A wind turbine blade hoisting device and method thereof

Abstract

This invention discloses a wind turbine blade hoisting device and method, belonging to the field of wind power equipment installation technology. The device includes a main hoisting platform, a crossbeam, and at least two sets of hoisting sling assemblies. Each hoisting sling assembly includes flexible slings and an adjustment mechanism. The flexible slings have a flexible contact pad layer on their inner side, which embeds multiple independently controllable inflation units. The inflation units are connected to a pressure control system and can differentially inflate and deflate in response to attitude commands. Active control of the blade's attitude in flight is achieved by adjusting the pad layer thickness and pressure. In a preferred embodiment, the inflation unit integrates a jet nozzle, which can generate thrust to suppress blade sway. This invention combines flexible load-bearing capacity with active attitude control, possessing anti-sway capability, effectively improving hoisting safety, accuracy, and efficiency, while avoiding damage to the blade surface.

Description

Technical Field

[0001] This invention relates to the technical field of wind power equipment installation, specifically to a wind turbine blade hoisting device and method. Background Technology

[0002] As the capacity of individual wind turbine units continues to increase, the length and weight of wind turbine blades have also increased significantly, posing a more severe challenge to their high-altitude installation. Currently, single-blade high-altitude hoisting is the mainstream construction method, but the hoisting process is easily affected by factors such as wind load and crane sway, causing the blade to experience uncontrollable pitch, yaw, and lateral swaying in the air. This attitude instability not only greatly increases the risk of collisions between the blade and the tower or hub, but also makes aligning the bolt holes between the blade and the hub extremely difficult, severely restricting the efficiency and safety of the hoisting operation.

[0003] Existing wind turbine blade hoisting technologies are mainly divided into two categories: The first category is hoisting schemes based on rigid frames or clamps. For example, CN115676578B describes a wind turbine blade clamping and hoisting device, where a rigid frame clamps the blade from above and below. While this allows for convenient adjustment and provides some resistance to swaying, the rigid clamping structure inevitably creates localized stress concentration points on the blade surface (especially blades made of composite materials), posing a potential risk of damaging the blade skin or internal structure. Furthermore, these systems are typically complex, occupy a large space, and when used with guy ropes for external adjustments, the corrective force acts on the entire hoisting frame, limiting the ability to fine-tune the local attitude of the blade.

[0004] The second category is lifting solutions based on flexible slings. Examples include CN120864353A, "A Wind Turbine Blade Lifting Device and Method," which uses a strap assembly in conjunction with a clamping assembly to support and secure the blade. This solution reduces the risk of damage from rigid clamping and improves adaptability. However, this type of solution relies heavily on the crane operator's experience and manual adjustments, lacking proactive, real-time control over the blade's attitude in the air. If the blade sways due to wind or crane-related factors, the only response is passive, requiring crane movement, resulting in slow response, low precision, and hindering accurate and rapid attitude stabilization and alignment.

[0005] Therefore, the industry urgently needs a new device and method that can inherit the advantages of flexible slings in terms of blade friendliness and wide adaptability, and integrate active and intelligent attitude control capabilities, so as to achieve safe, efficient and precise single blade hoisting operations. In view of this, in-depth research was conducted to address the above problems, which led to this case. Summary of the Invention

[0006] The purpose of this invention is to provide a wind turbine blade hoisting device and method to solve the problems of difficult attitude control, easy damage to the blade, sensitivity to wind load, and low installation efficiency in the prior art when hoisting a single blade.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a wind turbine blade hoisting device, comprising a main hoisting platform for connecting to an external crane, crossbeams provided at both ends or sides of the main hoisting platform, and at least two sets of hoisting strap assemblies spaced apart from each other mounted on the crossbeams; each set of hoisting strap assemblies includes a flexible hoisting strap and an adjustment mechanism for adjusting the hoisting orientation of the flexible hoisting strap; a flexible contact pad is provided on the inner surface of the flexible hoisting strap that contacts the blade; within the flexible contact pad, a plurality of independently controllable inflation units are embedded at intervals along the length direction of the flexible hoisting strap, and each inflation unit is connected to an air pressure control system, which can respond to attitude control commands and independently inflate or deflate at least some of the inflation units to change the thickness and pressure of the flexible contact pad at the corresponding position, thereby adjusting the air attitude of the blade.

[0008] The core of the above technical solution lies in combining an active attitude control mechanism with a flexible support structure. By arranging multiple independent and controllable inflation units within the contact interface of the flexible sling, the traditional passive sling is transformed into an actively deformable mechanism. When a deflection of the blade attitude is detected, the control system can instruct the inflation units at specific locations to operate, generating a corrective torque by changing the local contact pressure and support height. This enables precise and active adjustment of the blade's pitch, yaw, and other attitudes, fundamentally improving the stability and controllability of the hoisting process.

[0009] Preferably, the inflation unit is a segmented airbag; the flexible contact pad layer further includes an elastic buffer layer covering the outside of the segmented airbag.

[0010] Using the above technical solution, the segmented airbag structure is simple and reliable, with rapid inflation and deflation response, making it an ideal actuating element for achieving localized deformation. The elastic buffer layer covering its outer side, such as high-damping rubber or polyurethane layer, has multiple functions: first, it acts as an intermediate medium between the airbag and the blade surface, further dispersing contact stress and preventing wear on the blade caused by airbag textures or seams; second, its own elasticity can adapt to slight curvature changes on the blade surface, ensuring uniformity and tightness of contact; and third, when the airbag deflates, the buffer layer can rebound, preventing gaps between the strap and the blade that could lead to slippage.

[0011] Preferably, multiple segmented airbags are arranged side by side along the width direction of the flexible sling to form a multi-row airbag array.

[0012] By employing the above technical solution, multiple rows of airbags are arranged along the width of the sling, effectively providing multiple independent support and actuation points on the transverse cross-section of the blade. This arrangement enhances the control capability over the blade's torsional attitude. For example, when it is necessary to correct the blade's roll around its longitudinal axis, the airbags on the left and right sides of the same cross-section of the sling can be differentially inflated and deflated to generate a corrective torque. The multi-row airbag array provides greater control freedom and can handle more complex compound attitude deviations.

[0013] Preferably, the segmented airbag integrates at least one independently openable and closable jet nozzle; the jet nozzle is directly connected to the inner cavity of the segmented airbag through its own control valve; the air pressure control system is configured to control the opening of the control valve of the jet nozzle, so that the high-pressure gas in the segmented airbag is ejected through the jet nozzle to generate reverse thrust to assist in adjusting the blade attitude.

[0014] By adopting the above technical solution, the segmented airbag simultaneously functions as both an air storage and jetting unit, integrating two attitude adjustment functions—attitude control based on contact force adjustment during inflation and deflation, and rapid anti-sway control based on jet thrust—into a single unit. The jet nozzle is directly connected to the airbag's inner cavity, eliminating the need for complex independent air paths, resulting in a highly integrated, compact, and lightweight system. When a significant or rapid lateral sway of the blades caused by factors such as crosswinds is detected, the jet nozzle on a specific airbag located on the opposite side of the sway direction can be immediately opened. The high-pressure gas already present within the airbag is then ejected to generate thrust, rapidly suppressing the sway.

[0015] Preferably, the jet nozzle provided at the jet outlet is configured to spray in a direction that is pre-set to the side or diagonally downward toward the hoisting main platform during installation.

[0016] Using the above technical solution, the jet nozzle facing to the side is mainly used to generate a counter-thrust force to resist horizontal lateral swaying; facing diagonally downwards can generate a horizontal component force to resist swaying, while also generating an upward component force, forming a certain "air cushion" effect on the hoisting system, which helps to improve overall stability.

[0017] Preferably, the air pressure control system includes a main controller, a multi-way valve group, and a main air source; multiple pressure sensors are also embedded in the flexible contact pad layer, and the pressure sensors are communicatively connected to the main controller; the main controller is configured to control the multi-way valve group to perform inflation and deflation operations on each of the inflation units and opening and closing operations and flow control operations on the jet nozzles based on the received attitude signal and the feedback signal from the pressure sensor.

[0018] The main air source includes an air pump and an air tank, and the adjacent segmented airbags are connected by an emergency connection pipeline with a normally closed solenoid valve. The air pressure control system also includes a backup air source. When the pressure of the main air source is lower than a threshold or a specific airbag fails, the main controller controls the opening of the solenoid valve of the corresponding emergency connection pipeline to start the backup air source.

[0019] The air pressure control system also includes an attitude monitoring module, which includes an attitude sensor and a vision recognition unit installed on the hoisting body. The attitude monitoring module is used to monitor the real-time attitude of the blades or their relative position to the hub, and generate the attitude signal to send to the controller.

[0020] Using the above technical solution, the air pressure control system forms the core of intelligent control. The main controller is the decision center, integrating local pressure signals from the airbag-blade contact surface obtained from pressure sensors, and global blade attitude signals from attitude sensors such as IMUs and vision cameras, to make a fusion judgment. Based on this, it precisely adjusts the air pressure of each airbag and the on / off state and flow rate of each nozzle by controlling a multi-channel air valve group. The introduction of pressure sensors enables closed-loop control, ensuring that the clamping force is always within a safe and effective range, preventing both overpressure damage to the blades and underpressure leading to blade slippage, thus achieving adaptive clamping and protection.

[0021] Preferably, the adjustment mechanism consists of multiple positioning holes on the crossbeam, and the end of the flexible sling is connected to the selected positioning hole via a detachable automatic unhooking device.

[0022] Alternatively, the adjustment mechanism may be an electric or hydraulic telescopic rod mounted on the crossbeam, with the end of the flexible sling connected to the output end of the telescopic rod.

[0023] The above technical solutions provide the adjustment mechanism with flexibility to adapt to different blade models and lifting angles. The positioning hole combined with the automatic unhooking device is a simple, reliable, and low-cost mechanical adjustment method suitable for situations where the lifting angle is relatively fixed. Using an electric or hydraulic telescopic rod enables stepless, remote electric adjustment of the sling's lifting angle, resulting in a higher degree of automation. It allows for rapid adaptation to the optimal angle before lifting or during fine-tuning in the air, further improving operational efficiency and adaptability.

[0024] Preferably, the hoisting main platform is also provided with a clamping mechanism located between the flexible slings. The clamping mechanism includes a pressure plate that can press against the upper surface of the blade and a driver that drives the pressure plate to move.

[0025] Using the above technical solution, the clamping mechanism serves as an auxiliary fixing device, forming a stable clamping pattern with the lower flexible sling, providing support from below and pressure from above. It is mainly used during the initial lifting and docking installation stages to further constrain the vertical and lateral displacement of the blades, preventing accidental rolling or shifting within the sling, especially during periods of strong winds or crane start-up and shutdown. This increases the safety redundancy of the entire lifting system.

[0026] The hoisting method for this wind turbine blade hoisting device includes the following steps: S1: Arrange at least two of the flexible slings at preset angular intervals below the blade and fix them by the adjustment mechanism; S2: Connect to an external crane and lift the blade; S3: Monitor blade attitude in real time during hoisting; S4: Based on the monitoring results, differential inflation and deflation of the inflation unit at a specific location is performed through the air pressure control system to generate a torque that corrects the pitch or yaw of the blades; at the same time, the jet nozzle at a specific location is controlled to jet air in a designated direction as needed to generate a counter-thrust force that counteracts the lateral sway of the blades.

[0027] Using the above technical solution, this method integrates active control logic throughout the entire hoisting process. Step S1 completes adaptive fixation; S2-S3 enter the dynamic operation and monitoring stage; S4 is the core control step, which distinguishes two control modes: for slow or small-range attitude deviations, a "torque" mode based on differential inflation and deflation of airbags is used for fine correction, which is like providing an adjustable "air mattress" for the blades; for rapid or large-amplitude lateral swaying, a "reverse thrust" mode based on jet propulsion is triggered for rapid damping. The two modes can intelligently switch or work together based on sensor signals, forming a layered and collaborative active attitude stabilization strategy.

[0028] Preferably, in step S4, differential control is preferentially performed on the air-inflating units in the sling assemblies located on both sides of the blade's center of gravity; when lateral swaying of the blade is detected, the jet nozzle located on the opposite side of the swaying direction is preferentially activated for jet correction.

[0029] By employing the above technical solution, this optimized control strategy follows the principles of mechanics, achieving maximum correction effect with minimal control energy consumption. Differential control of the slings on both sides of the center of gravity results in the longest lever arm, maximizing the efficiency of correcting pitch or yaw. Similarly, jet propulsion on the opposite side of the swing directly generates a damping force in the opposite direction of the swing, providing the most direct and effective suppression of the swing.

[0030] Compared with existing technologies, the beneficial effects of this wind turbine blade hoisting device and method are: 1. Achieving a deep integration of flexible load-bearing and active attitude control: This invention creatively embeds multiple independently controllable inflation units (segmented airbags) within the contact pad layer of the flexible sling, transforming the traditional passive support structure into an actively deformable "intelligent muscle." Through the differential inflation and deflation of specific airbags via the air pressure control system, the pressure distribution and local support height at the sling-blade contact surface can be adjusted in real time and with precision, thereby generating a precise torque to correct blade pitch and yaw. This fundamentally solves the bottleneck problem of existing flexible sling solutions lacking active control capabilities.

[0031] 2. Provides an integrated anti-sway solution with a compact and efficient structure: In a further improvement of this invention, the segmented airbag combines air storage and jet propulsion functions. Through independently openable and closable jet nozzles integrated into the airbag, the high-pressure gas within the airbag can directly generate lateral thrust, quickly suppressing the lateral sway of the blades. This integrated design, where the airbag is the air tank and the airbag wall is the actuator, simplifies the structure, reduces weight, provides a more direct response, and eliminates the need for additional complex airflow piping, resulting in high reliability.

[0032] 3. Significantly improves the safety, accuracy, and efficiency of hoisting operations: Through the closed-loop coordination of pressure sensors, attitude monitoring, and the air pressure control system, this invention can detect and automatically compensate for blade attitude deviations in real time. This greatly reduces the risk of collisions caused by shaking and enables the blade tip to align more stably and quickly with the hub mounting hole, reducing manual intervention and the time spent on repeated attempts to align the hole, thereby significantly improving the safety of high-altitude operations and overall installation efficiency.

[0033] 4. Maximum protection of the blade body: The entire system operates based on the pushing of the inflated airbag against the flexible pad, resulting in a uniform and gentle force that avoids stress concentration and surface damage that may be caused by point or line contact with rigid clamps. The inclusion of an elastic buffer layer and pressure sensors further ensures that the clamping force remains within a safe range, making it particularly suitable for composite material wind turbine blades with extremely high requirements for surface and structural integrity.

[0034] 5. Excellent versatility and scalability: This invention is based on a modular sling assembly design, which can adapt to blades of different lengths and models by increasing or decreasing the number of slings and adjusting the sling spacing and angle. The air pressure control logic can be flexibly adjusted through software programming to adapt to different wind conditions and lifting conditions. In addition, the system is easy to integrate with existing lifting main platforms based on beams and slings, with low modification costs and easy promotion and use. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the structure during blade hoisting according to the present invention; Figure 2 This is a schematic diagram of the overall structure of the present invention; Figure 3 For the present invention Figure 2 Enlarged structural diagram at point a; Figure 4 This is a schematic diagram of the overall structure of the invention from another perspective; Figure 5 For the present invention Figure 4 Enlarged structural diagram at point b; Figure 6 This is a schematic diagram of the beam structure of the present invention; Figure 7 This is a schematic diagram of the flexible sling portion of the present invention; Figure 8 This is a schematic diagram of the internal structure of the flexible sling of the present invention; Figure 9 This is a schematic diagram of the hoisting method of the present invention; Figure 10 This is a schematic diagram of the system architecture of the present invention.

[0036] In the diagram: 1. Main hoisting platform; 11. Crossbeam; 111. Positioning hole; 2. Flexible sling; 21. Flexible contact pad; 211. Elastic buffer layer; 22. Inflation unit; 221. Segmented airbag; 23. Air nozzle; 231. Air nozzle; 24. Pressure sensor; 3. Air pressure control system; 31. Main controller; 32. Multi-way air valve group; 33. Main air source; 4. Pressing mechanism; 41. Pressure plate; 42. Driver. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] Example 1: Basic Implementation Please see Figures 1 to 10 This invention provides a wind turbine blade hoisting device, mainly used for high-altitude single blade hoisting operations. The device includes a main hoisting platform 1, a sling assembly, an air pressure control system 3, and an optional clamping mechanism 4.

[0039] The main lifting platform 1 is a platform made of welded steel structure or high-strength alloy, with lifting lugs or connecting rings on its top for connection to the main hook of an external crane (such as a large crawler crane or all-terrain crane). At each end of the main lifting platform 1 along its length, a crossbeam 11 is fixedly installed. Each crossbeam 11 is a box girder or I-beam structure, horizontally positioned, with its axis perpendicular to the length of the main lifting platform 1.

[0040] On each crossbeam 11, at least one set of sling assemblies spaced apart along the length of the crossbeam 11 are installed to evenly bear the weight of the blade. Each sling assembly includes a flexible sling 2 and a corresponding adjustment mechanism. Meanwhile, the clamping mechanism 4, which serves as an auxiliary fixing device, includes a pressure plate 41 that can press against the upper surface of the blade and a driver 42 that drives the pressure plate 41 to move.

[0041] The flexible sling 2 is made of high-strength, low-elongation fiber webbing (such as polyester fiber, aramid fiber, or ultra-high molecular weight polyethylene fiber webbing). The inner side of the flexible sling 2, that is, the side in contact with the blade surface, is fixedly covered with a flexible contact pad layer 21. The flexible contact pad layer 21 is composed of an outer elastic buffer layer 211 and multiple embedded, independently controllable inflation units 22.

[0042] In this embodiment, the inflation unit 22 is preferably a segmented airbag 221. Multiple segmented airbags 221 are embedded at certain intervals within the elastic buffer layer 211 along the length direction of the flexible strap 2 (i.e., the longitudinal direction of the blade). The airbags can be made of high-strength, airtight rubber or polyurethane film. Two to three segmented airbags 221 can also be arranged side-by-side along the width direction of the flexible strap 2 to form a multi-row airbag array, thereby providing multiple independent support and actuation points in the blade width direction.

[0043] The adjustment mechanism is used to fix the upper end of the flexible sling 2 to the crossbeam 11 and adjust its suspension orientation. For example... Figure 3 As shown, in a basic implementation, the adjustment mechanism includes multiple rows of positioning holes 111 formed on the crossbeam 11, and a detachable automatic release device (such as a hydraulic release device or an electric release device) connected to the end of the flexible sling 2. By inserting the automatic release device into different positioning holes 111, the lifting position of the flexible sling 2 can be roughly adjusted to adapt to different pre-lifting postures of the blade.

[0044] The air pressure control system 3 is integrated into the main lifting platform 1 and includes a main controller 31, a multi-way valve group 32, and a main air source 33. The main air source 33 typically includes an electric air pump and an air tank. The multi-way valve group 32 is an integrated solenoid valve module containing inflation / deflation control valves corresponding to each segmented airbag 221. All valves are connected to the main air source 33 and each airbag via air pipes. The main controller 31 (such as a PLC or industrial computer) receives signals from the pressure sensor 24 and from external or built-in attitude monitoring modules (which may include an IMU attitude sensor and a visual recognition camera mounted on the main lifting platform 1). Based on these attitude signals, the main controller 31 sends commands to the multi-way valve group 32 to control the opening of the inflation or deflation valve of a specific airbag, thereby achieving independent inflation or deflation of that airbag.

[0045] Brief description of the working process: Before hoisting, the four flexible slings 2 are placed below according to the support point position of the blade, and their orientation is initially fixed by the adjustment mechanism (positioning hole 111). The crane lifts the main platform 1, so that the flexible slings 2 support the blade. In the air, if the attitude sensor detects that the blade tip is raised (tilt-out), the main controller 31 will instruct the airbag near the blade root to inflate (increasing the support height and pressure), and at the same time instruct the airbag near the blade tip to deflate appropriately (lowering the support), thereby generating a torque to lift the blade tip and correct the pitch attitude. The principle for yaw (left and right turn) correction is similar, which is achieved by controlling the differential movement of the airbags in the slings on the left and right sides of the blade.

[0046] Example 2: Preferred Implementation of Integrated Jet Function Based on Example 1, in order to further enhance the ability to quickly suppress sudden lateral swaying (mainly caused by crosswinds), this example expands the functionality of the segmented airbag 221 and the air pressure control system 3.

[0047] Please see Figure 5 and Figure 7 At least part of the segmented airbag 221, particularly the airbag located on the outer side of the sling assembly (away from the blade center), integrates one or more independently opening and closing jet ports 23 and nozzles 231 on its sidewall. The jet port 23 is directly connected to the inner cavity of the segmented airbag 221 via a high-speed responsive miniature solenoid valve (integrated into the root of the nozzle 231 or as part of a multi-way valve assembly 32), without the need for complex additional air passages. The jet direction of the nozzle 231 is preset during manufacturing or on-site installation and commissioning, typically facing laterally (horizontally outward) or obliquely downward (e.g., at a 30-60 degree angle to the horizontal plane) toward the main lifting platform 1.

[0048] In this embodiment, the main controller 31 of the air pressure control system 3 is configured with dual-mode control logic. Mode 1 is the "airbag deformation attitude fine-tuning mode" described above. Mode 2 is the "jet reverse thrust rapid damping mode". When the attitude monitoring module detects that the blades are rapidly or significantly laterally swaying, the main controller 31 immediately switches to mode 2, calculates the sway direction, and quickly opens the control valves of one or more jet nozzles 231 located on the opposite side of the sway direction. High-pressure gas is ejected at high speed from the inner cavity of the corresponding segmented airbag 221 through the jet nozzles 231, generating a reverse thrust opposite to the sway direction, thereby quickly suppressing the sway. The duration and flow rate of the jet can be controlled by the main controller 31 using PID control based on the sway amplitude and frequency.

[0049] The advantage of this design is that the air source required for jetting comes directly from the airbag itself, achieving "two uses in one", with extremely high system integration and fast response speed.

[0050] Example 3: Further optimization with closed-loop pressure feedback and safety redundancy This embodiment, based on embodiment 2, adds closed-loop pressure feedback and safety redundancy design to further improve control accuracy and operational safety.

[0051] Within the elastic buffer layer 211 of the flexible contact pad layer 21, near the segmented airbag 221 corresponding to the critical load-bearing or actuation area, multiple pressure sensors 24 (such as thin-film piezoresistive sensors) are embedded. These pressure sensors 24 are connected to the main controller 31 via cables to provide real-time feedback on the actual pressure value of the airbag-blade contact surface.

[0052] The control algorithm of the main controller 31 integrates both attitude signals and pressure feedback signals. For example, during attitude adjustment, it not only aims to bring the attitude angle to zero, but also ensures that the pressure of each airbag does not exceed the preset safety upper limit (to prevent damage to the blades) and does not fall below the preset effective lower limit (to prevent blade slippage). This achieves adaptive clamping and protection.

[0053] To improve reliability, the air pressure control system 3 can also be equipped with safety redundancy measures: Adjacent segmented airbags 221 are connected by an emergency connection line with a normally closed solenoid valve.

[0054] The system is equipped with a backup gas source (such as a high-pressure nitrogen cylinder group).

[0055] When the main controller 31 detects an abnormal pressure in a certain airbag (such as a continuous drop, which may indicate leakage), or when the pressure of the main air source 33 is insufficient, it will control the opening of the solenoid valve on the emergency connection pipeline adjacent to that airbag, allowing the normal airbag to replenish the gas supply. At the same time, the backup air source can be activated to ensure stable air pressure throughout the system and guarantee the safe landing of the blades.

[0056] Example 4: Implementation of Automated Angle Adjustment This embodiment provides another automated implementation of the adjustment mechanism. The positioning hole 111 and automatic unhooking device in Embodiment 1 are replaced with an electric or hydraulic telescopic rod mounted on the crossbeam 11. The end of the flexible sling 2 is connected to the output end of the telescopic rod via a universal joint or hinge.

[0057] Before hoisting, operators can remotely control the extension length of each telescopic boom via the control console, thereby steplessly and precisely adjusting the hoisting orientation and angle of each flexible sling 2 to perfectly match the ideal support curve of the blade, making preparation faster and more accurate. During the fine-tuning phase in the air, the telescopic booms can also be slightly driven to assist in attitude adjustment.

[0058] Lifting procedure: The method for blade hoisting using the apparatus of any of the above embodiments includes the following steps: S1 (Preparation and Fixing): Arrange at least two flexible slings 2 at preset intervals and angles below the horizontally placed blades, based on the blade model and center of gravity calculation results. Secure the ends of the slings reliably using the adjustment mechanism (positioning hole 111 and release hook, or telescopic rod).

[0059] S2 (Lifting): External crane Z connects to and lifts the main platform 1, so that the blade is smoothly lifted off the ground and enters the horizontal lifting state.

[0060] S3 (Real-time Monitoring): During the hoisting process, the pressure sensor 24 and the attitude monitoring module work continuously to acquire data such as airbag pressure, three-dimensional attitude angle, position and swing speed of the blades in real time, and send them to the main controller 31.

[0061] S4 (Active Attitude Control): For slowly changing attitude deviations (such as pitch and yaw): The main controller 31 calculates based on the attitude data and differentially inflates and deflates the inflation units 22 (airbags) at specific positions through the multi-way air valve group 32. For example, when correcting a pitch down, the front airbag is inflated and the rear airbag is deflated; when correcting a left yaw, the right sling airbag is inflated and the left sling airbag is deflated.

[0062] For rapid lateral oscillation: the main controller 31 quickly identifies the oscillation direction and immediately activates the preset jet nozzle 231 located on the opposite side of the oscillation to perform short-term, powerful jetting, generating direct damping force to suppress the oscillation.

[0063] Closed-loop optimization: Throughout the control process, the feedback signal from pressure sensor 24 is used to optimize the inflation and deflation strategy in real time to ensure that the clamping force is safe and effective.

[0064] Step S4 continues until the blade is safely and accurately delivered to the hub mounting position and docked.

[0065] In terms of control strategy, differential control is prioritized for the airbags in the sling assemblies located on both sides of the blade's center of gravity to achieve the highest correction efficiency by utilizing the longest lever arm. Jet correction also prioritizes activating the outermost jet nozzle 231 on the opposite side.

[0066] Through the above-mentioned device and method, the present invention achieves an organic combination of flexible hoisting and active attitude stabilization, which significantly improves the safety, accuracy and efficiency of high-altitude single hoisting operations for long wind turbine blades.

[0067] Contents not described in detail in this specification are prior art known to those skilled in the art. Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A wind turbine blade hoisting device comprising a hoisting main platform (1) for connection of an external crane, characterized in that, The main hoisting platform (1) is provided with crossbeams (11) at both ends or sides, and at least two sets of hoisting sling assemblies are installed on the crossbeams (11) at intervals. Each set of hoisting sling assemblies includes a flexible hoisting sling (2) and an adjustment mechanism for adjusting the hoisting orientation of the flexible hoisting sling (2). The inner surface of the flexible hoisting sling (2) that contacts the blade is provided with a flexible contact pad (21). In the flexible contact pad (21), multiple independent and controllable inflation units (22) are embedded at intervals along the length direction of the flexible hoisting sling (2). Each inflation unit (22) is connected to a pressure control system (3). The pressure control system (3) can respond to attitude control commands and independently inflate or deflate at least some of the inflation units (22) to change the thickness and pressure of the flexible contact pad (21) at the corresponding position, thereby adjusting the air attitude of the blade.

2. A wind turbine blade hoisting device according to claim 1, characterised in that: The inflation unit (22) is a segmented airbag (221); the flexible contact pad layer (21) also includes an elastic buffer layer (211) covering the outside of the segmented airbag (221).

3. A wind turbine blade hoisting device according to claim 2, characterised in that: Multiple segmented airbags (221) are arranged side by side along the width direction of the flexible sling (2) to form a multi-row airbag array.

4. The wind turbine blade hoisting device according to claim 2, characterized in that: The segmented airbag (221) is integrated with at least one independently openable and closeable jet nozzle (23); the jet nozzle (23) is directly connected to the inner cavity of the segmented airbag (221) through its own control valve; the air pressure control system (3) is configured to control the opening of the control valve of the jet nozzle (23) so that the high-pressure gas in the segmented airbag (221) is ejected through the jet nozzle (23) to generate reverse thrust to assist in adjusting the blade attitude.

5. A wind turbine blade hoisting device according to claim 4, characterized in that: The jet nozzle (231) provided at the jet port (23) is preset to be lateral or obliquely downward toward the hoisting main platform (1) during installation.

6. The wind turbine blade hoisting device according to claim 5, characterized in that: The air pressure control system (3) includes a main controller (31), a multi-way valve group (32), and a main air source (33); multiple pressure sensors (24) are also embedded in the flexible contact pad layer (21), and the pressure sensors (24) are communicatively connected to the main controller (31); the main controller (31) is configured to control the multi-way valve group (32) to perform inflation and deflation operations on each inflation unit (22) and opening and closing and flow control operations on the jet nozzle (23) according to the received attitude signal and the feedback signal of the pressure sensor (24).

7. The wind turbine blade hoisting device according to claim 1, characterized in that: The adjustment mechanism consists of multiple positioning holes (111) on the crossbeam (11), and the end of the flexible sling (2) is connected to the selected positioning hole (111) via a detachable automatic unhooking device.

8. The wind turbine blade hoisting device according to claim 1, characterized in that: The hoisting main platform (1) is also provided with a clamping mechanism (4) located between the flexible slings (2). The clamping mechanism (4) includes a pressure plate (41) that can press against the upper surface of the blade and a driver (42) that drives the pressure plate (41) to move.

9. A method for hoisting wind turbine blades using the hoisting device as described in claim 6, characterized in that, Includes the following steps: S1: Arrange at least two of the flexible slings (2) at a preset angle interval below the blade and fix them by the adjustment mechanism; S2: Connect to an external crane and lift the blade; S3: Monitor blade attitude in real time during hoisting; S4: Based on the monitoring results, differential inflation and deflation are performed on the inflation unit (22) at a specific location through the air pressure control system (3) to generate a torque to correct the pitch or yaw of the blade; at the same time, the jet nozzle (23) at a specific location is controlled to jet in a specified direction to generate a counter-thrust force to counteract the lateral swing of the blade.

10. The hoisting method according to claim 9, characterized in that, In step S4, differential control is preferentially applied to the air-filling unit (22) in the sling assembly located on both sides of the blade's center of gravity; when a lateral swing of the blade is detected, the jet nozzle (23) located on the opposite side of the swing direction is preferentially activated for jet correction.

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