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Solicitudes publicadas en los últimos 15 días / Applications published in the last 15 days
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TRANSPORTER

Publication No.:  EP4788933A1 12/08/2026
Applicant: 
VESTAS WIND SYS AS [DK]
VESTAS WIND SYSTEMS A/S
WO_2025073326_PA

Absstract of: WO2025073326A1

The present disclosure relates to a transporter for transporting a wind turbine blade which is 5 configured to account for bending and torsional stresses which may be applied to the blade during transportation by allowing for rotation of the turbine blade about three perpendicular axes.

PITCH REGULATOR UNIT OF A WIND TURBINE HAVING A SYSTEM-WIDE PARAMETERISABLE SAFETY RUN AND OPERATING STATE CONTROLLER, AND RELATED OPERATING METHOD

Publication No.:  EP4788929A1 12/08/2026
Applicant: 
KEBA IND AUTOMATION GERMANY GMBH [DE]
KEBA Industrial Automation Germany GmbH
WO_2025073907_PA

Absstract of: WO2025073907A1

The invention relates to a pitch regulator unit (16) for a wind turbine (10) including a plurality of operating state configurations (50) which can be at least partly transformed into one another. The invention proposes that an operating state controller (52) is comprised which allows parameterisation of dynamic and/or static control variables of a safety run (SFR), comprising at least one of the control variables rotational speed, torque, acceleration, run time and/or end position, and preferably transformability of operating state configurations (50), on the basis of internal and external information signalling (30, 32, 34, 36). In addition, the invention proposes a corresponding control method for operating the pitch regulator unit (16), in which a curve of a safety run (SFR) is parameterised on the basis of internal and external information signalling (30, 32, 34, 36).

SYSTEMS, METHODS, AND APPARATUS FOR OFFSHORE MOORING OPERATIONS

Publication No.:  EP4788579A1 12/08/2026
Applicant: 
ENCOMARA LTD [GB]
Encomara Limited
WO_2025074123_PA

Absstract of: WO2025074123A1

The invention provides a disconnectable mooring system for a floating offshore structure. The system may comprise: a buoy comprising a connector which enables connection and disconnection of the buoy from the floating structure. The system has a disconnected configuration in which the buoy is not connected to the floating structure and the buoy at least partially supports a dynamic riser conduit above the seabed. The system has a connected configuration in which the buoy is connected to the floating structure; and wherein the system is configured to enable pull-in of the buoy to the connected configuration and pull-in of the dynamic riser to a connection position. Aspects of the invention include related pull-in sequences, independent through connection of first and second dynamic riser conduits, and conductive coupling of a dynamic riser conduit to a floating structure. Further aspects of the invention include related rapid / emergency disconnect systems and methods, use a clump weight in an installation sequence, connection structures and buoy configurations, and rope connectors.

ICCP ANODE ASSEMBLY FOR MOUNTING AN ICCP ANODE ON A HOLLOW OFFSHORE FOUNDATION CONSTRUCTION

Publication No.:  EP4788850A1 12/08/2026
Applicant: 
CORROSION & WATER CONTROL SHARED SERVICES B V [NL]
Corrosion & Water Control Shared Services B.V.
NL_2037391_B1

Absstract of: NL2037391B1

A B S T R A C T The invention relates to an ICCP anode assembly, the assembly comprising an anode mount configured to be mounted in an aperture in a wall of a hollow offshore construction. The anode mount comprises a base, an inner bracket, an outer bracket an one or more fasteners. According to the invention, one of the inner bracket and the outer bracket is mounted to the base in a fixed position relative to the longitudinal base axis, and the fasteners extending between the base or the one of the inner bracket and the outer bracket that is mounted to the base in the fixed position and the other of the inner bracket and the outer bracket. The 10 fasteners extend through the aperture and pull the inner bracket and the outer bracket towards each other into a clamping position.

SUBSEA FOUNDATIONS

Publication No.:  EP4788580A1 12/08/2026
Applicant: 
SUBSEA 7 NORWAY AS [NO]
Subsea 7 Norway AS
AU_2024354596_PA

Absstract of: AU2024354596A1

A subsea foundation for anchoring a mooring line comprises a mooring base such as a chain that is simply laid upon the seabed in a straight, curved or looped configuration, hence extending across the seabed substantially parallel to the seabed. The mooring base is then anchored by one or more deadman anchors that are embedded in the seabed soil. For this purpose, one or more links extend through the soil to couple the mooring base to the or each deadman anchor. One or more mooring lines can then be coupled to the mooring base.

SUPPORT STRUCTURE FOR WIND BLADES

Publication No.:  EP4788926A1 12/08/2026
Applicant: 
REWIND TURBINE S R L [IT]
REWIND TURBINE S.R.L.
WO_2025074316_PA

Absstract of: WO2025074316A1

Support structure (1) for wind blades (2), each wind blade (2) being associable to a rotor (3) and having a pressure side (4) and a suction side (5) defining a leading edge (6), a trailing edge (7), a back (8) and a belly (9), said support structure (1) comprising: a casing (10) insertable into a wing cavity (11) defined between the pressure side (4) and the suction side (5), said casing (10) extending along a direction of extension (X-X) between a first base (13) couplable to the rotor (3) and a second base (14) opposed thereto and having a side wall (15) connected to the first base (13) and to the second base (14) and configured for coupling to the pressure side (4) and to the suction side (5), said side wall (15) having a front portion (16) facing the leading edge (6) and a rear portion (17) opposed thereto and facing the trailing edge (7), an upper surface (18) facing the back (8) and a lower surface (19) facing the belly (9); said casing (10) has a cavity (20) which is pressurizable and defined among the side wall (15), the first base (13) and the second base (14), said casing (10) being configured for reversibly switching between a rest configuration and an operating configuration wherein said casing (10) is configured for preloading the upper surface (18) and the lower surface (19) by varying the pressure inside the cavity (20), said casing (10) maintaining substantially the same predefined shape while switching between the rest configuration and the operating configur

A METHOD AND A KIT FOR INSTALLING AT LEAST ONE DAMPER UNIT IN A TOWER SECTION OF A WIND TURBINE

Publication No.:  EP4790276A2 12/08/2026
Applicant: 
VESTAS WIND SYS AS [DK]
VESTAS WIND SYSTEMS A/S
EP_4790276_PA

Absstract of: EP4790276A2

0001 A method for installing at least one damper unit (14) in a tower section (15) of a wind turbine tower is disclosed. The tower section (15) is arranged with its centre axis in a substantially horizontal orientation, and a guiderail (1) is introduced into the tower section (15). A trolley (7) is mounted on a part of the guiderail (1) extending out of the tower section (15), the damper unit (14) is mounted on the trolley (7), and the trolley (7) with the damper unit (14) is moved along the guiderail (1) to a position inside the tower section (15). The damper unit (14) is positioned in an installation position being vertically offset from the centre axis of the tower section (15), wherein the positioning comprises elevating the damper unit (14), and the damper unit (14) is attached to the tower section (15) at the installation position.

Wind farm dispatch method and system based on fatigue distribution

Publication No.:  GB2703899A 12/08/2026
Applicant: 
HUANENG TAIYUAN DONGSHAN GAS TURBINE COGENERATION CO LTD [CN]
Huaneng Taiyuan Dongshan Gas Turbine Cogeneration Co., Ltd
LU_509384_PA

Absstract of: GB2703899A

a wind farm dispatch method and a system based on fatigue distribution includes: establishing wind turbine points through turbine parameters; establishing adjustment periods through historical environmental parameters; generating each point's expected power during the adjustment period through a prediction model; generating an initial dispatch strategy through a grid dispatch instruction and the expected power of all the points during the period; acquiring a fatigue evaluation value of each point through a preset feedback time node; determining whether to correct the initial strategy through an overall fatigue evaluation value; generating the strategy through the operating parameters of each turbine generator unit; and optimizing the strategy through the overall fatigue evaluation value.

風力発電機に用いられる騒音低減装置

Publication No.:  JP2026527041A 12/08/2026
Applicant: 
華能国際電力股▲ふん▼有限公司重慶清潔能源分公司
JP_2026527041_A

Absstract of: CN118686756A

The invention relates to the field of generator noise reduction devices, in particular to a noise reduction device for a wind driven generator, which comprises an upper shell, a lower shell and the like. According to the noise reduction device for the wind driven generator, in the sunlight environment, the arc-shaped sealing plate is switched to be in an inwards-sunken open state, the arc-shaped sealing plate is matched with the sound absorption cotton to conduct multi-directional noise reduction treatment, in the night environment or the rainwater environment, the arc-shaped sealing plate is switched to be in a closed state of being attached to the heat dissipation opening outwards, and the heat dissipation opening is closed. And the arc-shaped sealing plate is matched with the sound-absorbing cotton to carry out all-around noise reduction treatment, and on the basis that the noise absorption effect is enhanced, a proper amount of damp-proof protection is provided for the sound-absorbing cotton. The technical problems that sound-absorbing cotton used in an installation shell of the generator module cannot absorb noise in all directions, the heat dissipation efficiency of the installation shell can be reduced by the sound-absorbing cotton, and the phenomena of damp and mildew are prone to occurring are solved.

ARRANGEMENT FOR TREATING A PLURALITY OF BEARING SYSTEMS DURING TRANSPORT AND/OR STORAGE, AND ASSOCIATED METHODS

Publication No.:  EP4790270A1 12/08/2026
Applicant: 
SIEMENS GAMESA RENEWABLE ENERGY AS [DK]
Siemens Gamesa Renewable Energy A/S
EP_4790270_PA

Absstract of: EP4790270A1

An arrangement (1) and associated methods (400), for treating bearing systems during storage and/or transport, the arrangement (1) comprising two or more drive trains (2) or groups (10, 11) of drive trains (2), wherein each drive train (2) includes a generator (6), a rotatable element/s, a bearing system supporting the rotatable element/s, and a means for transmitting torque to the rotatable element/s upon receiving a power signal (8), the arrangement (1) comprising a power management system (3) that controls the power signal to the a means for transmitting torque, ensuring that each drive train or group of drive trains has at least one active rotation interval that is distinct from the rotation intervals of other drive trains or groups.

一种抗风沙载荷的风力机叶片

Publication No.:  CN122543903A 11/08/2026
Applicant: 
河海大学新疆华电天山发电有限公司中国能源建设集团(甘肃)工程有限公司
CN_122543903_PA

Absstract of: CN122543903A

本发明公开了一种抗风沙载荷的风力机叶片,包括叶片主体,在所述叶片主体的上翼面设置有可拆卸的上置板,在所述叶片主体的下翼面设置有可拆卸的下置板;在所述叶片主体的内部固定安装有内置板,在所述内置板的内部开设有安装槽;在所述安装槽的内部设置有用于辅助迎风的调节组件;所述调节组件包括双头电机、丝杆和翼板;在所述上置板和下置板上开设内置槽;在所述双头电机的驱动下,所述翼板可从所述上置板和下置板的内置槽中伸出或收回。本发明通过控制翼板从上置板和下置板内部的内置槽同步伸出,使其成为叶片主体的可伸缩式弦长,通过叶片主体中部可伸出一段翼板辅助翼面,低风速时展开翼板增加捕风面积。

风电机组整机运行耦合状态自适应优化控制方法、装置、介质及设备

Publication No.:  CN122543918A 11/08/2026
Applicant: 
国电电力发展股份有限公司北京国电电力新能源技术有限公司
CN_122543918_PA

Absstract of: CN122543918A

本公开涉及一种风电机组整机运行耦合状态自适应优化控制方法、装置、介质及设备,包括在滑动时间窗内获取风电机组运行状态数据,根据上游节点状态变化对下游节点的载荷、振动及功率波动的时滞响应及下游短时损伤增量,在线更新运行耦合状态图谱中各耦合节点的状态。在更新后的图谱中依据边权重和下游损伤增量判定主导风险链路。按照主导风险链路中上游节点、下游节点及风险类型,通过控制权重将降载目标自适应分配,当预测到控制动作存在放大下游节点风险时收紧控制约束边界。在控制权重和约束边界下滚动求解下一控制周期的控制参量并下发至对应主控系统执行。提高风电机组运行稳定性、安全性和整机寿命。

一种分片式钢管混凝土风电塔筒风致疲劳可靠度评估方法

Publication No.:  CN122549081A 11/08/2026
Applicant: 
武汉科技大学
CN_122549081_PA

Absstract of: CN122549081A

本发明提供了一种分片式钢管混凝土风电塔筒风致疲劳可靠度评估方法,涉及风电结构疲劳安全评估技术领域。该方法包括以下步骤:构建有限元模型,并生成随机风场样本;基于随机风场样本计算风荷载时程;将风荷载时程输入有限元模型,进行结构动力响应分析,提取危险部位的应力时程;基于应力时程计算疲劳损伤值,构建疲劳损伤样本集;选取输入随机变量,构建概率模型;基于输入随机变量和疲劳损伤样本集,构建Kriging代理模型;构建疲劳极限状态函数,基于概率模型和Kriging代理模型,进行疲劳可靠度分析。本发明实现了对分片式钢管混凝土风电塔筒关键危险部位疲劳失效概率和疲劳可靠度的准确量化。

风机轴承复合故障诊断方法、装置、电子设备及系统

Publication No.:  CN122543944A 11/08/2026
Applicant: 
华中师范大学
CN_122543944_PA

Absstract of: CN122543944A

本发明涉及一种风机轴承复合故障诊断方法、装置、电子设备及系统,属于风力发电机设备状态监测与故障诊断技术领域,其中,风机轴承复合故障诊断方法包括基于转速信号将风机轴承的原始振动信号经过处理后得到的预处理后的振动信号转换为角域平稳信号,同时通过校准得到校准后的故障特征阶次;采用改进河马优化算法IHOA和增强型角域特征模态分解EAFMD进行寻优得到最优参数组合;根据最优参数组合组合利用EAFMD将角域平稳信号分解成多个模态分量并通过适应模态筛选机制以确定最佳模态序列,进而从各最优模态分量中提取故障特征,以实现风机轴承复合故障诊断。采用本发明能够提升变转速和强噪声条件下风机轴承复合故障的诊断精度。

一种海上大型漂浮式风机运输装备

Publication No.:  CN122540339A 11/08/2026
Applicant: 
中国电建集团中南勘测设计研究院有限公司
CN_122540339_PA

Absstract of: CN122540339A

本发明公开了一种海上大型漂浮式风机运输装备,涉及海洋可再生能源装备运输技术领域。该运输装备包括第一船体、第二船体以及设置于两者之间的横向分离机构;所述第一船体和所述第二船体通过所述横向分离机构可相对横向移动,以在分离状态下形成供风机进入的开口,并在合并状态下共同围成用于至少容纳所述风机底部结构的容纳腔。本发明通过横向分离机构实现船体的分离与合并,使风机可直接横向进入容纳腔,无需大型起吊设备,显著提升装载便捷性;同时,合并后的船体至少将风机底部围护于内部,有效降低航行水阻力,从而实现了海上大型漂浮式风机的高效、安全运输。

基于经验模态分解和混合神经网络的风电机组寿命预测方法

Publication No.:  CN122548249A 11/08/2026
Applicant: 
西安交通大学
CN_122548249_PA

Absstract of: CN122548249A

本发明设计了一种基于经验模态分解和混合神经网络的风电机组寿命预测方法,属于风力发电机剩余寿命预测与健康管理技术领域;首先,对风机原始振动信号的有效值进行经验模态分解,得到若干本征模态函数IMF;然后,利用混合神经网络分别对各IMF分量进行预测;最后,对各IMF的预测结果进行加权融合,从而获得原始振动信号的整体预测结果;本发明有效提升了风电机组寿命预测的准确性、鲁棒性与可解释性,解决了传统方法抗噪能力不足、复杂工况适应性差的问题,为风电行业智能运维提供了技术支撑。

风渔平台的应急防护装置

Publication No.:  CN122536523A 11/08/2026
Applicant: 
华能(浙江)能源开发有限公司清洁能源分公司中国华能集团清洁能源技术研究院有限公司华能浙江苍南海上风电有限责任公司
CN_122536523_PA

Absstract of: CN122536523A

本发明涉及风渔融合技术领域并公开一种风渔平台的应急防护装置,包括导管架、海浪能发电部和网箱,导管架的底端与海床连接,导管架的顶端与风电设备连接;海浪能发电部设置在导管架上;蓄电池设置在导管架上,蓄电池与风电设备以及海浪能发电部连接,以储存风电设备以及海浪能发电部所发电量;网箱设置在导管架上,蓄电池与网箱连接,以向网箱供电;其中,风电设备停止时,海浪能发电部启动,利用海浪能进行发电并将电量储存在蓄电池中,以向网箱供电。本发明实施例的风渔平台的应急防护装置,补充了海浪能应急发电链路,可有效避免网箱内鱼类因缺氧等问题出现大规模死亡。

基于柔性齿轨的风电叶片内腔巡检机器人检测系统及方法

Publication No.:  CN122543932A 11/08/2026
Applicant: 
明阳智慧能源集团股份公司
CN_122543932_PA

Absstract of: CN122543932A

本发明公开了一种基于柔性齿轨的风电叶片内腔巡检机器人检测系统及方法,包括柔性齿轨组件、齿轨巡检机器人、切换轨道组件、检测模块和控制模块;所述柔性齿轨组件有两组,其中一组设置于叶片前缘内腔,并布置于风电叶片的前缘腹板上,另一组设置于叶片后缘内腔,并布置于叶片的后缘腹板上;所述齿轨巡检机器人活动安装于任一柔性齿轨组件上,并与柔性齿轨组件相互啮合;所述切换轨道组件设置于两组柔性齿轨组件之间;所述检测模块通过第一旋转云台安装于齿轨巡检机器人的机械臂顶部;所述控制模块安装于齿轨巡检机器人上,其分别与切换轨道组件、齿轨巡检机器人和检测模块通信连接。本发明实现了叶片内腔复杂环境下稳定、全面、高效的无损检测。

风力发电机组叶片结冰智能感知方法及系统

Publication No.:  CN122543945A 11/08/2026
Applicant: 
贵州乌江水电开发有限责任公司东风发电厂
CN_122543945_PA

Absstract of: CN122543945A

本申请公开了一种风力发电机组叶片结冰智能感知方法及系统,涉及风力发电机组状态监测技术领域,该方法包括:通过安装在叶片根部的多轴应变传感器和环境监测单元,同步采集叶片的振动结构响应数据和环境气象数据;对结构响应数据进行频域分析以提取反映叶片动态特性的频谱特征;同时,基于环境温湿度数据计算叶片结冰的风险系数;将结构特征与气象风险进行数据融合,生成一个综合的结冰状态指标,并通过与预设的智能动态阈值进行比较,最终实现对叶片结冰状态的准确判断与预警。通过上述方式,本方法综合利用了结构响应和气象环境信息,有效提升了结冰检测的准确性和可靠性,并为后续的自动除冰控制提供了精确依据。

一种具备吊装辅助工具的风电机组预制混凝土塔架安装作业平台

Publication No.:  CN122540745A 11/08/2026
Applicant: 
中国水利水电第十二工程局有限公司
CN_122540745_PA

Absstract of: CN122540745A

本发明公开了一种具备吊装辅助工具的风电机组预制混凝土塔架安装作业平台,涉及塔架安装作业平台领域,解决了现有安装作业平台使用时钢丝绳拆装繁琐、易缠绕、吊装受力不均及挂点凸起存在安全隐患的问题,包括固定平台、安拆平台、吊装机构和调节机构,吊装机构包括吊装块、吊绳和收纳件,固定平台上开设有多组收纳槽,本发明能够在无需吊装时,通过收纳件将吊绳进行弯折收纳至固定平台的底部和收纳槽内,使得固定平台的上表面呈现相对平整的状态,在需要吊装时通过吊装块同步带动多组吊绳进行拉拽,辅助对固定平台进行吊装操作,通过调节机构感知固定平台的水平程度并调节相应位置的吊绳长度,提升吊装稳定性和安全性。

考虑陀螺效应的漂浮式风电机组艏摇抑制方法及装置

Publication No.:  CN122543908A 11/08/2026
Applicant: 
西安热工研究院有限公司深能南京能源控股有限公司
CN_122543908_PA

Absstract of: CN122543908A

本发明公开了一种考虑陀螺效应的漂浮式风电机组艏摇抑制方法及装置,方法包括实时采集漂浮式平台艏摇、纵摇、横摇角速率及风轮偏航角,将角速率转换至机舱固定偏航坐标系;利用叶片方位传感器检测叶片方位角与风轮转速,对艏摇角速率按艏摇、纵摇固有频率分别开展带通滤波;依据滤波后的艏摇固有频率分量与叶片方位角计算独立变桨控制量,结合纵摇固有频率分量、纵摇角速率及风轮转速计算含陀螺效应补偿的独立变桨控制量,叠加基准桨距角与两路控制量得到总桨距角设定值。本方案将陀螺效应融入控制逻辑,依托变桨实现艏摇抑制,无需加装额外机械结构,规避传统方案阻力大、成本高、干扰其他自由度运动等缺陷,可有效抑制平台低频大幅艏摇振荡,提升机组运行稳定性与结构安全性。

风电机组塔筒检测装置

Publication No.:  CN122543936A 11/08/2026
Applicant: 
华能唐山海港区新能源科技有限公司
CN_122543936_PA

Absstract of: CN122543936A

本发明公开了风电机组塔筒检测装置,涉及塔筒检测技术领域,包括安装壳,所述安装壳的内壁固定连接有固定架,固定架上转动连接有转球,转球上固定连接有连接绳,连接绳的底端固定连接有配重球。本发明通过检测单元的设置,风电塔筒倾斜带动安装壳发生倾斜时,配重球带动连接绳摆动,连接绳摆动远离固定筒时,连接绳通过拉绳带动滑动活塞杆向下移动,使得固定管和透明膜管内的红色液体向下移动,当连接绳摆动靠近固定筒时,由于复位弹簧处于压缩状态,使得复位弹簧带动滑动活塞杆向上移动,由于固定筒的直径大于固定管和透明膜管的直径,使得红色液体能够升降较长的距离,从而能够清晰观察到风电塔筒发生了倾斜。

一种风电叶片叶根挡板安装及定位装置及使用方法

Publication No.:  CN122543924A 11/08/2026
Applicant: 
中材科技(阜宁)风电叶片有限公司
CN_122543924_PA

Absstract of: CN122543924A

本发明公开了风电叶片叶根挡板安装及定位装置,包括:分体式结构的存储定位工装与安装定位装置;存储定位工装包括:车架、限位装置、定位装置、移位装置、输送装置、防倾倒装置及控制柜;安装定位装置包括主框架、吸附装置、叉车托、吊装点、旋转装置、导向机构、真空泵及控制柜,可分离存放于存储定位工装上;定位装置在车架上模拟叶片螺栓孔与叶根挡板的相对位置,为安装定位装置提供预定位基准;导向机构与定位装置配合实现预定位,安装时旋转装置驱动吸附装置转动进行角度调整;对准叶片螺栓孔完成精准安装。本发明通过一体化设计,实现叶根挡板安装调试公差的精准控制,同时具有场地适应性强、劳动强度低、安全性高及通用性强的综合优势。

风电机组辅助预润滑系统、方法和风电机组

Publication No.:  CN122543948A 11/08/2026
Applicant: 
华锐风电科技(集团)股份有限公司
CN_122543948_PA

Absstract of: CN122543948A

本发明公开了一种风电机组辅助预润滑系统、方法和风电机组,该系统包括辅助润滑油箱、油泵、电机、第一电磁阀、第二电磁阀、第三电磁阀、控制模块、加热器、温度传感器和液位开关;第一电磁阀的进油口与辅助润滑油箱的供油口连通,出油口与油泵的入口连通;第二电磁阀的进油口与主油箱的供油口连通,出油口与油泵的入口连通;第三电磁阀的进油口与油泵的出口连通,第一出油口与各预润滑点连通,第二出油口与辅助润滑油箱的回油口连通。本发明通过分别控制一个油泵启停和三个电磁阀通断实现辅助预润滑系统预热、预润滑、补充并存储润滑油三种功能切换,解决机组低温启机时主润滑系统无法及时启动导致的轴承干摩擦问题。

一种用于风力发电机叶轮与发电机舱的快速对接装置

Nº publicación: CN122543925A 11/08/2026

Applicant:

山西省安装集团股份有限公司

CN_122543925_PA

Absstract of: CN122543925A

本发明涉及风力发电机组叶轮吊装技术领域,尤其涉及一种用于风力发电机叶轮与发电机舱的快速对接装置,对接装置包括吊架、配合支撑机构、推进机构和锁紧机构,吊架下方转动设置有姿态调节机构,姿态调节机构包括正六边形的连接座,连接座侧部间隔设置三组支承结构,每组支承结构包括调节座和夹持件,夹持件内侧面与轮毂外表面前端贴合,夹持件转动,调节座可配合调整;轮毂和机舱上的法兰孔中分别对应设置多组推进机构和锁紧机构;推进机构包括端部固连有插接头的柔性杆,插接头与锁紧机构配合;本发明通过姿态调节机构、推进机构和锁紧机构等配合实现对叶轮姿态的修正以及叶轮与机舱的对接,减少人工干预。

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