LIFTING APPARATUS FOR A LIFTING CRANE

Abstract

A lifting apparatus for a lifting crane is adapted to carry an elongated component, including a frame with at least one holding means for holding the component with an essentially horizontal orientation and a crane connection device for connecting the apparatus to the lifting crane, wherein a tilting system for actively tilting the frame or the apparatus relative to the horizontal plane.

Claims

1. A lifting apparatus for a lifting crane, adapted to carry an elongated component, comprising a frame with at least one holding means for holding the component with an essentially horizontal orientation and a crane connection device for connecting the apparatus to the lifting crane, wherein a tilting system for actively tilting the frame or the apparatus relative to the horizontal plane.

2. The lifting apparatus according to claim 1, wherein the tilting system is adapted to shift the crane connection device relative to the frame.

3. The lifting apparatus according to claim 1, wherein the crane connection device comprises at least one crane connection element and at least one connection arm or connection arm construction comprising several connection arms coupling the connection element to the frame, wherein the connection arm or the connection arms are either pivotally attached to the connection element and the frame or wherein the connection device or the connection arm or the connection arms are linearly movable along the frame.

4. The lifting apparatus according to claim 1, wherein the tilting system comprises at least one controllable actuator for tilting the frame relative to the crane connection device.

5. The lifting apparatus according to claim 4, wherein the actuator is coupled to the or one of the connection arms and the frame for shifting them relative to each other.

6. The lifting apparatus according to claim 5, wherein the actuator is or comprises a hydraulic or pneumatic or electric cylinder, an electric motor or a spindle drive.

7. The lifting apparatus according to claim 4, wherein at least one control device is provided for controlling the movement of the at least one actuator.

8. The lifting apparatus according to claim 7, wherein at least one sensor means for sensing a given or upcoming vertical tilting of the lifting apparatus or of the frame or of the holding means is provided, whereby the control device is adapted to control the actuator depending on the sensor means information.

9. The lifting apparatus according to claim 1, wherein a pitching system for pitching the component around its longitudinal axis is provided.

10. The lifting apparatus according to wherein the at least one holding means as a part of the pitching system is pivotable around a rotation axis.

11. The lifting apparatus according to claim 9, wherein the or each holding means comprises a C-shaped holding part with holding elements for engaging the component, which holding part is movable along an arched guide means.

12. The lifting apparatus according to claim 11, wherein the holding part is guided on rollers or slide elements arranged in or along the guide means.

13. A crane comprising a lifting means with the lifting apparatus according to claim 1.

14. A method for lifting an elongated component, using the crane according to claim 13, wherein during the lifting process, when a vertical tilting movement of the lifting apparatus or at least the possibility of such a vertical tilting movement is detected, the tilting system is controlled by a control device based on the provided sensor means information for tilting the frame relative to the horizontal plane for counteracting the tilting movement.

15. The method according to claim 14, wherein in addition to controlling the tilting system during the lifting process the pitching system is controlled by the control device based on the provided sensor means information.

Description

BRIEF DESCRIPTION

[0046] Some of the embodiments will be described in detail, with reference to the following figures, wherein like designations denote like members, wherein:

[0047] FIG. 1 shows a principle sketch of a part of an inventive crane comprising an inventive lifting apparatus holding a rotor blade to be attached to a wind turbine;

[0048] FIG. 2 shows an enlarged view of the lifting apparatus attached to the hook of a crane with the fixed component, with the arrangement being in the initial position;

[0049] FIG. 3 the arrangement of FIG. 2 with the crane connection device being shifted to a first side;

[0050] FIG. 4 the arrangement of FIG. 2 with the crane connection device being shifted to the other side;

[0051] FIG. 5 a second embodiment of a lifting apparatus;

[0052] FIG. 6 a third embodiment of a lifting apparatus;

[0053] FIG. 7 a fourth embodiment of a lifting apparatus;

[0054] FIG. 8 shows a side view of the lifting apparatus with a cut through the blade seen from the tip of the blade, with the blade being fixed in a rotatable holding means and being in a basic position;

[0055] FIG. 9 shows the arrangement of FIG. 8 with the blade being rotated in a clockwise direction by the pitching system; and

[0056] FIG. 10 shows the arrangement of FIG. 2 with the blade being rotated counter clockwise by the pitching system.

DETAILED DESCRIPTION

[0057] FIG. 1 shows a part of an inventive lifting crane 1 comprising a lifting device 2 with several cables 3, to which a connection device 4 comprising one or two hooks is attached, as commonly known.

[0058] To the connection device 4 an inventive lifting apparatus 5, often also called yoke, is attached. The lifting apparatus 5 comprises a frame 6 with two end-standing support arms 7, which here have a C-form.

[0059] A component, here a rotor blade 8, is carried by the lifting apparatus 5. The C-shaped support arms 7 are equipped with respective holding means for holding or gripping the rotor blade 8.

[0060] The rotor blade 8 is arranged in a horizontal direction and is lifted to be attached to a mounting interface 9 of a hub 10 of a wind turbine 11 shown in FIG. 1. It is therefore necessary to precisely position the blade root 12, which connects to the airfoil-shaped blade body 13, exactly relative to the mounting interface 9. This lifting and positioning is sometimes performed while wind blows and therefore interacts with the rotor blade 8 making the rotor blade move.

[0061] The connection of the lifting apparatus 5 to the connection device 4 is not stiff. It is realized for example by a cable connection 28, which allows for the lifting apparatus 5 and therefore for the rotor blade 8 to rotate around a vertical axis. For stabilizing the lifting apparatus 5 respectively the blade 8 taglines 15 are attached to the lifting apparatus 5, by which a horizontal movement may be avoided or at least widely compensated.

[0062] The cable connection 28 does not only allow for a rotation around a vertical axis, but also for a tilting movement around a horizontal axis, which tilting movement is shown by the arrows P1. This tilting movement makes the lifting apparatus 5 tilt to the left or right side shown in FIG. 1, which tilting movement results in a respective movement of the rotor blade 8. Therefore, depending on the tilting to the left or to the right, the blade root 12 either performs a vertical movement upwards or downwards, as shown by the arrows P2 in FIG. 1. Therefore, its relative position to the mounting interface 9 may change due to such a vertical movement, which therefore needs to be counteracted.

[0063] For counteracting such a vertical movement, the lifting apparatus 5 comprises a tilting system 14, which is adapted to change the geometry of the lifting apparatus 5 for shifting the connection point or connection centre, in which the lifting apparatus 5 is attached to the crane respectively the connection device, relative to the centre of gravity of the combination of lifting apparatus 5 and blade 8, which shift finally results in an intended tilt of the frame 6 of the lifting apparatus 5 and therefore also the blade 8 in order to compensate an unwanted vertical movement of the blade root 12.

[0064] FIG. 2 shows a first embodiment of the lifting apparatus 5 with a first embodiment of a tilting system 14. The tilting system 14 comprises a crane connection device 15 comprising in this embodiment a beam-like crane connection element 16 and two connection arms 17, which connect the connection element 16 to the frame 6 respectively one or two parallel frame beams 18. While in FIG. 2 two connection arms 17 are shown, also for example four connection arms 17 may be provided, with two connection arms 17 being parallel to each other.

[0065] The connection arms 17 are pivotally attached to the crane connection element 16, they pivot around first pivot axes 19. The other end of the connection arms 17 are pivotally connected to the frame 6, they pivot around pivot axes 20.

[0066] The tilting system 14 further comprises at least one actuator 21, for example a hydraulic or pneumatic cylinder, which is controlled by at least one control means 22, which communicates with respective sensor means 23 for example provided at the frame 6. The actuator 21 respectively the cylinder is fixed with one end to the frame 6 and with the other end, for example the piston end, to the left connection arm 17.

[0067] FIG. 2 shows the initial position, i.e. the balanced position or situation in which the blade 8 is in a horizontal position and also the tilting system is in an initial position in which the connection element 16 is not shifted relative to the frame 6 respectively the frame beam 18. In this position, the centre of gravity 24 of the whole arrangement hanging at the connection device 4 is in perfect vertical alignment with the principle connection or connection point or centre 25 of the whole arrangement at the connection device 4. This vertical alignment is shown by the vertical line L1. Therefore, FIG. 2 shows the balanced initial situation.

[0068] When wind interacts with the blade 8, it may happen that, due to this interaction and the resulting pressure differences occurring at the blade 8, an unwanted tilting movement occurs, as already mentioned in regard to FIG. 1. In order to counterbalance this unwanted movement or moment, the tilting system 14 may in response to a measured upcoming or given unwanted tilting movement by the sensor means 23 be controlled by the control means 22 to generate a counter movement. For this purpose, the control 22 controls the actuator 21, i.e. the cylinder, as shown in FIGS. 3 and 4. In FIG. 3 the actuator 21 respectively the cylinder is extended. As it is fixed with the one end to the frame 6 respectively the frame beam 18 and with the other end to the connection arm 18, the connection arm 17 is actively pivoted around its axis 20. As the connection element 16, the connection arms 17 and the frame 6 respectively the frame beam 18 build a parallelogram, this action of the actuator 21 results in a change of the geometry of the crane connection device 15 as shown in FIG. 3. Due to the pivot connection and movement, the parallelogram shifts to the left resulting in a horizontal shift of the connection element 16 relative to the frame 6. As FIG. 3 clearly shows, this shifts the connection point or centre 25 to the left of the centre of gravity 24 as shown by the line L2, which is clearly angled relative to the line L1.

[0069] Due to this shift of the centres 25 and 24 relative to each other, the centre of gravity is no longer in vertical alignment with the connection point or centre 25. But the centre of gravity 24 immediately tends to re-balance and to re-align with the connection point or centre 25, resulting in a swivelling or pivoting movement of the whole arrangement around the connection point or centre 25, with the centre of gravity 24 again being positioned vertically under the connection point or centre 25. This movement is shown by the arrow P3. As the mechanical arrangement of the crane connection device 15 and its connection or orientation to the frame 6 is fixed, this re-balancing of the centre of gravity 24 does not change this mechanical geometry, but results in a tilting of the frame 6 and thus the blade 8. Therefore, one end of the blade 8 moves upwards, as shown by the arrow P4, while the other end of the blade 8 moves downwards, as shown by the arrow P5. As the root 12 is provided at the right end of the blade 8, which in this embodiment moves downwards, this way of shifting respectively this actuation of the tilting system 14 provides a vertical downward tilting movement, which compensates an unwanted upward movement of the root 12.

[0070] FIG. 4 shows the opposite operation. In this embodiment the control 22, depending on the information of the sensor means 23, controls the actuator 21 such that it retracts, the piston is retracted in the cylinder. This results in a rotational movement of the connection arm 17 connected to the actuator 21 around its pivot axis 20, it pivots to the right, compared with FIG. 2. Due to the mechanical connection of the connection element 16 via the connection arm 17 to the blade 8 respectively the frame beam 18, this parallelogram shifts to the right, as shown in FIG. 4. It is obvious that here the centre of gravity is shifted to the left of the connection point or centre 25. This is shown by the line L3 which again is angled relative to the vertical line L1.

[0071] Also, here the centre of gravity 24 tends to re-align exactly vertically underneath the connection point or centre 25. Therefore, the whole arrangement pivots or swivels to the right around the connection point or centre 25, as shown by the arrow P6. This results in a vertical downward movement of the left end of the blade 8, as shown by the arrow P7 and a vertical upward movement of the right end of the blade 8 comprising the root 12, as shown by the arrow

[0072] P8.

[0073] In the final re-aligned and re-balanced position, the whole arrangement as shown in FIGS. 3 and 4 is slightly tilted relative to the connection device 4, as the crane hook is pivotable around a horizontal pivot axis at the connection device 4 which allows for the slight tilt.

[0074] FIG. 5 shows another embodiment of an inventive lifting apparatus 5, while the same reference numbers are used for the same items.

[0075] Also, this lifting apparatus 5 comprises a frame 6 with end-standing support arms 7. It also comprises a tilting system 14, comprising a beam-like connection element 16 and one or two parallel connection arms 17 connecting the connection element 16 to the frame 6 respectively the frame beam 18. Again, the one or two parallel connection arms 17 are pivotally arranged or coupled to the connection element 16 and the frame beam 18 in respective pivot axes 19, 20.

[0076] An actuator 21, again a hydraulic or pneumatic cylinder, is attached with one end to the frame beam 18 and with the other end to the or at least one of the connection arms 17. It is controlled by a control means 22 communicating with several sensor means 23. The working principle is comparable to the principle disclosed in FIGS. 2-4. If the control means 22 senses an upcoming or given unwanted tilt, it controls the actuator 21 which either extends or retracts. If it extends, the connection arm 17 is swivelled to the left around the pivot axis 20, resulting in a shift of the connection element 16 to the left, comparable to the situation of FIG. 3. The centre of gravity 24 is shifted to the right relative to the connection point or centre 25, resulting in a re-balancing movement for re-aligning vertically, as explained in relation to FIG. 3. This results in an upward movement of the left side of the frame 6 and thus the left end of the blade 8 and in a downward movement of the right side of the frame 6 respectively the right end of the blade 8.

[0077] If the actuator 21 is retracted, the connection arm 17 will swivel to the right around the pivot axis 20, i.e. in a clockwise direction. This makes the connection element 16 shift to the right respectively the centre of gravity 24 shift to the left, as shown in FIG. 4. When re-aligning, the centre of gravity 24 swivels to the right, making the right end of the frame 6 and therefore the right end of the blade 8 to move vertically upwards, while the left end of the frame 6 respectively the left end of the blade 8 moves vertically downwards.

[0078] Also here, due to the mechanically fixed change of the relative orientation of the crane connection device 15 relative to the frame 6, the whole arrangement pivots around the connection point or centre 25 and is therefore slightly tilted.

[0079] FIG. 6 shows another embodiment of a lifting apparatus 5 again comprising a frame 6 which is comparable to the embodiment of FIG. 5. The tilting system 14 comprises the crane connection device 15 with the connection element 16 and two connection arms 17 arranged in parallel, but extending downwards alongside of the two parallel frame beams 18, where they are fixed to the frame beams 18 in respective pivot axis 20. In this embodiment two actuators 21, i.e. two separate hydraulic or pneumatic cylinders are provided, which are controllable by a common control means 22 in response to respective information of several sensor means. The actuators 21 are synchronously controlled so that both connection arms 17 may synchronously be pushed or pulled and pivoted around the pivot axes 20. This overall function is comparable to the function described in regard to FIG. 5 respectively FIGS. 2 to 4.

[0080] FIG. 7 shows an embodiment of an inventive lifting apparatus 5, again comprising a frame 6 with a frame beam 18. Also here, a tilting device 14 is provided, comprising a beam-like connection element 16, to which two connection arms 17 are attached which extend along both sides of the frame beam 18, and which are connected by a bottom connection arm 27. The whole setup is like a sledge which can move linearly along the frame beam 18. This sledge arrangement may be roller guided, with a linear rolling bearing provided between the sledge arrangement and the frame beam 18, while also a slide bearing may be provided.

[0081] Again, at least one actuator 21 is provided which also here is shown as a cylinder attached with one end to the frame 6 and with the other end to the connection arm 27 for example. By extending or retracting the actuator 21, the crane connection device 15 may linearly be moved along the frame beam 18, changing the relative position of the crane connection device 15 and the frame 6 relative to each other. This linear shift again results in a horizontal shift of the centre of gravity 24 relative to the connection point or centre 25 which again results in a re-alignment of the centre of gravity 24, as previously explained in detail. This again allows for tilting the frame 6 respectively the whole arrangement due to the flexible connection of the arrangement to the connection device 4 via the cables 26 and therefore to an actively controlled tilting of the component respectively blade 8.

[0082] Also here, the crane connection device 15 may be moved out of the initial position in both directions, i.e. to the left or right side along the frame beam 18 so that the respective tilt to the one side or to the other side may be controlled as needed.

[0083] In addition to the tilting device 14 the inventive lifting device 5 may also be equipped with a pitching device for pitching the blade 8 around its longitudinal axis. Also, this pitching results in the generation of a counter tilt movement or moment.

[0084] As FIG. 8 shows in more detail, the rotor blade 8 is fixed in the holding means 29. Each C-shaped arm 7 for example is equipped with a separate holding means 29, which holding means are part of a pitching system 30. The holding means 29 comprises a holding part 31, which here has for example a C-shaped form, to which holding part 31 respective holding elements like holding or clamping pads or the like are attached, which, as FIGS. 8-10 show, firmly fix the rotor blade 8. They are adapted to hold the blade 8 in a region with a non-circular cross-section, as clearly shown in the figures. The clamping mechanism of the holding means shown in the figure is just an example. It may be realized in various ways, e.g. with clamping claws with at least one of the claws being movable from an open to a clamping position, or with a scissor-like moving means for at least one of the clamps.

[0085] The holding means 29 is rotatable around a rotation axis, which in general is a horizontal axis, which is parallel to a central axis of the frame respectively the lifting apparatus in general. For rotating the holding means 29 it comprises respectively is arranged on an arched guide means 32, here in form of a C-shaped guiderail or the like, along which it is movable respectively rotatable. The guide means 32 is equipped with a number of rollers 33, on which the holding part 31 rolls and is guided, when it rotates around the rotation axis 34 of the holding means 29 respectively the pitching system 30. The rollers 33 may be arranged along the whole path along which the holding part 31 moves, or only at some separate points along the path. Instead of rollers 33 also sliding elements building a slide bearing may be used.

[0086] For effecting this rotational movement, at least one actuator 35 is provided, whereby, as in this embodiment, two separate holding means 29 are provided at each support arm 7, two respective actuators 35, one for each holding means 29, are provided, which are synchronized, in order to realize a synchronized movement of the holding part 31. An actuator 35 may for example be a hydraulic or pneumatic or electric cylinder, which can be changed in its length and which is with one end coupled to, for example, the support arm 7, while the other end is coupled to the holding part 18 or the like. Certainly, the actuator 35 may also be an electric motor which is mechanically coupled for example by a spindle drive or a toothed connection to the holding part 31 etc. Any actuator is suitable, as long as it is able to initiate a circular or rotating movement of the holding part 31 and with it of the blade 8 along the guide means 32.

[0087] For controlling the actuator 35 the control device 22 of the tilting system, 14 may be used, which controls the one or both actuators 35 in order to adjust the spatial orientation of the blade 8 by pitching it. The control device 22 communicates with the respective actuator 35, and also with the at least one, more, sensor means 23, which is adapted to sense the spatial orientation of the lifting apparatus 5 respectively the frame 6 especially in regard of the vertical orientation respectively a vertical movement, which orientation or movement is an indicator of the vertical position or movement of the root 12 which needs to be aligned with the mounting interface 9. This sensor means 23 may for example be a position sensor or an acceleration sensor or the like. Besides the fully automatic control also a partly automatic control is possible, e.g. with a sensor means sensing a movement of the lifting apparatus and a manual control of the actuators based on the sensor information or the like.

[0088] The control device 22, as already mentioned, is adapted to analyze the sensor means information in order to determine whether an unwanted vertical movement of the lifting apparatus 5 and therefore of the root 12 is likely to happen or is already given, and which measures need to be taken in order to counter this unwanted movement. So, the control device 22 may, due to the constant monitoring of the spatial situation by the one or the several sensor means 23, immediately respond to any relevant information from the constantly monitoring sensor means 23 in order to immediately control or provide a respective counteraction by not only controlling the actuator 21 of the tilting system 14, but also the actuators 35 of the pitching system 30 in order to rotate the blade 8 in a clockwise direction (see arrow P9) or in a counterclockwise direction (see arrow P10). The control device is adapted to determine the direction of rotation based on the information regarding the direction of the possible or given movement and the known orientation of the blade 8 fixed in the holding means 29, respectively its airfoiled surfaces.

[0089] FIG. 8 shows the arrangement of the blade 8 in the position, in which it is fixed or gripped by the holding means 29 for the first time on the ground in order to be lifted to the hub. In this position, the holding parts 38 of both holding means 29 are arranged in a basic position or an intermediate position, from which in both clockwise and counterclockwise directions for example the same angle of rotation may be run. If now the blade 8 is lifted, it is in the basic horizontal position.

[0090] When now wind blows, the wind may interact with the blade 8 and flow around the upper surface 36 and the lower surface 37 of the blade 8, which surfaces 36, 37 have different shapes due to the non-circular cross-section of the blade 8, as clearly shown in FIGS. 8-10. This leads to different wind speeds on the upper and lower surface side, as the upper surface 36 and the lower surface 37 have different lengths, along which the wind flows. As commonly known, a pressure difference results, which may generate a certain suction or drag in the vertical direction, making the blade move downwards or upwards, and therefore also making the root 12 move downwards or upwards, as the blade 8 and therefore the lifting apparatus 5 are movable around the horizontal axis of the hook of the connection device 4, as already mentioned.

[0091] In order to counteract or compensate this unwanted vertical movement, it is possible by controlling the pitching system 30 to rotate the rotor blade 8 around the longitudinal axis 34 either in a clockwise direction (arrow P9) or in a counterclockwise direction (arrow P10), with the basic position of FIG. 8 as a starting point. This rotational movement is controlled by the control device 22, which is adapted to calculate the necessary angle of rotation in order to change the spatial orientation of the blade 8 respectively its upper and lower surface 36, 37 in a way sufficient to compensate or counteract the vertical tilt respectively the pressure difference which is the cause for the unwanted vertical tilt.

[0092] FIG. 9 shows an example, where the control device 22 controls the pitching system 30 to rotate in the clockwise direction according to arrow P9. It controls the actuators 35 to move the holding part 31 along the arched guide means 32, which movement is guided by the rollers 33 allowing for a very soft but stable movement. This rotates the holding means 29 around the horizonal rotation axis 34, and with it also the blade 8 is rotated around its longitudinal axis changing its spatial position as clearly shown in FIG. 9. FIG. 9 shows that the upper surface 36 has another orientation relative to the blowing wind, which blows in this example from the left side as shown by arrow P11, as in the basic position according to FIG. 8. The same is true for the lower surface 37. By changing this spatial orientation, the aerodynamic situation is severely changed, as the surface lengths, along which the wind flows along the upper and lower surfaces 36, 37, changes. Resulting from this, also the pressure difference between the upper and the lower side changes, and with it the given suction or drag, which is the reason for the unwanted vertical movement. This movement therefore is counteracted and compensated.

[0093] As the control device 22 is adapted to calculate the necessary pitching angle, a very precise counteraction or compensation is possible. It is to be noted, that any rotational position between the basic starting position and the maximum rotational position in the clockwise or counterclockwise direction may be controlled in order to mostly or completely compensate the unwanted vertical movement, and in order to avoid any overcompensation. It is possible that a calculation means respectively the control device itself calculates or simulates the effect of various pitching movements or angles at the given wind direction and wind speed on the component respectively the blade to model how it reacts. The control device can then choose the most promising pitching angle and pitching direction based on this input.

[0094] FIG. 10 shows an example, in which the pitching system 30 is controlled by the control device 22 for a movement of the holding part 31 in the counterclockwise direction according to arrow P10. As shown, the position of the holding part 31 relative to the guiding means 32 has again changed compared to the basic situation, as the holding part 31 is moved along the arched guide means 32 by controlling the actuators 35. As shown in FIG. 10, the upper surface 36 and the lower surface 37 again have a very different spatial orientation relative to the blowing wind respectively the wind direction (arrow P11), compared to the basic situation of FIG. 8 or to the situation of FIG. 9. Again, the aerodynamic situation changes severely resulting in a remarkable change of the pressure difference between the upper and the lower blade side and therefore the suction or drag resting on the blade 8. Again, this allows for a compensation of the unwanted tilt movement in this specific situation.

[0095] It is to be noted, that the figures are only principle sketches. This is especially with regard to the shown wind direction according to arrow P11 in FIGS. 9 and 10. This arrow is only shown in order to demonstrate the change of the spatial orientation of the upper and the lower surface 36, 37, relative to a wind direction. It is no indication that the blade 8 needs to be rotated or positioned according to FIG. 9, when the wind blows from this direction, or needs to be positioned according to FIG. 10 in this wind direction situation. The direction and the angle of rotation is solely determined by the control device 22 based on the sensor means information.

[0096] The pitch or rotation angle of the pitching system 30 may in total be for example 20, with an angle of +10 starting from the basic position according to FIG. 2. It may certainly also be a larger angle, for example a total angle of 40 with a respective pitching angle of +20 starting from the basic position of FIG. 2. A maximum angle may for example be 90, with a pitch angle of +45 starting from the basic position of FIG. 2. As mentioned, any intermediate position may be controlled and fixed in order to compensate vertical tilt.

[0097] The inventive tilting system 14, and additionally the pitching system 30, allows for a very variable change of the aerodynamic properties of the whole lifting arrangement respectively of the blade and therefore of the forces acting on the lifting apparatus 5 and therefore for a very variable, changeable interaction of the blade 8 with the wind in order to produce a defined counteracting tilt moment or tilt movement, which counteracts or compensates an unwanted tilt moment or tilt movement resulting from the interaction of the fast blowing wind with the airfoil-shaped rotor blade 8. The compensation or counteracting system, the tilting system (and if given in combination with the simultaneously controlled pitching system 17), allows for the installation of such a rotor blade 8 also at weather conditions in which up to now such an installation was not possible due to the strongly blowing wind. Now, the installation may also be done at wind speeds of 16 m/s and higher, as the system allows for an excellent compensation of any unwanted vertical movement. Therefore, the weather window, in which the installation may be done is significantly widened. Furthermore, the inventive stabilization or compensation allows for a faster installation, as no time is needed for a cumbersome positioning or orientation of the rotor blade root 12 relative to the mounting interface 9, as no unwanted vertical movement occurs and as the horizontal movement can be countered by the taglines.

[0098] Finally, the inventive lifting apparatus respectively the crane with the inventive compensation or counteracting pitching system allows for installing even larger blades, which interact even more with the wind causing the previously mentioned problems with an unwanted vertical movement, as this movement can be compensated.

[0099] Although the present invention has been disclosed in the form of embodiments and variations thereon, it will be understood that numerous additional modifications and variations could be made thereto without departing from the scope of the invention.

[0100] For the sake of clarity, it is to be understood that the use of a or an throughout this application does not exclude a plurality, and comprising does not exclude other steps or elements.