Gripping device for handling reinforcement cages for tower segments of a wind turbine

Abstract

A gripping device for handling reinforcement cages for tower segments of a wind turbine, comprising a gripper arm holding fixture and multiple gripper arms arranged radially on the gripper arm holding fixture. In particular, it is proposed that there is a coupling mechanism that can be connected with the reinforcement cage on each gripper arm, the length of the gripper arms can be telescopically motor-adjusted, the gripping device can be coupled with a lifting device that can be moved horizontally and vertically, and is adapted to move a reinforcement cage from apparatus for manufacturing reinforcement cages and/or to put a reinforcement cage down in a casing for creating a tower segment.

Claims

1. A handling system comprising: a gripping device for handling a reinforcement cage for tower segments of a wind turbine, the gripping device including: a gripper arm holding fixture; at least five gripper arms arranged radially on the gripper arm holding fixture, wherein the at least five gripper arms are configured to telescopically adjust in length; coupling mechanisms arranged on the at least five gripper arms, respectively, the coupling mechanisms being configured to be coupled to the reinforcement cage; and a motor configured to cause the at least five gripper arms to telescopically adjust in length, wherein the gripping device, when in operation, couples to a lifting device that moves horizontally and vertically, the gripping device, when in operation, at least one of: moves the reinforcement cage from an apparatus for manufacturing reinforcement cages, or places the reinforcement cage in a casing for creating a tower segment; a lifting device configured to be moved horizontally and vertically, the lifting device coupled to the gripping device; and an apparatus for manufacturing the reinforcement cage, the apparatus including a plurality of spokes configured to telescopically adjust in length, ends of the plurality of spokes being coupled to rods, the rods including holding fixtures configured to guide reinforcement material that is used to make the reinforcement cage; wherein the gripping device, when in operation, moves the reinforcement cage, after being manufactured by the apparatus, from the apparatus and places the reinforcement cage in a casing for creating a tower segment.

2. The handling system according to claim 1 wherein the gripping device further comprising an electronic control device configured to cause the motor to telescopically adjust the length of the at least five gripper arms to a predefined value, wherein the predefined value is a function of the diameter of the reinforcement cage.

3. The handling system according to claim 2, wherein the electronic control device is coupled to an input device and has a data memory, the data memory containing a table in which a number of datasets is stored, and the datasets comprise information defining the reinforcement cage.

4. The handling system according to claim 3, wherein the input device interacts with the control device in such a way that: the dataset can be selected by the input device, the selected dataset is transmitted to the control device, and the length of the at least five gripper arms is set as a function of the dataset.

5. The handling system according to claim 2, wherein to communicate data, the electronic control device communicates with an electronic control unit in the apparatus for manufacturing reinforcement cages and is configured to receive a dataset from the electronic control unit of the apparatus containing the predefined value from the electronic control unit of the apparatus.

6. The handling system according to claim 3, wherein the dataset comprises information on at least one of the following: a wind turbine type; a tower type of a wind turbine; a selected tower segment of the wind turbine type; a selected tower segment of the tower type; and a reinforcement cage diameter corresponding to the selected tower segment.

7. The handling system according to claim 4, wherein the input device has a touchscreen.

8. The handling system according to claim 4, wherein the input device and the electronic control device are configured to communicate data wirelessly.

9. The handling system according to claim 3, wherein the electronic control device is configured to receive control commands manually entered into the input device and to adjust the length of the at least five gripper arms as a function of these control commands.

10. The handling system according to claim 9, wherein the electronic control device is configured to be switched between a first and a second operating mode, wherein: in the first operating mode, the input device interacts with the control device in such a way that a dataset can be selected using the input device, wherein the selected dataset is transmitted to the control device, and the length of the at least five gripper arms is set as a function of the dataset, and in the second operating mode, the electronic control device is configured to receive control commands manually entered into the input device and to adjust the length of the at least five gripper arms as a function of the control commands.

11. The handling system according to claim 1 wherein the gripping device comprises a load situation identifier for identifying a load situation when the gripping arms are coupled to the reinforcement cage and bear at least part of its weight, wherein an electronic control device communicates with the load situation identifier and is configured to prevent the adjustment of the length of the at least five gripper arms for as long as the at least five gripper arms are coupled to the reinforcement cage and bear at least part of its weight.

12. The handling system according to claim 3, wherein at least one of the electronic control device and the input device comprises an emergency stop switch, and the electronic control device is configured to stop the motor from causing the telescopic adjustment of the at least five gripper arms when the emergency stop switch is switched.

13. The handling system according to claim 1 wherein the gripping device comprises means for identifying a load-related change in length of the at least five gripper arms, wherein an electronic control device communicates with the means for identifying a load-related change in length and is configured to compensate for this change in length by readjusting the at least five gripper arms.

14. The handling system according to claim 1, wherein the at least five gripper arms, respectively, comprise several joints that move relative to each other by a chain drive.

15. The handling system according to claim 1, wherein the at least five gripper arms, respectively, comprise several joints that move relative to each other by a rack and pinion pair.

16. The handling system according to claim 1, wherein the at least five gripper arms, respectively, comprise several joints that move relative to each other by a moving spindle drive.

17. The handling system according to claim 1, wherein the ends of the plurality of spokes include coupling joints that are configured to swivel to couple to the rods.

18. The handling system according to claim 1, the plurality of spokes includes a first set of spokes in a first plane and second set of spokes in a second plane.

Description

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

(1) The invention is described in more detail below by means of preferred exemplary embodiments, with reference to the attached figures. The figures show the following:

(2) FIG. 1 shows the schematic view of a spatial illustration of the gripping device according to a preferred exemplary embodiment in a first operating position,

(3) FIG. 2 shows the gripping device according to FIG. 1 in a second operating position,

(4) FIG. 3 shows the gripping device according to FIGS. 1 and 2 in a third operating position,

(5) FIG. 4 shows a spatial illustration of apparatus for manufacturing reinforcement cages as part of a system according to a preferred exemplary embodiment of the invention,

(6) FIG. 5 shows a side view of the apparatus according to FIG. 4,

(7) FIG. 6 shows a schematic diagram of a detail of FIG. 5,

(8) FIG. 7 shows a spatial illustration of a detail of the apparatus according to a further exemplary embodiment,

(9) FIGS. 8 and 9 show a side view and a cross-section of a part of the apparatus according to another exemplary embodiment,

(10) FIGS. 10 and 11 show a detailed view of the apparatus according to another exemplary embodiment in different operating states, and

(11) FIG. 12 shows a spatial detailed illustration of the apparatus according to another exemplary embodiment.

DETAILED DESCRIPTION

(12) The fundamental design of a gripping device 1 for handling reinforcement cages for tower segments of a wind turbine is illustrated in FIG. 1. The gripping device 1 has a gripper arm holding fixture 3. The gripper arm holding fixture 3 has a frame 4, to which multiple gripper arms 5 are radially attached. Essentially, the gripper arms 5 are distributed evenly around the circumference of a ring 6. Essentially, the gripper arms 5 are arranged perpendicularly to a central axis Y. The axis Y is preferably located in the intersection of the extension of the longitudinal axis of the gripper arms 5. A lifting device 7 is coupled with the gripper arm holding fixture at the upper part (in the arrangement according to FIG. 1) of the frame 4. Preferably, coupling is performed in accordance with DIN 15401 and/or 15402.

(13) An electromotive drive 9 is attached to the frame 4 of the gripper arm holding fixture 3. The electromotive drive 9 provides torque for the motor-driven adjustment of the length of the gripper arms 5. Preferably, the gripper arms 5 are coupled with the electromotive drive through chain drives 17 (for the sake of clarity only one is marked with a reference number) through one or several transmission units. Optionally, the gripper arms 5 can be uncoupled from the drive train.

(14) The gripping device 1 has an electronic control device 11, which, in this exemplary embodiment, is also attached to the gripper arm holding fixture 3. The electronic control device 11 is configured to set the length of the gripper arms to a predefined value, which is a function of the diameter 1 of the reinforcement cage to be gripped. Preferably, the electronic control device can be controlled through an input device 12. As indicated in FIG. 1 by the dotted line 12a, the input device 12 is connected to the electronic control device for the purpose of data communication. The connection can be wired or wireless.

(15) At each end furthest away from the axis Y, the gripper arms 5 each have coupling mechanisms 13, which, in this exemplary embodiment, are designed as hooks hanging on chains. The coupling mechanisms are configured to be connected with a reinforcement cage, once a predefined diameter has been reached. Once the reinforcement cage has been connected with the coupling mechanism 13, by moving the lifting device 7, the gripping device 1 can bear the weight of the reinforcement cage.

(16) Each gripper arm 5 has torque supports 15, which absorb the weight borne by the gripper arms and transfer it to the gripper arm holding fixtures 3. Furthermore, these supports make it possible to design the gripper arms to be separable, so that the arms can be removed separately and can be reconnected. Thus, the transport size of the apparatus is reduced.

(17) As can be seen further in FIGS. 2 and 3, the gripper arms 5 each have a second support element 19 performing the same function as the support 15. The supports 19 each have a bearing roller, preferably on their inside. In addition, the apparatus can be put down on the mounting links of the supports 19, which, in the shown arrangement, point down.

(18) As can be inferred in particular from FIGS. 2 and 3 in comparison with FIG. 1, gripper arm 5 length can be adjusted by the telescopic arrangement of several joints 5a, 5b, 5c. FIG. 2 shows a state in which the gripper arms 5 are set to a length between a minimum length (FIG. 1) and a maximum length (FIG. 3) through the joints 5b, 5c being partially pulled out from the joint 5a closest to the inside. Accordingly, FIG. 3 shows the operating position of the gripping device 1 with a maximum extension of the gripper arms 5.

(19) In a preferred exemplary embodiment, the gripping device according to FIGS. 1 to 3 interacts with apparatus 101 for manufacturing reinforcement cages for tower segments of wind turbines. The apparatus 101 is shown in FIGS. 4 to 13.

(20) FIG. 4 shows the fundamental design of apparatus for manufacturing reinforcement cages for tower segments. The apparatus 101 has a stationary base plate 103 (for example, made of concrete) relative to which there is a platform 105 that can be driven by a rotor. Preferably, the platform 105, which can be driven by a rotor, is located on top of the stationary base plate 103. A supporting structure 107 extends perpendicularly from the platform 105. On a total of three planes 111, 113, 115, multiple spokes 119 are arranged on the supporting structure 107. In alternative designs, only two planes are intended for tower segments for shorter constructions.

(21) The spokes 119 extend outwards from the supporting structure. In the illustrated exemplary embodiment, the spokes 119, of which, for the sake of clarity only one is marked with a reference number, are arranged radially. However, other arrangements are possible as well, as long as an adjustment in spoke length changes the circumference of the imaginary limitations surrounding the spokes. The spokes on the highest plane 111 are connected with each other by means of cross-beams 117 for strengthening. The spokes of the second plane 113, which is arranged at a distance from the first plane 111, are connected with each other by means of cross-beams 119 for strengthening, and the spokes of the third plane 115, which is arranged at a distance from the second plane 113, are connected with each other by means of cross-beams 121 for strengthening. In alternative designs, the means for strengthening can be omitted for tower segments for shorter constructions.

(22) FIG. 5 illustrates once again the arrangement of the different planes 111, 113, 115 on top of each other in the apparatus 101. In this context, the term plane does not mean the horizontal arrangement of the spokes in a strictly geometrical sense, but the arrangement of similar, different platforms in buildings or on scaffolding. However, in the exemplary embodiments shown in FIGS. 4 and 5, the beams are indeed arranged essentially perpendicularly to the rotation axis X of the supporting structure 107.

(23) The radially exterior furthest points of the spokes on the first plane 111 define a radius R1. Likewise, the spokes of the second plane 113 define a radius R2, and the spokes of the third plane 115 likewise define a radius R3. Furthermore, FIG. 5 shows that housing 123 is provided below the stationary platform 103. Preferably, the drive units for the supporting structure 107 as well as a central drive unit or an electronic control unit for controlling several decentralized drive units (not shown) are located within the housing 123.

(24) FIG. 6 shows a schematic view of a section of the apparatus according to FIG. 5. The illustration shows just one spoke 119 located on the first plane 111, as well as one spoke 119 on the second plane 113.

(25) While in order to provide a clear illustration of the supporting structure and the spoke arrangement, the rods for receiving the reinforcement cables were not shown yet, and FIG. 6 shows by way of example one rod 127 in the mounted position. In the illustrated position, the rod 127 is arranged at an angle to the vertical axis X. Applied to all the rods on the apparatus, this means that the bars are arranged conically to each other. The angle can be specified through the varying length of a base body 119a of the spoke 119 and a deviating length of the base body 119c of the spoke 119. When the telescopic elements 119b, 119d of the spokes 119, 119 are fully extended, the angle results from the distance between the spokes 119 and 119 in the direction of the axis X as well as from the different lengths of the bodies 119a, 119c. Alternatively, the angle can be adjusted by extending the telescopic element 119b of the spoke 119 by a different amount in the direction of the arrow 125 as the extension of the telescopic element 119d of the spoke 119 in the direction of the arrow 125.

(26) As can be further seen in FIG. 6, the rod 127 has multiple holding fixtures 129 for guiding the reinforcement material. Preferably, the reinforcement material is reeled strip steel, for example steel strip 500 (in accordance with DIN 488). On the respective planes 111, 113, the rod 127 can be swiveled to connect with the corresponding telescopic elements 119b, 119d of the spokes 119, 119 by means of a coupling joint 131, 131. If the apparatus is configured in such way that the lengths of the spokes 119, 119 in the direction of the arrows 125, 125 are adjusted differently from each other, slot guides for receiving the coupling joints 131, 131 will preferably be provided in the rod 127 in order to accommodate the resulting change to the angle .

(27) Based on an exemplary spoke 119 on the plane 111, FIG. 7 shows another aspect of the apparatus 101. At one end of the spoke 119 that is radially furthest to the outside, the coupling joint 131 extends outside the spoke 119. In a section 128, the coupling joint 131 can be swiveled to connect with the rod 127. Between the spoke 119 and the rod 127, there is a gap. Essentially, the width of the gap corresponds to the width (in radial direction) of a blocking element 133. In FIG. 7, the blocking element 133 is shown in the unlocked position. In order to prevent a swiveling motion of the coupling joint 131 and, thus, to fix the distance between the rod and the supporting structure (which is not shown), the blocking element 133 can be moved from the illustrated unlocked position into a locked position. According to the preferred exemplary embodiment, this is performed with a swiveling motion in the direction of the arrow 135. By means of the swiveling motion, the blocking element is brought in a position where it rests against the spoke 119 and the rod 127. An interlocking option is provided optionally. Optionally, the swiveling motion is performed by a servomotor or a mechanical moving device such as a pulley. In the locked position, the radial distance between the holding fixture 129 is fixed in relation to the rotation axis X of the supporting structure 107 (cf. FIG. 5) and is kept constant during the operation of the apparatus 101, which ensures the even formation of the reinforcement cage.

(28) Alternatively to the swiveling holding fixture described above, the bars can also be coupled directly with the arms, for example by hooking. In this case, the diameter of the reinforcement cages would be enabled within certain limits by means of bolt connections positioned accordingly.

(29) FIGS. 8 and 9 show one version 127 of the rod with the holding fixtures 129. As its base, the rod 127 has an oblong square body, from each of the four oblong sides of which extends an edge with multiple recesses 129, wherein a first edge 137 has the edge height d1. Unlike this edge height d1, second edge 39 has an edge height d2, which differs from the edge height d1. A third edge 141 has the edge height d3, while a fourth edge 143 has the edge height d4. The edge heights d1, d2, d3, d4 respectively differ from each other. The rod 127 can be coupled with the spokes of the apparatus in such a way that one of the four edges 137, 139, 141, 143 faces away from the rotation axis X of the supporting structure 107 so that only this edge is brought into a position where it holds the reinforcement cables. Due to the different edge heights, different outer diameters or circumferences for the reinforcement cables to be received can also be defined by means of the bars 127 that can be positioned in the four different angle positions. Furthermore, the respective edges 137, 139, 141, 143 preferably have distances between the recesses 129 differing from those of the other edges. In FIG. 8, this is suggested by way of example for the edges 137 and 139 through the different distances a.sub.1 (for edge 139) and a.sub.2 (for edge 137).

(30) FIG. 10 shows another detail according to a preferred exemplary embodiment of the invention regarding an exemplary spoke 119. The telescopic element 119b is extended by a certain length from the base body 119a of the spoke 119. The coupling joint 131 extends out of the telescopic element 119b and is coupled with the rod 127 in the point 128. The holding fixture 128 defines a radial distance R1 from the axis X (not shown). In the state shown in FIG. 10, the apparatus 101 is in a position where it can receive the reinforcement cables has done so. This state, in which the stabilization of the reinforcement cables has to be ensured, is R1 constant. Once the reinforcement cage has been manufactured, i.e., once the circular reinforcement cables have been connected with the additional strengthening elements, the apparatus 101 is brought into a state according to FIG. 11. In the state according to FIG. 11, the coupling joint 131 has been swiveled upwards. The other, not illustrated, couple joints in the other planes of the apparatus perform the same motions. Thus, the rod 127 is moved upwards (in relation to the arrangement in FIG. 11 in the direction of the axis X, FIG. 5) and at the same time moved inwards in the direction towards the axis X. The radial distance that the holding fixture 128 now has to the axis X is R1, which is smaller than R1. Through the swiveling motion of the coupling joints, the reinforcement cables are lifted out from the holding fixtures 129, and the manufactured reinforcement cage can be taken out of the apparatus 101 from the top. The reason why the design of the spokes with swiveling coupling joints is especially advantageous is that the reinforcement cages can be quickly detached from the apparatus 101 without the need to change the length of the adjusted spokes through control commands. The coupling mechanism can be swiveled by separate, purely mechanical actuation from the position according to FIG. 10 into the position according to FIG. 11, while the length of the spokes remains unchanged.

(31) Ultimately, according to another exemplary embodiment of the invention, FIG. 12 presents one of the different drive concepts. The Figure shows a slanted top view of the upper plane 111 of the apparatus 101. The telescopic elements 119b of the spokes 119 can be moved translationally within the base body 119a. To perform this translational movement, there is a decentralized drive unit 149 in each spoke. In the example according to FIG. 12, the decentralized drive unit 149 is designed as a telescopic spindle drive, through the activation of which a slide 153 performs a translational movement guided by a longitudinal groove. The telescopic element 119b is coupled with the slide 153 and, driven by a motor, is extended or pulled in as a consequence of activating the telescopic drive 151. For the lateral support and the absorption of bearing loads, supporting struts 145, 147 are arranged on the left and on the right side of several spokes. As a general principle, in the preferred embodiments, this drive design is used for the arms of the reinforcement cage as well as for the arms of the gripping device 1. The same applies to the alternative drive designs described above.