A wind turbine blade vertical posture turning and storing system and method

Abstract

This invention discloses a vertical attitude flipping and storage system and method for wind turbine blades, belonging to the field of wind turbine blade storage technology. It includes a mobile trolley, a flipping flange, a hydraulic arm, a control system, a limiting mechanism, and a blade tip fixing assembly. The flipping flange is rotatably hinged to the mobile trolley. One end of the hydraulic arm is hinged to the mobile trolley, and the other end is hinged to the flipping flange. The control system includes a pressure sensor, an angle sensor, and a control console. The control console receives data on hydraulic pressure and flipping angle, and adjusts the output torque of the hydraulic arm in real time. When the wind turbine blade flips to a 90° vertical attitude, the limiting mechanism locks the flipping flange. The blade tip fixing assembly includes a conformal clamp and a traction rope. The conformal clamp holds the blade tip, and the traction rope connects the conformal clamp to the mobile trolley. This invention has advantages such as simple operation, safety and stability, small footprint, reliable connection, wind resistance, ability to achieve arbitrary angle hovering, and real-time torque adjustment.

Description

Technical Field

[0001] This invention belongs to the field of wind turbine blade storage technology, specifically relating to a wind turbine blade vertical attitude flipping storage system and method. Background Technology

[0002] With the development of the wind power industry, the length of wind turbine blades has exceeded 100 meters. Currently, wind turbine blades are mainly stored in a horizontal position (in this position, the blade axis is parallel to the ground, and the widest part of the blade is also parallel to the ground, such as...). Figure 10 (as shown) and vertical orientation (in this orientation, the blade axis is parallel to the ground, and the widest part of the blade is vertical to the ground, as shown) Figure 11 As shown in the figure, in both orientations, the axis of the wind turbine blade (defined as a virtual straight line passing through the center of the blade's pitch circle and perpendicular to the plane of the pitch circle) is parallel to the ground, resulting in the blade occupying a huge area when stored; while the storage area is limited, it is difficult to meet the storage needs of large quantities of ultra-long blades.

[0003] In the prior art, such as the patent CN117208451A which discloses a vertical storage device for wind turbine blades, there are many defects: the device is complicated to flip and has poor operability; it cannot monitor and adjust the pressure and angle during the flipping process in real time, which poses a safety hazard; the blade root connection method has a small operating space and it is difficult to ensure the tightening torque; it only fixes the blade root and does not consider the swaying problem of the blade tip under wind load, which can easily lead to the whole blade tip tipping over. Summary of the Invention

[0004] Technical problem to be solved: In view of the defects in the background technology, the present invention provides a wind turbine blade vertical attitude flipping storage system and method, which has the advantages of simple operation, safety and stability, small footprint, reliable connection, wind resistance, and the ability to achieve arbitrary angle hovering and real-time torque adjustment.

[0005] Technical solution: The present invention provides a wind turbine blade vertical attitude flipping storage system, the vertical attitude flipping storage system comprising: A mobile trolley, wherein the mobile trolley has an automatic walking function; A flip-up flange is rotatably hinged to the mobile trolley, and the flip-up flange is provided with a fixing structure for connecting to the root end face of the wind turbine blade. A hydraulic arm, one end of which is hinged to the mobile trolley and the other end of which is hinged to the tilting flange, is used to drive the tilting flange to tilt within the range of 0° to 90°. The control system includes a pressure sensor, an angle sensor, and a control console. The pressure sensor is used to detect the hydraulic pressure of the hydraulic arm in real time, and the angle sensor is used to detect the flipping angle of the flipping flange in real time. The control console receives the data of the hydraulic pressure and the flipping angle, and adjusts the output torque of the hydraulic arm in real time based on the data, and controls the flipping flange to hover at any angle. The limiting mechanism includes multiple sets disposed on the mobile trolley. When the wind turbine blade is flipped to a 90° vertical position, the limiting mechanism locks the flipping flange. The blade tip fixing assembly includes a conformal clamp and a traction rope. The conformal clamp is used to hold the blade tip of the wind turbine blade, and the traction rope connects the conformal clamp to the mobile trolley.

[0006] Preferably, the mobile trolley includes a vehicle body and AGV wheels installed at the four corners of the vehicle body, and the AGV wheels are controlled by the control system to control the travel route. The mobile trolley also includes retractable support legs, which are installed on the four sides of the vehicle body. When the AGV is overturned, the support legs extend and support the ground, so that the AGV wheels are off the ground and the support legs bear the entire support load to prevent overturning.

[0007] Preferably, the fixing structure provided on the flip flange consists of multiple rings of anchoring holes with different pitch circle diameters, and the anchoring holes are matched and fixedly connected to the holes on the root end face of wind turbine blades of different specifications by fastening bolts.

[0008] Preferably, the mobile trolley includes multiple accommodating cavities arranged parallel to the top surface of the trolley body, and each accommodating cavity is provided with a hydraulic arm; The hydraulic arm includes an arm base, a telescopic rod at the front end of the arm base, a rotating shaft at the front end of the telescopic rod, and a rotating shaft support hinged to the rotating shaft on the bottom surface of the flip flange; the arm base also has a hinge shaft hinged to the vehicle body at its rear end.

[0009] Preferably, the mobile trolley is provided with a tilting shaft support; the circumferential side of the tilting flange is provided with a tilting shaft that is hinged to the tilting shaft support.

[0010] Preferably, the circumferential side of the flip flange is provided with multiple limiting rods at positions different from the flip axis; The limiting mechanism includes multiple sets of components on the mobile trolley corresponding to each limiting rod. The limiting mechanism includes a limiting base, a limiting support block, a limiting cylinder, a limiting push rod, and a limiting pressure block. The limiting support block is correspondingly disposed at the front end of the limiting base. The limiting cylinder is correspondingly connected to the limiting base, and the limiting push rod is correspondingly connected to the front end of the limiting cylinder. A limiting pressure block is disposed at the front end of the limiting push rod. The limiting support block has a limiting groove adapted to the shape of the limiting rod. When the wind turbine blade flips to a vertical position, the limiting rod engages in the limiting groove of the limiting support block. The limiting cylinder drives the limiting push rod to extend and press the limiting pressure block against the limiting rod to achieve limiting.

[0011] Preferably, the pressure sensor is correspondingly mounted on the hydraulic arm, and the mobile trolley is equipped with a hydraulic oil tank that cooperates with the hydraulic arm; the angle sensor is correspondingly mounted at the tilting shaft, and the control system adjusts the output pressure of the hydraulic arm in real time according to the tilting angle and maintains stable torque.

[0012] Preferably, the mobile trolley is equipped with a modular battery compartment, which houses a quick-replacement battery pack that provides continuous power to the system.

[0013] Preferably, the inner surface curvature of the conformal clamp matches the surface curvature of the wind turbine blade tip, and anchor points are provided on both sides of the conformal clamp and at corresponding positions on the moving trolley, the anchor points being used to connect the traction rope.

[0014] This invention also discloses a method for storing the vertical attitude of wind turbine blades, using the aforementioned vertical attitude reversal storage system. The method includes the following steps: Step 1: Control the mobile trolley to move to the wind turbine blade hoisting position, control the mobile trolley's support legs to extend and stably support it on the ground, so that the AGV wheels of the mobile trolley are lifted off the ground; Step 2: Control the hydraulic arm to extend and open the flip flange to the docking position. The control system can control the flip flange to hover at any angle within the range of 0° to 90°, adjust the docking state between the blade root end face and the flip flange, and fix the connection by fastening bolts. Step 3: Install the conformal clamp on the tip of the wind turbine blade and attach one end of the traction rope to the conformal clamp accordingly; Step 4: The control system controls the hydraulic arm to retract and drive the flipping flange to flip. At the same time, it collects hydraulic pressure and flipping angle data in real time, and adjusts the output torque of the hydraulic arm in real time according to the changes in wind turbine blade load. When the wind turbine blade flips to a 90° vertical position, the control system controls the limit mechanism to lock the flipping flange and fastens the other end of the traction rope to the anchor point of the mobile trolley. Step 5: Control the retraction of the support legs of the mobile trolley so that the AGV wheels fall and support the ground; control the mobile trolley to travel to the storage location carrying the vertically oriented wind turbine blades.

[0015] Compared with the prior art, the present invention has at least the following beneficial effects: 1. The vertical attitude flipping storage system of the present invention can realize the transformation of the axis of wind turbine blade from horizontal to the bottom surface to vertical to the ground. The wind turbine blade is stored in a vertical attitude, which greatly reduces the footprint of a single blade and improves the site storage density and site utilization. 2. The system is integrated into a mobile trolley, and the support legs extend to the ground before flipping to ensure system stability; the flipping operation is simple, practical and easy to operate; 3. The control system uses pressure and angle sensors to provide real-time feedback of relevant data from the flipping flange. The control system can intelligently adjust the output torque of the hydraulic arm to adapt to load changes at different angles during the flipping process of the wind turbine blade, ensuring a smooth and safe flipping process. The flipping flange can allow the wind turbine blade to be suspended at any angle from 0 to 90°, which facilitates the adjustment of the installation position and angle of the flipping flange and the root end face of the wind turbine blade, achieving precise docking between the flipping flange and the wind turbine blade, reducing the difficulty of fixed connection, and also facilitating inspection, adjustment, or response to emergencies. 4. The flip-up flange is connected to the root section of the wind turbine blade using front-facing fastening bolts. The fastening bolts have ample operating space, ensuring adjustable tightening torque and high reliability of the connection. 5. Once the wind turbine blade reaches a vertical position, the blade tip is secured using conformal clamps and traction ropes. This effectively prevents the blade tip from swaying due to wind load, thereby avoiding blade collisions and root connection failures, and improving the overall overturning resistance of the wind turbine blade. Attached Figure Description

[0016] Figure 1 This is a flowchart of the method of the present invention; Figure 2 This is a schematic diagram of the first state structure of the attitude flipping storage system connected to the wind turbine blade in an embodiment of the present invention (the wind turbine blade is in an unflipped state); Figure 3 This is a schematic diagram of the second state structure of the attitude flipping storage system connected to the wind turbine blade in an embodiment of the present invention (the wind turbine blade is in a vertical flipping state); Figure 4 for Figure 1 A schematic diagram of a mid-attitude flip-over storage system with the flip flange in the open position. Figure 5 for Figure 2 A schematic diagram of a mid-attitude flip-over storage system with the flip flange in a closed state. Figure 6 for Figure 4 Schematic diagram of the three-dimensional structure of a mid-attitude flip-flop memory system; Figure 7 for Figure 6 Schematic diagram of the middle flip flange and limit mechanism in the locked state; Figure 8 for Figure 7 Schematic diagram of the middle limit mechanism; Figure 9 This is a schematic diagram of the connection structure between the wind turbine blade and the flip-over flange. Figure 10 A schematic diagram of a wind turbine blade in a horizontal orientation. Figure 11 This is a schematic diagram of the vertical orientation structure of a wind turbine blade.

[0017] Reference numerals: 100, Attitude flipping storage system; 1, Mobile trolley; 2, Conformal clamp; 3, Traction rope; 4, Vehicle body; 41, Receiving cavity; 42, Battery compartment; 5, AGV wheel; 6, Support leg; 7, Flipping shaft support; 8, Flipping flange; 81, Anchoring hole; 82, Flipping shaft; 83, Limiting rod; 84, Rotating shaft support; 9, Fastening bolt; 10, Hydraulic arm; 101, Arm seat; 102, Telescopic rod; 103, Rotating shaft; 104, Hinge shaft; 11, Limiting mechanism; 111, Limiting base; 112, Limiting block; 113, Limiting cylinder; 114, Limiting push rod; 115, Limiting pressure block; 12, Anchoring point; 13, Control console; 14, Hydraulic oil tank; 200, Wind turbine blade. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will be described in conjunction with the accompanying drawings. Figures 1-11 The technical solutions of the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention are within the scope of protection of the present invention.

[0019] Example 1: As Figures 2-9 As shown, this invention discloses a vertical attitude flipping and storage system for wind turbine blades. The vertical attitude flipping and storage system 100 includes a mobile trolley 1, a flipping flange 8, a hydraulic arm 10, a control system, a limiting mechanism 11, and a blade tip fixing assembly. In this embodiment, the vertical attitude refers to a special storage attitude of the wind turbine blade, in which the blade axis is perpendicular to the ground, the blade root end face is parallel to the ground, and the blade tip points vertically upwards.

[0020] The mobile trolley 1 has an automatic walking function; specifically, such as Figures 4-6As shown, the mobile trolley 1 includes a body 4 and AGV wheels 5 installed at the four corners of the body 4. The AGV wheels 5 are controlled by a control system to determine their travel route. AGV stands for Automated Guided Vehicle, a type of transport equipment equipped with an automated guidance system. The mobile trolley 1 also includes retractable support legs 6, which are installed on the sides of the four corners of the body 4. The support legs 6 can adopt a hydraulic telescopic structure. When the trolley 1 is overturned, the support legs 6 extend and support the ground, allowing the AGV wheels 5 to lift off the ground and bear the entire support load to prevent overturning. When the mobile trolley 1 needs to be moved, the support legs 6 are retracted, the mobile trolley 1 descends, and the AGV wheels 5 are stably supported on the ground. Then, the mobile trolley 1 can be controlled by the control system to travel along a set route.

[0021] like Figures 4-7 As shown, the flip flange 8 is rotatably hinged to the moving trolley 1. A flip shaft support 7 is provided on the moving trolley 1. A flip shaft 82 is provided on the circumferential side of the flip flange 8 and is hinged to the flip shaft support 7. By cooperating with the flip shaft support 7, the flip flange 8 can be flipped within the range of 0° to 90°, and the flip position of the flip flange 8 can be adjusted. The flip flange 8 is provided with a fixing structure for connecting to the root end face of the wind turbine blade 200. The fixing structure on the flip flange 8 consists of multiple anchoring holes 81 with different pitch circle diameters (defined as: a virtual circle composed of the centers of each hole on the root end face of the wind turbine blade) to accommodate the root hole positions of different models of wind turbine blades 200. The anchoring holes 81 and the holes on the root end face of wind turbine blades 200 of different specifications are matched and fixedly connected by fastening bolts 9. The fastening bolts 9 are passed through the anchoring holes 81 of the flip flange 8 and screwed into the circumferentially threaded holes on the root end face of the wind turbine blade 200 to achieve a front-side fastening connection.

[0022] One end of the hydraulic arm 10 is hinged to the moving trolley 1, and the other end is hinged to the tilting flange 8. Specifically, as shown... Figures 5-6 As shown, the mobile trolley 1 includes multiple accommodating cavities 41 arranged parallel to the top surface of the trolley body 4, and a hydraulic arm 10 is disposed in each accommodating cavity 41. The hydraulic arm 10 includes an arm base 101, a telescopic rod 102 disposed at the front end of the arm base 101, a rotating shaft 103 disposed at the front end of the telescopic rod 102, and a rotating shaft support 84 hinged to the rotating shaft 103 disposed on the bottom surface of the flip flange 8; a hinge shaft 104 hinged to the trolley body 4 is disposed at the rear end of the arm base 101. The telescopic rod 102 of the hydraulic arm 10 can extend or retract under the command of the control console 13, thereby pushing the flip flange 8 to flip around the flip shaft 82 in the range of 0° (horizontal) to 90° (vertical).

[0023] The limiting mechanism 11 includes multiple sets mounted on the mobile trolley 1. When the wind turbine blade 200 is rotated to a 90° vertical position, the limiting mechanism 11 locks the rotating flange 8. Specifically, as shown... Figures 7-8 As shown, three limiting rods 83 are provided on the circumferential side of the flip flange 8 at positions different from the flip shaft 82; correspondingly, the limiting mechanism 11 includes three sets of limiting rods 83 arranged on the moving trolley 1; the limiting mechanism 11 includes a limiting base 111, a limiting block 112, a limiting cylinder 113, a limiting push rod 114, and a limiting pressure block 115. The limiting block 112 is correspondingly arranged at the front end of the limiting base 111, and a limiting groove adapted to the shape of the limiting rod 83 is provided on the limiting block 112; the limiting cylinder 113 is correspondingly connected to the limiting base 111, the limiting push rod 114 is correspondingly connected to the front end of the limiting cylinder 113, and a limiting pressure block 115 is provided at the front end of the limiting push rod 114. When the wind turbine blade 200 is flipped to a vertical position, the limiting rod 83 is engaged in the limiting groove of the limiting support block 112. The limiting cylinder 113 drives the limiting push rod 114 to extend and press the limiting pressure block 115 onto the limiting rod 83 to achieve the limiting position. This limiting mechanism 11 can firmly fix the wind turbine blade 200 in the vertical storage position and prevent the wind turbine blade 200 from tipping over during storage.

[0024] The blade tip fixing assembly includes a conformal clamp 2 and a traction rope 3. The conformal clamp 2 is used to clamp the tip of the wind turbine blade 200, and the traction rope 3 connects the conformal clamp 2 to the moving trolley 1. Specifically, as shown... Figures 1-2 As shown, the inner surface curvature of the conformal clamp 2 matches the surface curvature of the tip of the wind turbine blade 200. Anchor points 12 are provided on both sides of the conformal clamp 2 and at corresponding positions on the moving trolley 1. The anchor points 12 are used to connect the traction rope 3. When the wind turbine blade reaches a vertical posture, the tip of the wind turbine blade is fixed by the conformal clamp and the traction rope, which effectively prevents the tip of the wind turbine blade from swinging due to wind load, thereby avoiding wind turbine blade collision and root connection failure, and improving the overall anti-overturning ability of the wind turbine blade.

[0025] The control system includes a pressure sensor, an angle sensor, and a control console 13. The pressure sensor (not shown) is installed in the hydraulic arm 10 or the hydraulic circuit, and is used to detect the hydraulic pressure of the hydraulic arm 10 in real time. The moving trolley 1 is equipped with a hydraulic oil tank 14 that cooperates with the hydraulic arm, supplying hydraulic oil to the hydraulic arm and the limit cylinder. The angle sensor (not shown) is installed at the tilting shaft 82, and is used to detect the tilting angle of the tilting flange 8 in real time. The control console 13 has a built-in PLC or microprocessor. According to a preset algorithm such as PID control, the control console 13 receives data on hydraulic pressure and tilting angle, and adjusts the output torque of the hydraulic arm 10 in real time based on the data, maintaining torque stability. This dynamically balances the output torque of the hydraulic arm 10 with the gravitational torque of the blade at the current tilting angle, thereby achieving smooth tilting of the tilting flange 8 and hovering at any angle. The control system uses pressure and angle sensors to provide real-time feedback of relevant data from the flipping flange. The control system can intelligently adjust the output torque of the hydraulic arm to adapt to load changes at different angles during the flipping process of the wind turbine blade, ensuring a smooth and safe flipping process. The flipping flange can allow the wind turbine blade to be suspended at any angle from 0 to 90°, which facilitates the adjustment of the installation position and angle of the flipping flange and the root end face of the wind turbine blade, achieving precise docking between the flipping flange and the wind turbine blade, reducing the difficulty of fixed connection, and also facilitating inspection, adjustment, or response to emergencies.

[0026] like Figure 5 As shown, the mobile trolley 1 is equipped with a modular battery compartment 42, which houses a quick-replacement battery pack that provides continuous power to the system.

[0027] Example 2: As Figure 1 As shown, the present invention also discloses a method for storing the vertical attitude of wind turbine blades, using the above-mentioned vertical attitude reversal storage system, including the following steps: (1) Positioning: The operator controls the mobile trolley 1 to move to the wind turbine blade hoisting position via remote control, and controls the support leg 6 of the mobile trolley 1 to extend and stably support it on the ground via the control console 13, so that the AGV wheel 5 of the mobile trolley 1 is lifted off the ground by 5-10mm. At this time, the mobile trolley 1 is completely supported by the support leg.

[0028] (2) Lifting and fixing installation: Extend the telescopic rod 102 of the hydraulic arm 10 to push the flip flange 8 from the horizontal position to the vertical position (90°), in a ready-to-connect posture, before the wind turbine blade is installed. Use a crane or gantry crane to lift the wind turbine blade 200, which is in a flat or vertical posture, so that its blade root end face is close to the flip flange 8; at the same time, control the flip flange 8 to suspend at any angle within the range of 0° to 90° through the control system, adjust the connection state between the blade root end face of the wind turbine blade 200 and the flip flange 8, so that the blade root hole of the wind turbine blade is aligned with the corresponding hole on the flip flange 8, and insert and tighten the fastening bolts 9 from the front (the operator can stand on the side or above the trolley) to rigidly fix the wind turbine blade 200 to the flip flange 8.

[0029] (3) Fixing the blade tip: Install the conformal clamp 2 on the blade tip of the wind turbine blade 200, and connect one end of each of the two traction ropes 3 to the anchor points on both sides of the conformal clamp 2.

[0030] (4) Flipping to a vertical position: The hydraulic arm 10 is slowly retracted via the control console 13, pulling the flipping flange 8 and the wind turbine blade 200 to flip horizontally (actually upwards on the trolley). During the flipping process, hydraulic pressure and flipping angle data are collected in real time. The control system adjusts the output torque of the hydraulic arm 10 in real time according to the load change of the wind turbine blade, and dynamically adjusts the output pressure of the hydraulic system through the pressure value fed back by the pressure sensor to maintain a uniform flipping speed. The operator can set any intermediate angle (such as 45°) via the control console for hovering inspection. When the wind turbine blade flips to a 90° vertical position, the limit rod 83 automatically falls into the limit groove of the limit support block 112. The control console 13 automatically or the operator manually starts the limit cylinder 113, pushing the limit pressure block 115 forward and pressing the limit rod 83. At this time, the wind turbine blade is in a vertical position, with the blade root facing down and the blade tip facing up. The other end of the traction rope 3 is tightened and securely tied to the anchor point 12 of the vehicle body 4 to eliminate the free swing gap of the blade tip.

[0031] (5) Storage and transfer: Control the retraction of the support legs 6 of the mobile trolley 1, so that the AGV wheels 5 fall and support the ground. Control the mobile trolley 1 to carry the vertically oriented wind turbine blades 200 to the designated storage area via remote control to complete the storage.

[0032] If it is necessary to remove the wind turbine blade from its vertical position and restore it to a flat or vertical position, then follow the reverse order of the above steps: release the traction rope, loosen the limit mechanism, control the hydraulic arm to slowly extend and lay the wind turbine blade flat, remove the blade root fastening bolts, and move the mobile trolley to separate the mobile trolley from the wind turbine blade.

[0033] The vertical attitude flipping storage system of the present invention can realize the transformation of the axis of wind turbine blades from horizontal to the bottom surface to vertical to the ground. The wind turbine blades are stored in a vertical attitude, which greatly reduces the footprint of a single blade and improves the site storage density and site utilization. The system is integrated into a mobile trolley, and the support legs extend to the ground before flipping to ensure system stability. The flipping operation steps are simple, practical and easy to operate.

[0034] The above are preferred embodiments of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A wind turbine blade vertical attitude flipping storage system, characterized in that, The vertical attitude flipping storage system (100) includes: Mobile trolley (1), wherein the mobile trolley (1) has an automatic walking function; A flip flange (8) is rotatably hinged to the mobile trolley (1), and the flip flange (8) is provided with a fixing structure for connecting with the root end face of the wind turbine blade (200). A hydraulic arm (10) is hinged at one end to the mobile trolley (1) and at the other end to the flip flange (8), for driving the flip flange (8) to flip within the range of 0° to 90°. The control system includes a pressure sensor, an angle sensor and a control console (13). The pressure sensor is used to detect the hydraulic pressure of the hydraulic arm (10) in real time. The angle sensor is used to detect the flip angle of the flip flange (8) in real time. The control console (13) receives the data of the hydraulic pressure and the flip angle, and adjusts the output torque of the hydraulic arm (10) in real time based on the data, and controls the flip flange (8) to hover at any angle. Limiting mechanism (11), the limiting mechanism (11) includes multiple sets disposed on the mobile trolley (1), when the wind turbine blade (200) is flipped to a 90° vertical posture, the limiting mechanism (11) locks the flipping flange (8); The blade tip fixing assembly includes a conformal clamp (2) and a traction rope (3). The conformal clamp (2) is used to clamp the blade tip of the wind turbine blade (200), and the traction rope (3) connects the conformal clamp (2) to the mobile trolley (1).

2. The wind turbine blade vertical attitude flipping storage system according to claim 1, characterized in that, The mobile trolley (1) includes a vehicle body (4) and AGV wheels (5) installed at the four corners of the vehicle body (4). The AGV wheels (5) are controlled by the control system to drive along the route. The mobile trolley (1) also includes retractable support legs (6), which are installed on the four sides of the vehicle body (4). When the trolley is overturned, the support legs (6) extend and support the ground, so that the AGV wheels (5) are lifted off the ground and the support legs bear the entire support load to prevent overturning.

3. The wind turbine blade vertical attitude flipping storage system according to claim 1, characterized in that, The fixing structure provided on the flip flange (8) consists of multiple anchor holes (81) with different pitch circle diameters. The anchor holes (81) are matched and fixedly connected with the holes on the root end face of wind turbine blades (200) of different specifications by fastening bolts (9).

4. The wind turbine blade vertical attitude flipping storage system according to claim 1, characterized in that, The mobile trolley (1) includes multiple accommodating cavities (41) arranged parallel to the top surface of the vehicle body (4), and each accommodating cavity (41) is provided with a hydraulic arm (10). The hydraulic arm (10) includes an arm base (101), a telescopic rod (102) is provided at the front end of the arm base (101), a rotating shaft (103) is provided at the front end of the telescopic rod (102), and a rotating shaft support (84) is provided on the bottom surface of the flip flange (8) and is hinged to the rotating shaft (103); the tail end of the arm base (101) is provided with a hinge shaft (104) that is hinged to the vehicle body (4).

5. The wind turbine blade vertical attitude flipping storage system according to claim 1, characterized in that, The mobile trolley (1) is provided with a flip shaft support (7); the circumferential side of the flip flange (8) is provided with a flip shaft (82) that is hinged to the flip shaft support (7).

6. The wind turbine blade vertical attitude flipping storage system according to claim 5, characterized in that, Multiple limiting rods (83) are provided on the circumferential side of the flip flange (8) at a position different from the flip shaft (82). The limiting mechanism (11) includes multiple sets of corresponding limiting rods (83) arranged on the mobile trolley (1); the limiting mechanism (11) includes a limiting base (111), a limiting block (112), a limiting cylinder (113), a limiting push rod (114), and a limiting pressure block (115). The limiting block (112) is correspondingly arranged at the front end of the limiting base (111), the limiting cylinder (113) is correspondingly connected to the limiting base (111), and the limiting push rod (114) is correspondingly connected to the limiting cylinder (83). The front end of the limiting cylinder (113) and the front end of the limiting push rod (114) are provided with a limiting pressure block (115); the limiting support block (112) is provided with a limiting groove that matches the shape of the limiting rod (83); when the wind turbine blade (200) is flipped to a vertical position, the limiting rod (83) is inserted into the limiting groove of the limiting support block (112), and the limiting cylinder (113) drives the limiting push rod (114) to drive the limiting pressure block (115) to extend and press the limiting rod (83) to achieve the limiting.

7. The wind turbine blade vertical attitude flipping storage system according to claim 5, characterized in that, The pressure sensor is correspondingly installed on the hydraulic arm (10), and the mobile trolley (1) is provided with a hydraulic oil tank (14) that cooperates with the hydraulic arm; the angle sensor is correspondingly installed at the flipping shaft (82), and the control system adjusts the output pressure of the hydraulic arm (10) in real time according to the flipping angle and keeps the torque stable.

8. The wind turbine blade vertical attitude flipping storage system according to claim 1, characterized in that, The mobile trolley (1) is equipped with a modular battery compartment (42), which contains a quick-replaceable battery pack that provides continuous power to the system.

9. The wind turbine blade vertical attitude flipping storage system according to claim 1, characterized in that, The inner surface curvature of the conformal clamp (2) matches the surface curvature of the tip of the wind turbine blade (200), and anchor points (12) are provided on both sides of the conformal clamp (2) and at corresponding positions on the mobile trolley (1). The anchor points (12) are used to connect the traction rope (3).

10. A method for storing the vertical attitude of wind turbine blades, characterized in that, Using the vertical attitude flipping storage system according to any one of claims 1-9, the method includes the following steps: Step 1: Control the mobile trolley (1) to move to the wind turbine blade hoisting position, control the support legs (6) of the mobile trolley (1) to extend and stably support on the ground, so that the AGV wheels (5) of the mobile trolley (1) are lifted off the ground; Step 2: Control the hydraulic arm (10) to extend and open the flip flange (8) to the docking position. The control system can control the flip flange (8) to hover at any angle within the range of 0° to 90°, adjust the docking state of the blade root end face of the wind turbine blade (200) and the flip flange (8), and fix the connection by fastening bolts. Step 3: Install the conformal clamp (2) on the tip of the wind turbine blade (200) and attach one end of the traction rope (3) to the conformal clamp (2); Step 4: The control system controls the hydraulic arm (10) to retract and drive the flipping flange (8) to flip. At the same time, it collects hydraulic pressure and flipping angle data in real time and adjusts the output torque of the hydraulic arm (10) in real time according to the change of wind turbine blade load. When the wind turbine blade flips to a 90° vertical posture, the control system controls the limit mechanism (11) to lock the flipping flange (8) and fastens the other end of the traction rope (3) to the anchor point (12) of the mobile trolley (1). Step 5: Control the support legs (6) of the mobile trolley (1) to retract, so that the AGV wheels (5) fall and support on the ground; control the mobile trolley (1) to travel to the storage position with the vertical wind turbine blades (200).

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