EP2922779B1 - Gripping device for the handling of reinforcement baskets for tower segments of a wind turbine - Google Patents
Gripping device for the handling of reinforcement baskets for tower segments of a wind turbine Download PDFInfo
- Publication number
- EP2922779B1 EP2922779B1 EP13776499.9A EP13776499A EP2922779B1 EP 2922779 B1 EP2922779 B1 EP 2922779B1 EP 13776499 A EP13776499 A EP 13776499A EP 2922779 B1 EP2922779 B1 EP 2922779B1
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- European Patent Office
- Prior art keywords
- electronic control
- gripping device
- gripping
- length
- control device
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- 230000002787 reinforcement Effects 0.000 title claims description 50
- 230000008878 coupling Effects 0.000 claims description 27
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- 238000004519 manufacturing process Methods 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 4
- 230000003014 reinforcing effect Effects 0.000 description 31
- 230000033001 locomotion Effects 0.000 description 14
- 230000000903 blocking effect Effects 0.000 description 9
- 229910000831 Steel Inorganic materials 0.000 description 7
- 239000010959 steel Substances 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 4
- 239000004567 concrete Substances 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 239000004237 Ponceau 6R Substances 0.000 description 1
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/108—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means for lifting parts of wind turbines
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
- B66C1/425—Gripping members engaging only the external or internal surfaces of the articles motor actuated
Definitions
- the present invention relates to a gripping device for handling reinforcement cages for tower segments of a wind energy plant.
- An adjustable lifting device comprising a lifting frame with at least one adjustable arm on it and a lifting arm, wherein the arms are connected with cross struts, is in US 5,476,300 shown.
- a gripper for grasping and transporting molds for wheels for use in foundries is out US 2,642,307 known.
- Towers such as those used for wind turbines, often have a concrete or reinforced concrete wall. Particularly in the case of dynamically loaded towers, which applies to most towers due to the effects of wind, reinforcing structures, so-called reinforcing baskets, are additionally provided in the interior of the tower wall to improve the stability.
- the construction of a tower is in this case constructed in segments, d. h., A tower is composed of several überratenfinden, substantially annular tower segments.
- a support structure 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.
- 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.
- the spokes must be respectively retrofitted in known systems or the stabilizing rods are individually and manually unhooked from the steel strands.
- the reinforcing baskets already have a considerable weight and, according to the tower segment, considerable dimensions.
- 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.
- 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.
- 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 Greifarmability, and a plurality of gripping arms, which are arranged in a star shape on the Greifarmam, 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 gripping device has a plurality of gripper arms, which are arranged in a star shape on the Greifarmam.
- 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 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 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- the data set can be selected in a cascading manner by means of an input device.
- 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.
- 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.
- the input device and the electronic control device have means for wireless data communication with one another.
- the input device is set up as a radio remote control.
- the electronic control device and the input device have corresponding interfaces for a wireless network connection (WLAN).
- WLAN wireless network connection
- 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.
- 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.
- 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.
- the gripping device has means for detecting a load situation in which the gripping 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.
- 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.
- the gripping device comprises means for detecting the Greifarmin, 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 Greifarmlinin as a function of these registered changes.
- the electronic control device of the gripping device and / or the input device of the gripping device on an emergency off switch 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.
- 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.
- 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.
- 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.
- 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.
- the synchronous adjustment of all spokes in one plane ensures that the spokes in this plane ensure a circumference with their outer ends.
- conical reinforcing baskets can be generated, which is particularly preferred in particular with regard to the towers of wind turbines.
- the length of the spokes is infinitely adjustable.
- 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.
- 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.
- each plane of spokes can be driven by a motor separately from its own drive unit.
- the spokes of the respective levels can be synchronized with each other, but independently adjusted in comparison to the other levels.
- reinforcement cages can be produced with different taper angles.
- 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.
- 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.
- the device has a decentralized drive system for motorized length adjustment, preferably in such a way that each spoke has its own drive unit.
- 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.
- each spoke has a telescopic spindle drive, a magnetic linear drive or a rack drive. All of these drive systems can be operated in an advantageous manner by means of electronically controllable servo motors.
- 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.
- 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.
- 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.
- two or more, preferably all, coupling members can be driven by a motor to execute the pivoting movement per plane of the spokes.
- 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.
- 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 basic structure of a gripping device 1 for handling reinforcement cages for tower segments of a wind turbine is in FIG. 1 shown.
- the gripping device 1 has a gripping arm receptacle 3.
- the Greifarmability 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 Greifarmability is at the upper part (in the orientation of FIG. 1 ) of the frame 4 a lifting device 7 coupled.
- the coupling is preferably carried out according to DIN 15401 and / or 15402.
- the electromotive drive 9 provides a torque for motorized adjustment of the length of the gripping arms 5 ready.
- 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.
- the gripping arms 5 are decoupled from the drive train.
- the gripping device 1 has an electronic control device 11, which is also attached to the gripper arm receptacle 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 FIG. 1 , for the purpose of data communication with the electronic control device 11 connected. This can be wired or wireless.
- 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.
- each torque supports 15 are arranged, which absorb the weight forces absorbed by the gripping arms and introduce into the Greifarmam 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.
- 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.
- FIG. 2 a state is shown in which the gripper arms 5 are set by partially extending 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.
- FIG. 3 the operating position of the gripping device 1 with maximally extended gripping arms 5 shown.
- the gripping device according to the FIGS. 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 in the FIGS. 4 to 13 shown.
- FIG. 4 the basic structure of a device for the production of reinforcement baskets for tower segments is shown.
- 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.
- the rotatably driven platform 105 is mounted on the stationary base plate 103.
- a supporting structure 107 extends perpendicularly from the platform 105.
- a multiplicity of spokes 119 are arranged on the supporting structure 107 in a total of three planes 111, 113, 115. In alternative designs, only two levels are provided for applications for smaller tower segments.
- the spokes 119 extend outwardly from the support structure.
- the spokes 119 of which only one is provided with reference numerals for the sake of clarity, are aligned in a star shape.
- 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 111 are connected to each other by means of transverse struts 117 Stiffening connected.
- the spokes in the second plane 113, spaced from the first plane 111 are interconnected by means of cross braces 109 for stiffening, and the spokes in the third plane 115, spaced from the second plane 113, are by means of cross struts 121 connected for stiffening.
- the saponification agent may be omitted in applications for smaller tower segments.
- FIG. 5 illustrates once again the arrangement of the different levels 111, 113, 115 one above the other in the device 101.
- the term level here is not the strictly geometric horizontal orientation of the spokes to understand, but the arrangement similar to various platforms in buildings or on scaffolding.
- the struts shown are actually aligned substantially perpendicular to the axis of rotation X of the support structure 107.
- the first-level spokes 111 define a radius R1 through their radially outermost points.
- the spokes of the second plane 113 analogously define a radius R2, and the spokes of the third plane 115 analogously define a radius R3.
- an enclosure 123 is provided below the stationary platform 103.
- 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 119 ', which is arranged in the first plane 111, and a spoke 119 ", which is arranged in the second plane 113.
- FIG. 6 exemplified a rod 127 in the mounted position.
- the rod 127 is aligned in the position shown at an angle ⁇ to the vertical axis X. Transferred to all rods on a device according to the invention, this means that the rods taper towards each other.
- the angle ⁇ can be predetermined by the different length of a main body 119a of the spoke 119 'and a deviating length of the main body 119c of the spoke 119 ", if the telescopic elements 119b, 119d of the rails 119' are 119 "completely retracted, the angle results from the distance between the spokes 119 'and 119" to each other in the direction of the axis X and the different length of the body 119a, 119c.
- the angle is adjustable by the telescopic member 119b of the spoke 119 'is moved by a different amount in the direction of the arrow 125' as the telescopic member 119d of the spoke 119 "in the direction of the arrow 125".
- the rod 127 has a plurality of receptacles 129 for guiding reinforcement 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 111, 113 by means of a coupling element 131 ', 131 "with the corresponding telescopic member 119b, 119d of the spokes 119', 119".
- oblong hole guides are provided in the rod 127 for reception to the coupling links 131 ', 131 " the resulting change in the angle ⁇ to take into account.
- FIG. 7 shows, using the example of an exemplary spoke 119 'in the plane 111, a further aspect in the apparatus 101 according to the invention.
- the coupling member 131 At a radially outer end of the spoke 119', the coupling member 131 'extends outside the spoke 119'.
- the coupling member 131 is pivotally coupled to the rod 127 in a portion 128. Between the spoke 119 '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 in FIG. 7 shown in a release position.
- 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 arrow 135.
- the locking body is brought by means of the pivoting movement into abutment with the spoke 119 'and the rod 127.
- a lock is provided.
- the pivoting movement is optionally carried out by means of a servomotor or a mechanical deflection such as a cable.
- the radial distance of the receptacles 129 with respect to the axis of rotation X of the support structure 107 see FIG. 5 ) and is kept constant during the operation of the device 101, whereby a uniform formation of the reinforcing cage is ensured.
- 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.
- a first edge 137 has the 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 exemplified for the edges 137 and 139 by the unequal distances a 1 (for edge 139) and a 2 (for edge 137) indicated.
- FIG. 10 With reference to an exemplary spoke 119 ', another detail is depicted in accordance with a preferred embodiment of the invention.
- the telescopic member 119b is extended by a certain length from the main body 119a of the spoke 119 '.
- the coupling member 131 ' extends out of the telescoping member 119b and is coupled to the rod 127 at point 128.
- the receptacle 128 defines a radial distance R1 from the axis X (not shown).
- the device 101 is in a position in which the recording of the reinforcing strands can take place or takes place or has already taken place.
- 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 separated from each other by means of a separate, purely mechanical actuation FIG. 10 in the position according to FIG. 11 while the length of the spokes remains unchanged.
- FIG. 12 Shown is a view obliquely from above on the upper level 111 of the device 101.
- a decentralized drive unit 149 is arranged in each spoke.
- 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 translational movement guided by a longitudinal groove.
- the telescopic member 119b is coupled to the carriage 153 and is due to the operation of the telescopic drive 151 motor off or retracted.
- 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.
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Description
Die vorliegende Erfindung betrifft eine Greifeinrichtung zum Handhaben von Bewehrungskörben für Turmsegmente einer Windenergieanlage.The present invention relates to a gripping device for handling reinforcement cages for tower segments of a wind energy plant.
Eine justierbare Hubeinrichtung umfassend einen Hubrahmen mit zumindest einem einstellbaren Arm daran sowie einem Hubarm, wobei die Arme mit Querstreben verbunden sind, ist in
Türme, wie sie unter anderem für Windenergieanlagen zur Anwendung kommen, haben oftmals eine Wandung aus Beton bzw. Stahlbeton. Insbesondere bei dynamisch belasteten Türmen, was auf die meisten Türme aufgrund der Windeinflüsse zutrifft, werden zur Verbesserung der Stabilität zusätzlich verstelfende Strukturen, sogenannte Bewehrungskörbe, im Inneren der Turmwandung vorgesehen. Die Konstruktion eines Turms ist hierbei segmentartig aufgebaut, d. h., ein Turm wird zusammengesetzt aus mehreren übereinanderzulegenden, im Wesentlichen ringförmigen Turmsegmenten.Towers, such as those used for wind turbines, often have a concrete or reinforced concrete wall. Particularly in the case of dynamically loaded towers, which applies to most towers due to the effects of wind, reinforcing structures, so-called reinforcing baskets, are additionally provided in the interior of the tower wall to improve the 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 der Herstellung solcher Turmsegmente wird zunächst der Bewehrungskorb hergestellt und sodann mit Beton in dafür vorgesehene Formen umfällt und ausgehärtet.In the production of such tower segments, first the reinforcement cage is produced and then it is toppled and hardened with concrete in designated forms.
Bei bekannten Vorrichtungen zur Herstellung von Bewehrungskörben für Turmsegmente ist eine Tragstruktur vorgesehen, welche eine Vielzahl von Stangen, sogenannten Rechen, hält. Diese Stangen weisen jeweils Aufnahmen zur Aufnahme von Stahllitzen auf, wobei die Stahllitzen um die Tragstruktur herum geführt werden, um Ringelemente zu bilden. Diese Ringelemente werden, stabilisiert von den Stangen, mit orthogonal dazu verlaufenden, bogenförmig vorgeformten Stahlelementen verknüpft, wodurch ein gitterförmiger Bewehrungskorb entsteht. Die Bewehrungslitzen werden entweder in einer Kreisbewegung um eine stationäre Tragstruktur herumgeführt oder, was bevorzugt ist, befinden sich in einer stationären Zuführeinrichtung und werden von der rotatorisch antreibbaren Tragstruktur aus der Aufnahme gezogen und legen sich infolge der Rotationsbewegung der Tragstruktur ringförmig um diese herum. Während der gesamten Zeit wird die Form der ringförmigen Stahllitzen von der Tragstruktur und den Stangen mittels einer Vielzahl von Speichen stabilisiert, die sich zwischen der Tragstruktur und den Stangen erstrecken. Zum Entfernen der Bewehrungskörbe aus der Vorrichtung müssen die Speichen bei bekannten Systemen jeweils zurückgerüstet oder die stabilisierenden Stangen einzeln und manuell aus den Stahllitzen ausgehakt werden. Je nach Größe der herzustellenden Turmsegmente weisen bereits die Bewehrungskörbe ein beträchtliches Gewicht und, dem Turmsegment entsprechend, beträchtliche Ausmaße auf. Beispielsweise weist ein Bewehrungskorb für das unterste, also größte Turmsegment einer Windenergieanlage des Typs E126 der Firma ENERCON einen Durchmesser von ca. 14m, eine Höhe von ca. 3,7m und ein Gewicht von ca. 8,5t auf. Aufgrund ihrer gitterartigen Struktur und der enormen Ausmaße sind Bewehrungskörbe im Fertigungsbetrieb nur schwer mit konventionellen Kransystemen handhabbar. Vor diesem Hintergrund lag der vorliegenden Erfindung die Aufgabe zugrunde, eine Greifeinrichtung der eingangs genannten Art anzugeben, welche ein sicheres Greifen und Handhaben von Bewehrungskörben ermöglicht. Unter Handhabung wird hierbei insbesondere das Greifen eines Bewehrungskorbes und Verbringen des Bewehrungskorbes von Punkt A nach Punkt B verstanden.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.
Die Erfindung löst die ihr zugrunde liegende Aufgabe bei einer Greifeinrichtung der eingangs genannten Art, indem diese eine Greifarmaufnahme, und eine Mehrzahl von Greifarmen aufweist, welche sternförmig an der Greifarmaufnahme angeordnet sind, wobei an jedem Greifarm ein mit einem Bewehrungskorb verbindbares Kopplungsmittel, beispielsweise aufweisend eine oder mehrere Ketten, angeordnet ist, die Greifarme teleskopartig in ihrer Länge motorisch verstellbar sind, und die Greifeinrichtung mit einer horizontal und vertikal verfahrbaren Hubeinrichtung koppelbar und dazu eingerichtet ist, einen Bewehrungskorb von einer Vorrichtung zur Herstellung von Bewehrungskörben zu übernehmen und/oder in einer Schalung zur Herstellung eines Turmsegments abzusetzen. Die Erfindung macht sich hierbei die Erkenntnis zunutze, dass es für eine sichere Handhabung des Bewehrungskorbs vorteilhaft ist, den Bewehrungskorb an einer Vielzahl von Stellen entlang seines Umfangs zu ergreifen. Hierfür weist die Greifeinrichtung eine Mehrzahl von Greifarmen auf, die sternförmig an der Greifarmaufnahme angeordnet sind. Durch die sternförmige Anordnung wird ein gleichmäßiges Ergreifen des Bewehrungskorbes entlang seines Umfangs gewährleistet. Die teleskopartige Längenverstellbarkeit der Greifarme gewährleistet ferner, dass der Bewehrungskorb entlang seines Kreisumfangs von allen Greifarmen ansteuerbar und ergreifbar ist. Die Kopplungsmittel an den Greifarmen sind vorzugsweise als an Zugelementen wie beispielsweise Ketten oder Stahllitzen angehängte Greifhaken ausgebildet, was ein schnelles Ankoppeln und Entkoppeln ermöglicht und gleichzeitig aufgrund der hängenden Kopplung der Kopplungsmittel mit den Greifarmen eine gewisse Resttoleranz hinsichtlich der Zirkularität des Bewehrungskorbes ermöglicht. Endet ein Greifarm in seiner eingestellten Armlänge nicht exakt am Durchmesser des Bewehrungskorbes, kompensiert die pendelartige Aufhängung der Kopplungsmittel dies zu einem gewissen Teil.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 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.
Die Erfindung wird dadurch weitergebildet, dass die Greifeinrichtung eine elektronische Steuereinrichtung aufweist, welche dazu eingerichtet ist, die Länge der Greifarme auf einen vorbestimmten Wert einzustellen, welcher eine Funktion des Durchmessers eines zu greifenden Bewehrungskorbes ist. Die Steuereinrichtung bietet den Vorteil, dass durch Eingabe des vorbestimmten Werts alle Arme synchron auf eine dem vorbestimmten Wert entsprechende Länge einstellbar sind. Die elektronische Steuereinrichtung ist hierzu vorzugsweise dazu vorbereitet, mit den motorischen Antrieben oder, falls ein zentraler Antrieb vorgesehen ist, dem zentralen Antrieb der Greifarme steuernd oder regelnd zusammenzuwirken.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 einer bevorzugten Ausführungsform ist die elektronische Steuereinrichtung mit einem Eingabegerät verbunden und weist einen Datenspeicher auf, wobei der Datenspeicher eine Tabelle enthält, in der eine Anzahl von Datensätzen hinterlegt ist, wobei die Datensätze Informationen ausweisen, welche den zu greifenden Bewehrungskorb definieren. Besonders bevorzugt sind mehrere Datensätze in dem Datenspeicher hinterlegt, welche eine Mehrzahl von greifbaren Bewehrungskörben definieren.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.
Vorzugsweise wirkt das Eingabegerät mit der Steuereinrichtung derart zusammen, dass mittels des Eingabegeräts ein Datensatz auswählbar ist, der ausgewählte Datensatz an die Steuereinrichtung übertragen wird, und als Funktion des Datensatzes die Länge der Greifarme eingestellt wird.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 einer weiteren bevorzugten Ausführungsform weist die Steuereinrichtung einen oder mehrere Drehwahlschalter auf, deren verschiedene Drehpositionen vorab mittels bekannter Programmiermittel jeweils auf einen bestimmten auszuwählenden Durchmesser programmiert sind.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 einer weiteren bevorzugten Ausführungsform kommuniziert die elektronische Steuereinrichtung zur Datenkommunikation mit einer elektronischen Steuereinheit einer Vorrichtung zur Herstellung von Bewehrungskörben für Turmsegmente einer Windenergieanlage und ist dazu eingerichtet, von der elektronischen Steuereinheit der Vorrichtung einen Datensatz zu erhalten, welcher den vorbestimmten Wert enthält.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.
Vorzugsweise weist der Datensatz für die Erfindung Informationen auf über: eine Windenergieanlagentyp und/oder Turmtyp einer Windenergieanlage und/oder ein ausgewähltes Turmsegment des Windenergieanlagentyps und/oder des Turmtyps, und/oder einen mit dem ausgewählten Turmsegments korrespondierenden Bewehrungskorbdurchmesser.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.
Vorzugsweise ist der Datensatz mittels Eingabegerätes kaskadenartig auswählbar: Zunächst stellt die elektronische Steuereinrichtung dem Benutzer die Eingabemöglichkeit zur Verfügung, eine Windenergieanlage und/oder einen Turmtyp auszuwählen, und in einem zweiten Schritt stellt die elektronische Steuereinrichtung dem Bediener die Auswahlmöglichkeit zur Verfügung, eines von mehreren Turmsegmenten des Turmtyps bzw. der Windenergieanlage auszuwählen. Dem Turmsegment ist dann innerhalb des Datensatzes ein bestimmter, von der Greifeinrichtung anzufahrender Bewehrungskorbdurchmesser zugeordnet. Der oder die Datensätze werden vorzugsweise vorab von einem Bediener programmiert und/oder von der Vorrichtung zur Herstellung von Bewehrungskörben in die elektronische Steuereinrichtung eingelesen.Preferably, the data set can be selected in a cascading manner by means of an input device. First, 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 einer besonders bevorzugten Ausführungsform weist das Eingabegerät einen Touchscreen auf. Der Touchscreen ermöglicht simultan die Darstellung der von der Steuereinrichtung zur Verfügung gestellten Auswahlmöglichkeiten und die Bereitstellung einer Eingabemöglichkeit von Steuerbefehlen.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.
Vorzugsweise weisen das Eingabegerät und die elektronische Steuereinrichtung Mittel zur drahtlosen Datenkommunikation miteinander auf. Vorzugsweise ist hierbei das Eingabegerät als Funkfernbedienung eingerichtet. Gemäß einer bevorzugten Alternative weisen die elektronische Steuereinrichtung und das Eingabegerät korrespondierende Schnittstellen für eine Drahtlosnetzwerkverbindung (WLAN) auf.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 einer weiteren bevorzugten Ausführungsform ist die elektronische Steuereinrichtung dazu eingerichtet, manuell in das Eingabegerät eingegebene Steuerbefehle zu erhalten und als Funktion dieser Steuerbefehle die Länge der Greifarme zu verstellen. Die manuelle Steuerbarkeit der Greifarme ermöglicht ein Nachjustieren der einprogrammierten, von der Steuereinrichtung angesteuerten Greifarmlänge, um kleine Schwankungen in der tatsächlichen Dimensionierung der Bewehrungskörbe berücksichtigen zu können. Vorzugsweise ist die elektronische Steuereinrichtung mit einem Sicherungsmittel ausgestattet, welches die manuelle Eingabe von Steuerbefehlen in die elektronische Steuereinrichtung in einer Sperrposition verhindert, und mittels Freischalten von der Sperrposition in einer Freigabestellung verbracht werden muss, um das manuelle Eingeben der Steuerbefehle zu ermöglichen. Diese Sperrfunktion kann softwaretechnisch realisiert sein, oder hardwaretechnisch, beispielsweise mittels eines Schlüssels.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.
Gemäß einer weiteren bevorzugten Ausführungsform ist die elektronische Steuereinrichtung zwischen einem ersten und einem zweiten Betriebsmodus umschaltbar, wobei in dem erste Betriebsmodus das Eingabegerät mit der Steuereinrichtung derart zusammenwirkt, dass mittels des Eingabegeräts ein Datensatz auswählbar ist, der ausgewählte Datensatz an die Steuereinrichtung übertragen wird, und als Funktion des Datensatzes die Länge der Greifarme eingestellt wird, und in dem zweiten Betriebsmodus die elektronische Steuereinrichtung dazu eingerichtet ist, manuell in das Eingabegerät eingegebene Steuerbefehle zu erhalten und als Funktion dieser Steuerbefehle die Länge der Greifarme zu verstellen. Durch die Aufteilung der einzelnen Steuermöglichkeiten der elektronischen Steuereinrichtung in zwei verschiedene Betriebsmodi wird sichergestellt, dass nicht versehentlich während der automatischen Ansteuerung der Greifarme eine manuelle (Fehl-)Bedienung in den Programmablauf eingreift und andersherum, dass während einer manuellen Steuereingabe durch den Bediener nicht ein automatischer Steuervorgang interveniert.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.
Vorzugsweise weist die Greifeinrichtung in einer weiteren bevorzugten Ausführungsform Mittel zur Erfassung einer Lastsituation auf, in welcher die Greifarme mit einem Bewehrungskorb verbunden sind und zumindest einen Teil von dessen Gewichtskraft aufnehmen, wobei die elektronische Steuereinrichtung mit den Mitteln zur Erfassung der Lastsituation kommuniziert und dazu eingerichtet ist, eine Längenverstellung der Greifarme zu unterbinden, solange die Greifarme mit einem Bewehrungskorb verbunden sind und zumindest einen Teil von dessen Gewichtskraft aufnehmen. In Anbetracht der teilweise beträchtlichen Eigengewichte der handzuhabenden Bewehrungskörbe ist in der Praxis davon auszugehen, dass die Länge der Greifarme und somit der von den Greifarmen angesteuerte Bewehrungskorbdurchmesser sich infolge der Lastaufnahme verändert. Die Mittel zur Erfassung der Lastsituation, welche beispielsweise als Kraftaufnehmer, Dehnungsmessstreifen oder ähnlich Messmittel ausgebildet sein können, vorzugweise in einen Steuer- oder Regelkreis der elektronischen Steuereinrichtung einbezogen.Preferably, in a further preferred embodiment, the gripping device has means for detecting a load situation in which the gripping 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.
Alternativ oder zusätzlich weist die Greifeinrichtung Mittel zum Erfassen der Greifarmlänge, vorzugsweise der lastbedingten Längenveränderung der Greifarme, auf, welche unabhängig von dem Antrieb der Greifarme sind. Auf diese Weise werden Setzbewegungen und Längenverstellungen aufgrund von Toleranzen registriert und an die Steuereinrichtung übermittelt, welche wiederum als Funktion dieser registrierten Änderungen eine Nachjustierung der Greifarmlängen vornehmen kann.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.
Weiter vorzugweise weist die elektronische Steuereinrichtung der Greifeinrichtung und/oder das Eingabegerät der Greifeinrichtung einen Not-Ausschalter auf, und die elektronische Steuereinrichtung ist dazu eingerichtet, die Verstellung der Greifarme unmittelbar einzustellen, sobald der Not-Ausschalter betätigt wird. Hierdurch wird ermöglicht, aufgrund sich plötzlich einstellender Vorkommnisse die Bewegung der Greifeinrichtung zu stoppen, insbesondere kann dies relevant sein, wenn versehentlich ein falsches Programm ausgewählt wurde, welches den Bewehrungskorb zu beschädigen droht.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.
Gemäß einer weiteren bevorzugten Ausführungsform der Erfindung weisen die Greifarme der Greifeinrichtung jeweils mehrere Glieder auf, die mittels eines Kettenantriebs relativ zueinander translatorisch bewegbar sind. Der Kettenantrieb ist hierzu mit einem zentralen elektromotorischen Antrieb gekoppelt. Die einzelnen Glieder der Greifarme sind über Mitnehmer kraft- und/oder formschlüssig miteinander koppelbar. Die Position der Mitnehmer ist vorzugsweise zur freien Justage der Greifarmlänge und Gliedpositionen an dem ihnen jeweils zugeordneten Glied verstellbar. Als exemplarischer Kettenantrieb kommen beispielsweise Rollenkettenantriebe oder Omega-Kettenantriebe in Betracht.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.
Gemäß einer weiteren bevorzugten Ausführungsform weisen die Greifarme der Greifeinrichtung jeweils mehrere Glieder auf, die mittels einer Zahnstangen-/ Zahnradpaarung oder mittels eines Wanderspindelantriebs relativ zueinander translatorisch bewegbar sind. Der Wanderspindelantrieb weist vorzugsweise zwei oder mehr ineinanderlaufende Gewindestangen auf, die über mitlaufende Führungen gegen auftretende Knickkräfte abgestützt sind, wobei die Gewindestangen unterschiedliche Steigungen und Gewinderichtungen aufweisen. Vorzugsweise werden die Gewindestangen über einen zentralen Motor angetrieben.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.
Die Erfindung betrifft gemäß einem zweiten Aspekt ein Handhabungssystem für Bewehrungskörbe für Turmsegmente einer Windenergieanlage. Das System weist eine Greifeinrichtung gemäß einer der vorstehend beschriebenen bevorzugten Ausführungsformen auf, eine horizontal und vertikal verfahrbare Hubeinrichtung, an welche die Greifeinrichtung gekoppelt ist, sowie eine Vorrichtung zur Herstellung von Bewehrungskörben für Turmsegmente von Windenergieanlagen.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.
Vorzugsweise weist die Vorrichtung zur Herstellung von Bewehrungskörben für Turmsegmente von Windenergieanlagen eine Tragstruktur auf, die um eine Achse X rotatorisch antreibbar ist, eine Vielzahl von Stangen, die parallel oder konisch aufeinander zulaufend, relativ zu der Achse X ausgerichtet und entlang eines Umfangs vorzugsweise gleichmäßig um die Tragstruktur herum verteilt sind, wobei jede der Stangen mittels zwei oder mehr Speichen mit der Tragstruktur verbunden ist und an ihre äußere, von der Tragstruktur abgewandten Seite eine Vielzahl von Aussparungen aufweist, welche zur Aufnahme von Bewehrungsmaterial eingerichtet sind, wobei jeweils eine Anzahl von Speichen entsprechend der Anzahl von Stangen in einer Ebene senkrecht zu der Achse X angeordnet sind, und wobei die Speichen teleskopartig in ihrer Länge motorisch verstellbar sind.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.
Die Erfindung gemäß dem zweiten Aspekt wird dadurch vorteilhaft weitergebildet, dass die Länge jeweils aller Speichen in einer Ebene synchron verstellbar ist. Hierdurch werden zwei Vorteile erreicht. Zum einen wird durch das synchrone Verstellen jeweils aller Speichen in einer Ebene sichergestellt, dass die Speichen in dieser Ebene mit ihren äußeren Enden einen Kreisumfang gewährleisten. Zum anderen bedeutet dies, dass nicht alle Speichen an der Tragstruktur auf ein und dieselbe Länge festgelegt sind, sondern dass vielmehr die Speichen in einer jeweiligen Ebene dieselbe Länge haben, während die Speichen in einer benachbarten Ebene eine andere Länge aufweisen können, die wiederum jeweils synchron für alle Speichen der entsprechenden Ebene einstellbar ist. Hierdurch können auch konische Bewehrungskörbe erzeugt werden, was insbesondere im Hinblick auf die Türme von Windenergieanlagen besonders bevorzugt ist.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.
Vorzugsweise ist die Länge der Speichen stufenlos verstellbar. Hierbei wird auch eine Verstellung der Länge der Speichen in Schritten von wenigen Millimetern, beispielsweise drei bis vier Millimeter pro Schritt, als stufenlos verstanden, was angesichts der großen Durchmesser, die die Bewehrungskörbe für Turmsegmente aufweisen, auch aus sich heraus verständlich ist.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.
Gemäß einer bevorzugten Ausführungsform der Erfindung gemäß dem zweiten Aspekt weist die Vorrichtung eine zentrale Antriebseinheit oder eine zentrale Antriebseinheit für jede Ebene von Speichen auf, die jeweils zum motorischen Verstellen der Speichen eingerichtet ist und an welche für jede Speiche ein Getriebe gekoppelt ist, welches von der Antriebseinheit synchron antreibbar ist. Gemäß der ersten Alternative dieser bevorzugten Ausführungsform ist eine einzige Antriebseinheit dazu vorgesehen, mittels entsprechender Kraftübertragungsglieder den synchronen Antrieb aller Speichen der Vorrichtung zu gewährleisten. Jede Antriebsbewegung der zentralen Antriebseinheit führt erfindungsgemäß zu einer Längenänderung der Speichen um den gleichen Längenbetrag. Diese mechanisch erzwungene Synchronisation kann verwendet werden, um sowohl zylindrische Bewehrungskörbe als auch konisch verjüngte Bewehrungskörbe herzustellen, indem die Speichen ihrer jeweiligen Ebene auf eine für die jeweilige Ebene relevante Grundlänge eingestellt sind. Die unterschiedlichen Grundlängen definieren den Winkel der Verjüngung, weil sie einen unterschiedlichen Durchmesser für jede Ebene definieren. Werden die Speichen aller Ebenen durch die zentrale Antriebseinheit um den gleichen Auslenkungsbetrag verändert, ergibt sich eine Veränderung des Durchmessers, da alle Ebenen sich gleichmäßig geändert haben, allerdings nicht des Verjüngungswinkels.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.
Gemäß der zweiten Alternative dieser bevorzugten Ausführungsform ist jede Ebene von Speichen separat von einer eigenen Antriebseinheit motorisch antreibbar. Hierdurch lassen sich die Speichen der jeweiligen Ebenen untereinander synchron, aber im Vergleich zu den übrigen Ebenen unabhängig verstellen. Hierdurch können Bewehrungskörbe mit unterschiedlichen Verjüngungswinkeln hergestellt werden.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.
Die bevorzugte Ausführungsform wird dadurch weitergebildet, dass die Antriebseinheit eine Welle mit einem oder mehreren Zahnrädern aufweist und die Getriebe der Speichen jeweils mittels Rollenketten an die Welle gekoppelt sind. Gemäß einer bevorzugten Alternative ist die Antriebseinheit ein Hydraulikantrieb, und jede Speiche weist einen hydraulisch betätigten, von dem Hydraulikantrieb mit Druck beaufschlagbaren Kolben zur Längenverstellung auf.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.
Gemäß einer weiteren bevorzugten Weiterbildung der Erfindung gemäß dem zweiten Aspekt weist die Vorrichtung ein dezentrales Antriebssystem zur motorischen Längenverstellung auf, und zwar vorzugsweise derart, dass jede Speiche eine eigene Antriebseinheit aufweist. Vorzugsweise wird der jeweilige Antrieb für alle Speichen in einer Ebene oder für alle Speichen von einer elektronischen Steuereinheit synchron gesteuert. Der apparative Mehraufwand, den die größere Anzahl einzelner Antriebe bedeutet, wird dadurch kompensiert, dass kein zentrales, alle Speichen betätigendes Antriebssystem und Getriebesystem erforderlich ist. Die Befehlsübermittlung an die jeweiligen Antriebseinheiten können mittels elektronischer Steuerbefehle mit geringem Aufwand synchron angesteuert werden, da es mit einfachen technisch bekannten Mitteln möglich ist, allen Antriebseinheiten den gleichen Steuerbefehl zur gleichen Zeit zu übermitteln.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.
Vorzugsweise weist gemäß dieser Ausführungsform jede Speiche einen Teleskopspindelantrieb, einen magnetischen Linearantrieb oder einen Zahnstangenantrieb auf. Alle diese Antriebssysteme können auf vorteilhafte Weise mittels elektronisch ansteuerbarer Stellmotoren betrieben werden.Preferably, according to this embodiment, each spoke has a telescopic spindle drive, a magnetic linear drive or a rack drive. All of these drive systems can be operated in an advantageous manner by means of electronically controllable servo motors.
Gemäß einer weiteren bevorzugten Ausführungsform ist die elektronische Steuereinheit dazu eingerichtet, die zentrale Antriebseinheit oder die Antriebseinheit für jede Ebene von Speichen oder jede der dezentralen Antriebseinheiten derart anzusteuern, dass jede Ebene von Speichen einen vorbestimmten Kreisdurchmesser am äußeren Ende der Speichen definiert.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.
Gemäß einer weiteren bevorzugten Weiterbildung sind die Stangen durch mechanisches Entkoppeln von allen bis auf jeweils eine Speiche aus ihrer in Bezug auf die Tragstruktur parallelen Lage oder ihrer konisch aufeinander zulaufenden Lage in eine andere, relativ zur Ursprungslage angewinkelte Lage klappbar.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.
Weiter vorzugsweise sind die Stangen mittels jeweils eines Koppelglieds an den Speichen befestigt, wobei die Koppelglieder zum Verschwenken der Stangen in Richtung der Achse X und simultan zur Verringerung des Umfangs eingerichtet sind, entlang dessen die Stangen angeordnet sind. Gemäß einer weiteren bevorzugten Ausführungsform sind pro Ebene der Speichen zwei oder mehr, vorzugsweise alle, Koppelglieder motorisch zur Ausführung der Verschwenkbewegung antreibbar.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.
Gemäß einer weiteren bevorzugten Ausführungsform ist pro Stange mindestens eines dieser Koppelglieder mittels eines Sperrkörpers blockierbar, wobei der Sperrkörper wahlweise in eine Sperrposition oder eine Freigabeposition bewegbar ist, vorzugsweise mittels Verschwenken.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.
Besonders bevorzugt ist der Sperrkörper dabei dazu eingerichtet, sich in der Sperrposition bogenförmig um das Koppelglied herum zu erstrecken und einen Spalt zwischen Speichen und Stange zu verschließen, wobei die Form des Sperrkörpers zu der Form des Spaltes korrespondierend ausgebildet ist.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.
Die Erfindung wird im Folgenden anhand bevorzugter Ausführungsbeispiele und unter Bezugnahme auf die beigefügten Figuren näher beschrieben. Hierbei zeigen:
Figur 1- eine räumliche schematische Darstellung der Greifeinrichtung gemäß einem bevorzugen Ausführungsbeispiel in einer ersten Betriebsstellung,
- Figur 2
- die
Greifeinrichtung gemäß Figur 1 in einer zweiten Betriebsstellung, Figur 3- die
Greifeinrichtung gemäß Figuren 1 und2 in einer dritten Betriebseinstellung, - Figur 4
- eine räumliche Darstellung einer Vorrichtung zur Herstellung von Bewehrungskörben als Teil eines Systems gemäß einem bevorzugten Ausführungsbeispiel der Erfindung,
Figur 5- eine Seitenansicht der Vorrichtung gemäß
Figur 4 , Figur 6- eine Prinzipskizze eines
Details aus Figur 5 , Figur 7- eine räumliche Darstellung eines Details der Vorrichtung gemäß einem weiteren Ausführungsbeispiel,
- Figuren 8 und 9
- Seiten- und Querschnittsansichten eines Teils der Vorrichtung gemäß einem weiteren Ausführungsbeispiel,
- Figuren 10 und 11
- eine Detailansicht der Vorrichtungen gemäß einem weiteren Ausführungsbeispiel in unterschiedlichen Betriebszuständen, und
Figur 12- eine räumliche Detailansicht der Vorrichtung gemäß einem weiteren Ausführungsbeispiel.
- FIG. 1
- 3 shows a spatial schematic representation of the gripping device according to a preferred exemplary embodiment in a first operating position,
- FIG. 2
- the gripping device according to
FIG. 1 in a second operating position, - FIG. 3
- the gripping device according to
FIGS. 1 and2 in a third operational setting, - FIG. 4
- 3 shows a spatial representation of an apparatus for producing reinforcement cages as part of a system according to a preferred embodiment of the invention,
- FIG. 5
- a side view of the device according to
FIG. 4 . - FIG. 6
- a schematic diagram of a detail
FIG. 5 . - FIG. 7
- a spatial representation of a detail of the device according to a further embodiment,
- FIGS. 8 and 9
- Side and cross-sectional views of a part of the device according to another embodiment,
- FIGS. 10 and 11
- a detailed view of the devices according to another embodiment in different operating conditions, and
- FIG. 12
- a detailed spatial view of the device according to another embodiment.
Der grundsätzliche Aufbau einer Greifeinrichtung 1 zur Handhabung von Bewehrungskörben für Turmsegmente einer Windenergieanlage ist in
An dem Rahmen 4 der Greifarmaufnahme 3 ist ein elektromotorischer Antrieb 9 befestigt. Der elektromotorische Antrieb 9 stellt ein Drehmoment zum motorischen Verstellen der Länge der Greifarme 5 bereit. Vorzugsweise sind die Greifarme 5 über Kettenantriebe 17 (der Übersichtlichkeit halber nur einer mit Bezugszeichen versehen) mit der dem elektromotorischen Antrieb 9 über eine oder mehrere Getriebeglieder gekoppelt. Optional sind die Greifarme 5 vom Antriebsstrang entkoppelbar.On the frame 4 of
Die Greifeinrichtung 1 weist eine elektronische Steuereinrichtung 11 auf, die ebenfalls an der Greifarmaufnahme 3 in diesem Ausführungsbeispiel befestigt ist. Die elektronische Steuereinrichtung 3 ist dazu eingerichtet, die Länge der Greifarme auf einen vorbestimmten Wert einzustellen, welcher eine Funktion des Durchmessers 1 zu greifenden Bewehrungskorbes ist. Die elektronische Steuereinrichtung ist vorzugsweise mittels eines Eingabegerätes 12 ansteuerbar. Das Eingabegerät 12 ist, dargestellt durch eine gestrichelte Linie 12a in
An ihrem jeweiligen, von der Achse Y am weitesten entfernten Ende weisen die Greifarme 5 jeweils Kopplungsmittel 13 auf, die im vorliegenden Ausführungsbeispiel als an Ketten hängende Haken ausgebildet sind. Die Kopplungsmittel sind dazu eingerichtet, mit einem Bewehrungskorb nach Erreichen eines vorbestimmten Kreisdurchmessers verbunden zu werden. Nach Verbindung des Bewehrungskorbes mit den Kopplungsmitteln 13 kann mittels Verfahren der Hubeinrichtung 7 eine Lastaufnahme der Gewichtskraft des Bewehrungskorbes durch die Greifeinrichtung 1 erfolgen.At their respective ends, which are furthest away from the axis Y, the gripping
An den Greifarmen 5 sind jeweils Momentstützen 15 angeordnet, die die von den Greifarmen aufgenommenen Gewichtskräfte auffangen und in die Greifarmaufnahme 3 einleiten. Ferner ermöglichen es diese Stützen, die Greifarme teilbar auszuführen, sodass die Arme separat abnehmbar und wiederverbindbar sind. Hierdurch wird das Transportmaß der Vorrichtung reduziert.On the gripping
Wie in den
Wie sich insbesondere aus den
Dementsprechend ist in
Die Greifeinrichtung gemäß den
In
Die Speichen 119 erstrecken sich von der Tragstruktur nach außen. Im gezeigten Ausführungsbeispiel sind die Speichen 119, von denen der Übersichtlichkeit halber nur eine mit Bezugszeichen versehen ist, sternförmig ausgerichtet. Andere Ausrichtungen sind allerdings ebenfalls möglich, solange eine Längenverstellung der Speichen zu einem geänderten Umfang der die Speichen umlaufenden gedachten Begrenzungen führt. Die Speichen in der obersten Ebene 111 sind mittels Querstreben 117 miteinander zur Versteifung verbunden. Die Speichen in der zweiten Ebene 113, die von der ersten Ebene 111 beabstandet angeordnet ist, sind mittels Querstreben 109 zur Versteifung miteinander verbunden, und die Speichen in der dritte Ebene 115, die von der zweiten Ebene 113 beabstandet angeordnet ist, sind mittels Querstreben 121 zur Versteifung miteinander verbunden. In alternativen Bauformen können bei Anwendungen für kleiner bauende Turmsegmente die Mittel zur Verseifung weggelassen werden.The
Die Speichen der ersten Ebene 111 definieren durch ihre radial äußersten Punkte einen Radius R1. Die Speichen der zweiten Ebene 113 definieren analog einen Radius R2, und die Speichen der dritten Ebene 115 definieren analog einen Radius R3. In
Während zur übersichtlicheren Darstellung der Tragstruktur und der Speichenanordnung in den
Wie in
Alternativ zu der vorstehend beschriebenen schwenkbaren Aufnahme können die Stangen auch unmittelbar, beispielsweise mittels Einhängen, mit den Armen gekoppelt werden. Das Durchmessermaß der Bewehrungskörbe wäre dann in gewissen Grenzen mittels entsprechen positionierter Bolzenverbindungen ermöglicht.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.
Die
In
In
Claims (17)
- Gripping device (1) for handling reinforcement cages for tower segments of a wind turbine, comprising- a gripper arm holding fixture (3), and- multiple gripper arms (5) arranged radially on the gripper arm holding fixture (3),wherein- a coupling mechanism (13) that can be connected with a reinforcement cage is arranged on each gripper arm,- the length of the gripper arms can be telescopically adjusted by motor,- the gripping device (1) can be coupled with a lifting device (7) that can be moved horizontally and vertically, and is adapted to move a reinforcement cage from apparatus (101) for manufacturing reinforcement cages and/or to put a reinforcement cage down in a casing for creating a tower segment.
- Gripping device (1) according to claim 1,
having an electronic control device (11) configured to set the the length of the gripper arms to a predefined value, which is a function of the diameter of the reinforcement cage to be gripped. - Gripping device (1) according to claim 2,
wherein the electronic control device (11) is connected with an input device (12) and has a data memory,
the data memory contains a table where a number of datasets is stored,
the datasets comprise information defining the reinforcement cage to be gripped. - Gripping device (1) according to claim 3,
wherein the input device (12) interacts with the control device (11) in such a way that- a dataset can be selected by means of the input device (12),- the selected dataset is transmitted to the control device (11), and- and the length of the gripper arms (5) is set as a function of the dataset. - Gripping device (1) according to one of claims 2 to 4,
wherein to communicate data, the electronic control device (11) communicates with an electronic control unit in apparatus (101) for manufacturing wind turbine tower segment reinforcement cages and is configured to receive a dataset from the electronic control unit of the apparatus (101) containing the predefined value from the electronic control unit of the apparatus. - Gripping device (1) according to one of claims 4 or 5,
wherein the dataset 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 of the tower type, and/or- a reinforcement cage diameter corresponding to the selected tower segment. - Gripping device (1) according to one of claims 4 to 6,
wherein the input device (12) has a touchscreen. - Gripping device (1) according to one of claims 4 to 7,
wherein the input device (12) and the electronic control device (11) comprise means for wireless data communication among each other. - Gripping device (1) according to one of the claims 2 to 8,
wherein the electronic control device (11) is configured to receive control commands manually entered into the input device (12) and to adjust the length of the gripper arms (5) as a function of these control commands. - Gripping device (1) according to claim 9,
wherein the electronic control device (11) can be switched between a first and a second operating mode, wherein
in the first operating mode, the input device (12) interacts with the control device (11) in such a way that a dataset can be selected using the input device (12), that the selected dataset is transmitted to the control device (11), and the length of the gripper arms (5) is set as a function of the dataset, and
in the second operating mode, the electronic control device (11) is configured to receive control commands manually entered into the input device (12) and to adjust the length of the gripper arms (5) as a function of these control commands. - Gripping device (1) according to one of the claims 2 to 10
comprising means for identifying a load situation where the gripping arms (5) are connected with a reinforcement cage and bear at least part of its weight, wherein the electronic control device (11) communicates with the load situation identifier and is configured to prevent the adjustment of the length of the gripper arms (5) for as long as the gripper arms (5) are connected with a reinforcement cage and bear at least part of its weight. - Gripping device (1) according to one of the claims 2 to 11,
wherein the electronic control device (11) and/or the input device (12) comprises an emergency stop switch, and the electronic control device (11) is configured to stop the adjustment of the gripper arms (5) immediately as soon as the emergency stop switch is used. - Gripping device (1) according to one of the claims 2 to 12,
comprising means for identifying a load-related change in length of the gripper arms (5), wherein the electronic control device (11) communicates with the mechanism for identifying a load-related change in length and is configured to compensate for this change in length by readjusting the gripper arms (5). - Gripping device (1) according to one of the preceding claims,
wherein the gripper arms (5) respectively comprise several joints (5a, b, c) which, by means of a chain drive (17), can be moved translationally in relation to each other. - Gripping device (1) according to one of the preceding claims,
wherein the gripper arms (5) respectively comprise several joints (5a, b, c) which, by means of a rack and pinion pair, can be moved translationally in relation to each other. - Gripping device (1) according to one of the preceding claims,
wherein the gripper arms (5) respectively comprise several joints (5a, b, c) which, by means of a moving spindle drive, can be moved translationally in relation to each other. - Handling system for reinforcement cages for tower segments of wind turbines, comprising- a gripping device (1) according to one of the preceding claims,- a lifting device (7) that can be moved horizontally and vertically, with which the gripping device (1) is coupled, and- an apparatus (101) for manufacturing reinforcement cages for tower segments, in particular tower segments of wind turbines, wherein the gripping device (1) is configured to move a reinforcement cage from the apparatus (101) and to put it down into casing for creating a tower segment.
Priority Applications (2)
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MEP-2016-293A ME02591B (en) | 2012-11-23 | 2013-10-14 | Gripping device for the handling of reinforcement baskets for tower segments of a wind turbine |
PL13776499T PL2922779T3 (en) | 2012-11-23 | 2013-10-14 | Gripping device for the handling of reinforcement baskets for tower segments of a wind turbine |
Applications Claiming Priority (2)
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DE102012221453.4A DE102012221453A1 (en) | 2012-11-23 | 2012-11-23 | Gripping device for handling reinforcement cages for tower segments of a wind energy plant |
PCT/EP2013/071427 WO2014079628A1 (en) | 2012-11-23 | 2013-10-14 | Gripping apparatus for handling reinforcement cages for tower segments of a wind turbine |
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EP2922779B1 true EP2922779B1 (en) | 2016-12-14 |
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EP (1) | EP2922779B1 (en) |
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DE102013225049A1 (en) | 2013-12-05 | 2015-06-11 | Wobben Properties Gmbh | Plant for the production of reinforcement baskets for tower segments of wind turbines |
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TWI627334B (en) * | 2014-12-26 | 2018-06-21 | 財團法人船舶暨海洋產業研發中心 | System for rotatably fastening a tower and operating method thereof |
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2012
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MX359237B (en) | 2018-09-20 |
KR20150086531A (en) | 2015-07-28 |
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TWI537465B (en) | 2016-06-11 |
JP6118420B2 (en) | 2017-04-19 |
CL2015001379A1 (en) | 2015-10-02 |
CA2889923C (en) | 2017-08-22 |
ES2617908T8 (en) | 2018-07-13 |
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PL2922779T3 (en) | 2017-05-31 |
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EP2922779A1 (en) | 2015-09-30 |
KR101847696B1 (en) | 2018-04-10 |
ES2617908T3 (en) | 2017-06-20 |
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