Construction and / or material handling machines and method for guiding and moving a working head

Abstract

The present invention relates to a method for guiding and moving a working head, in particular a 3D printing head, and a construction or material handling machine, wherein at least three rotary tower cranes are fixed to each other by means of their booms. According to one aspect of the present invention, a guiding beam carrying the working head is fixed to at least two trolleys of two rotary tower cranes, and the working position of the working head is set and moved by moving the trolleys along the two booms of the two rotary tower cranes.

Description

Field of the Invention

[0001] The present invention relates to construction and / or material handling machines for constructing structures and / or manipulating workpieces, having a working head movably mounted on a support frame structure. The invention also relates to a method for guiding and moving a working head, in particular in the form of a 3D printing head. Background Art

[0002] Recently, attempts have been made to construct larger building structures, such as bridges, entire houses or other buildings, by means of additive manufacturing processes. Here, the working head for releasing the building material, for example, moves back and forth several times along the building wall to be constructed in order to apply layer by layer. Such devices are generally collectively referred to as 3D printers, and their working heads can be material release heads such as concrete spray heads. Depending on the material for constructing the building structure, for example, when the building wall to be insulated is to be manufactured by a sandwich process consisting of a foam core and wall plaster to be applied thereon, these can also be other working heads such as foam spray heads or multi-component spray heads.

[0003] So far, 3D printers have mainly been used on a much smaller scale, especially in industrial production carried out in workshops. In order to be able to move the 3D printing head precisely in 3D space, for example, in order to be able to produce relief-like contours, truss robots are often used, which can achieve very high precision under a relatively large working area. For example, the document US 8 029710 B2 shows such a truss robot. In smaller applications, articulated arm robots are usually used to guide the 3D printing head.

[0004] In order to make such articulated arm robots suitable for construction sites, it has been proposed to transfer them to a crawler travel mechanism (see US2018 / 0345533 A1). Due to the limited range, even though such articulated arm robots can be moved on construction sites by means of a crawler travel mechanism, it is difficult to use them for constructing larger projects such as multi-story houses, at least not with the desired precision. If the boom-like articulated arm is lengthened accordingly, distortion will occur and thus positioning inaccuracies will appear, because in order to prevent the crawler travel mechanism from tipping over, the size of the articulated arm cannot be arbitrarily large.

[0005] In order to be able to guide the working head within a sufficiently large travel range and to be able to be used, for example, for multi-storey buildings, document CN109129819 A proposes to fix a truss-shaped support structure for the working head to the building outer wall of the building to be constructed itself. Here, the support columns are fixed to the outer facade as the lifting support. By means of a spindle drive, the truss columns can move vertically on the support columns fixed to the facade side, and these truss columns support two longitudinal guide rails above the building, and the cross beam carrying the working head can move on these two longitudinal guide rails. By moving the support columns on the outer facade, the support structure can grow with the building, but this movement is costly and requires a time-consuming retrofit process.

[0006] However, the above methods all have drawbacks in practice and cannot equally satisfactorily meet different requirements, namely, a very large range and still high positioning accuracy, and the ability to be erected quickly and simply despite the often impassable areas of the construction site. This is more applicable to the need to adapt construction or material handling machinery to different building sizes and to move it quickly from one building to be constructed to another. Since the additive manufacturing process is usually only used to produce specific parts of a building, there are usually only short-term and quickly completed jobs for the corresponding 3D printers, and these jobs require the machine to be quickly transported from one construction site to the next. Summary of the Invention

[0007] The object of the present invention is to provide an improved construction and / or material handling machine of the above type and an improved method for guiding and moving a working head, which avoid the disadvantages of the prior art and further develop the prior art in an advantageous manner. In particular, a device and a method for precisely positioning and moving a working head within a wide working area should be provided, which can be easily adapted to different building sizes and can be quickly moved from one construction site to another.

[0008] Therefore, it is proposed to move and position the working head by means of multiple rotary tower cranes, which initially does not seem very effective in itself for the purpose of high positioning accuracy. However, to solve this defect, the multiple rotary tower cranes are used in a special way. According to the present invention, at least three rotary tower cranes fix their booms to each other. According to the first aspect, the guide beam carrying the working head can be fixed to at least two trolleys on the rotary tower cranes that are thus stabilized with each other, so that the working position of the working head can be set by moving the trolleys along the two booms.

[0009] Since revolving tower cranes fix their jibs to each other, the horizontal jibs form a gantry-like support structure that can stabilize the revolving tower cranes relative to each other. Further stabilization is achieved by the movable articulation of the crossbeam on at least two jibs, enabling a sufficiently high positioning accuracy.

[0010] Herein, in particular, the revolving tower cranes can be configured such that the jibs extend successively from one tower to another and / or together form a closed polygon. In particular, the jibs can define a polygon corresponding to the number of cranes, i.e., a triangle for three revolving tower cranes, a quadrilateral for four revolving tower cranes, and so on.

[0011] In an improved example of the present invention, in particular, four revolving tower cranes can fix their jibs to each other such that the jibs can define a rectangle, in particular a square. Advantageously, the revolving tower cranes are arranged such that at least two jibs of two revolving tower cranes extend parallel to each other. The crossbeam can be movably mounted on the two parallel-extending jibs in a simple manner, in particular rigidly directly fixed to the trolleys of the jibs, such that the crossbeam can be precisely guided along the double-track guide formed by the two parallel jibs.

[0012] However, in principle, for example when using a telescopic crossbeam, two non-fully parallel-aligned jibs or slightly V-shaped spreading jibs can also be used as the track guides for the crossbeam.

[0013] Just as revolving tower cranes are common per se, the jibs can rotate respectively relative to the tower or together with the tower carrying the jibs about a vertical axis of the slewing mechanism, wherein the rotation of the tower and / or the rotation of the jib relative to the tower can be effected by corresponding slewing mechanism drives, such as electric motors for driving pinions meshing with a gear ring. Due to the rotatability of the jibs, the jibs can be positioned in a simple manner to match each other when constructing the support structure of the working head.

[0014] In an improved example of the present invention, the jibs are respectively fixed to the corresponding next revolving tower crane using their front ends, wherein the fixing of the jib tips or front ends on the tower of the next crane and / or on its jib is preferably carried out near the tower.

[0015] To enable the fast connection and fast separation of the fixings of the revolving tower cranes from each other, in an advantageous improved example of the present invention, a quick coupler or coupling can be provided between the revolving tower cranes, which can lock the front ends of the respective jibs to the corresponding next crane, in particular to its tower and / or its jib, in a form-locking and / or force-locking manner.

[0016] In particular, such a mechanical quick coupler or coupling may have a movable locking element and mating form-locking profiles at the end of the jib and a mating connection on the next crane. For example, a locking head may be provided on the tower and / or the jib and / or the part of the counter-jib adjacent to the tower of a respective slewing tower crane, and the end of the jib of another crane may be docked with the locking head, in particular connected thereto in a form-fitting manner. For example, a coupling shoe (Kupplungsschuh) may be mounted on the tower and / or the jib and / or the counter-jib of a crane, and the tip of the jib of another crane may be retracted into the coupling shoe appropriately.

[0017] The movable locking element (e.g., a telescopic locking bolt or a wedge clamping bolt) can ensure form-locking and / or force-locking fixation and / or jamming of the jib end on the mating part of another crane.

[0018] For example, the locking element may be a hook-shaped swivel bolt and / or include a locking bolt that can move translationally.

[0019] Advantageously, the quick coupler can be switched between a rigid-locking state that does not allow any relative movement and a damping and / or yielding holding state, respectively. For example, the corresponding quick coupler may include two coupling halves that can move closer to each other, where at least one coupling half is fixed to the relevant connection part, i.e., fixed to the suspended end of the jib of the adjacent crane and / or the mating part, in particular its tower, by means of a spring element or other flexible and / or movable element. In the damping and / or elastic coupling mode, the respective jibs can still be hinged to the tower or the adjacent structural part of the next crane, but can move within a limited range. In this movable mode, the entire support frame structure (i.e., the slewing tower crane) can move together, where, for example, when the support frame structure including the slewing tower crane moves from one building part to an adjacent building part, a certain degree of compensatory movement is allowed.

[0020] To prevent the flexibility of the corresponding quick coupler in order to achieve the highest positioning accuracy in the working mode of the working head, the flexible element (e.g., the spring) is prevented, for example, by extending the locking piece.

[0021] The quick coupler can be specifically designed to be statically loaded in the rigidly locked state in order to minimize the bending of the interconnected jibs. If the jibs to be interconnected have upper chords and lower chords that extend in the longitudinal direction in a known manner, the quick coupler can lock both the upper chords and the lower chords of the two jibs to be connected together. The upper chord of one jib can be locked to the upper chord of the other jib, and the lower chord of one jib can be locked to the lower chord of the other jib, thereby providing an overall stable and statically loaded connection between the jibs.

[0022] Alternatively or complementarily, the quick coupler can also include additional strengthening elements that connect and strengthen parts of one jib to parts of the other jib in the form of a strengthening sleeve, especially by sleeving over them. For example, such strengthening elements can connect and strengthen the upper chord of one jib to the upper chord of the other jib in the form of a track or sleeve or bandage. Similarly, strengthening elements can be provided for one or each of the lower chords.

[0023] In order to be able to move the working head not only longitudinally along the rotating tower crane jib, in an improved example of the present invention, the movable carriage carrying the working head can be mounted on the longitudinally movable cross beam. The transverse carriage can be moved along the cross beam by a transverse drive so as to be able to move the working head in the transverse direction to different desired working positions.

[0024] The height or depth adjustment of the working head can be carried out in different ways. In particular, in order to be able to perform or adjust the fine height movement of the working head, the working head support can be mounted in a height-adjustable manner relative to the cross beam, especially in a height-adjustable manner relative to the transverse carriage. The head support can be articulated on the transverse carriage, for example, by a vertically extending, telescopic support. Alternatively or complementarily, the vertically extending head support can also move in the vertical direction on the transverse carriage, for example, by a rack and pinion drive or other suitable adjustment drives.

[0025] Alternatively or complementarily, the height movement of the working head can also be generated by height adjustment on parts of the rotating tower crane, especially by a tower that is designed to be height-adjustable and to which the crane jib is fixed. In particular, a telescopic tower can be provided, and each of the multiple rotating tower cranes can advantageously include such a height-adjustable, especially telescopic tower, so as to be able to move the interconnected jibs or the horizontal support structure formed by them up or down by synchronously adjusting the tower height.

[0026] As an alternative or supplement to this telescopic property of the crane tower, the crane tower can also be extended by climbing in or otherwise installing additional tower sections, or shortened by climbing out or removing the corresponding tower sections. For this purpose, the corresponding slewing tower crane can advantageously have a climbing device that enables the tower sections to be climbed in simply and quickly. For this purpose, climbing guides can be provided that can hold the tower section relative to another tower section or the tower base and at the same time allow the tower section to be displaced relative to the climbing element in the longitudinal direction, which can be effected, for example, by hydraulic cylinders. That is to say, the climbing element can bridge the resulting gap or free space and the next tower section or tower base during the displacement of the held tower section, such that a new tower section can be pushed in from one side and then connected to the tower section held by the climbing element. Such a climbing device for a slewing tower crane is itself known, and reference can therefore be made in this regard, for example, to document WO 2015 / 135645 A1.

[0027] If the corresponding slewing tower crane has reached its maximum height, for example, by telescoping outwards or by inserting the corresponding tower sections, the tower of the crane can be removed from its slewing platform and / or its chassis and anchored to the built building facade by means of building anchors, so that it can continue to grow with the building in this way. For example, the tower section below the climbing device can first be anchored to the facade with one or more building anchors, such that another tower section can be climbed in. By moving or installing additional building anchors to a building part or tower section located higher up, the tower can continue to grow section by section while being fixed to the building part. A similar method can be adopted for a telescopic tower, which can be alternately anchored to its couplings and its telescopic sections.

[0028] By cleverly moving the building anchors, the arrangement of the slewing tower crane forming the working head support structure can not only grow vertically with the building, but also grow horizontally together if a nested building is to be constructed and the parts of the building are horizontally offset from each other.

[0029] Alternatively or in addition, the horizontal extension or offset of the support structure can also be carried out by fixing an additional slewing tower crane at the built building (for example, on the built building platform), wherein the tower of the new crane can also be fixed to the corresponding building part by means of building anchors. The boom of the new crane can be connected to the boom or tower of another installed crane to horizontally extend the support structure.

[0030] Here, an auxiliary assembly crane may be helpful, which can be designed in the form of an additional boom on the crane that is part of the support structure of the crane. Such an auxiliary crane integrated into the support structure or a separate auxiliary crane can also be used to supply building materials and / or tools and / or other materials to a construction site with increasing height.

[0031] In order for the movement of the working head along the above-mentioned crossbeam not to be restricted to the polygonal area tightened by the interconnected booms, in an advantageous improvement example of the present invention, the crossbeam can protrude beyond at least one of the booms and form a movement path for the crossbeam carriage carrying the working head, and this movement path extends inside and outside the polygon tightened by the booms. Thus, the working head can be said to move to the outside of the support frame structure so as to be able to work outside the triangle, quadrilateral or polygon spanned by the crane booms, and can also build building parts outside the tightened polygon.

[0032] Advantageously, the booms can be designed to protrude beyond the corresponding crane booms at both ends thereof so as to be able to work on the opposite sides outside the polygon tightened by the booms.

[0033] The protruding part of the crossbeam can be formed by a rigid cut (Anschnitt) of the crossbeam. Alternatively, the protruding part can also be a telescopic part of the crossbeam.

[0034] In order to be able to work in a direction transverse to the longitudinal direction of the crossbeam beyond the polygon tightened by the booms, the transverse carriage movable along the crossbeam can also carry a crossbar or beam extending in a manner substantially perpendicular to or transverse to the first crossbeam, and the working head can be movably mounted on the crossbar by a carriage or a similar hanger. If the crossbeam has moved along the crane boom suspending it to be very close to the tower carrying the boom, the crossbar can protrude beyond the connecting line between the two towers, so that the working head can also move beyond the polygon tightened by the crane booms in this direction.

[0035] In order not to introduce any tilting moment or excessive tilting moment into the crossbeam through the crossbar, the crossbar can carry two reversibly movable working heads, or one working head and a ballast movable reversibly relative to it, to balance the hinge point of the crossbar on the crossbeam.

[0036] As an alternative or supplement to such a crossbar suspended on the crossbeam, more than two working heads can also be suspended on two separate, non-interconnected crossbeams, and the two crossbeams can advantageously extend perpendicular to each other or transverse to each other. In this case, in order not to collide with each other, the crossbeams can be arranged at different heights.

[0037] For example, if four revolving tower cranes are connected in a way that their jibs span a rectangle, two crossbeams can be respectively suspended from two opposite jibs or on the trolleys arranged thereon, such that when viewed from above, the crossbeams cross each other or form a cross. Here, one of the crossbeams can be suspended at a higher level than the other crossbeam, such that this crossbeam can be shifted above the other crossbeam. For example, this can be achieved by installing height spacers between the crossbeam and the corresponding trolley. Alternatively or additionally, the jibs can also be arranged in pairs at different heights.

[0038] In order to be able to quickly move the support frame structure formed by the revolving tower cranes for the working head from one construction site to another or to be able to quickly move within the same construction site, at least one of the multiple revolving tower cranes can be designed as a mobile crane, the tower of which is arranged on a slewing platform, which is rotatably mounted about a vertical axis on a chassis, the chassis including a travel mechanism and advantageously having its own travel drive for automatic propulsion. Such a drive can for example include an internal combustion engine such as a diesel engine or an electric motor.

[0039] Advantageously, ballast for absorbing tilting moments can be provided on the superstructure or on the slewing platform hinged to the tower, which ballast can rotate together with the slewing platform and balance the crane in a manner independent of its rotational position.

[0040] As an alternative or addition to such ballast on the slewing platform, the revolving tower crane can also include a counter jib, which extends on the tower in a direction opposite to the jib and can carry ballast.

[0041] Advantageously, the tower can be hinged to the slewing platform in a manner that it can tilt or pitch about a horizontal axis, so as to be able to move from a vertical working position to a horizontal transport position. For this purpose, a pitching drive, for example with a hydraulic cylinder, can be provided between the slewing platform and the tower, so as to be able to erect and lower the tower about a horizontal slewing axis.

[0042] Here, such a mobile crane can have differently designed chassis. For example, a multi-axle wheeled travel mechanism can be provided, where one or more of the axles can be driven by the travel drive. Here, at least one axle can advantageously be deflectable. However, as an alternative or addition to the axles, the travel mechanism can also include a crawler travel mechanism, such that the mobile crane can be moved by driving the travel mechanism chain. Such a crawler travel mechanism is particularly advantageous for difficult-to-access construction site areas, so as to be able to safely move the revolving tower crane even on deeper, muddy ground or areas with larger bumps or steep slopes.

[0043] The working head support frame structure of the polygon tightened by the boom of the revolving tower crane can not only be used to place and move the working head, but also be used to cover the working space of the working head. In particular, the boom can carry an extendable roof plate, which can span the internal space of the polygon tightened by the boom, and this roof plate can completely or partially cover the internal space. Such an extendable roof plate can, for example, have a flat fabric and / or film structure and / or a hybrid roof plate structure including flat films and / or fabric materials and a load-bearing frame.

[0044] Such an extendable roof plate can advantageously be designed to be telescopic inwards and outwards, so as to be able to reduce the large area of the roof plate in the case of stronger wind loads. For example, a rollable and deployable roof plate can be provided in the form of an awning or a roller shutter, and a winding roller can be arranged on one of the booms or between the two booms so as to be able to roll up and deploy the roof plate material.

[0045] Alternatively or additionally, a folding roof plate can also be provided, which can have spaced-apart hinge points on two opposite booms, and these hinge points can be slidably mounted there respectively through sliders, so that the roof plate can be folded to one side in a fan-shaped folding manner.

[0046] Advantageously, such a roof plate can be hinged to the upper side of the boom, for example, supported and / or movably mounted on the upper chord of the boom.

[0047] In order to protect the working area of the working head from lateral influences such as wind and rain, as an alternative and supplement to the roof plate, at least one side wall can also be fixed to the revolving tower crane forming the working head support frame structure, so as to cover at least part of the side surface between at least two tower frames. In particular, the boom and / or the adjacent tower frames can respectively carry an extendable side wall, which can at least partially span the internal space between the two tower frames and the boom connecting the tower frames and can extend substantially vertically.

[0048] Such an extendable side wall can, for example, have a flat fabric and / or film structure and / or a hybrid roof plate structure including flat films and / or fabric materials and a load-bearing frame.

[0049] Advantageously, such a protective wall can be designed to be telescopic inwards and outwards, so as to be able to reduce the area exposed to the wind in the case of stronger wind loads. For example, a retractable and extendable protective wall can be provided in the form of an awning or a roller shutter, and the winding roller can be horizontally arranged on one of the booms or vertically arranged on one of the tower frames so as to be able to roll up and deploy the side wall material.

[0050] Alternatively or additionally, a folding wall in the form of a curtain or a shutter can also be provided, which can have hinge points spaced apart from each other on the jib or on two adjacent towers, and these hinge points can be slidably mounted there respectively by sliders, so that the side walls can be folded upward toward the jib in a fan-shaped folding manner, or folded toward one side of the tower here.

[0051] In order not to extend an unnecessary large support frame structure, in an advantageous improvement example of the present invention, the jib of the rotating tower crane can also be designed to be telescopic and / or length-adjustable, for example, by adding or removing jib components. In particular, with the telescopic jib design, the tolerance or error of the spacing between adjacent towers can also be compensated.

[0052] If a house with a larger floor area is being built, the jib can be extended, while for a house with a smaller floor area, the jib can be retracted and the towers can be pushed together. Advantageously, the adaptation to different floor plan shapes can also be simply achieved by a jib with variable length. For example, when building a square house, all jibs can be set to the same length, while when building a long and narrow house, two jibs can be set to be longer and two jibs can be set to be shorter.

[0053] According to another aspect of the present invention, the mutually fixed rotating tower cranes can also be used to adjust the working head and / or the load-carrying cable robot by cables. In particular, a cable system including at least three control cables can be fixed to at least three rotating tower cranes, which are mutually fixed by their jibs, especially fixed to the towers and / or the jibs. Here, a cable winch can be provided to adjust the cable system relative to the mutually fixed rotating tower cranes and / or relative to the working head, and can be controlled by an electronic control device to move the working head.

[0054] By paying out or taking in the cables by the cable winch, the cable system can be adjusted relative to the support structure defined by the mutually fixed rotating tower cranes, so that the working head can be moved. If necessary, the cable system can also be adjusted relative to the working head, for example, by a cable winch such as a Spillwinde provided on the working head. By coordinately paying out and taking in the cables (for example, synchronously with each other or in opposite directions), the working head can optionally move in the vertical direction and / or in the horizontal direction.

[0055] Here, the cable system advantageously includes high-strength fiber cables that can be made of high-strength synthetic fibers such as aramid fibers (HMPA), aramid / carbon fiber mixtures, high-modulus polyethylene fibers (HMPE), or poly(p-phenylene-2,6-benzobisoxazole) fibers (PBO), or at least have such fibers. Using such high-strength fiber cables not only reduces the weight of the cable system itself but also reduces the structural weight of the loaded components and the moving mass, which on the one hand leads to an increase in the load-carrying capacity of the application, and on the other hand, most importantly, makes it easier to comply with the axle loads permitted for road transport even with fewer axles. At the same time, the low elongation rate of such fiber components can improve the positioning accuracy of the working head. In addition, the fiber cables are less susceptible to lateral vibrations caused by the wind, so that the working head can be positioned more precisely even under less-than-perfect weather conditions outdoors.

[0056] For its function as a support structure component, for example, via a sheave in the upper part of the tower and / or via a cable winch that can be installed in the upper part of the tower, articulation points for the control cables of the cable robot can be provided on the tower of the slewing tower crane. Advantageously, the articulation points for multiple control cables can also be installed on the tower of the slewing tower crane, for example, in the form of sheaves that are offset from each other in height, and the control cables are deflected via these sheaves to a cable winch in the bottom area of the tower. Thus, the tower of the crane can form a support column for the cable system. Alternatively or additionally, the articulation points for the cable system can also be installed on the boom of the crane.

[0057] Regardless of whether the working head is moved by the above crossbeam structure with a crossbeam that is movably mounted on the boom or by the cable system, in an improved example of the present invention, a higher-level controller can advantageously be provided, which coordinates the corresponding drives of the slewing tower crane and / or the cable winches of the cable system with each other and / or matches them with each other.

[0058] In principle, the control device for actuating the cable winch for adjusting the cables of the cable system to move the working head in a desired manner can be designed in different ways. Advantageously, the control device is designed electronically and can particularly include a microprocessor that can process a control program stored in a storage device. Here, the control device can automatically or semi-automatically follow a predetermined travel path of the working head, for example, performing a straight, horizontal path or a rising or falling curved movement that can be specified, for example, according to a BIM model. Alternatively or additionally, the control device can also respond to input instructions from the machine operator, and convert the input instructions (for example, tilting or moving a joystick in a given direction) into a corresponding adjustment movement of the working head by converting the input instructions into a corresponding rotational movement of the cable winch.

[0059] Here, the control device may have a modular structure, in particular having a local control device on each mobile unit (the mobile unit includes a support column having at least one cable winch or is designed as a crane), which local control device controls at least one cable winch and / or monitors the payload and the tilting moment acting on the corresponding unit, and shuts down the equipment if necessary when there is a movement or load threat that may endanger stability.

[0060] In order to mutually adjust and coordinate the cable movements on different support columns or at least one crane, the control device may further include a superior control unit, which can be electronically designed in the above-mentioned manner and may include a microprocessor, a program memory, and other components, wherein the superior control unit can communicate with the local control devices to control and operate each cable winch in a mutually coordinated manner through the local control devices, so as to achieve mutually coordinated cable movements in a desired manner.

[0061] In this case, the superior control unit may be formed by one of the local control devices, which can be said to form a master unit for monitoring and / or controlling other local control devices. However, as an alternative to this modular control architecture, a central control device that directly controls the cable winches on each unit can also be used. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] The present invention will be described in more detail below based on preferred exemplary embodiments and related drawings.

[0063] Figure 1 A perspective view of a construction and / or material handling machine having a working head in the form of a concrete spray head, which working head is movably mounted on a support frame structure formed by four rotating tower cranes having mutually fixed booms.

[0064] Figure 2 Shows Figure 1 A perspective view of the construction or material handling machine and a control and configuration device for controlling and / or configuring four rotating tower cranes implemented in the cloud.

[0065] Figure 3 Shows for use with Figure 1 and 2 A perspective view of a support frame structure formed by four rotating tower cranes for a working head similar to that in

[0066] Figure 4Shows a top view of a support frame structure formed by four revolving tower cranes similar to the foregoing figures, wherein the revolving tower cranes are each provided with a double boom system having telescopic boom sections.

[0067] Figure 5 Shows Figure 5 a side view of one of the revolving tower cranes to illustrate the double boom system and the luffing performance of the boom.

[0068] Figure 6 Shows Figure 4 a top view of the support frame structure formed by four revolving tower cranes, wherein the partial views a, b, and c illustrate the adjustment of the support frame structure by extending and retracting the boom.

[0069] Figure 7 Shows a perspective view of a support frame structure formed by four mutually fixed revolving tower cranes similar to Figure 1 wherein the working head can be adjusted relative to the support frame structure by means of a cable system including control cables connected to the towers of the revolving tower cranes.

[0070] Figure 8 Shows a top view of a support frame structure formed by three revolving tower cranes having mutually fixed booms, wherein a working head similarly designed according to Figure 7 is hinged to the towers of the revolving tower cranes by means of a cable system and the working head can be adjusted by adjusting the control cables.

[0071] Figure 9 Shows a perspective view of a support frame structure formed by four revolving tower cranes similar to Figure 3 wherein the towers of the four revolving tower cranes are removed from the chassis of the revolving tower cranes and held on the facade of a completed building part by means of building anchors. Detailed Description

[0072] As shown, the construction and / or material handling machine (Bau-und / oder Materialumschlags-maschine) 1 includes a working head 2 which, as described below, is movably or adjustably suspended on a support frame structure 3 and can be moved in all three dimensions.

[0073] Here, the working head 2 can be designed differently and / or equipped with different working tools, such as a material discharge head in the form of, for example, a concrete spray head or other manufacturing tools, and / or a workpiece clamp in the form of, for example, a grapple, and / or other processing tools, in order to process different materials such as sand, gravel, or bricks. If the working head 2 includes a material discharge head, the machine can work like a 3D printer, where, in principle, different materials or building materials such as concrete can be discharged through the material discharge head, but alternative building materials such as clay and / or lime mixtures and / or plastics such as synthetic foam can also be discharged.

[0074] As Figure 1 shown, the support frame structure 3 is formed by multiple revolving tower cranes 4 and fixed to each other, and each revolving tower crane 4 includes a tower 5 and a boom 6 carried by the tower 5.

[0075] In particular, the boom 6 of the revolving tower crane 4 can form a closed loop (in the manner of a polygonal loop), which can be understood as not being circular but polygonal. Each revolving tower crane 4 can use its boom 6 to point to the next revolving tower crane respectively, so that the boom 6 extends from one revolving tower crane to another in sequence.

[0076] Each revolving tower crane 4 itself can be an independent and fully functional revolving tower crane, where, for example, the boom 6 can rotate around a vertical slewing mechanism axis. Depending on whether the revolving tower crane 4 is a lower-slewing crane or an upper-slewing crane, the boom 6 can rotate relative to the tower 5 or together with the tower 5 around the vertical slewing mechanism axis, and for this purpose, a suitable slewing mechanism drive can be provided.

[0077] In particular, each revolving tower crane 4 can be designed as a mobile crane, which can be designed as a self-propelled crane in order to move from one construction site to another, but it may also only move within a construction site itself.

[0078] In particular, such a mobile crane can include a chassis 7, and the chassis 7 can be supported on the ground by a running gear 8 and move on the ground, and the running gear is in the form of, for example, a crawler running gear or a wheeled running gear. A corresponding running drive drives at least one running gear axle or crawler chain.

[0079] As Figure 1 shown, in the working position, the chassis 7 can be supported on the ground by a ground support 9 to increase the tipping stability. If necessary, additionally or alternatively, the tower 5 and / or the boom 6 can also be supported on the ground.

[0080] The slewing platform 10 can be arranged on the chassis 7 and rotate relative to the chassis 7 about a vertical slewing mechanism axis. As Figure 1 shown, ballasts 11 for balancing the jib 6 and / or for towing loads on the slewing tower crane 4 can be provided on the slewing platform 10.

[0081] Advantageously, the respective jib 6 can be braced against the ballast 11 or the slewing platform 10 by means of a bracing member 12.

[0082] In order to be able to move the slewing tower crane 4 from one construction site to another in a simple manner, the individual towers 5 can advantageously be designed to be of variable length, in particular telescopable, wherein the length adjustment drive can include, for example, one or more hydraulic cylinders accommodated in the tower or in a cable drive.

[0083] Advantageously, the jib 6 can be pivoted up and down relative to the tower 5, and in particular it can also be folded onto the tower 5 to achieve a compact transport configuration, wherein a respective pivoting drive for pivoting the jib 6 relative to the tower 5 can be provided, which pivoting drive can include, for example, a regulator for the bracing member 12.

[0084] Advantageously, the jib 6 can also be adjusted in length, in particular telescopable, wherein a respective adjustment drive including, for example, one or more hydraulic cylinders or cable drives can be provided here.

[0085] The tower 5 can be rotated or pivoted down from a vertical working position together with the jib 6 to a horizontal transport position, for which purpose the tower is articulated to the slewing platform 5 to be able to rotate about a horizontal tower rotation axis. The tower pivoting drive can include, for example, a hydraulic cylinder between the slewing platform 10 and the tower 5.

[0086] As Figure 1 shown, the slewing tower cranes 4 are fixed to one another by means of their jibs 6, wherein each jib 6 can be fixed with its free end to the tower 5 of the respective next slewing tower crane 4. The fixing can be carried out on the tower 5 itself or on an adjacent section of the jib 6, or on a possible counter jib or on a possible tower tip.

[0087] In order to fix the jib 6 respectively to the adjacent tower of the next crane, a quick coupler 13 is advantageously provided, which can lock the free end of the jib 6 in a form-fitting and / or force-fitting manner to the adjacent slewing tower crane 4. As has been explained in more detail above, such a quick coupler 13 can include a retractable and extendable or rotatable locking element.

[0088] Advantageously, the quick coupler 13 can be switched between a rigidly locked state that does not allow any relative movement and a damped and / or yielding retention state. For example, the corresponding quick coupler 13 can include two coupling halves that are capable of moving together, with at least one of them fixed to the relevant connection, i.e., to the suspended end of the boom and / or the corresponding part of an adjacent crane, in particular its tower 5, by means of a spring element or other elastic and / or movable element. In the damped and / or flexible coupling mode, although the corresponding boom 6 is still hinged to the tower or adjacent structural part of the next crane, its movement is restricted. In this movable mode, the entire support frame structure (i.e., the revolving tower crane 4) can move together, where, for example, when the support frame structure including the revolving tower crane moves from one building part to an adjacent building part, a certain compensatory movement can be achieved.

[0089] To prevent the flexibility of the quick coupler 13 in order to achieve the highest positioning accuracy in the working mode of the working head 2, the flexible element (e.g., the spring) is blocked, for example, by extending the locking piece.

[0090] In the rigidly locked state, the quick coupler 13 can be designed in particular to be statically load-bearing in order to minimize the bending of the interconnected booms. If the booms to be interconnected have upper and lower chords that extend in the longitudinal direction in a known manner, the quick coupler 13 can lock both the upper and lower chords of the two booms 6 to be connected together. The upper chord of one boom 6 can be locked to the upper chord of the other boom 6, and the lower chord of one boom 6 can be locked to the lower chord of the other boom 6, thereby providing an overall stable and statically load-bearing connection between the booms 6. Alternatively or additionally, the quick coupler 13 can also include additional strengthening elements that connect parts of one boom 6 to parts of the other boom 6 in the form of a strengthening sleeve, in particular by slipping over them. For example, such strengthening elements can connect and strengthen the upper chord of one boom 6 to the upper chord of the other boom 6 in the form of a track or sleeve or bandage. Similarly, strengthening elements can be provided for one or each lower chord.

[0091] To couple the boom 6 or to engage the quick coupler 13, it is advantageous if the length of the boom 6 can be changed, in particular telescopically, since this allows the suspended end to be extended to engage the coupling halves. Alternatively or additionally, the pitchability of the boom 6 can also be used to engage the quick coupler 13. Alternatively or additionally, a rotational movement can also be used, i.e., rotating the boom 10 about the vertical rotational mechanism axis in order to engage the quick coupler 13.

[0092] As Figure 1 and 2As shown, the working head 2 can be suspended from a horizontal crossbeam 14, which is movably mounted on two preferably parallel jibs 6. For this purpose, the crossbeam 14 can include at its ends slider or trolley-shaped bearing elements that can move along the respective jibs 6.

[0093] However, in particular, a trolley 15 movably arranged on the jib 6 can also be used to suspend the crossbeam 14 and move the crossbeam 14. During normal crane operation, a lifting cable with a load hook hung or fixed thereon can be lowered and raised through the trolley 15, and, if necessary, the load hook can also be used to suspend the crossbeam 14 on the respective trolley 15. Advantageously, however, the crossbeam 14 can also be fixed to the trolley 15 in a rigid manner or with very limited mobility.

[0094] The trolley 15 can be longitudinally moved along the respective jib 6 by a suitable trolley drive (e.g., a cable drive).

[0095] As shown in the figure, the crossbeam 14 can be designed to be variable in length, especially telescopic, so as to be able to compensate for the parallelism error or slight misalignment of the jib 6 when the crossbeam 14 moves along the jib 6 carrying it and reaches jib sections at different intervals.

[0096] The working head 2 can be mounted on the crossbeam 14 in a manner that enables lateral movement, i.e., it can be mounted in a manner that enables movement in the lateral direction of the crossbeam 14. For this purpose, a crossbeam carriage 16 can be longitudinally moved on the crossbeam 14 by a suitable carriage drive.

[0097] In addition, the working head 2 is advantageously adjustable in height relative to the crossbeam 14. For example, a vertically extending head support 17 with variable length and / or vertically movable can be provided on the crossbeam carriage 16, and its height can be adjusted or its length can be changed accordingly by a height adjustment drive.

[0098] If the working head 2 is a material discharge head such as a concrete spraying head, the material to be discharged can be supplied from a supply source 18 (e.g., from a concrete mixer or from a concrete pump) to the working head 2 (see Figure 1 ).

[0099] As an alternative or supplement to the height adjustability of the working head 2 relative to the crossbeam 14, if the tower 5 of the slewing tower crane 4 can be height-adjusted (especially telescopic) in the aforementioned manner, height adjustment can also be achieved by adjusting the tower height.

[0100] Advantageously, this height adjustment of the tower 5 can be used for a rough height adjustment, for example when the next lower floor of a building is to be constructed. Then, a fine height adjustment of the working position of the working head 2 can be carried out by adjusting the working head 2 relative to the cross beam 14.

[0101] As Figure 3 shown, the height adjustment of the tower 5 of the slewing tower crane 4 can be achieved in a larger range by a climbing device 19, which can climb additional tower sections (Turmstücke) into the tower 5 and vice versa, when the height is to be reduced, the climbing device can climb the tower sections out of the tower 5. Such a climbing device 19 can include a climbing frame that can move along the respective tower 5 for climbing tower sections in and / or out, wherein guide rails are provided for movably supporting the climbing frame longitudinally relative to the tower or for supporting the tower 5 relative to the climbing frame 20. The climbing frame 20 can be arranged at the bottom of the tower 5, but can also be arranged at a higher part of the tower 5. In order to be able to push the existing tower 5 further upwards so that new segments can climb in, a lifting device, for example including a hydraulic cylinder, can be provided so that the tower sections that can move relative to the climbing frame can be lifted or lowered depending on whether additional tower sections are to be climbed in or out.

[0102] By climbing additional tower sections into the tower 5 of the slewing tower crane 4, these tower sections can grow with the building to be constructed and buildings of almost any height can be constructed. Here, the slewing tower crane 4 advantageously remains supported on the ground, and if necessary, cross braces facing the building front can be provided.

[0103] As Figure 4 and 5 shown, a slewing tower crane 4 with a double boom system can be used, wherein the connection between two adjacent cranes can be made here respectively by two "half" booms.

[0104] As Figure 4 and 5 shown, such a slewing tower crane with a double boom system can include two booms 6, which are hinged to a common tower 5 and can extend at an angle of 90° to each other, for example when viewed on the longitudinal axis of the tower 5. However, depending on the number of slewing tower cranes 4 that are tensioned together to form the support frame structure 3, this angle can also be different.

[0105] As Figure 4 shown, the booms 6 of two adjacent slewing tower cranes 4 point towards each other so that they extend along a common straight line and adjoin each other with their suspended ends. Then, the boom ends adjacent to each other on the front side can be fixed to each other in the described manner by a quick coupler 13.

[0106] In the case of such a revolving tower crane 4 with double jibs, the jib 6 can also be designed to be of variable length, in particular telescopable (see Figure 4 and 5 ).

[0107] Here, Figure 4 the mobility of the working head 2 is again shown in detail in a plan view. On the one hand, the crossbeam 14 can be longitudinally moved along the opposite parallel jibs 6 by means of the trolley 15. On the other hand, the working head 2 can be laterally moved by moving the crossbeam carriage 16 along the crossbeam 14. Thus, any position above the plan view of the area to be built can be reached. Then, the height adjustment is achieved in the above-described manner by adjusting the height of the working head 2 relative to the crossbeam 14 and / or optionally by adjusting the height of the tower 5.

[0108] As Figure 6 shown, especially when the length of the jib 6 can be changed, the support frame structure 3 can be adapted to different building dimensions and plan view shapes in a simple manner. By extending or shortening the jib 6, the distance between the towers 5 of the revolving tower crane 4 can be adjusted relative to each other in order to build larger or smaller buildings, where not only can a square polygonal formation as shown in the partial views a, b and c of Figure 6 be achieved, but also, for example, an adjustment from a square to a rectangle can be made by shortening or extending only two of the four jibs, and vice versa.

[0109] In order to protect the working area of the working head 2, the support frame structure 3 can also carry a roof plate 30 spanning the working area (see Figure 4 and Figure 9 ), and / or at least one side wall 31 can be mounted on the revolving tower crane 4 (see Figure 3 and Figure 9 ). Here, the roof plate 30 and the side wall 31 can be designed and fixed to the jib 6 and the tower 5 in the above-described manner.

[0110] As Figure 7 and 8 shown, the working head 2 (or another additional working head) can also be suspended on the support frame structure 3 by means of a cable system 20 and moved relative to this support frame structure 3, which support frame structure 3 is also formed here by four or three revolving tower cranes 4 fixed to each other by means of their jibs 6.

[0111] As Figure 7As shown, the cable system 20 can here include cables extending in four basic directions or in four different vertical planes, where advantageously two cables 21, 22 can be provided in each basic direction or each vertical plane, which can run from articulated points arranged at different heights, in particular the working head 2 can be tilted upwards and downwards once in the corresponding basic direction or vertical plane (see Figure 7 ).

[0112] Here, the articulated points of the cable system 20 can advantageously be arranged on the tower 5 of the slewing tower crane 4, in particular at the upper and lower ends (see Figure 7 ). However, in order to be able to use the telescopic or height-adjustable nature of the tower 5 without having to adjust the cable controller, it can also be considered to arrange the articulated points of the cable system 20 only at the telescopic tower sections. Alternatively, the upper articulated point can also be arranged at least on the boom 6.

[0113] As Figure 8 shown, such a cable system 20 can also be installed in a simple manner onto a support frame structure 3 braced or formed only by three slewing tower cranes 4, where the slewing tower cranes 4 can here be fixed to each other in a similar manner by means of their booms 6 to form a rigid and stable support frame structure 3.

[0114] The articulated points can be formed by cable sheaves 23 through which the control cables 21 and 22 are deflected or guided to the corresponding cable winches, by means of which the control cables 21 and 22 on each slewing tower crane 4 can be adjusted in an independent but still coordinated manner. As Figure 7 shown, the upper and lower articulated points can be offset from each other in height far enough so that the working head 2 can be fixed or guided upwards and downwards by the corresponding control cables 21 and 22. However, if necessary, two control cables can also be introduced from above.

[0115] Since the control cables 21 and 22 are articulated at different heights, as Figure 7 shown, the working head 2 can be precisely guided in its alignment.

[0116] Regardless of whether the working head 2 is suspended by the cable system 20 or by the movable crossbeam 14, an electronic control device 26 for moving and / or positioning the working head 2 can be provided, which controls the corresponding travel drives, in particular the trolley travel drive and / or the travel drive of the crossbeam carriage 16 and / or the height adjustment drive for adjusting the working head 2 relative to the crossbeam 14 and / or the cable winches of the cable system 20 on each slewing tower crane 4.

[0117] Here, advantageously, a local control unit 27 can be provided on each tower crane 4, which can control the travel drives on the respective tower crane 4, including the trolley drive and the cable winch of the cable system 20. The local control unit 27 can also be designed electronically, like the higher-level control device 26, for example including a microprocessor and a program memory, in order to process one or more control routines in the form of software modules.

[0118] Advantageously, the local control unit 27 can not only control the travel drives, but also includes a load monitoring module, which monitors the tilting moment introduced into the respective tower crane 4 and compares it with the maximum tilting moment. In order to coordinate the adjustment movements on different tower cranes 4, in particular the movement of the trolley 15 and / or the telescoping of the tower 5 and / or the adjustment of the cable system 20, the control device 26 advantageously includes a higher-level or central control unit 28 that can communicate with a plurality of local control units 27. In particular, a plurality of local control units 27 can execute control commands from the central control unit 28 for the respective travel drives (in particular for the adjustment of the trolley 25 and the inwards and outwards telescoping of the tower), and / or feed back the movement movements detected by the sensor system to the central control unit 28 in order to coordinate the adjustment of the travel drives with each other such that the working head 2 moves in a desired manner.

[0119] Here, the central control unit 28 can also drive other travel drives that are not specifically assigned to the tower crane 4, in particular the movement of the crossbeam carriage 16 and the height adjustment movement of the head support 17.

[0120] Here, the higher-level control unit 28 can be a control device separate from all tower cranes 4, for example in the form of a central control server, but alternatively, it can also be formed by one of the local control units 27, in which case this local control unit 27 can be said to serve as the main control unit.

[0121] As Figure 2 shown, the control device 26 (in particular the higher-level control unit 28) can also be connected to a central data server 29, in particular to a so-called BIM module, where BIM is an abbreviation for Building Information Model and contains a large amount of relevant information for the building to be constructed, in particular CAD data, logistics plans, status data of the built building parts, time planning data, etc. For example, the connection to such a BIM server 29 can be provided via the cloud, which may be provided with access restrictions or barriers (see Figure 2 ).

[0122] As Figure 9As shown, the rotating tower crane 4 forming the support structure can also grow together with a building that exceeds its maximum retractable or climbing height by anchoring the rotating tower crane 4 and its tower to the facade of the built part of the building via building anchors 50.

[0123] If the respective rotating tower crane 4 has reached its maximum height, for example, by telescoping or by inserting respective tower sections, the tower 5 of the crane can be removed from its rotating platform and / or its chassis and anchored to the built building facade via building anchors 50. To be able to increase the height further, the tower section below the climbing device can first be anchored to the facade with one or more building anchors so that another tower section can be climbed in. By moving or installing additional building anchors to a building part or tower section located higher up, the tower 5 can continue to grow section by section while being fixed to the building part.

[0124] As Figure 9 shown, the height of the top plate 30 carried by the crane here and / or the side walls 31 fixed to the jib 6 or one or more towers 5 can also be increased.

[0125] Here, the auxiliary erection crane 60 can assist in providing the new tower section to be climbed in. Such an auxiliary crane 60 can advantageously be designed in the form of an additional jib on one of the cranes (which is part of the support structure 3). This auxiliary crane 60 integrated into the support structure or a separate auxiliary crane can also be used to supply building materials and / or tools and / or other materials to the height-increasing construction site.

Claims

1. A method for guiding and moving a working head (2), characterized in that, At least three slewing tower cranes (4) are fixed to each other by means of their booms (6) such that a crossbeam (14) carrying the working head (2) is fixed to at least two trolleys (15) of two slewing tower cranes (4), wherein each of the at least three slewing tower cranes (4) includes a tower (5) and the boom (6) carried by the tower (5) and arranged to rotate about a vertical axis of rotation, and each boom carries a trolley (15) that can be moved along the boom by a trolley drive, and the working position of the working head (2) is set and moved by moving the trolley (15) along the two booms (6) of two slewing tower cranes (4), wherein each of the tower cranes is installed at a fixed working position supported on the ground by means of supports and / or tensioning members fixed to the ground or by anchoring to a facade, the working head (2) is suspended on a crossbeam carriage (16) that can be moved along the crossbeam (14) by a carriage drive, so that there are two types of drive units for moving the working head (2) along a horizontal plane, namely, the trolley drive for moving the crossbeam along the two booms of two of the at least three slewing tower cranes and the carriage drive for driving the crossbeam carriage along the crossbeam.

2. The method according to claim 1, wherein The working head is a 3D printing head.

3. A method for guiding and moving a working head (2), It is characterized in that at least three slewing tower cranes (4) are fixed to each other by means of their booms (6) such that a cable system (20) including adjustable control cables (21) and (22) is fixed to the at least three slewing tower cranes (4), wherein each of the at least three slewing tower cranes includes a tower (5) and a boom (6) carried by the tower (5) and arranged to rotate about a vertical axis of rotation, and each boom carries a trolley (15) that can be moved along the boom by a trolley drive, and the working position of the working head (2) is set and moved by adjusting the cable system (20) relative to the three slewing tower cranes (4) fixed to each other, wherein each of the tower cranes is installed at a fixed working position supported on the ground by means of supports and / or tensioning members fixed to the ground or by anchoring to a facade, the adjustable control cables include at least three control cables, wherein at least one control cable is installed on each tower crane, and the at least one control cable is installed either on the tower or on the boom of each tower crane, and all the control cables are connected to the working head to suspend the working head, wherein each of the control cables can be adjusted relative to the tower crane on which the control cable is installed by a winch, so that the working head can be moved along a horizontal plane by adjusting the at least three control cables in a coordinated manner by means of at least three of the winches.

4. The method according to claim 3, characterized in that, The working head is a 3D printing head.

5. A construction and / or material handling machine for constructing structures and / or manipulating workpieces, comprising a working head (2) movably mounted on a support frame structure (3), It is characterized in that wherein the support frame structure (3) is formed by at least three rotating tower cranes (4), each of the rotating tower cranes (4) comprising a vertical tower (5) and at least one jib (6), the jib being carried by the tower (5) and being able to rotate relative to the tower (5) about a vertical slewing mechanism axis or rotate together with the tower, wherein each jib carries a trolley (15) which can be moved along the jib by a trolley drive, and the rotating tower cranes (4) are fixed to each other by their jibs (6) and form a polygonal support frame, each of the tower cranes being mounted in a fixed working position supported on the ground by means of supports and / or tensioning elements fixed to the ground or by anchoring in a facade, the working head (2) being suspended on a crossbeam carriage (16) which can be moved along a crossbeam (14) by a carriage drive, so that there are two types of drive units for moving the working head (2) in a horizontal plane, namely the trolley drive and the carriage drive for driving the crossbeam carriage along the crossbeam, wherein the crossbeam is mounted in a longitudinally movable manner on the two jibs (6) of two rotating tower cranes (4), the crossbeam (14) being fixed to the trolleys (15) of the two rotating tower cranes (4), and the trolleys (15) being able to move longitudinally along the jibs (6) of the two rotating tower cranes (4) by means of the trolley drive.

6. The construction and / or material handling machine according to claim 5, wherein, Each of the rotating tower cranes (4) is designed as a mobile crane, the mobile crane comprising a chassis (7) and a slewing platform (10), the chassis having a travel mechanism (8) which can move on the ground, the slewing platform being mounted on the chassis (7) in a manner such that it can rotate about a vertical slewing mechanism axis, and the tower (5) of the rotating tower crane (4) being mounted on the slewing platform.

7. The construction and / or material handling machine according to claim 6, wherein, The travel mechanism (8) has a travel drive, and / or the tower (5) is mounted in a manner such that it can pitch relative to the slewing platform (10) about a horizontal tower rotation axis, and / or the tower (5) and the jib (6) can be folded together.

8. The construction and / or material handling machine according to any one of claims 5 to 7, wherein, Each of the rotating tower cranes (4) comprises a tower (5) with adjustable height, the tower being adjustable in height by means of a length adjustment drive.

9. The construction and / or material handling machine according to any one of claims 5 to 7, wherein, Each of the rotating tower cranes (4) comprises a telescopic tower (5), the tower being able to be telescoped by means of a length adjustment drive.

10. The construction and / or material handling machine according to any one of claims 5 to 7, wherein, The jibs (6) of at least two rotating tower cranes (4) are designed to be length-adjustable.

11. The construction and / or material handling machine according to any one of claims 5 to 7, wherein, The jibs (6) of at least two rotating tower cranes (4) are designed to be telescopic.

12. The construction and / or material handling machine according to any one of claims 5 to 7, wherein, In order to fix the rotary tower cranes (4) to each other, a quick coupler (13) is provided, which is used to lock the suspended boom end in a form-locking manner and / or hold it in a force-locking manner on the adjacent part of the respective adjacent rotary tower crane (4).

13. The construction and / or material handling machine according to claim 12, wherein, The quick coupler (13) includes coupling halves that can be joined in a form-fitting manner, and the coupling halves can be fixed to each other by movable locking elements.

14. The construction and / or material handling machine (1) according to claim 13, wherein, One coupling half of the quick coupler (13) is provided at the end of each boom (6), and the other coupling half is provided on the tower (5) or on the boom (6) of the corresponding adjacent tower.

15. The construction and / or material handling machine according to claim 12, wherein, The quick coupler (13) is designed to be able to switch between two coupling modes. In the first coupling mode, the suspended boom end is rigidly fixed to the adjacent rotary tower crane (4), and in the second coupling mode, the suspended boom end is held on the adjacent rotary tower crane (4) in a manner of restricted elastic movement and / or with a clearance.

16. The construction and / or material handling machine (1) according to claim 5, wherein, The crossbeam (14) is designed to have a variable length.

17. The construction and / or material handling machine (1) according to claim 16, wherein, The crossbeam (14) is designed to be telescopic.

18. The construction and / or material handling machine (1) according to claim 5, wherein, The working head (2) is suspended on the crossbeam carriage (16) in a height-adjustable manner.

19. The construction and / or material handling machine (1) according to claim 5, wherein, The crossbeam (14) projects beyond at least one of the booms (6) and forms a movement path for the crossbeam carriage (16), and the movement path extends inside and outside the polygon supported by the boom (6).

20. The construction and / or material handling machine according to any one of claims 5 to 7, wherein, Each of the rotary tower cranes (4) includes a climbing device (19), which is used to move the tower sections into and out of the tower (5) of each rotary tower crane (4).

21. The construction and / or material handling machine according to any one of claims 5 to 7, wherein The tower (5) and the boom (6) of each rotary tower crane (4) are only held on its rotary platform (10), and / or are designed not to have ground supports anchored to the ground.

22. The construction and / or material handling machine according to claim 6 or 7, wherein, The tower (5) can be removed from the chassis (7) and / or the rotary platform (10) of the corresponding rotary tower crane (4). In the case of removing the rotary platform and / or the chassis, building anchors (50) for fixing and holding the tower (5) are provided on the completed building part.

23. The construction and / or material handling machine according to any one of claims 5 to 7, wherein, The top plate (30) spanning the working area of the working head (2) is fixed to the boom (6) of the rotary tower crane (4) forming the polygonal support frame.

24. The construction and / or material handling machine according to claim 23, wherein, The top plate (30) is fixed to the upper chord of the boom (6).

25. The construction and / or material handling machine according to claim 23, wherein, The top plate (30) is designed to be adjustable between an extended position and a retracted position.

26. The construction and / or material handling machine according to claim 25, wherein, The top plate (30) is designed to be retracted and extended by a top plate drive.

27. The construction and / or material handling machine according to claim 25 or 26, wherein, The top plate (30) is designed to be rolled up in the manner of an awning and includes a winding roller rotatably mounted on at least one boom (6) of the rotary tower crane (4), and / or is designed as a folding top plate, and the folding top plate has sliding guides on two opposite booms of the rotary tower crane (4) for sliding the folding top plate thereon.

28. The construction and / or material handling machine according to any one of claims 5 to 7, wherein, The side wall (31) is fixed to at least two tower structures (5) of two adjacent slewing tower cranes (4).

29. The construction and / or material handling machine according to claim 28, wherein, The side wall (31) is designed to be rolled up in the manner of an awning and has a winding roller, which is rotatably mounted on the jib (6) connecting the two tower structures (5) or on one of the two tower structures (5), and / or the side wall (31) is designed as a folding wall, which has sliding guides on the jib (6) connecting the two tower structures (5) or two sliding guides for moving the folding wall on the two tower structures (5).

30. The construction and / or material handling machine according to any one of claims 5 to 7, wherein, An electronic control device (26) for controlling the travel drive is provided for moving the working head (2) relative to the support frame structure (3).

31. The construction and / or material handling machine according to claim 30, wherein, The travel drive is a trolley drive and / or a cross carriage drive and / or a height adjustment drive and / or a cable winch drive.

32. The construction and / or material handling machine according to claim 30, wherein, The control device (26) includes a central control unit (28) communicating with a local control unit (27), the local control unit being provided on the slewing tower crane (4) and designed to control the travel drive provided on the slewing tower crane (4), wherein the central control unit (28) specifies setpoints for travel drive adjustment for the local control unit (27).

33. The construction and / or material handling machine according to claim 30, wherein, The electronic control device (26) has a communication interface for connection to a BIM server storing planning data and / or CAD data and / or status data of the structure to be built and is designed to generate and / or adjust control commands based on the planning data and / or CAD data and / or status data received from the BIM server for controlling the travel drive for adjusting the working head (2).

34. The construction and / or material handling machine according to claim 32, wherein, The electronic control device (26) includes a communication interface for connection to a central server to provide and / or download different program packages, wherein the central server can access an internal machine data database storing different machine data sets, and wherein the electronic control device (26) is designed to control the local control unit (27) by means of the program packages received and / or downloaded from the central server.

35. A construction and / or material handling machine for building structures and / or manipulating workpieces, comprising a working head (2) movably mounted on a support frame structure (3), wherein the support frame structure (3) is formed by at least three slewing tower cranes (4), each of the at least three slewing tower cranes (4) including a tower structure (5) and a jib (6) carried by the tower structure (5) and arranged to rotate about any vertical axis of rotation, and each jib carrying a trolley (15) movable along the jib by a trolley drive the at least three slewing tower cranes are fixed to one another by means of the jibs (6) such that a cable system (20) including adjustable control cables (21) and (22) is fixed to the at least three slewing tower cranes (4), and The working position of the working head (2) is set and moved by adjusting the cable system (20) relative to the three mutually fixed rotating tower cranes (4), wherein, each of the tower cranes is installed at a fixed working position supported on the ground by a support and / or a tensioning member fixed to the ground or by being anchored to a facade, the working head (2) is suspended on the mutually fixed rotating tower cranes (4) by a cable system (20) including at least three control cables (21, 22), and all the control cables are connected to the working head to suspend the working head. A cable winch is provided, and the cable winch is used to adjust the control cables (21, 22) relative to the rotating tower crane (4) and / or relative to the working head (2), wherein each of the control cables can be adjusted relative to the tower crane on which the control cable is installed by the cable winch, so that the working head can move along a horizontal plane by adjusting the at least three control cables in a coordinated manner by means of at least three cable winches.

36. The construction and / or material handling machine according to claim 35, wherein, On each tower (5) of the rotating tower crane (4), two hinge points for hinging two control cables (21, 22) and spaced apart from each other in height are respectively provided, so that the two control cables (21, 22) on each tower (5) extend relative to the working head (2) in a vertically offset manner relative to each other in a common vertical plane.

37. The construction and / or material handling machine according to claim 36, wherein, The two hinge points are arranged at the upper end and the lower end of the tower (5), so that one control cable (21) pulls the working head (2) upward, while the other control cable (22) pulls the working head (2) downward.

38. The construction and / or material handling machine according to claim 36 or 37, wherein, The control cables (21, 22) on the tower (5) are deflected at the hinge points on the tower by cable sheaves (23) and are guided to the cable winches, and the cable winches are arranged in the area of the tower base and / or on the rotating platform of the corresponding rotating tower crane (4).

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