Gripping device

Abstract

A gripping device (1), in particular a C-gripper, for handling a load, consisting of - a top strut (2), a vertical strut (3) and a support strut (4) on which the load can be arranged, wherein - the support strut (4) is rotatably connected to the vertical strut (3) by means of a first joint (5), the first joint (5) having a first stop (6) which limits a rotational movement, - the upper strut (2) is rotatably connected to the vertical strut (3) by means of a further joint (7), the further joint (7) has a further stop (8) which limits a rotational movement, - wherein the first stop (6) and the further stop (8) have at least one elastic area (10) which counteracts the limitation of the directed rotational movement of the first joint (5) and the further joint (7) by the first and the further stop (6), (8) to a defined extent and - wherein the first and the further joint (5), (7) each have a locking device (11) which counteracts a rotational movement away from the first and the further stop (6), (8) of the first and the further joint (5), (7).

Description

[0001] The invention relates to a gripping device, in particular a so-called C-gripper for arrangement on a traverse or on a support means and a traverse with at least one such C-gripper for transporting lifting goods.

[0002] C-grabs have been known for many years, for example from EP 2873641 A1, EP 4276305 A2 or EP 3792211 A1. The C-grabs disclosed therein have a rigid structure. This has led to disadvantages during transport in the past. Such grapples cannot generally be loaded into a standard container since, particularly when used on ships, for example during the assembly of offshore wind turbines, it is advantageous to use such a grapple or a crossbeam with at least one such grapple. The previously mentioned rigid C-grabs or C-elements also have the problem that the greatest loads and thus the highest damage potential occur in the corner areas of a vertical strut, also known as the back.This is important because wind turbine rotor blades are becoming ever larger and heavier, but also increasingly fragile, changing the requirements for trusses with C-grippers used to transport rotor blades. These need to be designed more flexibly, absorb greater forces, and adapt better to the load.

[0003] EP 3372549 A1 also discloses a truss in which two struts are connected by a joint. However, the design there is relatively complex because one vertical strut is telescopic.

[0004] Furthermore, the load support in EP 3372549 A1, as well as in EP 4276305 A2 or EP 3792211 A1, is rigid, so that the support segments there can only be adjusted to a specific load shape, such as a specific rotor blade shape, before the load is taken up. There is only a shell support, which is made of one or two parts. The design of rotor blades has changed in recent years, so that they are so flexible and sensitive that damage can occur during storage due to their own weight alone. This requires improved adjustability of the load support. Although DE 10 2022 104 895 A1 disclose two support cushions, and WO 2023 117 018 A1 and WO 2023 117 016 A1 disclose a type of plug-in system with elastic elements, these do not allow the adjustability of individual support segments and thus optimized transport of rotor blades.

[0005] The object of the invention is therefore to further develop a gripping device as described above and thus also a cross member with at least one such gripping device, in particular to make it more functionally reliable for the use of rotor blades of different sizes, so that this respective gripping device can absorb higher forces.

[0006] The object is achieved according to the invention by a gripping device, in particular a C-gripper, according to the main claim 1 and a traverse with at least one such gripping device according to the independent claim 11. The dependent subclaims contain further embodiments of the invention.

[0007] According to this, the gripping device according to the invention, in particular a C-gripper, for handling a load, also referred to as a load, consists of an upper strut, a vertical strut, and a support strut. The load can be arranged on or at the support strut.

[0008] The support strut is connected to the vertical strut by means of a first joint, which is designed as a rotary joint in the form of a single-joint hinge. The first joint also has a first stop, which limits a rotary movement, preferably a rotary movement directed away from the support strut. Thus, the first joint is mounted with limited rotation. The upper strut is connected to the vertical strut by means of a further joint, which is also mounted with limited rotation and is constructed in the same way as the first joint. The further joint has a further stop, which limits its rotary movement, preferably limiting the rotary movement directed towards the support strut.According to the invention, the first stop and the additional stop have at least one elastic region that counteracts the limitation of the directed rotational movement of the first joint and the additional joint by the first and additional stops to a defined extent. This creates an elastic stop that provides a resilient effect. This reduces the potential for damage in the corner areas of the gripping device between the upper strut and vertical strut and the vertical strut and lower strut, and allows the gripping device to absorb higher forces and thus also higher loads.

[0009] In a further embodiment of the invention, the first and the further joint each have a locking device which counteracts a rotational movement directed away from the first and the second stop of the first and the further joint when the stop surfaces of the first stop and the further stop of the first and the further joint lie against one another, which represents a stop position, and when the locking device unfolds its effect and is active. There is no limitation of the rotational movement directed towards the first and the second stop of the first and the further joint. Thus, the respective at least one elastic region can continue to unfold its effect in a resilient manner.

[0010] Within the scope of the invention, the elastic region of the first and further stops is formed from at least one elastic element, for example, an elastic surface section, such as a plate made of an elastomer, which is located between two stop surfaces of the first stop and the further stop. It thus forms a type of spring element. The elastic element can be designed in different ways. It can consist of an elastic plastic, such as an elastomer as explained, or of at least one mechanical spring element, such as at least one compression spring.

[0011] It is also within the scope of the invention that the elastic region of the first and the further stop is formed from a plurality of elastic elements, for example two elastic shaped sections, which are each arranged on stop surfaces of the first stop and the further stop and lie against one another in the stop position.

[0012] In one embodiment, the locking device can consist of two tabs that adjoin the stop surfaces of the first and the further stop, opposite the respective first and second joints in the longitudinal direction. Each tab has an opening and can be connected by means of at least one connecting element that passes through the opening. A bolt connection, a rivet connection, or a screw connection can be considered as the at least one connecting element, for example.

[0013] It can also be provided that the gripping device has a limiting device, which is designed, for example, as a tension strut, a rigid strut, or a flexible attachment means in the form of a textile attachment means. The limiting device can limit a rotational movement of the further joint, preferably in the stop position of the device, directed away from the support strut, thus counteracting an opening of the gripping device. This contributes to the stabilization of the gripping device, such as the C-gripper.

[0014] The limiting device can be arranged at the free ends of the upper strut and the support strut. It can also be mounted on the upper strut in a rotatable manner, whereby the limiting device can be locked to the support strut in this variant. In this variant, the gripping device is designed to be closed in the stop position.

[0015] To ensure improved support and adjustment of the load to be picked up by the gripping device, the support strut can have a load support that is axially displaceable in the longitudinal direction of the support strut, with vertically adjustable support segments and at least one vertical stop that is axially displaceable in the longitudinal direction of the support strut. The support segments preferably extend into the mouth of the gripping device, such as the C-gripper. The load can be arranged, placed, or applied to the support segments and the vertical stop. It can also be provided that the support segments of the load support are hydraulically adjustable to adapt to the external geometry of the load, which enables improved adaptation to the load.

[0016] Furthermore, it can be provided in a known manner that the gripping device has a clamping device, and therefore the gripping device and, for example, the upper strut have a clamping device that is displaceable relative to the support strut and points into the mouth of the C-gripper to lock the load. The clamping device is arranged, for example, offset from the vertical strut on the upper strut and displaceable in the direction of the support strut, as is known to those skilled in the art from known clamping devices.

[0017] As already explained, the gripping devices described above can be arranged, for example, on a crossbeam. Typically, two C-grippers are arranged at a defined distance from each other on the crossbeam, often at the free ends of a beam or spreader crossbeam, and in a manner known to those skilled in the art. They are generally arranged parallel to each other on the crossbeam, although this also includes essentially parallel displacement within the meaning of the invention.

[0018] The elastic regions of the device according to the invention reduce the potential for damage in the corner areas of the respective struts, as the spring action reduces the risk of weld seams cracking. This allows the device to absorb higher forces than rigid devices of the same design and dimensions. Furthermore, it is also optionally possible to make the known rigid shape of a C-gripper variable, thus reducing the spatial volume of the C-gripper. This is the case when the respective locking device of the first and the subsequent joint is not in operation and thus open, preventing locking, and the optional limiting device is not operatively connected to the upper strut and the support strut.This makes it possible to use the first and second joints to fold the support strut, the vertical strut, and the top strut by rotating the joint, thus changing the outer contour of the C-gripper. The gripping device can then be moved into a position adapted to the transport requirements, allowing, for example, transport in a standard container.

[0019] The invention is further explained below using an exemplary embodiment with reference to the figures. Further advantages, features, and embodiments of the invention will become apparent.

[0020] They show: Fig. 1 a representation of a gripping device according to the invention in the form of a C-gripper in side view, Fig. 2 a partial view of a joint of the gripping device with stop, elastic area and locking device, Fig. 3 a representation of a gripping device according to the invention in the form of a C-gripper in an oblique perspective, Fig. 4 a traverse according to the invention with two gripping devices arranged at its free ends, Fig. 5 a representation of a gripping device according to the invention in the form of a C-gripper folded in an oblique perspective.

[0021] According to Fig. 1, the gripping device 1 shown there is a C-gripper for handling a load, consisting of an upper strut 2, a vertical strut 3 and a support strut 4. The support strut 4 can receive a load via its load support 16 with several support segments 17 and is connected to the vertical strut 3 by means of a first joint 5, which is designed as a rotary joint in the form of a single-joint hinge, mounted with limited rotation. The first joint 5 has a first stop 6, which limits a rotational movement of the first joint 5, in the exemplary embodiment a rotational movement directed away from the support strut 4. The upper strut 2 is connected to the vertical strut 3 by means of a further joint 7, also mounted with limited rotation, which is constructed like the first joint 5.The additional joint 7 therefore also has a stop, namely a further stop 8, which limits the rotational movement of the additional joint 7, in the exemplary embodiment, a limitation of the rotational movement directed towards the support strut 4. According to the invention, the first stop 6 and the additional stop 8 have at least one elastic region 10, which counteracts the limitation of the directed rotational movement of the first joint 5 and the additional joint 7 by the first and additional stops 6, 8 to a defined extent. This creates an elastic stop with a resilient effect.

[0022] The first and the further joint 5, 7 each have a locking device 11, which can counteract a rotational movement of the first and the further joint 5, 7, which is directed away from the first and the further stop 6, 8 when the stop surfaces of the first stop 6 and the further stop 8 of the first and the further joint 5, 7 lie against one another, which represents a stop position and the locking device 11 is activated so that it can exert its effect. However, the respective locking device 11 does not limit the rotational movement directed towards the first and the further stop 6, 8 of the first and the further joint 5, 7. Thus, the respective elastic region 10 can continue to exert its resilient effect.

[0023] In an inactive state of the locking device 11, it is possible for the first and the further joint 5, 7 to perform a rotational movement against the first and the further stop 6, 8. In this state, the gripping device 1 can be folded together, since the support strut 4 and the vertical strut 3 and the vertical strut 3 and the top strut 2 are each pivotable relative to each other. In the exemplary embodiment, the first and the further joint 5, 7 are opposite, as in the Fig. 1, arranged on the vertical strut 3, which also applies to the first and the further stop 6, 8, so that the first and the further joint 5, 7 can perform an opposite rotational movement, which ensures the foldability explained.

[0024] In the exemplary embodiment, the elastic region 10 of the first and the further stop 6, 8 is formed from two elastic elements, which in the exemplary embodiment, as in the Fig. 2, each formed as a surface section in the form of a plate made of an elastomer and arranged on stop surfaces 9 of the first and the further stop 6, 8.

[0025] Fig. Figure 2 shows a section of the first joint 5, which, however, corresponds in structure to the further joint 7, except that - as already explained - the first and the further joint 5, 7 are arranged opposite each other on the vertical strut 3 and can thus allow opposite rotational movements. The first and the further joint 5, 7 are thus designed as a rotary joint in the form of a single-joint hinge, with a joint pin as the axis of rotation, wherein the first joint 5 is arranged on a long side of the vertical strut 3 pointing in the direction of the mouth 19 of the gripping device 1 and the further joint 7 on the opposite long side of the vertical strut 3. Fig. 2 and Fig. 5 shows the locking device 11, which consists of two tabs 12 that are connected to the stop surfaces 9 of the first and further stops 6, 8 in the longitudinal extension opposite the respective first and further joints 5, 7. They have at least one opening 13, in the exemplary embodiment four openings 13. The two tabs 12 present for each joint 5, 7 and stop 6, 8 can be locked by means of at least one connecting element 14, in the exemplary embodiment four screw bolts, which correspond to the respective four openings 13 and can thus traverse the respective four openings 13.

[0026] Furthermore, the gripping device 1 has a limiting device 15, which in the exemplary embodiment is designed as a rigid strut. The limiting device 15 serves to stabilize the gripping device 1 equipped with a load and, at the same time, also limits a rotational movement of the further joint 7, which, in the stop position of the further joint 7, is directed away from the support strut 4 and thus counteracts an opening of the gripping device 1. The limiting device 15 is rotatably arranged at a free end of the upper strut 2 and can be locked, thus latched, to the support strut 4.

[0027] To ensure improved support of the load to be picked up by the gripping device 1, the support strut 4 has a load support 16 which is axially displaceable in its longitudinal direction and a vertical stop 18 which is axially displaceable in the longitudinal direction of the support strut 4, which in Fig. 1 is clearly visible.

[0028] In addition, in the exemplary embodiment, the gripping device 1 has a clamping device 20, which is arranged on the upper strut 2 and is displaceable in the mouth 19 of the gripping device 1 relative to the support strut 4 and thus points into the mouth 19. The clamping device 20 is arranged offset from the vertical strut 3 on the upper strut 2 and serves to lock the load resting on the load support 16 of the support strut 4, as is known to the person skilled in the art from known clamping devices. This is shown in the Fig. 1, Fig. 3 and Fig. 4 visible.

[0029] In Fig. Figure 4 shows two gripping devices 1, 1' on a known crossbeam 21 in the form of a spreader beam with a receptacle for a load device, such as a crane hook. The two gripping devices 1, 1' are arranged as C-shaped grippers, offset parallel to each other, at the free ends of the crossbeam 21. List of reference symbols 1 gripping device 2 top struts 3 vertical struts 4 support struts 5 first joint 6 first attack 7 additional joint 8 further attacks 9 stop surfaces 10 elastic range 11 Locking device 12 tabs 13 Opening 14 Connecting element 15 Limiting device 16 Load support 17 support segments 18 Vertical stop 19 mouth 20 clamping device 21 Traverse QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] EP 2873641 A1

[0002] EP 4276305 A2 [0002, 0004] EP 3792211 A1 [0002, 0004] EP 3372549 A1 [0003, 0004] DE 10 2022 104 895 A1

[0004] WO 2023 117 018 A1

[0004] WO 2023 117 016 A1

[0004]

Claims

[1] A gripping device (1), in particular a C-gripper, for handling a load, consisting of - a top strut (2), a vertical strut (3) and a support strut (4) on or at which the load can be arranged, wherein - the support strut (4) is rotatably connected to the vertical strut (3) by means of a first joint (5), the first joint (5) having a first stop (6) which limits a rotational movement, - the upper strut (2) is rotatably connected to the vertical strut (3) by means of a further joint (7), the further joint (7) having a further stop (8) which limits a rotational movement, - wherein the first stop (6) and the further stop (8) have at least one elastic region (10) which counteracts the limitation of the directed rotational movement of the first joint (5) and the further joint (7) by the first and the further stop (6), (8) to a defined extent and - wherein the first and the further joint (5), (7) each have a locking device (11) which counteracts a rotational movement directed away from the first and the further stop (6), (8) of the first and the further joint (5), (7). [2] Gripping device (1) according to claim 1, wherein the first stop (6) of the first joint (5) limits a rotational movement directed away from the support strut (4) and the further stop (8) of the further joint (7) limits a rotational movement directed towards the support strut (4) and the respective locking device (11) counteracts a rotational movement of the first and the further joint (5), (7) directed away from the first and the further stop (6), (8) when stop surfaces (9) of the first stop (6) and the further stop (8) of the first and the further joint (5), (7) lie against one another. [3] Gripping device (1) according to one of the preceding claims, wherein the elastic region (10) of the first and the further stop (6), (8) is formed from at least one elastic element which is located between two stop surfaces (9) of the first stop (6) and the further stop (8). [4] Gripping device (1) according to one of the preceding claims, wherein the elastic region (10) of the first and the further stop (6), (8) is formed from a plurality of elastic elements which are respectively arranged on the stop surfaces (9) of the first stop (6) and the further stop (8). [5] Gripping device (1) according to one of the preceding claims, wherein the at least one elastic element consists of an elastic plastic or at least one mechanical spring element. [6] Gripping device (1) according to one of the preceding claims, wherein the locking device (11) consists of two tabs (12) which adjoin the stop surfaces (9) of the first and the further stop (6), (8) in the longitudinal extension opposite the respective first and further joint (5), (7), each have an opening (13) and can be connected by means of at least one connecting element (14) which passes through the opening (13). [7] Gripping device (1) according to one of the preceding claims, wherein the gripping device (1) has a limiting device (15) by which a rotational movement of the further joint (7) can be limited. [8] Gripping device (1) according to claim 7, wherein the limiting device (15) is arranged at free ends of the upper strut (2) and the support strut (4) and wherein the limiting device (15) is rotatably mounted on the upper strut (2) and can be locked on the support strut (4). [9] Gripping device (1) according to one of the preceding claims, wherein the support strut (4) has an axially displaceable load support (16) with vertically adjustable support segments (17) and at least one axially displaceable vertical stop (18). [10] Gripping device (1) according to one of the preceding claims, wherein the gripping device (1) has a clamping device (20) which is displaceable relative to the support strut (4) and points into the mouth (19) of the gripping device (1). [11] Traverse (21) for handling a load, wherein the traverse (21) has at least two gripping devices (1) according to one of claims 1 to 10, which are arranged at a defined distance from one another on the traverse (21).

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