DK3077136T3 - Anlæg til fremstilling af armeringskurve til tårnsegmenter af vindenergianlæg - Google Patents

Anlæg til fremstilling af armeringskurve til tårnsegmenter af vindenergianlæg Download PDF

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Publication number
DK3077136T3
DK3077136T3 DK14786489.6T DK14786489T DK3077136T3 DK 3077136 T3 DK3077136 T3 DK 3077136T3 DK 14786489 T DK14786489 T DK 14786489T DK 3077136 T3 DK3077136 T3 DK 3077136T3
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Denmark
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elements
handling robot
stiffening
ring elements
handling
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DK14786489.6T
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English (en)
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Georg Krüger
Ingo Meyer
Karsten Albers
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Wobben Properties Gmbh
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Publication of DK3077136T3 publication Critical patent/DK3077136T3/da

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21F—WORKING OR PROCESSING OF METAL WIRE
    • B21F23/00—Feeding wire in wire-working machines or apparatus
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04C—STRUCTURAL ELEMENTS; BUILDING MATERIALS
    • E04C5/00—Reinforcing elements, e.g. for concrete; Auxiliary elements therefor
    • E04C5/01—Reinforcing elements of metal, e.g. with non-structural coatings
    • E04C5/06—Reinforcing elements of metal, e.g. with non-structural coatings of high bending resistance, i.e. of essentially three-dimensional extent, e.g. lattice girders
    • E04C5/0604—Prismatic or cylindrical reinforcement cages composed of longitudinal bars and open or closed stirrup rods
    • E04C5/0609—Closed cages composed of two or more coacting cage parts, e.g. transversally hinged or nested parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21F—WORKING OR PROCESSING OF METAL WIRE
    • B21F27/00—Making wire network, i.e. wire nets
    • B21F27/08—Making wire network, i.e. wire nets with additional connecting elements or material at crossings
    • B21F27/10—Making wire network, i.e. wire nets with additional connecting elements or material at crossings with soldered or welded crossings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21F—WORKING OR PROCESSING OF METAL WIRE
    • B21F27/00—Making wire network, i.e. wire nets
    • B21F27/12—Making special types or portions of network by methods or means specially adapted therefor
    • B21F27/121—Making special types or portions of network by methods or means specially adapted therefor of tubular form, e.g. as reinforcements for pipes or pillars
    • B21F27/122—Making special types or portions of network by methods or means specially adapted therefor of tubular form, e.g. as reinforcements for pipes or pillars by attaching a continuous stirrup to longitudinal wires
    • B21F27/124—Making special types or portions of network by methods or means specially adapted therefor of tubular form, e.g. as reinforcements for pipes or pillars by attaching a continuous stirrup to longitudinal wires applied by rotation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21F—WORKING OR PROCESSING OF METAL WIRE
    • B21F27/00—Making wire network, i.e. wire nets
    • B21F27/12—Making special types or portions of network by methods or means specially adapted therefor
    • B21F27/121—Making special types or portions of network by methods or means specially adapted therefor of tubular form, e.g. as reinforcements for pipes or pillars
    • B21F27/125—Making special types or portions of network by methods or means specially adapted therefor of tubular form, e.g. as reinforcements for pipes or pillars by attaching individual stirrups to longitudinal wires
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04C—STRUCTURAL ELEMENTS; BUILDING MATERIALS
    • E04C5/00—Reinforcing elements, e.g. for concrete; Auxiliary elements therefor
    • E04C5/01—Reinforcing elements of metal, e.g. with non-structural coatings
    • E04C5/06—Reinforcing elements of metal, e.g. with non-structural coatings of high bending resistance, i.e. of essentially three-dimensional extent, e.g. lattice girders
    • E04C5/0604—Prismatic or cylindrical reinforcement cages composed of longitudinal bars and open or closed stirrup rods
    • E04C5/0618—Closed cages with spiral- or coil-shaped stirrup rod
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H12/00—Towers; Masts or poles; Chimney stacks; Water-towers; Methods of erecting such structures
    • E04H12/02—Structures made of specified materials
    • E04H12/12—Structures made of specified materials of concrete or other stone-like material, with or without internal or external reinforcements, e.g. with metal coverings, with permanent form elements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
    • F03D13/10—Assembly of wind motors; Arrangements for erecting wind motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D13/00—Assembly, mounting or commissioning of wind motors; Arrangements specially adapted for transporting wind motor components
    • F03D13/20—Arrangements for mounting or supporting wind motors; Masts or towers for wind motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/04—Tubular or hollow articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/32—Wires
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H12/00—Towers; Masts or poles; Chimney stacks; Water-towers; Methods of erecting such structures
    • E04H12/34—Arrangements for erecting or lowering towers, masts, poles, chimney stacks, or the like
    • E04H12/341—Arrangements for casting in situ concrete towers or the like
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2230/00—Manufacture
    • F05B2230/20—Manufacture essentially without removing material
    • F05B2230/23—Manufacture essentially without removing material by permanently joining parts together
    • F05B2230/232—Manufacture essentially without removing material by permanently joining parts together by welding
    • F05B2230/238—Soldering
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2230/00—Manufacture
    • F05B2230/60—Assembly methods
    • F05B2230/61—Assembly methods using auxiliary equipment for lifting or holding
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2240/00—Components
    • F05B2240/90—Mounting on supporting structures or systems
    • F05B2240/91—Mounting on supporting structures or systems on a stationary structure
    • F05B2240/912—Mounting on supporting structures or systems on a stationary structure on a tower
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/728—Onshore wind turbines
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49616—Structural member making
    • Y10T29/49623—Static structure, e.g., a building component
    • Y10T29/49632—Metal reinforcement member for nonmetallic, e.g., concrete, structural element
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/51—Plural diverse manufacturing apparatus including means for metal shaping or assembling
    • Y10T29/5187—Wire working

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Chemical & Material Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Sustainable Energy (AREA)
  • Combustion & Propulsion (AREA)
  • Sustainable Development (AREA)
  • Robotics (AREA)
  • Materials Engineering (AREA)
  • Wood Science & Technology (AREA)
  • Wire Processing (AREA)
  • Wind Motors (AREA)
  • Manipulator (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)

Claims (14)

1. Anlæg (1; 100; 200) til fremstilling af armeringskurve til tårnsegmenter af vindenergianlæg, hvor en armeringskurv har respektivt i det væsentlige horisontalt orienterede ringelementer (13, 14) og i det væsentlige vertikalt orienterede afstivningselementer (27; 127), og anlægget har: - et optagelsesområde (7), som er tilpasset til at optage de, fortrinsvis indvendige, i det væsentlige horisontalt orienterede ringelementer (13) af armeringskurven, - en første håndteringsrobot (3; 61; 103; 203) til tilvejebringelse og positionering af afstivningselementerne og - en anden håndteringsrobot (21; 121; 221) til at forbinde ringelementerne med afstivningselementerne, kendetegnet ved, at den første håndteringsrobot (3) med henblik på fremstilling af armeringskurve med afstivningselementer (27), som er udformet af et vindelformet bøjet endeløst materiale (17), har bøjningsmidler og samvirker med en tilførselsenhed (15), som tilfører det endeløse materiale til bøjningsmidlerne, hvor bøjningsmidlerne er indrettet til at bøje det tilførte endeløse materiale på en sådan måde, at afstivningsmidlerne dermed udformes vindelformet.
2. Anlæg (1; 100; 200) til fremstilling af armeringskurve til tårnsegmenter af vindenergianlæg, hvor en armeringskurv har respektivt i det væsentlige horisontalt orienterede ringelementer (13, 14) og i det væsentlige vertikalt orienterede afstivningselementer (27; 127), og anlægget har: - et optagelsesområde (7), som er tilpasset til at optage de, fortrinsvis indvendige, i det væsentlige horisontalt orienterede ringelementer (13) af armeringskurven, - en første håndteringsrobot (3; 61; 103; 203) til tilvejebringelse og positionering af afstivningselementerne og - en anden håndteringsrobot (21; 121; 221) til at forbinde ringelementerne med afstivningselementerne, kendetegnet ved, at den første håndteringsrobot (103; 203) med henblik på fremstilling af armeringskurve med afstivningselementer (127), der er udformet som separate, fortrinsvis lukkede, bøjler, har gribemidler til rutsjesikker griben og fjernelse af afstivningselementerne (127) fra en opbevaringsenhed (204).
3. Anlæg ifølge krav 1 eller 2, kendetegnet ved en elektronisk styreenhed (10), som er indrettet til at styre den første og anden håndteringsrobot (3, 21; 61; 103; 121; 203; 221) for koordineret at tilvejebringe afstivningselementerne og forbinde afstivningselementerne med ringelementerne.
4. Anlæg ifølge et af de foregående krav, kendetegnet ved, at optagelsesområdet er anbragt på en drejelig platform (9), og fortrinsvis den første og anden håndteringsrobot er anbragt naboliggende til platformen.
5. Anlæg ifølge et af de foregående krav, hvor optagelsesområdet er indrettet til at samvirke med en gribeindretning (11) til håndtering af en armeringskurv.
6. Anlæg ifølge et af de foregående krav, kendetegnet ved, at den første håndteringsrobot (3; 61; 103; 203) er indrettet til at bringe afstivningselementerne i det væsentlige vertikalt orienteret i anlæg med ringelementerne.
7. Anlæg (1) ifølge krav 1 eller et af kravene 3 til 6, afhængigt af krav 1, kendetegnet ved, at bøjningsmidlerne har omstyringsruller (31 a, b, c), mellem hvilke det endeløse materiale føres igennem, hvor positionerne af omstyringsrullerne kan ændres i forhold til hinanden.
8. Anlæg (1) ifølge krav 1 eller et af kravene 3 til 7, afhængigt af krav 1, hvor bøjningsmidlerne er anbragt stationært på anlægget, hvor en håndteringsrobot udelukkende overtager håndteringen af de bøjede ståltråde.
9. Anlæg ifølge krav 2 eller et af kravene 3 til 6, afhængigt af krav 2, kendetegnet ved, at gribemidlerne har et første og andet svingbart koblingsled (141), som er indrettet til at gribe fat i afstivningselementet (127) i respektivt mindst et hjørne ved hjælp af svingning, hvor fortrinsvis koblingsleddene (141) har respektivt en føringsrulle (145) til at gribe fat i afstivningselementet fortrinsvis indefra i et hjørne og fortrinsvis et støtteafsnit (147) eller en yderligere rulle på en modsat beliggende ende af koblingsleddet, anbragt på en sådan måde, at der ved svingning af koblingsleddet udøves en tilstrækkelig spredningskraft på afstivningselementet, at den første håndteringsrobot (103) rutsjesikkert kan hæve, sænke, bevæge og rotere afstivningselementet (127) frit i rummet.
10. Anlæg (100; 200) ifølge et af de foregående krav, kendetegnet ved, at den anden håndteringsrobot (121; 221) har et svingbart arbejdshoved (125; 225), på hvilket der er anbragt et forbindelsesmiddel, udvalgt fra listen bestående af: - en klæbemiddelafgivelsesindretning, - en svejseindretning, - en loddeindretning, - en indretning til automatisk snoning af metaltråde.
11. Anlæg (1; 100; 200) ifølge et af de foregående krav, hvor ringelementerne (13) i optagelsesområdet (7) er et første sæt ringelementer, og anlægget har en automatisk viklingsenhed (150) til tilvejebringelse af det første sæt og et andet sæt af i det væsentlige horisontalt orienterede, fortrinsvis udvendige ringelementer (14), hvor ringelementerne (14) er udformet som separate, fortrinsvis lukkede, ringe eller er udformet af et vin-delformet bøjet endeløst materiale.
12. Anlæg (1; 100; 200) ifølge krav 11, kendetegnet ved, at den automatiske viklingsenhed (150) har en føringsindretning (153) og samvirker med en tilførselsenhed (155), som tilfører det endeløse materiale til føringsindretningen (153), hvor føringsindretningen er indrettet til at tilføre det tilførte endeløse materiale på en sådan måde, at ringelementerne udformes vindelformet.
13. Anlæg (1; 100; 200) ifølge krav 11 eller 12, kendetegnet ved, at den anden håndteringsrobot (21; 121; 221) er indrettet til at forbinde det andet sæt ringelementer (14) med afstivningselementerne (27; 127).
14. Anlæg (1; 100; 200) ifølge et af kravene 11 til 13, kendetegnet ved, at den elektroniske styreenhed (10) er indrettet til at styre samtlige håndteringsrobotter af anlægget samt den automatiske tilførselsenhed og drejelige platform for koordineret at tilvejebringe ringelementerne (14) afstivningselementerne (27, 127) og at forbinde afstivningselementerne med ringelementerne (14).
DK14786489.6T 2013-12-05 2014-10-16 Anlæg til fremstilling af armeringskurve til tårnsegmenter af vindenergianlæg DK3077136T3 (da)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013225049.5A DE102013225049A1 (de) 2013-12-05 2013-12-05 Anlage zur Herstellung von Bewehrungskörben für Turmsegmente von Windenergieanlagen
PCT/EP2014/072205 WO2015082115A1 (de) 2013-12-05 2014-10-16 Anlage zur herstellung von bewehrungskörben für turmsegmente von windenergieanlagen

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US (1) US10094114B2 (da)
EP (1) EP3077136B1 (da)
CN (1) CN105792959B (da)
AR (1) AR098608A1 (da)
BR (1) BR112016012526A2 (da)
CA (1) CA2930009C (da)
DE (1) DE102013225049A1 (da)
DK (1) DK3077136T3 (da)
ES (1) ES2649731T3 (da)
PT (1) PT3077136T (da)
TW (1) TWI569904B (da)
WO (1) WO2015082115A1 (da)

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EP4353380A1 (de) 2022-10-14 2024-04-17 Progress Maschinen & Automation AG Verfahren und vorrichtung zur automatisierten herstellung eines bewehrungskorbes
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CN115958366B (zh) * 2023-02-21 2023-05-23 成都中挖属汇科技有限公司 一种标准节组装焊接工装

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EP3077136A1 (de) 2016-10-12
TWI569904B (zh) 2017-02-11
US10094114B2 (en) 2018-10-09
EP3077136B1 (de) 2017-09-06
CA2930009A1 (en) 2015-06-11
US20160305125A1 (en) 2016-10-20
AR098608A1 (es) 2016-06-01
CN105792959B (zh) 2018-09-04
CN105792959A (zh) 2016-07-20
CA2930009C (en) 2019-03-05
WO2015082115A1 (de) 2015-06-11
ES2649731T3 (es) 2018-01-15
PT3077136T (pt) 2017-12-04
BR112016012526A2 (pt) 2017-08-08
DE102013225049A1 (de) 2015-06-11
TW201532703A (zh) 2015-09-01

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