• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Wind turbine blade hoisting device comprising a structure (1) to support the blade (3) during lifting. The structure (1) is made of a rigid material and defines a hollow closed contour with a geometry adapted to surround the blade (3), the device (100) also comprising a pneumatic chamber (4) attached to the structure (1) and arranged in the hollow of the closed contour defined by said structure (1), in such a way that the pneumatic chamber (4) surrounds the blade (3) at least partially. The pneumatic chamber (4) is inflatable and is arranged in the closed contour defined by the structure (1) in such a way that, when inflated, said pneumatic chamber (4) imprisons the blade (3), immobilizing it and preventing direct contact between the structure (1) and the blade (3). (Machine-translation by Google Translate, not legally binding)
    公开号:ES2665031A1
    申请号:ES201600887
    申请日:2016-10-24
    公开日:2018-04-24
    发明作者:Raúl MODREGO JIMÉNEZ
    申请人:Gamesa Innovation and Technology SL；
    IPC主号:
    专利说明:

    SECTOR OF THE TECHNIQUE
    The present invention relates to wind turbine blade lifting devices, and associated methods.
    PREVIOUS STATE OF THE TECHNIQUE
    The development of new wind turbines has resulted in the increase in their size and power. Large wind turbines allow more power to be installed in the same location and reduce the visual impact of a park consisting of several wind turbines.
    Wind turbines comprise a fixed tower that raises a gondola on the ground that carries an electric generator connected to a rotor by mechanical means. The rotor is formed by a bushing that joins a plurality of blades, screwed to studs of some bushing bearings, which are responsible for transforming the kinetic energy of the wind into rotational movement of the rotor.
    The increase in power generated is directly related to the increase in the rotor dimensions of the wind turbine, and consequently the increase in the length of the wind turbine blades. The blades represent the most critical element of the wind turbine and for this reason are elements subject to preventive and corrective inspections for which it is usually necessary to disassemble the blades of the bushing and lower them to the ground to later raise them and reassemble them in the bushing once the maintenance tasks
    In some cases, devices included in the generator itself are used to raise and lower the blades, as disclosed for example in ES2556997 A 1, of the applicant himself. ES2556997 A 1 discloses a method and device for blade replacement in wind turbines, which consists of two elements, one upper and one lower that cooperate with each other to raise and lower the blade of a wind turbine. The upper "top" element of the device consists of elements bolted to the wind turbine bearing and blade clamping means, while the lower "ground" element consists of a structure that surrounds the wind turbine tower and has at least two winches and two deflection pulleys to connect cables between the "top" element and the "ground" element of the device.
    In other cases, maintenance workers use large cranes that allow handling large and heavy-duty rotors, and use a device that is associated with the shovel and is also associated with the crane. The device is lifted or lowered by the crane, which in turn causes lifting
    or lowering of the blade associated with it. EP2952733A 1, for example, discloses a lifting device for wind turbine blades of a certain length, comprising a chassis with at least one coupling to support lifting means and with means for accommodating the blade.
    EXHIBITION OF THE INVENTION
    The object of the invention is to provide a wind turbine blade lifting device and an associated method, as defined in the claims.
    A first aspect of the invention relates to a wind turbine blade lifting device, which comprises a structure to support the blade during its lifting. The structure of the device is made of a rigid and resistant material, and defines a hollow closed contour adapted to surround the blade. The device further comprises a pneumatic chamber attached to the structure and arranged in the hollow of the closed contour defined by said structure, such that it surrounds, at least partially, the blade. The pneumatic chamber is inflatable and is adapted to imprison the blade when it is inflated, immobilizing it and preventing direct contact between the structure and the blade.
    In this way, on the one hand the pneumatic chamber imprisons the blade, holding it and thus keeping it in position during its movement, and the structure offers rigidity to the lifting device, such that this support is held firm during said movement. In addition, this rigidity offers the necessary force to support the blade during its movement, without the device suffering damages that would damage the blade since the pneumatic chamber prevents direct contact between the structure (of a rigid and resistant material) and the blade.
    Thus, with the device of the invention the blade remains immobile and protected at the same time (from the structure itself), and offers more freedom of movement than the one offered to date. With the device of the invention, the blade can be moved in any direction and radius without damaging it, such as turning it over, either in the blade change operation in which the maneuver would be to move the blade from vertical to horizontal (disassembly) or vice versa (assembly), or, being collected on the ground, turn them on the same horizontal axis by rotating radially 900 or 1800 which are operations that are usually interesting to do in the field.
    A second aspect of the invention relates to a method of fixing a wind turbine blade to a device according to the first aspect of the invention. In the method, first the hollow closed contour defined by the structure of said device faces the tip of the blade, and subsequently, with the pneumatic chamber of said deflated device, said structure slides longitudinally on the external surface of the Shovel to the desired position. Once the device is arranged in the desired position, the pneumatic chamber is inflated to immobilize or fix the blade.
    In this way, in a simple way you can fix the shovel to a device, and in
    the desired position, without the blade being damaged and in a safe way.
    These and other advantages and features of the invention will become apparent in view of the figures and the detailed description of the invention.
    DESCRIPTION OF THE DRAWINGS
    Figure 1 is a side and partial view of a wind turbine blade, held by an embodiment of the wind turbine blade lifting device of the invention.
    Figure 2 is a front view of a sectioned blade and held by a device according to Figure 1, with the sectioned blade.
    Figure 3 represents, by way of example and in a simplified manner, a moment of the movement of a blade by means of a device according to Figure 1, the blade being held by the structure of the device.
    Figure 4 is a perspective view of the structure of the device according to Figure
    one.
    DETAILED EXHIBITION OF THE INVENTION
    A first aspect of the invention relates to a wind turbine blade lifting device 100, as shown in Figures 1 to 3 by way of example. The device 100 comprises a structure 1 shown in more detail in Figure 4, to support a shovel 3 during lifting.
    The structure 1 is of a rigid and resistant material (preferably metallic), and defines a hollow closed contour with a geometry adapted to surround the blade
    3. Being of a rigid and resistant material, the structure 1 can support the blade 3 during its lifting. The device 100 further comprises a pneumatic chamber 4 attached to the structure 1, which is arranged in the hollow of the closed contour defined by said structure 1 in such a way that it surrounds, at least partially, the blade 3. The pneumatic chamber 4 is inflatable, and it is arranged in said contour such that when a fluid is injected inside and inflated, said chamber 4 imprisons the blade 3 immobilizing it. In this way, the device 100 holds the blade 3, through the pneumatic chamber 4, and said blade 3 can be moved in the desired direction without risk of falling or separating from the device 100 during its movement. Furthermore, since the pneumatic chamber 4 is the one that imprisons the blade 3, the structure 1 does not contact said blade 3 and it is seen that said structure 1 can damage said blade 3 (due to the material of the structure itself 1). To inflate the pneumatic chamber 4, a fluid is introduced inside, preferably air at a given pressure.
    In this way, due to the stiffness provided by the structure 1 and the blade 3 is trapped by the pneumatic chamber 4 (and without contact with the structure 1), the blade 3 can be moved without movement limitations using the device 100 of the invention, since the configuration of said device 100 keeps the blade 3 subject and static during its movement and prevents its fall or accidental displacement.
    Structure 1 comprises a plurality of segments 1.1 of rigid material connected in series to form the hollow closed contour. The adjacent segments 1.1 are joined together, preferably, in a fixed manner, and in a certain way to give the closed contour defined by the corresponding structure 1 the desired shape, in order to be able to adapt to the corresponding blade 3 without losing its stiffness and strength. Thus, each segment 1.1 can be attached to an adjacent segment 1.1 with a certain angle, giving the contour the desired shape.
    Preferably, the structure 1 comprises a substantially "U" shape inverted in the upper part, to accommodate the most sensitive part of the blade 3 (the trailing edge), and the pneumatic chamber 4 is configured such that it does not press on said trailing edge, thus ensuring that it makes a pressure only on the most resistant areas of the blade 3, and therefore it is allowed to imprison the blade 3 with a greater pressure to ensure its immobilization to a greater extent, than in the case of pressing over said trailing edge.
    In a preferred embodiment, structure 1 comprises two substructures 1.2 of the rigid and resistant material, parallel and spaced from each other, each defining a hollow closed contour and both being substantially equal contours. Each sub-structure 1.2 comprises a plurality of segments 1.1 connected in series to form the corresponding hollow closed contour. The adjacent segments 1.1 are joined together, preferably, in a fixed manner, and in a certain manner to give the closed contour defined by the corresponding sub-structure 1.2 the desired shape. The structure 1 further comprises a plurality of sections 1.3, preferably transverse and of the same material as the sub-structures, which join both sub-structures 1.2 to each other, thus structure 1 being formed by at least the two sub-structures 1.2 and the sections 1.3. In this way, thanks to the fact that it comprises two sub-structures 1.2, the structure 1 supports the blade 3 more reliably and in a more balanced way, since its total length is increased in a simple manner and that the blade 3 tends to move on either side, which would increase the efforts that the device 100 would have to support. In addition, this is achieved with a lighter structure 1 than if it were not composed of two parallel and separated sub-structures 1.2, without this affect the stiffness and resistance necessary to support the blade 3.
    The pneumatic chamber 4 comprises a respective pneumatic sub-chamber 4.1 for each sub-structure 1.2 of structure 1, and each pneumatic sub-chamber 4.1 is attached to the corresponding sub-structure 1.2. The connection is preferably carried out by means of a connection element 5 that surrounds both the pneumatic sub-chamber 4.1 and the corresponding sub-structure 1.2, and said connection element 5 comprises elastic properties to allow inflation of said pneumatic sub-chamber 4.1 . Each sub-structure 1.2 of structure 1 comprises a housing
    1.2.1 where the corresponding pneumatic sub-chamber 4.1 of the pneumatic chamber 4 is supported or accommodated, and preferably said housing 1.2.1 comprises a cross section substantially in the form of "a. Thus, when the pneumatic chamber 4 does not is inflated is accommodated inside said accommodation
    1.2.1 safely, the pneumatic chamber 4 being always protected by structure 1.
    The device 1 further comprises a fluid distributor 7, preferably fixed in the upper part of the structure 1 and which is connected to the two substructures 1.2, said distributor 7 being fluidly communicated with both pneumatic sub-chambers 4.1 of the pneumatic chamber 4 for inflate them with the corresponding fluid (same fluid for both). The distributor 7 can be connected to an external pressure air source for example, and from there it distributes the air to the two pneumatic sub-chambers 4.1.
    The device 100 further comprises a plurality of rollers 6 attached to the structure 1 with freedom of rotation with respect to their own respective axes. The rollers 6 are further attached in such a way to the structure 1 that, with the pneumatic chamber 4 deflated and the structure 1 surrounding the blade 3, said rollers 6 contact the outer surface of the blade 3 but not the structure 1. in this way, it is possible to bring the device 100 to the position of the required blade 3 by moving on said blade 3, without damaging said blade 3, since the rollers 6 roll on the outer surface of said blade 3 and prevent the contact of the structure 1 with the shovel 3 despite the pneumatic chamber 4 being deflated. The rollers 6 thus protrude on one side of the structure 1, although preferably the device 100 comprises a plurality of rollers 6 protruding on one side and another plurality of rollers 6 protruding on the other side. To prevent the rollers 6 from damaging the blade 3, the material of said rollers 6 is selected to be strong enough to roll solidly on the blade 3 and soft enough not to damage said blade 3 while rolling on the outer surface of the shovel 3.
    The device 100 further comprises at least one coupling 1.4, preferably transverse, that joins an external surface of the structure 1 and is adapted to be supported by lifting means 2 by which the device 100 and the blade 3 are hoisted immobilized by said device 100, as can be seen from figure 3 for example. The lifting means 2 can be a sling for example, which on one side supports the device 100 And on the other hand it is attached to a crane or equivalent lifting device, such that by acting on said crane and by means of the sling, the required movement of the device 100 (thanks to the coupling 1.4) and, therefore, of the blade 3 is caused. The coupling 1.4 joins at least two points distant to the structure 1, in such a way that it comprises a section 1.4 .1 between the two points that is separated from the structure 1, said space being used so that the lifting means 2 support the device 100.
    A second aspect of the invention relates to a method of fixing a wind turbine blade to a device 100 according to the first aspect of the invention. In the method, first the hollow closed contour defined by the structure 1 of said device 100 faces the tip of the blade 3, and, with the pneumatic chamber 4 of said deflated device 100, said structure 1 slides longitudinally over the outer surface of the blade 3 to the desired position. The movement can be caused by a crane or equivalent lifting device.
    Once the device 100 is in the desired position surrounding the blade 3 (further
    or closer to the root), the pneumatic chamber 4 of the device 100 is inflated, causing the immobilization or fixation of the blade 3. With the blade 3 thus immobilized it is possible to move said blade 3 to take it where it is required (to hoist it to the hub of a wind turbine for example), without risk of falling or releasing of the device 100.
    权利要求:
    Claims (13)
    [1]
    1. Wind turbine blade lifting device comprising a structure (1) to support the blade (3) during its lifting, characterized in that the structure (1) is made of a rigid material and defines a hollow closed contour with a geometry adapted for surrounding the blade (3), the device (100) also comprising a pneumatic chamber (4) attached to the structure
    (1) And arranged in the hollow of the closed contour defined by said structure (1), such that the pneumatic chamber (4) surrounds the blade (3) at least partially, said pneumatic chamber (4) being inflatable and being arranged in the closed contour defined by the structure (1) in such a way that, when inflated, said pneumatic chamber (4) imprisons the blade (3), immobilizing it and preventing direct contact between the structure (1) and the blade (3 ).
    [2]
    2. Device according to claim 1, wherein the structure (1) comprises a substantially "U" shape inverted in the upper part adapted to receive the trailing edge of the blade (3), and a substantially circular shape in the lower part.
    [3]
    3. Device according to claim 1 or 2, wherein the structure (1) comprises a plurality of segments (1.1) fixed together in series in a certain manner to form the hollow closed contour with the required shape.
    [4]
    Four. Device according to claim 3, wherein the structure (1) comprises two parallel sub-structures (1.2) spaced apart from each other, each defining a hollow closed contour and both being equal contours, each sub-structure comprising (1 .2 ) a plurality of segments (1.1) connected in series to form the corresponding hollow closed contour, and a plurality of sections (1.3) that join both substructures (1.2) together.
    [5]
    5. Device according to claim 4, wherein the pneumatic chamber (4) comprises a respective pneumatic sub-chamber (4.1) for each substructure (1.2) of the structure (1), each pneumatic sub-chamber (4.1) being attached to the sub -Structure (1 .2) corresponding.
    [6]
    6. Device according to claim 5, wherein each sub-structure (1 .2) of the structure (1) comprises an inner surface where the corresponding pneumatic sub-chamber (4.1) of the pneumatic chamber (4) is supported, each sub-structure comprising (1.2) a housing (1 .2.1) on its inner surface to accommodate the corresponding pneumatic sub-chamber (4.1) of said pneumatic chamber (4), each housing (1.2.1) comprising a cross section substantially in the form of "a .
    [7]
    7. Device according to claim 5 or 6, wherein each pneumatic sub-chamber (4.1) is connected to the corresponding sub-structure (1.2) by means of a connecting element (5) that surrounds both the pneumatic sub-chamber (4.1) and to the corresponding sub-structure (1.2), said joining element (5) comprising elastic properties to allow inflation of the corresponding pneumatic sub-chamber (4.1).
    [8]
    8. Device according to any one of claims 5 to 7, comprising a fluid distributor (7) fixed on the upper part of the structure (1) and which is connected to the two sub-structures (1.2), said distributor (7) being ) fluidly communicated with both pneumatic sub-chambers (4.1) of the pneumatic chamber (4) to inflate them with a corresponding fluid.
    [9]
    9. Device according to any of the preceding claims, comprising a plurality of rollers (6) attached to the structure (1) with freedom of rotation with respect to their own respective axes, said rollers (6) being attached to said structure (1) of such that, with the pneumatic chamber
    (4) deflated and the structure (1) surrounding the blade (3) said rollers (6) contact the blade (3) before the structure (1) contacts said blade (3), said rollers (6) protruding at least to one side of the structure (1), and the material of said rollers (6) being selected to be strong enough to roll solidly on the blade (3) and soft enough not to damage said Shovel (3) during rolling.
    [10]
    Device according to any of the preceding claims, which comprises at least one transverse coupling (1.4) that joins an external surface of the structure (1) and that is adapted to be supported by lifting means (2) by means of the which the device (100) and the blade is hoisted
    (3) associated, joining the coupling (1.4) by at least two points distant from the structure (1) and said coupling (1.4) comprising a section (1.4.1) between both points that is separated from the structure (1), such that said separation is used so that the lifting means (2) support the device (100).
    [11]
    11. Method of fixing a wind turbine blade to a device according to any of the preceding claims, characterized in that the hollow closed contour defined by the structure (1) of said device
    (100) faces the tip of the blade (3), and, with the pneumatic chamber (4) of said deflated device (100), said structure (1) slides longitudinally on the outer surface of the blade (3) to the desired position.
    [12]
    12. Method of fixing a wind turbine blade according to claim 11, wherein the structure (1) being in the desired position, the pneumatic chamber (4) is inflated so that said pneumatic chamber (4) imprisons the blade ( 3) immobilizing it, and lifting said device (100), and therefore the blade (3) immobilized by said device (100).
    100
    h-1.4.: - /
    [3]
    3.......
    ~ "J 1 ... / ~
    Fig. 1
    2 100
    / '
    Fig. 2
     Fig. 3
    1.2.1
    1.4
    Fig. 4
    类似技术:
    公开号 | 公开日 | 专利标题
    ES2396201T3|2013-02-19|Wind turbine bucket
    ES2563930T5|2019-09-27|Method for mounting at least two components of a wind turbine and use of a handling device
    ES2770071T3|2020-06-30|System and procedure to replace a camber bearing
    ES2565160T3|2016-03-31|Mounting method for a main rotor shaft and corresponding installation tool
    ES2224995T3|2005-03-16|PROCEDURE FOR ASSEMBLING MAIN COMPONENTS IN THE GONDOLA OF A WIND GENERATOR.
    ES2516700T3|2014-10-31|Procedure and device for handling a rotor hub of a wind power installation
    ES2829963T3|2021-06-02|System and method of assembly and disassembly of components of a wind turbine
    ES2860982T3|2021-10-05|Wind turbine blade lifting device and associated method
    ES2523979T3|2014-12-03|Lifting device and method to place an unmanageable object
    ES2640954T3|2017-11-07|Lifting device to connect two rotor blade segments of a wind turbine
    ES2625816T3|2017-07-20|Yoke in C
    ES2824228T3|2021-05-11|System and procedure to remove and / or install a rotor blade of a wind turbine
    ES2616830T3|2017-06-14|Device for handling a rotor blade of a wind power plant
    ES2369925T3|2011-12-09|DEVICE FOR EARING A TOWER FROM A WIND ENERGY COMPOSITE OF INDIVIDUAL TOWER SEGMENTS.
    ES2613093T3|2017-05-22|Lifting beam
    ES2743181T3|2020-02-18|Tower crane and procedure for mounting a wind turbine rotor blade
    ES2559211T3|2016-02-11|Assembly platform for the assembly of a wind turbine tower or sections of wind turbine tower
    ES2206014A1|2004-05-01|Crane for the assembly of wind turbines and assembly procedure
    ES2661265T3|2018-03-28|Maintenance system and method for maintaining a brake device of a braking system that has a horizontally arranged brake disc
    ES2720353T3|2019-07-19|Temporary maintenance enclosures and turbine blade maintenance procedures
    ES2881982T3|2021-11-30|Procedure and equipment for the replacement of wind turbine components
    ES2893795T3|2022-02-10|Method and system for replacing a single wind turbine blade
    WO2015150594A1|2015-10-08|Wind turbine assembly system and related method
    ES2338746A1|2010-05-11|Equipment for raising/lowering of wind generator turbines
    ES2589457T3|2016-11-14|One-way ballast machine
    同族专利:
    公开号 | 公开日
    ES2665031B1|2019-01-30|
    ES2860982T3|2021-10-05|
    BR102017022926A2|2018-05-08|
    CN107973214A|2018-05-01|
    US20180111801A1|2018-04-26|
    CN107973214B|2021-07-09|
    EP3312417B1|2021-01-20|
    EP3312417A1|2018-04-25|
    MX2017013604A|2018-09-28|
    US10131522B2|2018-11-20|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US20050258064A1|2002-06-06|2005-11-24|Aloys Wobben|Apparatus and methods for handling rotor blades|
    US20090020445A1|2004-12-10|2009-01-22|Tecsis Tecnologia E Sistemas Avancados And Ltda|Devices for logistics of wind rotor blades|
    US20120112481A1|2011-12-20|2012-05-10|Ten Thoren Rolf Reinfried|Handling assembly for a wind turbine blade|
    WO2013091655A1|2011-12-21|2013-06-27|Vestas Wind Systems A/S|Blade lifting sling and method of use thereof|
    US3915311A|1974-01-21|1975-10-28|Caterpillar Tractor Co|Method and apparatus for handling large, fragile objects|
    DE29819391U1|1998-09-22|1999-02-11|Siebert Antonius J|Device for carrying out repairs and services, in particular on rotor blades of wind turbines|
    DK177128B1|2003-07-10|2011-12-19|Lm Glasfiber As|Transport and storage of cranked wind turbine blades|
    DE102005040725A1|2005-08-27|2007-03-01|W2E Wind To Energy Gmbh|Rotor blade assembling/disassembling method for use in wind energy plant, involves guiding retainer to blade and pulling retainer up to height of center of gravity of blade, where retainer can be fixed at blade|
    US8240962B2|2007-12-28|2012-08-14|General Electric Company|Integrated shipping fixture and assembly method for jointed wind turbine blades|
    ES2456045T3|2008-03-13|2014-04-21|Tecsis Tecnologia E Sistemas Avancados S.A.|Method and device for handling wind turbine blades|
    IT1392804B1|2009-01-30|2012-03-23|Rolic Invest Sarl|PACKAGING AND PACKAGING METHOD FOR POLE OF WIND GENERATORS|
    NZ596684A|2009-04-29|2013-03-28|Siemens Ag|System for lifting a blade of a wind turbine|
    ES1073014Y|2010-07-29|2011-03-01|Acciona Windpower Sa|UIL FOR ELEVATION AND DESCENT OF A WINDER SHOVEL|
    US9434291B2|2010-10-15|2016-09-06|Bnsf Railway Company|Method and apparatus for transporting wind turbine blades|
    CN202164025U|2011-06-30|2012-03-14|扬州新扬科技发展产业有限公司|Roller sling for mounting pipeline|
    GB201121760D0|2011-12-19|2012-02-01|Lm Wind Power As|A blade cart for a wind turbine blade|
    US9463541B2|2013-03-08|2016-10-11|Bell Helicopter Textron Inc.|Selectively compliant clamp|
    CN203624831U|2013-11-15|2014-06-04|修建东|Pulley device for round tube track|
    DK178141B1|2014-06-03|2015-06-22|Envision Energy|Wind turbine blade lifting device and a method for lifting a wind turbine blade|
    ES2556997B1|2014-07-07|2016-12-12|Gamesa Innovation & Technology, S.L.|Blade replacement method and device in wind turbines|DE102018000372A1|2018-01-18|2019-07-18|Senvion Gmbh|Device for attaching a crane or guide rope to a rotor blade of a wind power plant|
    EP3896279A1|2020-04-16|2021-10-20|Siemens Gamesa Renewable Energy Innovation & Technology S.L.|Lifting device and method for lifting a wind turbine blade|
    法律状态:
    2019-01-30| FG2A| Definitive protection|Ref document number: 2665031 Country of ref document: ES Kind code of ref document: B1 Effective date: 20190130 |
    优先权:
    申请号 | 申请日 | 专利标题
    ES201600887A|ES2665031B1|2016-10-24|2016-10-24|Device for hoisting wind turbine blades and associated method|ES201600887A| ES2665031B1|2016-10-24|2016-10-24|Device for hoisting wind turbine blades and associated method|
    US15/788,416| US10131522B2|2016-10-24|2017-10-19|Wind turbine blades lifting device and associated method|
    ES17197401T| ES2860982T3|2016-10-24|2017-10-19|Wind turbine blade lifting device and associated method|
    EP17197401.7A| EP3312417B1|2016-10-24|2017-10-19|Wind turbine blades lifting device and associated method|
    MX2017013604A| MX2017013604A|2016-10-24|2017-10-23|Wind turbine blades lifting device and associated method.|
    BR102017022926A| BR102017022926A2|2016-10-24|2017-10-24|wind turbine blade lifting device and method of attachment|
    CN201710999695.2A| CN107973214B|2016-10-24|2017-10-24|Wind turbine blade lifting device and related method|
    [返回顶部]