A wind turbine disassembly and recycling device and method thereof

Abstract

This invention discloses a wind turbine dismantling and recycling device and method, belonging to the field of wind power dismantling technology. It includes two main supports, and further comprises a clamping and moving mechanism, an adaptive positioning and moving mechanism, and a bolt tightening mechanism. The two main supports are symmetrically distributed left and right. A clamping and moving mechanism for clamping and moving at the root of the wind turbine blade is installed between the two main supports. An adaptive positioning and moving mechanism for positioning and moving according to the bolt position is installed on each main support. A bolt tightening mechanism for dismantling bolts one by one is installed on the adaptive positioning and moving mechanism. The adaptive positioning and moving mechanism includes a fixing component and a positioning drive component. Through the above method, this invention can adapt to the clamping and moving of wind turbine blades of different sizes, can position bolts in multiple directions, and can achieve automated bolt dismantling, significantly improving work efficiency and reducing costs.

Description

Technical Field

[0001] This invention relates to the field of wind turbine dismantling technology, specifically a wind turbine dismantling and recycling device and method. Background Technology

[0002] Wind turbine blades are typically fixed to the hub at their roots using multiple high-strength bolts. Disassembly is usually performed using a robotic arm or manually. When loosening the bolts, the torque wrench generates a significant reverse rotational force. This reverse force can easily be transmitted to the clamping and positioning mechanisms of the equipment, leading to deformation and damage of components over time, thus shortening the equipment's lifespan. Furthermore, existing equipment often cannot automate the individual bolt removal process, requiring manual intervention in positioning, alignment, and tightening. This not only results in high labor intensity but also necessitates workers operating at heights, posing safety risks such as falls and mechanical injuries. In addition, the inconsistent nature of manual operation further impacts the overall efficiency and quality of bolt removal. Using a robotic arm for disassembly would significantly increase the cost of wind turbine blade recycling. Moreover, due to the high tightness of wind turbine bolts, the robotic arm requires strong support and the ability to withstand the reverse torque during bolt removal.

[0003] Chinese patent CN117697678A discloses a device and method for disassembling wind turbine blade root flange bolts. The device includes a moving device, a control device, an execution device, and a storage device. The moving device includes a mounting bracket and a tractor. The tractor is mounted on the right end of the mounting bracket. The lower end of the mounting bracket has several first casters. The mounting bracket has several support components, each including a first support frame, a first cylinder, a first sleeve, and a telescopic support leg. The first support frame is fixed to the upper end of the mounting bracket. The first cylinder is mounted on the upper end of the first support frame. The first sleeve is located at the lower end of the first support frame. The telescopic support leg is located inside the first sleeve, with its upper end connected to the first cylinder. The lower end of the telescopic support leg passes through the first sleeve and has a support seat. The storage device includes a bolt storage rack located on the front side of the mounting bracket. The lower end of the bolt storage rack has several second casters, and the upper end of the bolt storage rack has a first support plate and a second support plate.

[0004] However, the technical solution of this patent has the following problems: This patent cannot quickly adapt to the clamping and movement of wind turbine blades of different sizes and the automated individual disassembly of bolts, and the cost of bolt disassembly is high.

[0005] Based on this, the present invention designs a wind turbine dismantling and recycling device and method to solve the above problems. Summary of the Invention

[0006] In view of the above-mentioned shortcomings of the existing technology, the present invention provides a wind turbine dismantling and recycling device and method.

[0007] To achieve the above objectives, the present invention provides the following technical solution: A wind turbine dismantling and recycling device includes two main supports, and further includes a clamping and moving mechanism, an adaptive positioning and moving mechanism, and a bolt tightening mechanism. The two main supports are symmetrically distributed from left to right. A clamping and moving mechanism for clamping and moving at the root of the wind turbine blade is installed between the two main supports. An adaptive positioning and moving mechanism for positioning and moving according to the position of the bolt is installed on the main supports. A bolt tightening mechanism for dismantling the bolts one by one is installed on the adaptive positioning and moving mechanism. The adaptive positioning and moving mechanism includes a fixing component and a positioning drive component. The main support is equipped with a fixing component for fixing the positioning drive component at a preset position after positioning the bolt position. The fixing component is equipped with a positioning drive component for driving the bolt tightening mechanism to move up and down.

[0008] Furthermore, the clamping and moving mechanism includes an adaptive clamping component and a moving component, wherein the adaptive clamping component is mounted on the main support and the moving component is mounted on the adaptive clamping component.

[0009] Furthermore, the adaptive clamping assembly includes: a connecting frame and a first cylinder. Each main support has a connecting frame rotatably connected to its front and rear sides via a rotating shaft. The sides of adjacent connecting frames furthest from the main support are rotatably connected together via a rotating shaft. The output end of the first cylinder is rotatably connected to the side of the connecting frame closest to the main support via a rotating shaft. The side of the first cylinder furthest from the connecting frame is rotatably connected to the main support via a rotating shaft.

[0010] Furthermore, the moving component includes: guide wheels and vertical steering wheels, with multiple guide wheels rotatably connected to two adjacent connecting frames via a rotating shaft, and multiple vertical steering wheels fixedly mounted on two other adjacent connecting frames.

[0011] Furthermore, the fixing assembly includes: a movable frame, a linear module, a second cylinder, and a V-shaped clamp. The left and right sides of the movable frame are slidably connected to the main supports on the left and right sides, respectively. The outer shell of the linear module is fixedly installed on one of the main supports. The output end of the linear module is fixedly connected to the movable frame. Two second cylinders are fixedly installed on the left and right sides of the movable frame. The V-shaped clamp is fixedly installed on the output end of the second cylinder.

[0012] Furthermore, the positioning drive component includes a sliding frame and a servo electric cylinder. The sliding frame is slidably connected to the side of the moving frame, and the servo electric cylinder is fixedly installed on the moving frame. The output end of the servo electric cylinder is fixedly connected to the sliding frame.

[0013] Furthermore, the positioning drive component includes a distance sensor and a first industrial camera, wherein the distance sensor is fixedly mounted on the sliding frame and the first industrial camera is fixedly mounted on the sliding frame.

[0014] Furthermore, the bolt tightening mechanism includes a rotating bolt tightening assembly and an identification assembly, wherein the rotating bolt tightening assembly is mounted on a sliding frame and the identification assembly is mounted on a movable frame.

[0015] Furthermore, the rotary bolt assembly includes a rotary disc, a pneumatic torque wrench, and a limiting rod. The rotary disc is rotatably connected to the sliding frame, the pneumatic torque wrench is fixedly installed on the lower side of the rotary disc away from the sliding frame, and the limiting rod is fixedly installed on the lower side of the rotary disc away from the sliding frame.

[0016] To better achieve the objectives of this invention, this invention also provides a method for dismantling a wind turbine dismantling and recycling device, comprising the following steps: Step 1: After placing the equipment at the preset position at the root of the wind turbine blade, the output end of the first cylinder of the clamping and moving mechanism shortens, causing the guide wheel and vertical rudder wheel on the connecting frame to fit tightly against the side wall at the root of the wind turbine blade, and the equipment is fixed. Step 2: The first industrial camera identifies the position of the bolt, the output end of the second cylinder on the moving frame extends to drive the V-shaped clamp to move and clamp the bolt on the front side, and the sliding frame moves downward to drive the bolt tightening mechanism to move downward. Step 3: The second industrial camera inspects the connection between the pneumatic torque wrench and the bolt. The pneumatic torque wrench is then activated to unscrew the bolt. Step 4: After the bolt is properly unscrewed, the vertical steering wheel starts, driving the clamping and moving mechanism and the main support to move at the root of the blade to remove the next bolt.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. The present invention drives the connecting frame to rotate through the synchronous action of multiple first cylinders, so that the guide wheel and vertical rudder wheel on the connecting frame are closely attached to the root side wall of the wind turbine blade. This can achieve stable clamping and drive the entire equipment to move at the root of the blade through the vertical rudder wheel. There is no need to manually adjust the overall placement of the equipment, which greatly improves the adaptability and mobility of the equipment on wind turbine blades of different specifications, and is conducive to adapting to the clamping and movement of wind turbine blades of different sizes. 2. The adaptive positioning and moving mechanism identifies the bolt position through the first industrial camera, and in conjunction with the linear module, moves the moving frame, while the second cylinder pushes the V-shaped clamp to fix it. This can quickly position and fix the equipment in the preset working position. At the same time, the servo electric cylinder drives the sliding frame to move up and down, and the distance sensor detects and feeds back the distance signal in real time. The distance between the bolt tightening mechanism and the bolt is precisely controlled by the external controller, so as to achieve dual accurate positioning of the bolt in both horizontal and vertical directions, and avoid disassembly failure due to positioning deviation. 3. A second industrial camera can monitor the connection between the pneumatic torque wrench and the bolt in real time, facilitating precise adjustment of the servo cylinder by the external controller to ensure accurate alignment between the wrench and the bolt. The reverse rotational force generated by the pneumatic torque wrench during operation drives the rotating disk to rotate synchronously in the opposite direction until the limit rod is pressed against the root of the wind turbine blade, effectively counteracting the reverse force and preventing damage to the clamping and self-adaptive positioning mechanisms due to excessive force, thus extending the equipment's service life. Automated bolt disassembly is achieved, significantly improving work efficiency, reducing manual labor intensity, and ensuring operational safety. All mechanisms of the equipment are controlled collaboratively by an external controller. From equipment clamping and fixing, bolt positioning, to wrench alignment and bolt unscrewing, the entire process requires no manual operation. This avoids the safety risks of manual high-altitude operations and reduces the labor involved in manually positioning and tightening bolts. Furthermore, the coordinated operation of all mechanisms enables orderly bolt disassembly, improving overall bolt disassembly efficiency and reducing costs. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0019] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ; Figure 2 This is a front view of the present invention; Figure 3 This is a top view of the present invention; Figure 4 This is a partial structural schematic diagram of the clamping and moving mechanism of the present invention; Figure 5 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ; Figure 6 This is a partial structural schematic diagram of the adaptive positioning and moving mechanism of the present invention; Figure 7 This is a partial structural schematic diagram of the adaptive positioning and moving mechanism and the bolt tightening mechanism of the present invention; Figure 8 This is a schematic diagram of the structure of the V-shaped clamp of the present invention, which is to hold the bolt. Figure 9 This is a schematic diagram of the structure of the present invention during operation.

[0020] The labels in the diagram represent: 1. Main support; 2. Clamping and moving mechanism; 21. Connecting frame; 22. First cylinder; 23. Guide wheel; 24. Vertical steering wheel; 3. Adaptive positioning and moving mechanism; 31. Moving frame; 32. Linear module; 33. Second cylinder; 34. V-shaped clamp; 35. Sliding frame; 36. Servo electric cylinder; 37. Distance sensor; 38. First industrial camera; 4. Bolting mechanism; 41. Rotary disk; 42. Pneumatic torque wrench; 43. Limiting rod; 44. Second industrial camera. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0022] The present invention will be further described below with reference to embodiments.

[0023] The terms "left," "right," "front," "back," "up," and "down" used in the following description refer to the orientation from the perspective of the front view.

[0024] Example 1: In some examples, please refer to Figures 1-9 A wind turbine dismantling and recycling device includes two main supports 1, and further includes a clamping and moving mechanism 2, an adaptive positioning and moving mechanism 3, and a bolt tightening mechanism 4. The two main supports 1 are symmetrically distributed from left to right. The clamping and moving mechanism 2, which clamps and moves at the root of the wind turbine blade, is installed between the two main supports 1. The adaptive positioning and moving mechanism 3, which moves according to the position of the bolt, is installed on the main supports 1. The bolt tightening mechanism 4, which dismantles the bolts one by one, is installed on the adaptive positioning and moving mechanism 3.

[0025] The adaptive positioning and moving mechanism 3 includes a fixing component and a positioning drive component. The main support 1 is equipped with a fixing component for fixing the positioning drive component in a preset position after positioning the bolt position. The fixing component is equipped with a positioning drive component for driving the bolt tightening mechanism 4 to move up and down.

[0026] The clamping and moving mechanism 2 includes an adaptive clamping component and a moving component. The adaptive clamping component is mounted on the main support 1, and the moving component is mounted on the adaptive clamping component.

[0027] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, the adaptive clamping assembly includes a connecting frame 21 and a first cylinder 22. Each main support 1 has a connecting frame 21 rotatably connected to its front and rear sides via a rotating shaft. The sides of adjacent connecting frames 21 that are away from the main support 1 are rotatably connected together via a rotating shaft. The output end of the first cylinder 22 is rotatably connected to the side of the connecting frame 21 that is close to the main support 1 via a rotating shaft. The side of the first cylinder 22 that is away from the connecting frame 21 is rotatably connected to the main support 1 via a rotating shaft.

[0028] like Figure 4 As shown, the moving component includes: guide wheels 23 and vertical steering wheels 24. The multiple guide wheels 23 are rotatably connected to two adjacent connecting frames 21 via a rotating shaft, and the multiple vertical steering wheels 24 are fixedly installed on two other adjacent connecting frames 21.

[0029] After the equipment is placed at a preset position at the root of the wind turbine blade, the output end of the first cylinder 22 of the clamping and moving mechanism 2 shortens, causing the connecting frame 21 to rotate on the main support 1. The output ends of multiple first cylinders 22 shorten synchronously, causing the connecting frame 21 to rotate, so that the guide wheel 23 and the vertical rudder wheel 24 of the moving component package on the connecting frame 21 are in close contact with the side wall at the root of the wind turbine blade. At this time, the vertical rudder wheel 24 can start to drive the clamping and moving mechanism 2 and the main support 1 to move at the root of the blade. This can achieve stable clamping and also drive the entire equipment to move at the root of the blade through the vertical rudder wheel 24. There is no need to manually adjust the overall placement of the equipment, which greatly improves the adaptability and mobility of the equipment on wind turbine blades of different specifications, and is conducive to the clamping and moving of wind turbine blades of different sizes.

[0030] like Figure 5 , Figure 6 , Figure 8 As shown, the fixing assembly includes: a movable frame 31, a linear module 32, a second cylinder 33, and a V-shaped clamp 34. The movable frame 31 is slidably connected to the left and right main supports 1 on the left and right sides respectively. The outer shell of the linear module 32 is fixedly installed on one of the main supports 1. The output end of the linear module 32 is fixedly connected to the movable frame 31. Two second cylinders 33 are fixedly installed on the left and right sides of the movable frame 31. The V-shaped clamp 34 is fixedly installed on the output end of the second cylinder 33.

[0031] like Figure 5 , Figure 6 , Figure 7, Figure 9 As shown, the positioning drive component includes a sliding frame 35 and a servo cylinder 36. The sliding frame 35 is slidably connected to the middle side of the moving frame 31, and the servo cylinder 36 is fixedly installed on the moving frame 31. The output end of the servo cylinder 36 is fixedly connected to the sliding frame 35.

[0032] like Figure 7 As shown, the positioning drive component includes a distance sensor 37 and a first industrial camera 38. The distance sensor 37 is fixedly mounted on the sliding frame 35, and the first industrial camera 38 is fixedly mounted on the sliding frame 35. The first industrial camera 38 is electrically connected to an external controller, and the position of the bolt at the root of the blade is identified by the visual recognition system on the external controller in conjunction with the first industrial camera 38.

[0033] The vertical steering wheel 24 starts and drives the clamping and moving mechanism 2 and the main support 1 to move at the root of the blade. The first industrial camera 38 of the positioning drive component of the fixed component identifies the position of the bolt. The external controller controls the output end of the linear module 32 to move and drive the moving frame 31 to move. The output end of the second cylinder 33 on the moving frame 31 extends and drives the V-shaped clamp 34 to move and clamp the bolt on the front side. At this time, the adaptive positioning and moving mechanism 3 is fixed in a suitable position at the root of the blade. At this time, the bolt can be removed to avoid the equipment from moving and avoid the problem of excessive position deviation when the equipment moves at the root of the blade.

[0034] The servo cylinder 36 of the positioning drive component extends, causing the sliding frame 35 to move downward. The downward movement of the sliding frame 35 causes the bolt tightening mechanism 4 to move downward. After detection by the distance sensor 37, the electrical signal is transmitted to the external controller. The external controller controls the movement of the output end of the servo cylinder 36, thereby controlling the distance between the bolt tightening mechanism 4 and the bolt. This allows for positioning and fixing of the bolt in both horizontal and vertical directions. This facilitates the confirmation of the bolt's position in multiple directions before moving the bolt tightening mechanism 4 to the bolt position, achieving precise positioning of the bolt in both horizontal and vertical directions and avoiding disassembly failure due to positioning deviation.

[0035] Example 2: In some embodiments, such as Figures 1-9 As shown, in a preferred embodiment of the present invention, the bolt tightening mechanism 4 includes a rotating bolt tightening assembly and an identification assembly. The rotating bolt tightening assembly is mounted on the sliding frame 35, and the identification assembly is mounted on the moving frame 31.

[0036] like Figure 7As shown, the rotating bolt tightening assembly includes: a rotating disk 41, a pneumatic torque wrench 42, and a limiting rod 43. The rotating disk 41 is rotatably connected to the sliding frame 35. The pneumatic torque wrench 42 is fixedly installed on the lower side of the rotating disk 41 away from the sliding frame 35. The limiting rod 43 is fixedly installed on the lower side of the rotating disk 41 away from the sliding frame 35. The identification assembly includes: a second industrial camera 44, which is fixedly installed on the moving frame 31.

[0037] The first cylinder 22, the vertical steering wheel 24, the linear module 32, the second cylinder 33, the servo electric cylinder 36, the distance sensor 37, the first industrial camera 38, the pneumatic torque wrench 42, and the second industrial camera 44 are all electrically connected to an external controller.

[0038] The sliding frame 35 moves downward, causing the bolt tightening mechanism 4 to move downward. The pneumatic torque wrench 42 of the rotating bolt tightening assembly of the bolt tightening mechanism 4 moves to the bolt position. The second industrial camera 44 detects the connection between the pneumatic torque wrench 42 and the bolt and transmits the signal to the external controller. The external controller, in conjunction with the identification system, identifies the connection between the pneumatic torque wrench 42 and the bolt, thereby further precisely controlling the servo cylinder 36. The pneumatic torque wrench 42 starts to tighten the bolt, and at the same time, the output end of the servo cylinder 36 shortens to cooperate with the pneumatic torque wrench. 42 moves upwards while unscrewing the bolt to ensure the bolt is properly unscrewed. When the pneumatic torque wrench 42 is tightening the bolt, it will rotate in the opposite direction to tightening the bolt, causing the rotating disk 41 to rotate in the opposite direction with the pneumatic torque wrench 42. This causes the limit rod 43 to rotate with the rotating disk 41. After the limit rod 43 rotates to a certain angle, it will be pressed against the root of the wind turbine blade, thus limiting the pneumatic torque wrench 42 and stopping its own reverse rotation. This prevents the pneumatic torque wrench 42 from being damaged by excessive reaction force when disassembling the bolt, which would otherwise affect the clamping and moving mechanism 2 and the adaptive positioning and moving mechanism 3.

[0039] Simultaneously, it realizes the automated disassembly of bolts one by one, which greatly improves work efficiency, reduces the intensity of manual labor, and ensures work safety. All mechanisms of the equipment are controlled collaboratively by an external controller. From equipment clamping and fixing, bolt positioning, to wrench docking and bolt unscrewing, no manual operation is required throughout the entire process. This not only avoids the safety risks of manual high-altitude operations, but also reduces the amount of labor involved in manually positioning and tightening bolts. At the same time, the coordinated cooperation of various mechanisms enables the orderly disassembly of bolts one by one, improving the overall efficiency of bolt disassembly and keeping costs low.

[0040] Furthermore, until the last bolt is removed, the V-shaped clamp 34 is held on the first bolt that has been removed, which does not affect the overall bolt removal of the equipment. After the last bolt is removed, the machine can be removed.

[0041] Example 3: In some embodiments, such as Figures 1-9As shown, in a preferred embodiment of the present invention, a dismantling method for a wind turbine dismantling and recycling device includes the following steps: Step 1: After placing the equipment at the preset position at the root of the wind turbine blade, the output end of the first cylinder 22 of the clamping and moving mechanism 2 shortens, driving the connecting frame 21 to rotate on the main support 1. The output ends of multiple first cylinders 22 shorten synchronously, driving the connecting frame 21 to rotate, so that the guide wheel 23 and the vertical rudder wheel 24 of the moving component package on the connecting frame 21 are in close contact with the side wall at the root of the wind turbine blade, and the equipment is fixed. Step 2: The first industrial camera 38 identifies the position of the bolt. The external controller controls the output end of the linear module 32 to move, which drives the moving frame 31 to move. The output end of the second cylinder 33 on the moving frame 31 extends, which drives the V-shaped clamp 34 to move and clamp the bolt on the front side. The output end of the servo electric cylinder 36 extends, which drives the sliding frame 35 to move downward. The downward movement of the sliding frame 35 drives the bolt tightening mechanism 4 to move downward. Step 3: The second industrial camera 44 of the identification component of the bolt tightening mechanism 4 detects the connection between the pneumatic torque wrench 42 and the bolt, and transmits the signal to the external controller. The external controller, in conjunction with the identification system, identifies the connection between the pneumatic torque wrench 42 and the bolt, thereby further precisely controlling the servo cylinder 36. The pneumatic torque wrench 42 starts to tighten the bolt, and at the same time, the output end of the servo cylinder 36 shortens to cooperate with the pneumatic torque wrench 42 to move upward while tightening the bolt, ensuring that the bolt is tightened normally. Step 4: After the bolts are properly unscrewed, the vertical steering wheel 24 starts to drive the clamping and moving mechanism 2 and the main support 1 to move at the root of the blade to remove the next bolt. After all the bolts are removed, the equipment can be removed and placed at the root of the next wind turbine blade to remove the bolts.

[0042] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wind turbine dismantling and recycling device, comprising two main supports (1), characterized in that, Also includes: The clamping and moving mechanism (2), the adaptive positioning and moving mechanism (3), and the bolt tightening mechanism (4) are arranged symmetrically on the left and right sides. The clamping and moving mechanism (2) is installed between the two main supports (1) to clamp and move at the root of the wind turbine blade. The adaptive positioning and moving mechanism (3) is installed on the main support (1) to move according to the position of the bolt. The bolt tightening mechanism (4) is installed on the adaptive positioning and moving mechanism (3) to disassemble the bolts one by one. The adaptive positioning and moving mechanism (3) includes a fixing component and a positioning drive component. The main support (1) is equipped with a fixing component for fixing the positioning drive component in a preset position after positioning the bolt position. The fixing component is equipped with a positioning drive component for driving the bolt tightening mechanism (4) to move up and down.

2. The wind turbine dismantling and recycling device according to claim 1, characterized in that, The clamping and moving mechanism (2) includes an adaptive clamping component and a moving component. The adaptive clamping component is mounted on the main support (1), and the moving component is mounted on the adaptive clamping component.

3. The wind turbine dismantling and recycling device according to claim 2, characterized in that, The adaptive clamping assembly includes a connecting frame (21) and a first cylinder (22). Each main support (1) has a connecting frame (21) rotatably connected to its front and rear sides via a rotating shaft. The sides of adjacent connecting frames (21) away from the main support (1) are rotatably connected together via a rotating shaft. The output end of the first cylinder (22) is rotatably connected to the side of the connecting frame (21) close to the main support (1) via a rotating shaft. The side of the first cylinder (22) away from the connecting frame (21) is rotatably connected to the main support (1) via a rotating shaft.

4. The wind turbine dismantling and recycling device according to claim 3, characterized in that, The moving component includes: guide wheels (23) and vertical steering wheels (24), with multiple guide wheels (23) rotatably connected to two adjacent connecting frames (21) via a rotating shaft, and multiple vertical steering wheels (24) fixedly mounted on two other adjacent connecting frames (21).

5. The wind turbine dismantling and recycling device according to claim 4, characterized in that, The fixing components include: a movable frame (31), a linear module (32), a second cylinder (33), and a V-shaped clamp (34). The movable frame (31) is slidably connected to the main supports (1) on the left and right sides respectively. The outer shell of the linear module (32) is fixedly installed on one of the main supports (1). The output end of the linear module (32) is fixedly connected to the movable frame (31). Two second cylinders (33) are fixedly installed on the left and right sides of the movable frame (31). The V-shaped clamp (34) is fixedly installed on the output end of the second cylinder (33).

6. The wind turbine dismantling and recycling device according to claim 5, characterized in that, The positioning drive component includes a sliding frame (35) and a servo electric cylinder (36). The sliding frame (35) is slidably connected to the middle side of the moving frame (31), and the servo electric cylinder (36) is fixedly installed on the moving frame (31). The output end of the servo electric cylinder (36) is fixedly connected to the sliding frame (35).

7. The wind turbine dismantling and recycling device according to claim 6, characterized in that, The positioning drive component includes a distance sensor (37) and a first industrial camera (38), wherein the distance sensor (37) is fixedly mounted on a sliding frame (35) and the first industrial camera (38) is fixedly mounted on the sliding frame (35).

8. The wind turbine dismantling and recycling device according to claim 7, characterized in that, The bolt tightening mechanism (4) includes a rotating bolt tightening assembly and an identification assembly, wherein the rotating bolt tightening assembly is mounted on a sliding frame (35) and the identification assembly is mounted on a moving frame (31).

9. The wind turbine dismantling and recycling device according to claim 8, characterized in that, The rotating bolt assembly includes a rotating disk (41), a pneumatic torque wrench (42), and a limiting rod (43). The rotating disk (41) is rotatably connected to the sliding frame (35). The pneumatic torque wrench (42) is fixedly installed on the lower side of the rotating disk (41) away from the sliding frame (35). The limiting rod (43) is fixedly installed on the lower side of the rotating disk (41) away from the sliding frame (35).

10. A method for dismantling a wind turbine dismantling and recycling device, used in the wind turbine dismantling and recycling device of claim 9, characterized in that, Includes the following steps: Step 1: After placing the equipment at the preset position at the root of the wind turbine blade, the output end of the first cylinder (22) of the clamping and moving mechanism (2) shortens, driving the guide wheel (23) and the vertical rudder wheel (24) on the connecting frame (21) to closely adhere to the side wall at the root of the wind turbine blade, and the equipment is fixed. Step 2: The first industrial camera (38) identifies the position of the bolt. The output end of the second cylinder (33) on the moving frame (31) extends to drive the V-shaped clamp (34) to move and clamp the bolt on the front side. The sliding frame (35) moves downward to drive the bolt tightening mechanism (4) to move downward. Step 3: The second industrial camera (44) inspects the connection between the pneumatic torque wrench (42) and the bolt, and the pneumatic torque wrench (42) is activated to unscrew the bolt; Step 4: After the bolt is properly unscrewed, the vertical steering wheel (24) starts to drive the clamping and moving mechanism (2) and the main support (1) to move at the root of the blade to remove the next bolt.

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