EP2922779A1

EP2922779A1 - Gripping apparatus for handling reinforcement cages for tower segments of a wind turbine

Info

Publication number: EP2922779A1
Application number: EP13776499.9A
Authority: EP
Inventors: Ingo Meyer
Original assignee: Wobben Properties GmbH
Current assignee: Wobben Properties GmbH
Priority date: 2012-11-23
Filing date: 2013-10-14
Publication date: 2015-09-30
Anticipated expiration: 2033-10-14
Also published as: PL2922779T3; BR112015011799A2; EP2922779B1; DE102012221453A1; JP2015535566A; AU2013350006A1; MX2015006034A; JP6118420B2; AU2013350006B2; TW201437477A; CN104812691A; KR20150086531A; DK2922779T3; KR101847696B1; CA2889923C; US10023441B2; ES2617908T3; RU2606161C1; CN104812691B; ME02591B

Abstract

The invention relates to a gripping apparatus (1) for handling reinforcement cages for tower segments of a wind turbine, having a gripping arm holder (3) and a plurality of gripping arms (5), which are arranged in a star-shaped manner on the gripping arm holder (3). According to the invention in particular a coupling means (13), which can be connected to a reinforcement cage, is arranged on each gripping arm, the gripping arms (5) are length-adjustable in a telescope-like, motorised manner, the gripping apparatus (1) is coupleable to a horizontally and vertically movable lifting apparatus (7) and is designed to receive a reinforcement cage from a device (101) for producing reinforcement cages and/or to place a reinforcement cage in a formwork for producing a tower segment.

Description

Gripping device for handling reinforcement cages for tower segments of a wind energy plant

The present invention relates to a gripping device for handling reinforcement cages for tower segments of a wind energy plant.

Towers, as they are used, inter alia, for wind turbines, often have a wall made of concrete or reinforced concrete. Especially with dynamically loaded towers, which applies to most towers due to the wind influences, stiffening structures, so-called reinforcement baskets, are provided in the interior of the tower wall to improve stability. The construction of a tower is in this case constructed in segments, d. h., A tower is composed of several übereinanderzulegenden, substantially annular tower segments. In the production of such tower segments, first the reinforcement cage is produced and then filled with concrete in designated forms and cured.

In known devices for the production of reinforcement cages for tower segments, a support structure is provided, which holds a plurality of rods, so-called rake. These rods each have receivers for receiving steel strands, the steel strands being guided around the support structure to form ring members. These ring elements are, stabilized by the rods, linked with orthogonally extending, arcuately preformed steel elements, whereby a grid-shaped reinforcement cage is formed. The reinforcing strands are either guided around a stationary support structure in a circular motion or, what is preferred, are located in a stationary feed device and are pulled out of the receptacle by the rotationally drivable support structure and ring around the support structure as a result of the rotational movement of the support structure. Throughout the time, the shape of the annular steel strands is stabilized by the support structure and the rods by means of a plurality of spokes extending between the support structure and the rods. To remove the reinforcement cages from the device, the spokes must be respectively retrofitted in known systems or the stabilizing rods are individually and manually unhooked from the steel strands. Depending on the size of the tower segments to be produced, the reinforcing baskets already have a considerable weight and, according to the tower segment, considerable dimensions. For example, a reinforcement cage for the lowest, so the largest tower segment of a wind turbine of the type E126 ENERCON has a diameter of about 14m, a height of about 3.7m and a weight of about 8.5t. Due to their lattice-like structure and their enormous dimensions, reinforcement baskets are difficult to handle in manufacturing operations with conventional crane systems. Against this background, the present invention has the object to provide a gripping device of the type mentioned above, which allows a secure gripping and handling of reinforcement cages. In this case, the term "handling" is understood to mean, in particular, gripping a reinforcement cage and moving the reinforcement cage from point A to point B.

The invention solves the underlying object in a gripping device of the type mentioned in that it has a Greifarmaufnahme, and a plurality of gripping arms, which are arranged in a star shape on the Greifarmaufnahme, wherein at each gripper arm connectable to a reinforcing cage coupling means, for example having a or more chains, is arranged, the gripping arms are telescopically adjustable in length in length, and the gripping device with a horizontally and vertically movable lifting device coupled and is adapted to take over a reinforcement cage of a device for the production of reinforcement cages and / or in a formwork to settle for the production of a tower segment. The invention makes use of the fact that it is advantageous for safe handling of the reinforcing cage to seize the reinforcing cage at a plurality of locations along its circumference. For this purpose, the gripping device has a plurality of gripper arms, which are arranged in a star shape on the Greifarmaufnahme. The star-shaped arrangement ensures uniform gripping of the reinforcing cage along its circumference. The telescopic length adjustability of the gripper arms further ensures that the reinforcing cage along its circumference by all gripping arms is controlled and gripped. The coupling means on the gripping arms are preferably designed as gripping hooks attached to tension elements such as chains or steel strands, which allows for quick coupling and decoupling and at the same time allows a certain residual tolerance with respect to the circularity of the reinforcing basket due to the suspended coupling of the coupling means with the gripping arms. If a gripper arm does not end exactly at the diameter of the arm in its set arm length Reinforcing basket, the pendulum-like suspension of the coupling means compensates for this to a certain extent.

The invention is further developed in that the gripping device comprises an electronic control device which is adapted to set the length of the gripper arms to a predetermined value, which is a function of the diameter of a reinforcing basket to be gripped. The control device has the advantage that by entering the predetermined value, all the arms can be adjusted synchronously to a length corresponding to the predetermined value. For this purpose, the electronic control device is preferably prepared to cooperate with the motor drives or, if a central drive is provided, to control or regulate the central drive of the gripper arms.

In a preferred embodiment, the electronic control device is connected to an input device and has a data memory, wherein the data memory contains a table in which a number of data records are stored, wherein the data records identify information that define the reinforcing cage to be gripped. Particularly preferably, a plurality of data records are stored in the data memory, which define a plurality of tangible reinforcement cages.

The input device preferably interacts with the control device in such a way that a data record can be selected by means of the input device, the selected data record is transmitted to the control device, and the length of the gripping arms is adjusted as a function of the data record.

In a further preferred embodiment, the control device has one or more rotary selector switches whose different rotational positions are programmed in advance by means of known programming means in each case to a specific diameter to be selected.

In a further preferred embodiment, the electronic control device communicates for data communication with an electronic control unit of a device for producing reinforcement cages for tower segments of a wind turbine and is adapted to receive from the electronic control unit of the device a data set which contains the predetermined value. Preferably, the data set for the invention comprises information on: a wind turbine type and / or tower type of a wind turbine and / or a selected tower segment of the wind turbine type and / or tower type, and / or a reinforcing cage diameter corresponding to the selected tower segment.

Preferably, the data set can be selected in a cascading manner by means of an input device. Firstly, the electronic control device provides the user with the option of selecting a wind turbine and / or a tower type, and in a second step, the electronic control device provides the operator with the option of selecting one of several tower segments of the tower type or wind turbine. The tower segment is then assigned within the record a certain, to be approached by the gripping device reinforcing cage diameter. The one or more data sets are preferably programmed in advance by an operator and / or read by the device for the production of reinforcement cages in the electronic control device.

In a particularly preferred embodiment, the input device has a touchscreen. The touchscreen simultaneously enables the presentation of the choices made available by the control device and the provision of an input option of control commands. Preferably, the input device and the electronic control device have means for wireless data communication with one another. Preferably, in this case, the input device is set up as a radio remote control. According to a preferred alternative, the electronic control device and the input device have corresponding interfaces for a wireless network connection (WLAN). In a further preferred embodiment, the electronic control device is adapted to receive control commands entered manually into the input device and to adjust the length of the gripping arms as a function of these control commands. The manual controllability of the gripper arms makes it possible to readjust the programmed, controlled by the controller gripper arm length to account for small variations in the actual dimensioning of the reinforcement cages. Preferably, the electronic control device is equipped with a securing means, which prevents the manual input of control commands in the electronic control device in a locking position, and means Unlock must be spent from the locked position in a release position to allow manual input of the control commands. This blocking function can be realized by software, or hardware technology, for example by means of a key. According to a further preferred embodiment, the electronic control device is switchable between a first and a second operating mode, wherein in the first operating mode, the input device cooperates with the control device such that a data record is selectable by means of the input device, the selected data set is transmitted to the control device, and the length of the gripping arms is adjusted as a function of the data set, and in the second operating mode the electronic control device is adapted to receive control commands entered manually into the input device and to adjust the length of the gripping arms as a function of these control commands. By dividing the individual control options of the electronic control device in two different operating modes ensures that not accidentally during the automatic control of the gripping arms a manual (incorrect) operation engages in the program flow and vice versa, that during a manual control input by the operator is not an automatic Tax procedure intervened.

Preferably, in a further preferred embodiment, the gripping device has means for detecting a load situation in which the gripper arms are connected to a reinforcement cage and receive at least part of its weight, wherein the electronic control device communicates with the means for detecting the load situation and is adapted thereto to prevent a length adjustment of the gripping arms, as long as the gripping arms are connected to a reinforcement cage and record at least part of its weight. In view of the sometimes considerable self-weights of the hand baskets to be handled, it can be assumed in practice that the length of the gripper arms and thus the reinforcing cage diameter controlled by the gripper arms changes as a result of load absorption. The means for detecting the load situation, which may be formed, for example, as a force transducer, strain gauges or similar measuring means, preferably included in a control or regulating circuit of the electronic control device.

Alternatively or additionally, the gripping device comprises means for detecting the Greifarmlänge, preferably the load-related change in length of the gripping arms, which are independent of the drive of the gripping arms. In this way, setting movements and length adjustments are registered due to tolerances and transmitted to the control device, which in turn can make a readjustment of the Greifarmlängen as a function of these registered changes. Further preferably, the electronic control device of the gripping device and / or the input device of the gripping device on an emergency off switch, and the electronic control device is adapted to adjust the adjustment of the gripping arms immediately when the emergency off switch is actuated. This makes it possible to stop due to suddenly occurring incidents, the movement of the gripping device, in particular, this may be relevant if a wrong program was selected by mistake, which threatens to damage the reinforcement cage.

According to a further preferred embodiment of the invention, the gripping arms of the gripping device each have a plurality of links which are translationally movable relative to each other by means of a chain drive. The chain drive is for this purpose coupled to a central electric motor drive. The individual members of the gripping arms are positively and / or positively coupled with each other via drivers. The position of the driver is preferably adjustable for free adjustment of the gripper arm length and limb positions on the respectively associated member. Roller chain drives or omega chain drives, for example, come into consideration as an exemplary chain drive.

According to a further preferred embodiment, the gripping arms of the gripping device each have a plurality of links which are translationally movable relative to each other by means of a rack / gear pair or by means of a walking spindle drive. The traveling spindle drive preferably has two or more interengaging threaded rods, which are supported via revolving guides against occurring bending forces, wherein the threaded rods have different pitches and thread directions. Preferably, the threaded rods are driven by a central motor.

The invention relates in a second aspect to a handling system for reinforcement cages for tower segments of a wind turbine. The system has a gripping device according to one of the preferred embodiments described above, a horizontally and vertically movable lifting device which is coupled to the gripping device, as well as a device for the production of reinforcement cages for tower segments of wind turbines.

Preferably, the device for the production of reinforcement cages for tower segments of wind turbines on a support structure which is rotatably driven about an axis X, a plurality of rods, the parallel or conically converging, relative to the axis X aligned and preferably evenly along a circumference the support structure are distributed around, wherein each of the rods is connected by means of two or more spokes to the support structure and to its outer, facing away from the support structure side a plurality of recesses, which are adapted to receive reinforcement material, each having a number of spokes are arranged according to the number of rods in a plane perpendicular to the axis X, and wherein the spokes are telescopically adjustable in length in length motor.

The invention according to the second aspect is further developed advantageous in that the length of each of all spokes in a plane is synchronously adjustable. As a result, two advantages are achieved. On the one hand, the synchronous adjustment of all spokes in one plane ensures that the spokes in this plane ensure a circumference with their outer ends. On the other hand, this means that not all spokes are fixed to the support structure at the same length, but rather that the spokes in a respective plane have the same length, while the spokes in a neighboring plane may have a different length, which in turn synchronously is adjustable for all spokes of the corresponding level. As a result, conical reinforcing baskets can be generated, which is particularly preferred in particular with regard to the towers of wind turbines.

Preferably, the length of the spokes is infinitely adjustable. Here, an adjustment of the length of the spokes in steps of a few millimeters, for example, three to four millimeters per step, as continuously understood, which is also understandable in view of the large diameter, which have the reinforcing baskets for tower segments.

According to a preferred embodiment of the invention according to the second aspect, the device has a central drive unit or a central drive unit for each level of spokes, each for motorized adjustment of the spokes is set and to which for each spoke a gear is coupled, which is driven synchronously by the drive unit. According to the first alternative of this preferred embodiment, a single drive unit is provided to ensure the synchronous drive of all spokes of the device by means of corresponding force transmission members. Each drive movement of the central drive unit according to the invention leads to a change in length of the spokes by the same length amount. This mechanically forced synchronization can be used to produce both cylindrical reinforcing baskets and conically tapered reinforcing baskets by setting the spokes of their respective plane to a basic length relevant to the respective plane. The different base lengths define the angle of the taper because they define a different diameter for each plane. If the spokes of all levels are changed by the central drive unit by the same amount of deflection, there is a change in the diameter, since all levels have changed uniformly, but not the taper angle.

According to the second alternative of this preferred embodiment, each plane of spokes can be driven by a motor separately from its own drive unit. As a result, the spokes of the respective levels can be synchronized with each other, but independently adjusted in comparison to the other levels. As a result, reinforcement cages can be produced with different taper angles.

The preferred embodiment is further developed in that the drive unit has a shaft with one or more gears and the transmission of the spokes are each coupled by means of roller chains to the shaft. According to a preferred alternative, the drive unit is a hydraulic drive, and each spoke has a hydraulically actuated piston which can be pressurized by the hydraulic drive for length adjustment.

According to a further preferred embodiment of the invention according to the second aspect, the device has a decentralized drive system for motorized length adjustment, preferably in such a way that each spoke has its own drive unit. Preferably, the respective drive for all spokes in a plane or for all spokes is controlled synchronously by an electronic control unit. The additional equipment required by the larger number of individual drives is compensated by the fact that no central, all spokes actuated drive system and transmission system is required. The command transmission to the respective drive units can be controlled synchronously by means of electronic control commands with little effort, since it is possible with simple technically known means to transmit the same control command to all drive units at the same time. Preferably, according to this embodiment, each spoke has a telescopic spindle drive, a magnetic linear drive or a rack drive. All these drive systems can be operated in an advantageous manner by means of electronically controllable servo motors.

According to another preferred embodiment, the electronic control unit is adapted to drive the central drive unit or drive unit for each level of spokes or decentralized drive units such that each level of spokes defines a predetermined circle diameter at the outer end of the spokes.

According to a further preferred development, the rods are by mechanical decoupling of all but one spoke from its parallel with respect to the support structure layer or its conically converging position in another, angled relative to the original position position foldable.

Further preferably, the rods are secured by means of a respective coupling member to the spokes, wherein the coupling members are arranged for pivoting the rods in the direction of the axis X and simultaneously to reduce the circumference along which the rods are arranged. According to a further preferred embodiment, two or more, preferably all, coupling members can be driven by a motor to execute the pivoting movement per plane of the spokes.

According to a further preferred embodiment, at least one of these coupling members per rod can be blocked by means of a blocking body, wherein the blocking body is selectively movable into a blocking position or a release position, preferably by means of pivoting.

Particularly preferably, the blocking body is configured to extend in the blocking position arcuately around the coupling member around and to close a gap between the spokes and rod, wherein the shape of the locking body is formed to correspond to the shape of the gap. The invention will be described in more detail below with reference to preferred embodiments and with reference to the accompanying figures. Hereby show:

FIG. 1 shows a spatial schematic representation of the gripping device according to a preferred exemplary embodiment in a first operating position,

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

3 shows the gripping device according to Figures 1 and 2 in a third

Cessation,

Figure 4 is a perspective view of an apparatus for the production of

Reinforcing baskets as part of a system according to a preferred

Embodiment of the invention,

FIG. 5 shows a side view of the device according to FIG. 4,

FIG. 6 shows a schematic diagram of a detail from FIG. 5,

FIG. 7 shows a spatial representation of a detail of the device according to a further exemplary embodiment,

FIGS. 8 and 9 are side and cross-sectional views of a portion of the apparatus according to another embodiment;

Figures 10 and 1 1 a detailed view of the devices according to another

Embodiment in different operating states, and Figure 12 is a detailed spatial view of the device according to another

Embodiment.

The basic structure of a gripping device 1 for handling reinforcement cages for tower segments of a wind energy plant is shown in FIG. The gripping device 1 has a gripping arm receptacle 3. The Greifarmaufnahme 3 has a frame 4, on which a plurality of gripping arms 5 are fixed in a star shape. The gripping arms 5 are substantially uniform along the circumference of a Distributed around 6 The gripping arms 5 are aligned substantially perpendicular to a central axis Y. The axis Y is preferably located at the intersection of the extension of the longitudinal axes of the gripping arms 5. At the Greifarmaufnahme a lifting device 7 is coupled to the upper part (in the orientation of Figure 1) of the frame 4. The coupling is preferably carried out according to DIN 15401 and / or 15402.

On the frame 4 of Greifarmaufnahme 3 an electric motor drive 9 is attached. The electromotive drive 9 provides a torque for motorized adjustment of the length of the gripping arms 5 ready. Preferably, the gripping arms 5 via chain drives 17 (for clarity, only one provided with reference numerals) coupled to the electric motor drive 9 via one or more gear members. Optionally, the gripping arms 5 are decoupled from the drive train.

The gripping device 1 has an electronic control device 1 1, which is also attached to the Greifarmaufnahme 3 in this embodiment. The electronic control device 3 is set up to set the length of the gripping arms to a predetermined value, which is a function of the diameter 1 to be gripped reinforcing basket. The electronic control device is preferably controllable by means of an input device 12. The input device 12 is represented by a dashed line 12a in FIG. 1 for the purpose of data communication with the electronic control device 11. This can be wired or wireless.

At their respective ends, which are furthest away from the axis Y, the gripping arms 5 each have coupling means 13, which in the present exemplary embodiment are designed as hooks suspended from chains. The coupling means are adapted to be connected to a reinforcement cage after reaching a predetermined circle diameter. After connection of the reinforcing cage with the coupling means 13 can be done by means of the lifting device 7 a load of the weight of the reinforcing cage by the gripping device 1.

On the gripping arms 5 each torque supports 15 are arranged, which absorb the weight forces absorbed by the gripping arms and introduce into the Greifarmaufnahme 3. Furthermore, these supports make it possible to divide the gripping arms so that the arms can be removed and reconnected separately. As a result, the transport dimension of the device is reduced. As can also be seen in Figures 2 and 3, the gripping arms 5 each have a second support member 19, which performs the same function as the support member 15. The support members 19 each have, preferably inside, a bearing roller. On the in the orientation shown pointing "down" tabs of the support members 19 Vorrichtrung can be remotely parked.

As is apparent in particular from FIGS. 2 and 3 in comparison with FIG. 1, the length of the gripping arms 5 is possible by means of a telescopic arrangement of a plurality of links 5a, 5b, 5c. FIG. 2 shows a state in which the gripping arms 5 are set by partial extension of the links 5b, 5c out of the innermost member 5a to a length that is between a minimum length (FIG. 1) and a maximum length (FIG. 3). lies.

Accordingly, in FIG. 3, the operating position of the gripper device 1 is shown with the gripper arms 5 extended to the maximum extent.

The gripping device according to Figures 1 to 3 acts in a preferred embodiment, together with a device 101 for producing reinforcement cages for tower segments of wind turbines. The device 101 is shown in FIGS. 4 to 13.

FIG. 4 shows the basic structure of a device for producing reinforcing baskets for tower segments. The device 101 has a stationary base plate 103 (embodied, for example, as a concrete floor), relative to which a rotationally drivable platform 105 is arranged. Preferably, the rotatably driven platform 105 is mounted on the stationary base plate 103. A support structure 107 extends perpendicularly from the platform 105. A multiplicity of spokes 1 19 are arranged on the support structure 107 in a total of three planes 11 1 1, 13 1, 15. In alternative designs, only two levels are provided for applications for smaller tower segments.

The spokes 1 19 extend from the support structure to the outside. In the illustrated embodiment, the spokes 1 19, of which for clarity, only one is provided with reference numerals, star-shaped. However, other orientations are also possible, as long as a length adjustment of the spokes leads to a changed extent of the spokes circulating imaginary boundaries. The spokes in the top level 1 1 1 are by means of cross struts 1 17 to each other Stiffening connected. The spokes in the second level 1 13, which is spaced from the first level 1 1 1 are connected to each other by means of transverse struts 1 19 for stiffening, and the spokes in the third plane 1 15 spaced from the second plane 1 13 is connected by means of cross braces 121 to stiffen each other. In alternative designs, the saponification agent may be omitted in applications for smaller tower segments.

Figure 5 illustrates once again the arrangement of the different levels 1 1 1, 1 13, 1 15 one above the other in the device 101. The term level here is not the strictly geometrically horizontal orientation of the spokes to understand, but the arrangement similar to various platforms in Buildings or scaffolding. In the exemplary embodiment shown in FIGS. 4 and 5, however, the struts are actually oriented substantially perpendicular to the axis of rotation X of the support structure 107.

The spokes of the first level 1 1 1 define by their radially outermost points a radius R1. The spokes of the second plane 1 13 analogously define a radius R2, and the spokes of the third level 1 15 analog define a radius R3. FIG. 5 also shows that an enclosure 123 is provided underneath the stationary platform 103. Within the housing 123, the drive units for the support structure 107 and a central drive unit or an electronic control unit for controlling a plurality of decentralized drive units (not shown) are preferably arranged.

FIG. 6 shows an outbreak from the device according to FIG. 5 in a schematic representation. The illustration is limited to a spoke 1 19 ', which is arranged in the first plane 1 1 1, and a spoke 1 19 ", which is arranged in the second plane 1 13. While for a clearer view of the support structure and the spoke arrangement in the 4 and 5, the bars for receiving the reinforcing strands were still hidden, a rod 127 in the mounted position is shown by way of example in Figure 6. The rod 127 is aligned in the position shown at an angle α to the vertical axis X. Transfer to all rods On an apparatus according to the invention, this means that the rods taper conically toward one another The angle α can be predetermined by the different length of a main body 1 19a of the spoke 1 19 'and a different length of the main body 1 19c of the spoke 1 19 ". Are the telescopic elements 1 19b, 1 19d of the rails 1 19 ', 1 19 "completely retracted, the angle results from the distance between the spokes 1 19 'and 1 19" to each other in the direction of the axis X and the different length of the body 1 19 a, 1 19 c. Alternatively, the angle is adjustable by the telescopic member 1 19b of the spoke 1 19 'is moved by a different amount in the direction of the arrow 125' as the telescopic member 1 19d of the spoke 1 19 "in the direction of arrow 125".

As can also be seen in FIG. 6, the rod 127 has a multiplicity of receptacles 129 for guiding reinforcing material. The reinforcing material is preferably a cabled steel strip, for example BSt. 500 (according to DIN 488). The rod 127 is pivotally connected in the respective plane 1 1 1, 1 13 by means of a coupling element 131 ', 131 "with the corresponding telescopic member 1 19b, 1 19d of the spokes 1 19', 1 19". If the device is designed to make the length adjustments of the spokes 1 19 ', 1 19 "in the direction of the arrows 125', 125" different from each other, in the rod 127 preferably slot guides for receiving the coupling members 131 ', 131 "are provided to account for the resulting change in angle α.

Figure 7 shows the example of an exemplary spoke 1 19 'in the plane 1 1 1 another aspect of the inventive device 101. At a radially outer end of the spoke 1 19' extends the coupling member 131 'outside the spoke 1 19'. The coupling member 131 is pivotally coupled to the rod 127 in a portion 128. Between the spoke 1 19 'and the rod 127, a gap is formed. The width of the gap substantially corresponds to the width (in the radial direction) of a blocking body 133. The blocking body 133 is shown in FIG. 7 in a release position. To prevent a pivoting movement of the coupling element 131 'and thus to fix the distance of the rod to the (not shown) support structure of the locking body 133 can be brought from the release position shown in a locked position. This is done according to the preferred embodiment by means of a pivoting movement in the direction of the arrow 135. The locking body is brought by means of the pivoting movement into contact with the spoke 1 19 'and the rod 127. Optionally, a lock is provided. The pivoting movement is optionally carried out by means of a servomotor or a mechanical deflection such as a cable. In the locked position, the radial distance of the receptacles 129 with respect to the axis of rotation X of the support structure 107 (see Figure 5) is fixed and is kept constant during operation of the device 101, whereby a uniform formation of the reinforcing cage is ensured. As an alternative to the pivotal mounting described above, the rods can also be coupled directly, for example by means of hooking, to the arms. The diameter of the reinforcing cages would then be possible within certain limits by means of correspondingly positioned bolt connections. FIGS. 8 and 9 show a variant 127 'of the rod which has the exceptions 129. The rod 127 'has as its base an elongate square body, of which four elongated sides each extending a flank with a plurality of recesses 129 away. In this case, a first edge 137 has the flank height d1. In contrast to this flank height d1, the second flank 39 has a flank height d2 different from the flank height d1. A third flank 141 has the flank height d3, while a fourth flank 143 has the flank height d4. The flank heights d1, d2, d3, d4 are different from each other. The rod 127 'is coupled to the spokes of the device such that one of the four flanks 137, 139, 141, 143 turns away from the axis of rotation X of the support structure 107 so that only this flank is brought into engagement with the reinforcing strands. Due to the different flank heights, different outer diameters or circumferences for the reinforcing strands to be accommodated can also be predetermined by means of the rods 127 'which can be positioned in the four different angular positions. Furthermore, it is preferred if the respective flanks 137, 139, 141, 143 have deviating distances between the recesses 129. In FIG. 8, this is indicated by way of example for flanks 137 and 139 by the unequal distances a-1 (for flank 139) and a ₂ (for flank 137).

Referring to Figure 10, with reference to an exemplary spoke 1 19 ', another detail is depicted in accordance with a preferred embodiment of the invention. The telescopic member 1 19b is extended by a certain length from the main body 1 19a of the spoke 1 19 '. The coupling member 131 'extends out of the telescoping member 1 19b and is coupled to the rod 127 at point 128. Here, the receptacle 128 defines a radial distance R1 from the axis X (not shown). In the state shown in Figure 10, the device 101 is in a position in which the recording of the reinforcement strands can take place or takes place or has already taken place. This condition, in which stabilization of the reinforcement strands must be ensured, is constant. After the production of the reinforcement cage, ie after linking the circular reinforcement strands with the additional stiffening elements, the device 101 is transferred to a state according to FIG. In the state shown in Figure 1 1, the coupling member 131 'is pivoted upwards. The same movements also perform the other, not shown coupling links in the other levels of the device. As a result, the rod 127 is both upwards (relative to the orientation of Figure 1 1 in the direction of the axis X, Figure 5) moves and simultaneously offset in the direction of the axis X to the inside. The radial distance that the receptacle 128 now occupies to the axis X is R1 ', which is smaller than R1. Due to the pivoting movement of the coupling links, the reinforcement strands detach from the receptacles 129, and the reinforcing cage produced can be removed upward from the device 101. The execution of the spokes with pivoting coupling links is therefore particularly advantageous because a rapid release of the reinforcement cages can be done by the device 101, without having to change the length of the misaligned spokes by control commands. The coupling links can be pivoted by means of a 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. Finally, FIG. 12 shows, according to a further exemplary embodiment of the invention, one of the various drive concepts according to the invention. Shown is a view obliquely from above on the upper level 1 1 1 of the device 101. The telescopic members 1 19b of the spokes 1 19 'are translational within the base body 1 19a movable. To execute the translational movement, a decentralized drive unit 149 is arranged in each spoke. In the example according to FIG. 12, the decentralized drive unit 149 is designed as a telescopic spindle drive 151, by means of the actuation of which a carriage 153 executes a translatory movement guided by a longitudinal groove. The telescopic member 1 19b is coupled to the carriage 153 and is due to the operation of the telescopic drive 151 motor off or retracted. For lateral support and recording of bearing forces support struts 145, 147 are arranged on several of the spokes left and right. This drive concept is used in preferred embodiments in principle both for the arms of the reinforcing cage and for the arms of the gripping device 1. The same applies to the alternative drive concepts described above.

Claims

claims

1. gripping device (1) for handling reinforcement cages for tower segments of a wind turbine, with

a Greifarmaufnahme (3), and

a plurality of gripper arms (5) which are arranged in a star shape on the gripper arm receptacle (3),

in which

a coupling means (13) which can be connected to a reinforcement cage is arranged on each gripping arm,

the gripper arms are telescopically adjustable in length in length,

the gripping device (1) can be coupled with a horizontally and vertically movable lifting device (7) and is adapted to take over a reinforcement cage from a device (101) for producing reinforcement cages and / or to set it down in a formwork for producing a tower segment.

2. Gripping device (1) according to claim 1,

with an electronic control device (1 1), which is adapted to set the length of the gripping arms to a predetermined value, which is a function of the diameter of a reinforcing basket to be gripped.

3. Gripping device (1) according to claim 2,

wherein the electronic control device (11) is connected to an input device (12) and has a data memory,

the data store contains a table in which a number of records are stored, the records have information defining the rebar to be gripped.

4. Gripping device (1) according to one of the preceding claims,

wherein the input device (12) cooperates with the control device (11) in such a way that a data record can be selected by means of the input device (12),

the selected data set is transmitted to the control device (1 1), and the length of the gripping arms (5) is adjusted as a function of the data set.

5. Gripping device (1) according to one of claims 2 to 4,

wherein the electronic control device (1 1) for data communication with an electronic control unit of a device (101) for the production of Reinforcing baskets for tower segments of a wind turbine is communicated and is adapted to receive from the electronic control unit of the device (101) a record containing the predetermined value.

6. Gripping device (1) according to one of claims 2 to 5,

wherein the record comprises information about:

a wind turbine type and / or tower type of a wind turbine, and / or

a selected tower segment of the wind turbine type and / or the tower type, and / or

a reinforcing cage diameter corresponding to the selected tower segment.

7. Gripping device (1) according to one of claims 4 to 6,

wherein the input device (12) has a touch screen.

8. Gripping device (1) according to one of claims 4 to 7,

wherein the input device (12) and the electronic control device (1 1) comprise means for wireless data communication with each other.

9. Gripping device (1) according to one of the preceding claims,

wherein the electronic control device (1 1) is adapted to receive control commands entered manually into the input device (12) and to adjust the length of the gripping arms (5) as a function of these control commands.

10. Gripping device (1) according to claim 9,

wherein the electronic control device (1 1) is switchable between a first and a second operating mode, wherein

in the first operating mode, the input device (12) cooperates with the control device (1 1) such that a data set can be selected by means of the input device (12), the selected data set is transmitted to the control device (11), and as a function of the data set Length of the gripper arms (5) is set, and

in the second operating mode, the electronic control device (1 1) is adapted to receive control commands entered manually into the input device (12) and to adjust the length of the gripping arms (5) as a function of these control commands.

1 1. Gripping device (1) according to any one of the preceding claims, comprising means for detecting a load situation in which the gripping arms (5) are connected to a reinforcing cage and at least receive part of its weight, wherein the electronic control device (1 1) with the means for detecting the load situation communicates and is adapted to prevent a length adjustment of the gripping arms (5) as long as the gripping arms (5) are connected to a reinforcing cage and at least receive a part of its weight.

12. Gripping device (1) according to one of the preceding claims,

wherein the electronic control device (1 1) and / or the input device (12) have an emergency off switch, and the electronic control device (1 1) is adapted to immediately adjust the adjustment of the gripping arms (5) as soon as the emergency off switch is actuated becomes.

13. Gripping device (1) according to one of the preceding claims,

with means for detecting a load-induced change in length of the gripper arms (5), wherein the electronic control device (1 1) communicates with the means for detecting the load-induced change in length and is adapted to compensate for the change in length by adjusting the gripping arms (5).

14. Gripping device (1) according to one of the preceding claims,

wherein the gripping arms (5) each have a plurality of members 5a, b, c, which by means of a

Chain drive (17) are translationally movable relative to each other.

15. Gripping device (1) according to one of the preceding claims,

wherein the gripping arms (5) each have a plurality of members 5a, b, c, which are translationally movable relative to each other by means of a rack / gear pairing.

16. Gripping device (1) according to one of the preceding claims,

wherein the gripper arms (5) each have a plurality of links 5a, b, c, which are movable in translation relative to one another by means of a walking spindle drive.

17. Handling system for reinforcement cages for tower segments of wind turbines, with

- A gripping device (1) according to one of the preceding claims,

a horizontally and vertically movable lifting device (7), to which the gripping device (1) is coupled, and a device (101) for the production of reinforcement cages for tower segments, in particular for tower segments of wind turbines, wherein the gripping device (1) is adapted to take over a reinforcement cage of the device (101) and set down in a formwork for producing a tower segment.