the crane, wherein a first guide and a second guide are disposed at opposite ends of the beam to guide the first stabilizing cable and the second stabilizing cable respectively. The beam may be mounted at the top of the boom. For example, the beam may be fixed to the boom by welding or by screws. The first guide and / or the second guide is preferably a pulley guiding the respective stabilizing cable.

[0052] Preferably, the lifting device includes a first winch and a second winch, configured to wind in and unwind the first stabilizing cable and the second stabilizing cable respectively during lifting operations, wherein the first winch and the second winch are configured to be mounted on the crane or on the ground. The opposite ends of the respective stabilizing cables can be connected to the at least one actuator at the support frame.

[0053] Preferably, tension is maintained on the first and second stabilizing cables via the crane or the first and second winches on the ground. The tension maintained on the stabilizing cables provides rigidity, allowing the at least one actuator to react quickly to compensate for the vertical and tilting movements (torques) of the support frame.

[0054] According to another embodiment of the present invention, a crane for lifting wind turbine components is provided. The crane includes a boom, lifting wires, lifting equipment according to any one of the preceding claims, wherein the lifting wires are connected to one or more lifting points of the lifting equipment, and a first stabilizing cable and a second stabilizing cable guided downward from the upper portion of the boom toward the lifting equipment. The first stabilizing cable and the second stabilizing cable are respectively connected to the support frame at the first connection point and the second connection point and are actuable by the at least one actuator.

[0055] Connecting to the one or more lifting points can mean that there can be other components between the lifting cable and the lifting point. For example, a crane hook is connected to the end of the lifting cable, wherein the crane hook is connected to a connecting element, which is connected to the one or more lifting points, for example, via a rope or cable. For example, the lifting device includes four lifting points, one at each corner of the support frame. In this case, a cable or rope can extend from the connecting element to each lifting point.

[0056] Preferably, the stabilizing cable is guided downward along a direction having a vertical component as defined above.

[0057] According to another embodiment of the present invention, a method for lifting a wind turbine component using a lifting device is provided. The lifting device includes a support frame, one or more lifting points, and a stabilizing device. The support frame includes a support portion for holding the wind turbine component. The one or more lifting points are located on the support frame and configured to be connected to lifting cables of a crane. The stabilizing device includes a first connection point, a second connection point, and at least one actuator disposed on the support frame. The first connection point is configured to connect a first stabilizing cable to the support frame, and the second connection point is configured to connect a second stabilizing cable to the support frame. The first connection point is disposed at a first end of the support frame, and the second connection point is disposed at a second end of the support frame opposite to the first end. The method includes actuating the first stabilizing cable and / or the second stabilizing cable relative to the support frame using the at least one actuator, thereby correspondingly moving the first end and / or the second end of the support frame in a vertical direction.

[0058] This method allows for the assembly of wind turbine components with advantages corresponding to those further described above. In particular, it improves efficiency and safety during the assembly of wind turbine components such as wind turbine blades. Specifically, larger blades can be installed over extended time windows, especially at higher wind speeds.

[0059] It should be understood that the features described above, as well as those to be explained below, may be used not only in the indicated combinations, but also in other combinations or individually, without departing from the scope of the invention. In particular, unless otherwise stated, features of different aspects and embodiments of the invention may be combined with each other. Attached Figure Description

[0060] The above and other features and advantages of the present invention will become more apparent from the following detailed description, which is taken in conjunction with the accompanying drawings, in which the same reference numerals refer to the same elements.

[0061] Figure 1 This is a schematic view illustrating a lifting device for lifting wind turbine components according to an embodiment.

[0062] Figure 2 yes Figure 1 A detailed view of the view.

[0063] Figure 3 This is a schematic view illustrating a lifting device for lifting wind turbine components according to another embodiment.

[0064] Figure 4 yes Figure 3 A detailed view of the view.

[0065] Figure 5 This is the first step in the assembly process of wind turbine blades.

[0066] Figure 6 This is the second step in the assembly process of wind turbine blades.

[0067] Figure 7 This is the third step in the assembly process of wind turbine blades.

[0068] Figure 8 This is the fourth step in the assembly process of wind turbine blades. Detailed Implementation

[0069] Hereinafter, embodiments and / or examples of the invention will be described in detail with reference to the accompanying drawings. It should be understood that the following description of the embodiments is for illustrative purposes only and should not be considered limiting. It should be noted that the drawings should be considered as illustrative representations only, and the elements in the drawings are not necessarily drawn to scale. Rather, the representation of various elements has been chosen such that their function and overall purpose become apparent to those skilled in the art. As used herein, unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” are intended to also include the plural forms. The terms “comprising,” “having,” “including,” and “containing” should be interpreted as open-ended terms (i.e., meaning “including but not limited to”) unless otherwise stated.

[0070] Figure 1 This is a schematic view of a lifting device 10 for lifting wind turbine components, particularly wind turbine blades (rotor blades) 94, according to an embodiment. Figure 2 yes Figure 1 A detailed view of the view.

[0071] The lifting device 10 includes a support frame 12, one or more lifting points 16, and a stabilizing device 18. The support frame 12 includes a support portion 14 for holding the wind turbine blades 94. The one or more lifting points 16 are located on the support frame 12 and are configured to be connected to a lifting line 76 of a crane 70.

[0072] The stabilizing device 18 includes a first connection point 20 and a second connection point 22. The first connection point 20 is configured to connect a first stabilizing cable 30 to the support frame 12, and the second connection point 22 is configured to connect a second stabilizing cable 32 to the support frame 12. The first connection point 20 is located at a first end 34 of the support frame, and the second connection point 22 is located at a second end 36 of the support frame opposite to the first end 34. Furthermore, Figure 1 and Figure 2 The stabilizing device 18 includes two actuators, namely a first cylinder 50 and a second cylinder 52, which are mounted on the support frame 12. The cylinders 50 and 52 can be hydraulic cylinders or pneumatic cylinders. The cylinders 50 and 52 are configured to actuate the first stabilizing cable 30 and / or the second stabilizing cable 32 relative to the support frame, causing the first and / or second ends 34 and 36 of the support frame (and the first and / or second connection points 20 and 22) to move vertically. Figure 1 and Figure 2(The arrows in the diagram indicate vertical movement). Specifically, the first connection point 20 and the second connection point 22 are respectively located at the ends of the first cylinder 50 and the second cylinder 52. During the actuation of the respective cylinders 50, 52, the first or second stabilizing cable is selectively pulled closer or released by the first or second cylinders 50, 52. Therefore, by actuating the first and / or second cylinders 50, 52, the vertical movement of the first and / or second ends of the support frame 12 can be compensated for or counteracted.

[0073] like Figure 1 As shown, the lifting device 10 may further include a detection unit 60 and a controller 58. The detection unit 60 is configured to detect movement of the support frame 12 in the vertical and / or horizontal directions, and the controller 58 is configured to control the first and / or second cylinders 50, 52 based on the detection signals from the detection unit 60. The controller 58 preferably communicates with the detection unit 60 and the first and second cylinders 50 and 52 (wired or wireless communication). The detection unit 60 and / or the controller are preferably mounted on the support frame 12. The detection unit 60 may include an inclinometer. The controller 58 can provide feedback control to counteract vertical displacement or torque about the inclined axis T of the support frame 12 at the first and / or second connection points 20, 22. The inclined axis T is an axis located in a horizontal plane perpendicular to the longitudinal axis L of the support frame.

[0074] like Figure 1 As shown, the support frame 12 is a C-shaped yoke, wherein the support portion 14 includes a first C-shaped support member 42 and a second C-shaped support member 44, which are configured to support wind turbine blades 94. Each C-shaped support member 42, 44 may include a clamping member 46 and means (not shown) for displacing / moving the clamping member 46 relative to the C-shaped support members 42, 44, such that the wind turbine blades 94 are clamped in the C-shaped yoke, and particularly clamped between the clamping member 46 and the C-shaped support members 42, 44.

[0075] The C-type yoke may include a yoke frame member 40, and a first C-shaped support member 42 is connected to a first end of the yoke frame member, and a second C-shaped support member 44 is connected to a second end of the yoke frame member opposite to the first end. The support frame 12 is along the longitudinal direction (along the longitudinal axis L, see...). Figure 2 The support frame 12 extends to support the longitudinally extending wind turbine blade 94, wherein the first end 34 and the second end 36 are located at opposite ends in the longitudinal direction of the support frame 12. Figure 1 and Figure 2As can be seen, the support frame 12 is configured to hold the wind turbine blade 94 during lifting such that the longitudinal extension of the blade 94 extends horizontally, while being oriented so that its chord is substantially horizontal, so that wind no longer impacts the suction or pressure side of the wind turbine blade. Therefore, the torque about the vertical axis generated by the wind impacting the blade can be reduced.

[0076] like Figure 1 As shown, a crane 70 is provided, which includes the aforementioned lifting device 10 for lifting wind turbine blades 94. The crane 70 includes a boom 73 and lifting wires 76, wherein the lifting wires 76 are connected to one or more lifting points 16 of the lifting device 10. The crane also includes a first stabilizing cable 30 and a second stabilizing cable 32, both of which are guided downwards from the upper part of the boom 73 toward the lifting device 10. The first stabilizing cable 30 is connected to a first connection point 20 of a support frame 12, and the second stabilizing cable 32 is connected to a second connection point 22 of the support frame 12, and are actuated by a first cylinder 50 and a second cylinder 52. Furthermore, a beam 72 is provided, which is fixedly mounted on the boom 73 of the crane 70, and particularly on the upper part of the boom 73. The beam 72 may include a first guide 74 and a second guide 75, which are disposed at opposite ends of the beam 72 to guide the first stabilizing cable 30 and the second stabilizing cable 32, respectively. The guide 74 may include pulleys that guide the stabilizing cables 30, 32.

[0077] like Figure 6 As exemplarily shown, a first winch 78 and a second winch 80, configured to wind in and unwind a first stabilizing cable 30 and a second stabilizing cable 32 respectively during a lifting operation, can be mounted on a crane 70 or on the ground. One end of the first stabilizing cable 30 is connected to or wound onto the first winch 78, and one end of the second stabilizing cable 32 is connected to or wound onto the second winch 80. By operating the winches 78 and 80, the tension on the stabilizing cables 30 and 32 can be kept constant. However, the long ropes between the winches 78 and 80 and the support frame result in an insufficiently direct response from the winches 78 and 80 to compensate for tilting movements of the support frame. Since the actuators 50, 52, 54, or 56 are directly mounted on the support frame, they can compensate for this movement more directly and quickly.

[0078] like Figure 1As shown, four lifting points 16 are provided at each corner of the support frame 12. The lifting device 10 may include a connecting element 37 configured to be connected to each lifting point 16 via ropes or wires. The connecting element 37 is configured to be connected to a crane hook 71, which is connected to a lifting cable 76 (e.g., via a lifting trolley). The connecting element 37 may be directly connected to the crane hook 71, or it may be connected to the crane hook 71 via ropes or wires.

[0079] The connecting element 37 may include a cylinder 33, preferably a pneumatic or hydraulic cylinder, which is configured to tilt the upper part of the connecting element 37 relative to the lower part of the connecting element 37, particularly in a vertical plane extending along the longitudinal direction of the support frame 12. The support frame 12 can be tilted due to the cylinder 33.

[0080] Figure 3 This is a schematic view of a lifting device 11 for lifting wind turbine components, particularly wind turbine blades 94, according to another embodiment. Figure 4 yes Figure 3 A detailed view of the view.

[0081] Figure 3 and Figure 4 The lifting device 11 shown is similar to Figure 1 and Figure 2 The lifting device 10 is shown in the image. Therefore, in the following text, only the differences will be described. Regarding... Figure 1 and Figure 2 All other features described for the lifting device 10 also apply. Figure 3 and Figure 4 The lifting equipment 11. The characteristics of crane 70 also apply.

[0082] Replaces cylinder blocks 50 and 52 (see) Figure 1 and Figure 2 ), Figure 3 and Figure 4The lifting device 11 shown includes two actuators, namely a first winch 54 and a second winch 56, which are mounted on a support frame 12. Specifically, a first connection point 20 is provided by a pulley 75 located at a first end 34 of the support frame 12. A second connection point 22 is provided by another pulley 75 located at a second end 36 of the support frame 12. The pulley 75 at the first end 34 guides a first stabilizing cable 30 to the first winch 54, and the pulley 75 at the second end 36 guides a second stabilizing cable 32 to the second winch 56. By pulling in or releasing the first stabilizing cable 30 by the first winch 54, the first end 34 can be moved vertically upwards or downwards. By pulling in or releasing the second stabilizing cable 32 by the second winch 56, the second end 36 can be moved vertically upwards or downwards. Alternatively, the stabilizing cables 30 and 32 can be connected, and only one winch may be used.

[0083] The following text refers to Figures 5 to 8 The process of lifting and assembling wind turbine blade 94 is described. As an example, the figure shows a crane 70 connected to a lifting device 10 (with a cylinder). However, the same applies below to lifting device 11 (with a winch).

[0084] A wind turbine 90 is provided, the wind turbine including a wind turbine tower 98, a nacelle 100 mounted on top of the wind turbine tower 98, and a wind turbine rotor 92 having a hub 96 with openings for receiving wind turbine blades 94. The hub 96 is rotatably connected to the nacelle 100, and in particular to a generator (not shown) within the nacelle.

[0085] As described above, the lifting device 10, which is connected to the crane 70, picks up the wind turbine blade 94 (see above). Figure 5 Specifically, the wind turbine blade 94 is clamped between the clamping member 46 and the first C-shaped support member 42 and the second C-shaped support member 44, wherein the blade 94 is horizontally oriented. The wind turbine blade 94 is then lifted to the desired assembly position (see...). Figure 6 During the lifting process, stabilizing device 18 (see...) Figure 1 This can be used to counteract tilting motion. Furthermore, at the desired assembly location, the stabilizing device can be used to align the root end of the wind turbine blade with the opening of the hub 96 (see [reference]). Figure 7When the wind turbine blade 94 is connected to the hub 96, the wind turbine blade 94 is released from the support frame 12, and the assembly process is complete. Thanks to the stabilizing device, the entire assembly process is more efficient, accurate, and safer. In particular, the movement of the blade at its vertical root end can be significantly reduced. The assembly of the wind turbine blade 94 can be carried out at high wind speeds, which is impossible using conventional systems. Therefore, the entire assembly process of the wind turbine 90 is accelerated due to reduced downtime caused by severe weather.

Claims

1. A lifting device (10, 11) for lifting wind turbine components (94, 96, 98, 100) for mounting on a wind turbine, the lifting device comprising: - A support frame (12), the support frame including a support (14) for holding the wind turbine components (94, 96, 98, 100). - One or more lifting points (16) located on the support frame (12), the one or more lifting points being configured to be connected to the lifting wire (76) of the crane (70); and - Stabilizing device (18) The stabilizing device (18) includes - A first connection point (20) and a second connection point (22), the first connection point being configured to connect a first stabilizing cable (30) to the support frame, and the second connection point being configured to connect a second stabilizing cable (32) to the support frame, wherein the first connection point (20) is located at a first end (34) of the support frame, and the second connection point (22) is located at a second end (36) of the support frame opposite to the first end (34); and - At least one actuator (50-56) disposed on the support frame, wherein the at least one actuator (50-56) is configured to actuate the first stabilizing cable (30) and / or the second stabilizing cable (32) relative to the support frame to move the first end and / or the second end (34, 36) of the support frame in a vertical direction.

2. The lifting device according to claim 1, wherein, Actuating the stabilizing cable includes selectively pulling in or bringing in the corresponding stabilizing cable (30, 32) via the at least one actuator (50-56) or releasing or extending the corresponding stabilizing cable via the at least one actuator (50-56).

3. The lifting device according to claim 1 or 2, wherein, The actuators (50-56) are configured to be coupled to the first stabilizing cable (30) and / or coupled to the second stabilizing cable (32).

4. The lifting device according to claim 1, 2 or 3, wherein, The support frame (12) extends along the longitudinal direction (L) to support the wind turbine components (94, 96, 98, 100) extending along the longitudinal direction (L), wherein the first end (34) and the second end (36) are located at opposite ends of the support frame (12) along the longitudinal direction (L).

5. The lifting device according to any one of the preceding claims, wherein, The first and / or second connection points (20, 22) are provided by pulleys (75) arranged at the first and / or second ends (34, 36) of the support frame and guiding the corresponding stabilizing cables to the at least one actuator (50-56), or The first connection point and / or the second connection point (20, 22) are disposed on the at least one actuator (50-56).

6. The lifting device according to any one of the preceding claims, wherein, The first connection point and / or the second connection point (20, 22) are configured to receive the first stabilizing cable and / or the second stabilizing cable (30, 32) in a direction having a vertical component.

7. The lifting device according to any one of the preceding claims, wherein, The at least one actuator (50-56) includes a hydraulic or pneumatic cylinder (50, 52) configured to be connected to the respective stabilizing cable, or includes a winch (54, 56) configured to be connected to the respective stabilizing cable.

8. The lifting device according to any one of the preceding claims further includes a detection unit (60) and a controller (58), the detection unit being configured to detect movement of the support frame (12) in a vertical and / or horizontal direction, and the controller being configured to control the at least one actuator (50-56) based on the signal detected by the detection unit (60), and in, Preferably, the detection unit (60) includes an inclinometer and / or an accelerometer.

9. The lifting device according to claim 8, wherein, The controller (58) provides feedback control for counteracting vertical displacement at the first connection point and / or the second connection point (20, 22) or for counteracting torque about the tilt axis (T) of the support frame (12).

10. The lifting device according to any one of the preceding claims, wherein, The support frame (12) is a C-shaped yoke, and the support includes a first C-shaped support member (42) and a second C-shaped support member (44) configured to support wind turbine blades (94).

11. The lifting device according to any one of the preceding claims, wherein, The lifting equipment (10, 11) includes the first stabilizing cable and the second stabilizing cable (30, 32).

12. The lifting device according to any one of the preceding claims, wherein, The lifting device (10, 11) includes a beam (72) configured to be fixedly mounted on the boom (73) of the crane (70), wherein a first guide (74) and a second guide (74) are provided at opposite ends of the beam (72) to guide the first stabilizing cable (30) and the second stabilizing cable (32) respectively.

13. The lifting device according to any one of the preceding claims, comprising a first winch (78) and a second winch (80), the first winch and the second winch being configured to respectively wind in and unwind the first stabilizing cable and the second stabilizing cable during lifting operations, wherein, The first winch (78) and the second winch (80) are configured to be mounted on the crane or on the ground.

14. A crane (70) for lifting wind turbine components (94, 96, 98, 100), the crane comprising: - Borehole (73); - Improve the cable (76); - The lifting device (10, 11) according to any one of the preceding claims, wherein the lifting wire (76) is connected to the one or more lifting points (16) of the lifting device; and - A first stabilizing cable (30) and a second stabilizing cable (32), both of which are guided downward from the upper part of the boom (73) toward the lifting equipment (10, 11). The first stabilizing cable and the second stabilizing cable (30, 32) are connected to the support frame (12) at the first connection point (20) and the second connection point (22) respectively, and can be actuated by the at least one actuator (50-56).

15. A method for lifting wind turbine components (94, 96, 98, 100) using lifting devices (10, 11), said wind turbine components being mounted on a wind turbine (90), wherein, The lifting device includes a support frame (12), one or more lifting points (16), and a stabilizing device (18). The support frame includes a support portion (14) for holding the wind turbine components. The one or more lifting points are located on the support frame and configured to be connected to lifting wires (76) of a crane (70). The stabilizing device (18) includes a first connection point (20), a second connection point (22), and at least one actuator (50-56) disposed on the support frame (12). The first connection point is configured to connect a first stabilizing cable (30) to the support frame, and the second connection point is configured to connect a second stabilizing cable (32) to the support frame. The first connection point (20) is located at a first end (34) of the support frame, and the second connection point (22) is located at a second end (36) of the support frame opposite to the first end. The method includes: The first stabilizing cable and / or the second stabilizing cable (30, 32) are actuated relative to the support frame (12) using at least one actuator (50-56) so that the first end and / or the second end (34, 36) of the support frame are moved accordingly in the vertical direction.

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