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

Patent metadata

Field	Value
Publication number	US-10023441-B2
Application number	US-201314646314-A
Country	US
Kind code	B2
Filing date	Oct 14, 2013
Priority date	Nov 23, 2012
Publication date	Jul 17, 2018
Grant date	Jul 17, 2018

Abstract

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

First claim

The invention claimed is:

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

a lifting device configured to be moved horizontally and vertically, the lifting device coupled to the gripping device; and
an apparatus for manufacturing the reinforcement cage, the apparatus including a plurality of spokes configured to telescopically adjust in length, ends of the plurality of spokes being coupled to rods, the rods including holding fixtures configured to guide reinforcement material that is used to make the reinforcement cage;
wherein the gripping device, when in operation, moves the reinforcement cage, after being manufactured by the apparatus, from the apparatus and places the reinforcement cage in a casing for creating a tower segment.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Assignees

• Wobben Properties Gmbh

Inventors

• Meyer Ingo

Classifications

• B21F27/12

  Making special types or portions of network by methods or means specially adapted therefor · CPC title

• B66C1/108 Primary

  for lifting parts of wind turbines · CPC title

• B66C1/42

  Gripping members engaging only the external or internal surfaces of the articles (for handling or stripping castings or ingots during manufacture B22D29/00) · CPC title

• B66C1/10 Primary

  by mechanical means · CPC title

• B66C1/425

  motor actuated (B66C1/44, B66C1/58 take precedence) · CPC title