Treatment system for treating section of structure

Abstract

A processing system for assembling an elongated structure from a plurality of sections of the elongated structure, such as a wind tower, along a vertical axis, and a method for erecting the structure and alignment sections thereof. The processing system includes a plurality of spaced-apart interface elements for engaging sections to be processed; and a jacking arrangement for radially and vertically moving the interface element.

Description

Field of the Invention

[0001] The present invention relates to a handling system for assembling an elongate structure from a plurality of sections, and to a method for erecting said structure. More specifically, but not exclusively, the present invention relates to a handling system and method for assembling an elongate tower of a wind turbine installation from a plurality of concrete rings. Background Art

[0002] Handling heavy and / or bulky sections of large structures, such as civil engineering structures or installations, or for moving these sections or for the erection of the structure, is typically carried out using conventional crane systems and construction methods. There may be safety risks, delays and downtime associated with the use of these large, bulky and inefficient systems and methods.

[0003] Some structures, such as sections of an elongate tower of a wind turbine installation, can prove particularly challenging. Current systems can employ a crane system arranged around the base of the tower to be built, or a self-climbing crane system that climbs the tower as the tower increases in height. As the height of the tower increases, these systems are vulnerable to high dynamic wind loads, as well as structural limitations due to the stiffness required of such cranes at a relatively high height and when lifting a relatively large tonnage. The slow construction speed associated with carefully considering such limitations also adds significant labor and cost.

[0004] It is an object of the present invention to provide a handling system and method for assembling an elongate structure from a plurality of sections, which handling system and method overcome or at least partially ameliorate some of the above disadvantages, or at least provide a useful alternative to the public. Summary of the Invention

[0005] In a first aspect, the present invention broadly provides a handling system for assembling an elongate structure from a plurality of sections along a vertical axis. The handling system includes a plurality of spaced-apart interface elements for engaging sections of the structure to be handled, and a jacking arrangement. The jacking arrangement includes at least one jacking device configured to (i) move the interface elements of the handling assembly radially relative to the vertical axis to engage and / or disengage the section to be handled, and (ii) move the interface elements of the handling assembly vertically to lift one or more sections of the structure.

[0006] The handling system may preferably provide an improved system for erecting an elongate structure, such as a wind tower, from its plurality of successive sections (e.g., concrete rings) from bottom to top and in sequence.

[0007] Preferably, the jacking arrangement includes a plurality of jacking devices, each jacking device being configured to move a respective one of the plurality of interface elements.

[0008] The lifting devices can be structurally and spatially separated and are capable of moving independently and synchronously.

[0009] Preferably, the lifting arrangement includes a bridging arrangement that includes a pair of lifting devices and an intermediate beam that spans between the pair of lifting devices for uniformly moving one or more (preferably two) of the plurality of interface elements, wherein the one or more interface elements are supported on the intermediate beam, and wherein the bridging arrangement is configured to provide a clearance zone through which a section of the structure can pass for processing by the lifting arrangement.

[0010] With this arrangement, the present invention enables continuous sections to be processed without having to deconstruct or significantly reconfigure the processing system (e.g., the position of the lifting devices), thereby providing a faster and more efficient system.

[0011] Preferably, the intermediate beam includes two interface elements that are configured to horizontally translate along the beam to change their horizontal spacing from each other.

[0012] Preferably, the bridging arrangement and the plurality of lifting devices are configured to radially move the interface elements uniformly relative to the vertical axis.

[0013] With this arrangement, the interface elements can preferably engage and / or disengage the section to be processed simultaneously. The bridging arrangement and the plurality of lifting devices can be configured for central and synchronous control (e.g., via a central controller).

[0014] Preferably, the interface elements are distributed (preferably evenly and / or symmetrically) around the section to be processed and / or around the conceptual processing system trajectory (preferably circular or a section thereof).

[0015] The interface elements can be distributed in a symmetric arrangement or in a regular pattern. The lifting devices of the lifting arrangement can also be distributed around the section to be processed.

[0016] Preferably, the interface element includes an upright member and a foot member that projects outward from the lower end of the upright member for engaging the section to be processed.

[0017] The interface element can include an L-shape.

[0018] Preferably, at least one of the lifting devices includes a lifting mechanism for vertically moving the interface element.

[0019] The lifting mechanism (i.e., the hoisting or lifting mechanism) can be configured to lift one or more sections of the structure via these interface elements for a bottom-up sequential erection of the structure.

[0020] Preferably, the lifting mechanism is at least partially received within the support frame of the jacking device.

[0021] The lifting mechanism may be fully received within the support frame.

[0022] Preferably, the lifting mechanism is a lead screw type mechanism, such as a roller screw.

[0023] Preferably, the lifting mechanism includes at least one (preferably two) upright screws and a carriage configured to move along the at least one upright screw, wherein the carriage is connected to a corresponding interface element to effect vertical movement of the interface element.

[0024] Preferably, the lifting mechanism includes a lifting drive unit configured to rotate the at least one upright screw of the lifting mechanism such that the carriage moves up or down along the screw to effect vertical movement of the corresponding interface element.

[0025] Thus, the carriage can move relative to the support frame.

[0026] Preferably, at least one jacking device includes a translation mechanism for moving the interface element radially relative to the vertical axis to engage and / or disengage a section to be processed.

[0027] Preferably, the translation mechanism is further configured to adjust the radial position of the interface element to engage sections of different diameters.

[0028] With this arrangement, the processing system can be used to assemble structures of non-constant diameter (e.g., conical structures).

[0029] The translation mechanism can be configured to adjust the radial position of the interface element to a plurality of discrete positions or to a continuous range, and can be configured to lift one or more sections at any of these radial positions.

[0030] Preferably, the translation mechanism is or includes a horizontal sliding mechanism.

[0031] Preferably, the horizontal sliding mechanism includes a sliding frame along which the support frame of the jacking device can move.

[0032] Preferably, the sliding frame is fixed (e.g., bolted) to the base.

[0033] With this arrangement, the load of one or more sections being processed can preferably be transferred to the base.

[0034] Preferably, the sliding frame includes a shaft extending longitudinally through the housing and a drive unit configured to actuate the shaft to translate the support frame along the sliding frame.

[0035] Preferably, the processing system further includes a controller configured to synchronize and / or independently control the jacking device.

[0036] The controller can control the lifting mechanism and / or the translation mechanism.

[0037] Preferably, the controller is configured to adjust the height of the interface element in response to load and / or alignment data.

[0038] The processing system may include one or more load sensors to obtain load data for use by the controller.

[0039] Preferably, the processing system further includes an alignment platform for supporting a lower section of the tower below one or more upper sections of the tower processed by the jacking arrangement, wherein the alignment platform is movable in a horizontal plane to enable alignment of the lower section with the one or more upper sections.

[0040] Preferably, the alignment platform has at least two degrees of freedom, including translational and / or rotational degrees of freedom.

[0041] Preferably, the alignment platform is movable freely in a horizontal plane and / or reacts to external forces such that the alignment platform moves in response to engagement of alignment features of adjacent sections.

[0042] Preferably, the alignment platform includes at least one displacement strut arranged for said movement in a horizontal plane.

[0043] Preferably, the at least one displacement strut includes an upper end and a lower end, and wherein the upper end and / or the lower end includes a spherical ball joint interface.

[0044] The displacement strut can be configured to be self-centering. The displacement strut can be biased to return to a substantially vertical position.

[0045] Preferably, the alignment platform includes a pair of elongate support arms, each support arm being connected to one or more carriages by one or more displacement struts.

[0046] Preferably, the carriages are arranged to travel along a plurality of guide rails or tracks for transporting sections of the structure to the jacking arrangement.

[0047] Preferably, the alignment platform has a lifting mechanism (e.g., one or more hydraulic cylinders) for lifting the lower section of the structure into contact with the one or more upper sections.

[0048] The alignment platform may have a lifting capacity for lifting one section (e.g., up to 80 tons). The hydraulic cylinders of the alignment platform may include hydraulic release valves for lowering one or more sections of the structure.

[0049] Preferably, the elongate structure includes an elongate tower of a wind turbine installation, and optionally, wherein the sections of the elongate tower are concrete rings.

[0050] The first (uppermost) section of the tower may include or be connected to (i.e., mounted) the nacelle of the wind turbine installation.

[0051] In a second aspect, the invention broadly provides a mobile jacking device for manipulating sections of a structure, the mobile jacking device including an interface element for engaging a section to be treated. The interface element includes (a) a lower engagement portion and an upper engagement portion, and (b) a floating point about which the engagement portions are each freely pivotable such that contact and engagement of either the upper or lower engagement portion with the section causes contact and engagement of the other of the upper or lower engagement portions with the section. The interface element is vertically movable for lifting the section to be treated, and the mobile jacking device is arranged to travel along the ground.

[0052] The mobile jacking device may have any feature of the jacking device or the moving mechanism as defined in any foregoing or subsequent statement. Similarly, the interface element may have any feature of the interface element as defined in any preceding or following statement.

[0053] The mobile jacking device may include a wheel arrangement for traveling along the ground. The wheel arrangement, or other device for ground-based travel of the mobile jacking device, may radially position the interface element relative to the section to be treated.

[0054] In a third aspect, the invention broadly provides a processing system including a plurality of mobile jacking devices as defined above, wherein the plurality of mobile jacking devices are configured to cooperate to process sections of a tower.

[0055] The mobile jacking device may be configured to position around the section to be treated.

[0056] Preferably, the plurality of mobile jacking devices are arranged for synchronous and / or independent operation.

[0057] The plurality of jacking devices may be configured to move or act autonomously.

[0058] In a fourth aspect, the present invention provides a method of assembling an elongated structure from a plurality of sections of the elongated structure along a vertical axis using any of the aforementioned processing systems, the method comprising:

[0059] a) arranging the treatment system at the installation site,

[0060] b) positioning a first segment of said plurality of segments substantially aligned with said vertical axis,

[0061] c) using the jacking arrangement to move the interface element of the processing assembly towards the first section so as to engage the first section,

[0062] d) using the jacking arrangement to lift the first section along the vertical axis to a raised position,

[0063] e) positioning a second segment of the plurality of segments below the elevated first segment so as to be substantially aligned with the vertical axis,

[0064] f) contacting the first section and the second section by lowering the first section towards the second section and / or raising the second section towards the first section to form a combined portion of the structure, wherein the second section defines a lower section of the combined portion,

[0065] g) using the jacking arrangement to move the interface element of the processing assembly away from the first section for release therefrom and repositioning the interface element for engagement with a lower section of the combined part,

[0066] h) using the jacking arrangement to lift the lower section along the vertical axis to a raised position, thereby raising the combined part,

[0067] i) Repeating steps e) to h) for consecutively numbered segments so that the segments are sequentially added to the iterative elongated assembly part, thereby assembling the elongated structure from bottom to top.

[0068] Preferably, step a) of arranging the handling system comprises securing a lifting device to a foundation.

[0069] Preferably, the step of positioning the second section below the raised first section of step f) comprises arranging the second section on an alignment platform as defined in any of the preceding statements.

[0070] Preferably, step f) includes lowering the first section using the lifting arrangement and / or raising the second section using the alignment platform such that alignment features at the lower end of the first section engage alignment features at the upper end of the second section, wherein the engagement informs a horizontal displacement of the second section by free movement of the alignment platform in the horizontal plane.

[0071] Preferably, during step f), the interface element of the lifting arrangement remains substantially engaged with the first section to support the load of the first section.

[0072] Preferably, in step f), once the two sections are substantially fully aligned, the alignment platform descends into a recess in the base, lowering the first section in unison with a vertical descent of the lifting arrangement, thereby applying the full weight of the conceptual combination part to the base.

[0073] Preferably, step b) of positioning the first section and / or step c) of positioning the second section includes placing the respective section on the alignment platform and horizontally transporting the alignment platform to the position below the respective raised section.

[0074] Preferably, step b) and / or step c) also includes raising a bridging arrangement of the lifting arrangement to provide the clearance zone and transporting the alignment platform with the respective section through the clearance zone.

[0075] Preferably, the method also includes transporting the first section and / or the second section to the alignment platform using a mobile handling system defined in any of the foregoing statements.

[0076] Preferably, the elongate structure includes an elongate tower of a wind turbine installation.

[0077] Preferably, the method further includes the steps of:

[0078] j. post-tensioning or otherwise fixing the sections of the combined part of the structure together once the sections have reached an appropriate height; and

[0079] k. lowering the combined part of the structure along the vertical axis until the lowermost section comes to rest in a final position below the non-raised position.

[0080] Preferably, step k. includes:

[0081] i. engaging a section of the combined part of the structure that is currently in a first raised position;

[0082] ii. lowering the conceptual combined part of the structure until the engaged section is in the non-raised position and then disengaging the engaged section;

[0083] iii. Repeat steps i. and ii. for successive sections of the combined part of the structure until the lowermost section stops in a final position below the non-raised position.

[0084] Preferably, step k. comprises lowering the combined parts of the structure at least partially below the waterline so that the final position of the lowermost section is in the sea bed.

[0085] Preferably, step k. comprises at least partially lowering the combined parts of the structure into the pit so that the final position of the lowermost section is in the pit.

[0086] In a further aspect, the present invention provides a method for aligning two sections of an elongated structure erected along a vertical axis using any of the aforementioned processing systems, the method comprising: (a) using an interface element, lifting a first section to an elevated position; (b) using the alignment platform, positioning a second section below the first section and substantially in line with the vertical axis; (c) using the alignment platform, lifting the second section toward the first section so that alignment features of the two sections begin to engage; (d) using the alignment platform to tilt the second section so that the upper surface of the second section becomes parallel to the lower surface of the first section; (d) allowing the second section to move toward the first section. The alignment platform moves in a horizontal plane in response to guiding the engagement of the alignment features; (e) optionally, lowering the first and second sections by lowering the interface element and / or the alignment platform; (f) optionally, releasing the hydraulic pressure in the alignment platform through the hydraulic safety valve so that the lower surface of the second section is parallel to the base and the weight of the concept combination part is supported by the base; (g) optionally, repositioning the interface element to engage the second section; (h) optionally, using the interface element to tilt the concept combination part so that the concept combination part is realigned with the vertical axis; (i) optionally, using the interface element, lifting the concept combination part to a raised position.

[0087] The first segment itself may be a conceptual combined part comprising two or more segments.

[0088] The alignment method may be part of the assembly method described above.

[0089] The following additional statements set forth additional examples of the invention. Any of the following examples and related features may be combined with the statements set forth above. In the following, the handling system is referred to as a handling assembly, the lifting arrangement is referred to as a moving arrangement, the lifting device is referred to as a moving mechanism, and the alignment platform is referred to as a displacement platform. Other equivalent terms will be apparent from the detailed description.

[0090] In another aspect, the present invention can be said to be a processing assembly for processing sections of a structure, the processing assembly comprising: a plurality of spaced-apart interface elements, each of the plurality of interface elements including a lower engagement portion, an upper engagement portion, and a floating point, the engagement portions being freely pivotable about the floating point, wherein the interface elements are movable towards and / or away from the section to be processed so as to be able to engage with and / or disengage from the section, and wherein, by the engagement portions of each interface element freely pivoting about their respective floating points, the contact and engagement of either the upper engagement portion or the lower engagement portion with the section causes the other of the upper engagement portion or the lower engagement portion to contact and engage with the section, and wherein the engagement of both the upper engagement portions and the lower engagement portions of the plurality of interface elements substantially eliminates the forces passing through the section to be processed and effectively couples the interface elements to and with the section so as to enable the section to be processed through the interface elements.

[0091] In one example, the interface elements are effectively or substantially evenly or uniformly spaced apart around the section to be processed and / or around the conceptual processing assembly trajectory or perimeter.

[0092] In one example, the conceptual processing assembly trajectory includes a circular trajectory.

[0093] In one example, both the upper engagement portion and the lower engagement portion freely pivot about the floating point in a relative offsetting and / or reciprocating manner.

[0094] In one example, the free pivoting of the interface element about its floating point results in the pivoting of either engagement portion in one direction and the responsive pivoting of the other engagement portion in the opposite direction.

[0095] In one example, the engagement portions are all hinged to each other and balanced about the floating point such that the free pivoting of the interface element about its floating point includes the pivoting rotation of the two engagement portions relative to each other and relative to each other.

[0096] In one example, the free pivoting of the interface element about its floating point defines the translation and / or pivoting of the engagement portion.

[0097] In one example, the engagement portion and the floating point are fixed relative to each other.

[0098] In one example, the engagement portion and the floating point are integrally and / or monolithically formed with each other.

[0099] In one example, the floating point includes a substantially horizontal pivot axis such that the interface element freely pivots about the substantially horizontal pivot axis.

[0100] In one example, the floating point includes a curved lower surface that defines a radius of curvature of the floating point.

[0101] In one example, the magnitude of the radius of curvature defines upper and lower angular limits for the interface element to pivot freely about and relative to the floating point.

[0102] In one example, the magnitude of the radius of curvature defines upper and lower angular limits for the upper and / or lower engagement portions to pivot freely about and relative to the floating point.

[0103] In one example, the vertical and / or horizontal distance of the upper and / or lower engagement portion relative to the substantially horizontal pivot axis defines upper and lower angular limits for the upper and / or lower engagement portion to pivot about and relative to the floating point.

[0104] In one example, the lower engagement portion and the upper engagement portion define an upright elongate coupling member extending between them.

[0105] In one example, the interface element includes an upright elongate coupling member, the upper end of the coupling member includes the upper engagement portion of the interface element, and the lower end of the coupling member includes the lower engagement portion of the interface element.

[0106] In one example, the lower engagement portion includes a base extending outwardly from the lower end of the coupling member, and the upper engagement portion includes a pad extending outwardly from the upper end of the coupling member.

[0107] In one example, the coupling member includes a flat upright surface, the pad includes a rectangular uniform extrusion from the flat surface and the base includes a wedge-shaped perturbation extending further outwardly from the flat surface.

[0108] In one example, the vertical and horizontal distances of the centroid of the upper engagement portion from the floating point define the magnitude of the free pivot of the upper engagement portion and / or the upper and lower angular limits of the free pivot of the upper engagement portion about and relative to the floating point.

[0109] In one example, the vertical and horizontal distances of the centroid of the lower engagement portion from the floating point define the magnitude of the free pivot of the lower engagement portion and / or the upper and lower angular limits of the free pivot of the upper engagement portion about and relative to the floating point.

[0110] In one example, the planar surfaces of the upper and lower engagement portions configured to contact at least a plurality of portions of the section to be treated have a right angle relative to each other therebetween, and / or have a right angle between about 10 degrees and about 170 degrees relative to each other therebetween.

[0111] In one example, the planar surfaces of the upper and lower engagement portions configured to contact at least a plurality of portions of the section to be treated have an acute, right, or obtuse angle relative to each other therebetween.

[0112] In one example, the planar surfaces of the upper and lower engagement portions configured to contact at least a plurality of portions of the section to be treated have an angle between 0 and 180 degrees relative to each other.

[0113] In one example, the interface element is configured to be movable radially inwards and outwards relative to the section to be treated.

[0114] In one example, free pivoting of the upper and lower engagement portions in a relative counteracting and / or reciprocating manner causes the two engagement portions to contact and engage with the section to be treated.

[0115] In one example, the engagement of both the upper and lower engagement portions of the plurality of interface elements substantially cancels and counteracts the forces applied on and / or across the section.

[0116] In one example, the forces applied and / or across the section by the contact and engagement of either the upper or lower engagement portion are counteracted by the forces applied and / or across the section by the contact and engagement of the other of the upper or lower engagement portions with the section.

[0117] In one example, the forces applied and / or across the upper portion of the section by the contact and engagement of these upper engagement portions are counteracted by the forces applied and / or across the lower portion of the section by the contact and engagement of these lower engagement portions.

[0118] In one example, the contact and engagement of these upper engagement portions with the upper portion of the section generate a plurality of forces at the upper portion, which are counteracted and / or eliminated by the forces generated at the lower portion of the section by the contact and engagement of these lower engagements with the lower portion.

[0119] In one example, the contact and engagement of these upper engagement portions with the upper portion of the section generate tension and / or compression at the upper portion, which is counteracted and / or eliminated by the tension and / or compression at the lower portion of the section, which is generated by the contact and engagement of these lower engagement portions with the lower portion.

[0120] In another aspect, the invention can be said to be a moving arrangement configured to move an interface element of a processing assembly of the first aspect, including at least one moving mechanism configured to move at least one interface element of the processing assembly along at least one translation or rotation axis.

[0121] In another aspect, the invention can be said to be a device for repeatedly and sequentially erecting an elongate structure from a plurality of sections of the elongate structure along a vertical axis, the device including: a processing assembly according to the first aspect, and a moving arrangement configured to move the interface element of the processing assembly along the vertical axis and thereby sequentially raise successive concept-numbered sections of the plurality of sections to erect the structure, the moving arrangement including at least one moving mechanism configured to move at least one interface element of the processing assembly along the axis.

[0122] In another aspect, the invention can be said to be a device for repeatedly and sequentially erecting an elongate structure from a plurality of sections of the elongate structure along a vertical axis, the device including: a processing assembly for processing sections of the structure, the processing assembly including: a plurality of spaced-apart interface elements, each of the plurality of interface elements including a lower engagement portion and an upper engagement portion and a floating point, the engagement portions being pivotable freely about the floating point, wherein the interface elements are movable towards and / or away from the section to be processed so as to couple to and / or release from the section to be processed during processing, wherein by the free pivoting of the engagement portions about their respective floating points, contact and engagement of either the upper engagement portion or the lower engagement portion with the section causes contact and engagement of the other of the upper engagement portion or the lower engagement portion with the section, and wherein engagement of both the upper engagement portion and the lower engagement portion of the plurality of interface elements substantially eliminates forces passing through the section to be processed and effectively couples the interface elements to the section and effectively couples the interface elements with the section such that the section can be processed through the interface elements, a moving arrangement including at least one moving mechanism configured to move at least one interface element of the processing assembly along the axis, the moving arrangement being configured to: move the interface elements of the processing assembly towards and / or away from the section to be processed such that they can be coupled to or released from a given portion of the section to be processed, and move the interface elements of the processing assembly along the vertical axis so as to sequentially raise successive concept-numbered sections of the plurality of sections being or to be processed by the processing assembly to erect the structure.

[0123] In one example, the moving arrangement is configured to move the interface element radially inwards or outwards relative to the vertical axis, and wherein the moving mechanism is configured to move the interface element vertically and radially inwards and outwards relative to the vertical axis.

[0124] In one example, the moving arrangement is configured to move the interface element radially inwards or outwards relative to the vertical axis and / or about or along a plurality of horizontal translation axes.

[0125] In one example, the moving mechanism includes a support frame that supports at least a portion of at least one interface element, a reinforcement frame that reinforces the support frame, and a sliding frame that allows and / or acts on the support frame and the reinforcement frame to translate along the sliding frame.

[0126] In one example, the sliding frame includes a sliding housing, a sliding shaft that extends longitudinally through the sliding housing, and a sliding drive unit that is connected to the sliding shaft and is configured to actuate and / or act on the support frame and the reinforcement frame to translate relative to the sliding frame and along the sliding frame.

[0127] In one example, the moving mechanism includes a lifting mechanism that includes at least one upright elongate screw and a main carriage that is coupled to the upright elongate screw, the main carriage being partially received within and received by the support frame.

[0128] In one example, the main carriage is configured to support the lower curved surface of the floating point of the corresponding interface element.

[0129] In one example, the main carriage includes an upper curved surface that is configured to support the lower curved surface of the floating point of the corresponding interface element and at least partially conforms to the curved lower surface of the floating point of the corresponding interface element.

[0130] In one example, the radius of curvature of the curved upper surface of the main carriage is at least partially equal to the radius of curvature of the curved lower surface of the floating point of the corresponding interface element.

[0131] In one example, the radius of curvature of the curved upper surface of the main carriage is less than the radius of curvature of the curved lower surface of the floating point of the corresponding interface element.

[0132] In one example, the main carriage includes a pin joint sliding bearing, a spherical sliding bearing, a ball joint, a hinge joint, a floating joint, and / or an axle that has a radius of curvature and is configured to support the lower curved surface of the floating point of the corresponding interface element.

[0133] In one example, the radius of curvature is configured to at least partially conform to and / or at least partially be equal to the radius of curvature of the curved lower surface of the floating point of the corresponding interface element.

[0134] In one example, the moving mechanism includes a lifting drive unit configured to actuated rotation of at least one upright elongate screw of the lifting mechanism such that a main carriage coupled to the lifting drive unit moves up or down along the screw, thereby acting on the vertical movement of the corresponding interface element.

[0135] In one example, a plurality of first moving mechanisms, each first moving mechanism moving a corresponding first interface element of a plurality of interface elements along a vertical axis, and a second moving mechanism including an intermediate beam supporting at least one second interface element of the plurality of interface elements, wherein the beam is moved along the vertical axis by at least one auxiliary moving mechanism configured to vertically move the beam along the vertical axis to move the corresponding at least one second interface element vertically.

[0136] In one example, the second moving mechanism includes two auxiliary moving mechanisms, each auxiliary moving mechanism being located at a respective end of the intermediate beam, and each auxiliary moving mechanism being configured to uniformly vertically move the interface element supported thereby and coupled to the respective end of the intermediate beam, thereby vertically moving the beam along the vertical axis and thus vertically moving the corresponding at least one second interface element supported by the beam.

[0137] In one example, the intermediate beam includes two second interface elements configured to horizontally translate along the beam to change their horizontal spacing from each other.

[0138] In one example, the intermediate beam includes horizontal sliding grooves, and the two second interface elements are configured to pass through the horizontal sliding grooves and horizontally translate along the horizontal sliding grooves.

[0139] In one example, the horizontal translation of the two second interface elements, together with the horizontal translation of the two auxiliary moving mechanisms at the respective ends of the intermediate beam, achieves the radial inward and outward translation of the two second interface elements relative to the vertical axis.

[0140] In one example, the radial inward and outward translation of the two second interface elements relative to the vertical axis is effected or configured in concert with the radial inward and outward translation of a plurality of corresponding first moving mechanisms and a first interface element of the plurality of interface elements.

[0141] In one example, the elevation of the intermediate beam allows a clearance zone through which the section to be processed can be moved to position the device for processing and vertical movement.

[0142] In one example, the processing assembly includes the processing assembly of the first aspect and / or any one or more associated examples.

[0143] In one example, the elongate structure includes an elongate tower of a wind turbine installation, the plurality of sections being vertically moved by the device along a vertical axis, the device including a plurality of sections of the elongate tower numbered conceptually in order along its height.

[0144] In a further aspect, the invention can be said to be a method for repeatedly and sequentially erecting an elongate structure from a plurality of sections of an elongate structure along a vertical axis using the device of the fourth aspect, the sections being numbered conceptually in order along the length of the elongate structure, the method comprising:

[0145] a. Positioning the device at the erection site of the elongate structure such that its said moving arrangement is supported on, at or on top of the base of the erection site,

[0146] b. Positioning the first uppermost section of the plurality of sections on, at or on top of the base so as to be substantially aligned with the vertical axis,

[0147] c. Acting on the moving arrangement to move the interface elements of the processing assembly towards the first section for connection thereto and connecting the processing assembly to the first section,

[0148] d. Acting on the moving arrangement to move the first section upwards along the vertical axis from a non-elevated position on, at or on top of the base to a first elevated position,

[0149] e. Positioning the second section of the plurality of sections below the elevated first section, on, at or on top of the base, to be substantially aligned with the vertical axis,

[0150] f. Acting on the moving arrangement to lower the elevated first section onto the second section so as to contact and align with the second section to form a conceptually combined part of the structure, the second section defining the lowest section of the conceptually combined part,

[0151] g. Acting on the moving arrangement to move the interface elements of the processing assembly away from the first section to release therefrom,

[0152] h. Act on the movable arrangement to move the interface elements of the processing component downward and then toward the lowest section of the concept combination part for connection thereto, and connect the processing component to the lowest section.

[0153] i. Act on the movable arrangement to move the lowest section of the concept combination part upward along the vertical axis to a raised position, thereby raising the concept combination part.

[0154] j. Repeat steps c) to i) for successive concept number sections to add sections to the concept combination part sequentially, and for each section added sequentially, iteratively lift the concept combination part of the structure.

[0155] In one example, the processing component of the device includes the processing component of the first aspect and / or any one or more related examples, and wherein the steps of connecting the processing component to the first section and the lowermost section in steps c) and h) each include moving the interface elements such that the base of each lower engagement portion is at least partially inserted into the section holes of the first section and the lowermost section.

[0156] In one example, the steps of connecting the processing component to the first section and the lowermost section in steps c) and h) each include contacting and engaging the upper engagement portions to the upper parts of the first section and the lowermost section, creating tension and / or compression at the upper parts, which is counteracted and / or eliminated by tension and / or compression at the lower parts of the first section and the lowermost section, the tension and / or compression being created by contacting and engaging the lower engagement portions to the lower parts.

[0157] In one example, the step of positioning the second section below the raised first section in step f) includes providing a platform operably connected to the base and configured to be freely displaceable along at least one substantially horizontal translation axis, and placing the second section on top of the platform for support by the platform.

[0158] In one example, the step of lowering the raised first section onto the second section for contact and alignment to form the concept combination part of the structure in step f) includes:

[0159] i. Lower the first section such that a plurality of alignment features at its lower end become close to alignment features at the upper end of the second section.

[0160] ii. Further lower the first section to initiate an interface between these alignment features of the two sections, and continue to lower the first section such that said interface notifies, via the platform, a substantially horizontal displacement of the second section, the platform being configured to displace freely along at least one substantially horizontal translation axis, and

[0161] iii. Continue to further lower the first section so as to move and guide the second section into alignment with the first section by means of said substantially horizontal displacement of the second section until these alignment features and the corresponding ends of the two sections are substantially fully aligned.

[0162] In one example, during step f), the interface element of the processing assembly of the device remains substantially coupled to said first section to support the weight and / or load of said first section.

[0163] In one example, during step f), once the two sections are substantially fully aligned, the platform can be actuated to lower vertically such that the platform recesses below the upper surface of the base, lowering the first section in unison with the vertical lowering of the moving arrangement such that both the first and second sections, which now form the conceptual combination part, are lowered onto said upper surface such that the entire weight and / or load of the conceptual combination part is applied to and supported by the base.

[0164] In one example, the platform includes at least one displacement strut for supporting the platform and operably connecting the platform to the base, the platform being supported from the base, wherein at least a portion of said at least one displacement strut is configured to displace freely along at least one substantially horizontal translation axis to allow free displacement of the platform and thus the second section relative to the base.

[0165] In one example, the platform can move horizontally along a recess of the base such that the platform can be translated from a position outside the device to a position within the conceptual erection footprint of the device.

[0166] In one example, the step of positioning the first section on, at, or above the base in step b) to be substantially aligned with the vertical axis, and the act of positioning the second section on, at, or above the base below the raised first section in step e) to be substantially aligned with the vertical axis each include: when the platform is in its position outside the device, first placing the corresponding section on top of the platform and actuating the platform to move horizontally to its position within the conceptual erection footprint of the device so as to position the corresponding section to be substantially aligned with the vertical axis.

[0167] In one example, the elongate structure includes an elongate tower of a wind turbine installation, the plurality of sections including sections of the elongate tower numbered conceptually in order along its height, and wherein the first uppermost section of the plurality of sections includes at least one of the uppermost section of the tower that has been coupled to the rotor hub of the wind turbine installation and / or the nacelle of the wind turbine installation.

[0168] In another aspect, the invention may be said to be a displacement platform for aligning two sections of a structure being erected, wherein a first lower section of the two sections is supported by the displacement platform and a second upper section of the two sections is to be lowered onto the top of the lower section to contact and align with the lower section, the platform comprising: at least one support arm for supporting the first lower section thereon, and at least one displacement strut for supporting the support arm and operatively connecting it to a base, the displacement platform being supported from the base, wherein at least a portion of the at least one displacement strut is configured to freely displace along at least one substantially horizontal translation axis, thereby allowing free displacement of the at least one support arm and thus the lower section relative to the base, and wherein the free displacement of the at least one support arm and thus the lower section relative to the base enables the alignment features of the two sections, once engaged, to signal displacement of the lowermost section along the at least one substantially horizontal translation axis, thereby moving and guiding the lowermost section into alignment with the upper section when the lowermost section is lowered onto it.

[0169] In one example, a planar platform is disposed on top of the at least one support arm.

[0170] In one example, the at least one displacement strut is operatively connected to the support arm at one end and to the base at the other end, the displacement platform being supported on the base.

[0171] In one example, either or both ends of the at least one displacement strut are configured to freely displace along at least one substantially horizontal translation axis.

[0172] In one example, the end of the at least one displacement strut includes an upper end and a lower end, and wherein the upper end and / or the lower end includes a spherical ball joint interface.

[0173] In one example, both ends include respective spherical ball joint interfaces such that both the upper and lower ends of the displacement strut are configured to translate and angularly displace about multiple degrees of freedom.

[0174] In one example, the displacement strut is configured to pivot angularly so as to change the axial angle relative to one or more horizontal planes or axes and vertical planes or axes.

[0175] In one example, the at least one displacement strut is configured to freely displace along a plurality of substantially horizontal translation axes.

[0176] In one example, the at least one displacement strut is configured to freely displace along a substantially horizontal plane.

[0177] In one example, the at least one support arm includes a horizontally oriented elongate member.

[0178] In one example, the displacement platform includes a vertical actuating device configured to vertically move the platform relative to the base.

[0179] In one example, the vertical actuating device is configured to lower the displacement platform into a recess below the upper surface of the base when the upper section is lowered onto the top of the lower section, such that upon completion of said lowering, all of the weight and / or load of the sections is applied to, transferred to, and / or supported by the base.

[0180] In one example, the vertical actuating device includes a hydraulic arrangement.

[0181] In one example, the hydraulic arrangement includes at least one internal hydraulic jack at least partially received within a respective at least one displacement strut and connected at one end to the base.

[0182] In one example, the hydraulic arrangement includes a pump configured to pressurize the at least one internal hydraulic jack to raise the displacement platform, and a release valve configured to release the pressure to lower the displacement platform.

[0183] In a seventh aspect, the invention can be said to be a method of aligning two sections of a structure being erected, wherein a first lower section of the two sections is supported by a platform operatively connected to a base of the structure being erected, and a second upper section of the two sections is to be lowered onto the top of the lower section for contact and alignment with the lower section, the method comprising:

[0184] a. Positioning the first lower section on the platform, below the second upper section and generally aligned with the second upper section,

[0185] b. Lower the second upper section such that a plurality of alignment features at its lower end become close to a plurality of alignment features at the upper end of the first lower section.

[0186] c. Further lower the second upper section to initiate an interface between these alignment features of the two sections, and continue to lower the second upper section such that said interface notifies, via the platform, a substantially horizontal displacement of the first lower section, the platform being configured to freely displace along at least one substantially horizontal translation axis.

[0187] d. Continue to further lower the second upper section in order to move and guide the lower section into alignment with the upper section by means of said substantially horizontal displacement of the lower section until these alignment features and corresponding ends of the two sections are substantially fully aligned.

[0188] In one example, the platform is configured to move vertically such that once the two sections are substantially fully aligned, the platform can be lowered such that the platform recess is below the upper surface of the base, such that the two sections are lowered onto said upper surface, such that all of the weight and / or load of the two sections is applied to and supported by the base.

[0189] In one example, the platform includes at least one displacement strut for supporting the platform and operatively connecting the platform to the base, the platform being supported from the base, wherein at least a portion of the at least one displacement strut is configured to freely displace along at least one substantially horizontal translation axis to allow free displacement of the platform and thus the lower section relative to the base.

[0190] In one example, the platform can move horizontally along, on, and / or above the base such that the platform can be translated from a position external to the erection site where the structure is being erected to a position within the erection site.

[0191] In one example, step a) of positioning the first lower section on the platform, below the second upper section and generally aligned with the second upper section includes: when the platform is in its position external to the erection site, first placing the corresponding first lower section on top of the platform and actuating the platform to move horizontally to its position within the erection site.

[0192] In one example, the structure includes an elongate tower of a wind turbine installation, the two sections forming part of a plurality of sections including sections of the elongate tower, the sections being numbered in conceptual order along its height.

[0193] In one example, the second upper section of the two sections includes at least one of the uppermost section of the tower that has been coupled to the rotor hub of the wind turbine installation and / or the nacelle of the wind turbine installation.

[0194] In one example, the platform includes the displacement platform of the sixth aspect and / or any one or more associated examples.

[0195] In another aspect, the invention can be said to be a mobile platform interface element for processing sections of a structure, the mobile platform interface element comprising:

[0196] a. a lower engagement portion and an upper engagement portion, and

[0197] b. a floating point about which the engagement portions are each freely pivotable such that contact and engagement of either the upper or lower engagement portion with the section causes contact and engagement of the other of the upper or lower engagement portions with the section,

[0198] The mobile platform interface element is configured to be used as part of a processing assembly together with at least one other mobile platform interface element, the processing assembly thereby defining a plurality of its mobile platform interface elements, each of which can move independently towards and / or away from the section to be processed and be independently positioned about the section at spaced intervals to be able to couple to and / or release from it, wherein the engagement of both the upper and lower engagement portions of the plurality of mobile platform interface elements substantially eliminates forces passing through the section to be processed and effectively couples these interface elements to the section and is effectively coupled to the section to be able to process the section through these mobile platform interface elements.

[0199] In one example, the mobile platform interface element includes a moving mechanism to move the interface element along at least one vertical axis so as to vertically move the section being processed by the processing assembly when the mobile platform interface element forms part of the assembly.

[0200] In one example, the moving mechanism includes:

[0201] a. a support frame that supports at least a portion of the interface element,

[0202] b. a lifting mechanism that includes at least one upright elongate screw and a main carriage coupled thereto, both being partially received within and accommodated by the support frame, the main carriage being configured to support the lower curved surface of the floating point of the interface element, and

[0203] b. A lifting drive unit configured to actuate rotation of the at least one upright elongate screw of the lifting mechanism such that a main carriage coupled to the lifting drive unit moves up or down along the screw, thereby acting on the vertical movement of the interface element.

[0204] In one example, the mobile platform interface element includes a mobile device that moves the support frame, thereby moving the mobile platform interface element horizontally along the ground and horizontally on the ground, the mobile device thereby providing independent positioning of the interface element around the section to be processed and mobility towards and / or away from the section.

[0205] In one example, the mobile device includes at least one steerable, power-driven or actuated wheel, track.

[0206] In one example:

[0207] i. Both the upper engagement portion and the lower engagement portion are freely pivotable about a floating point in a relative offsetting and / or reciprocating manner,

[0208] ii. The free pivoting of the interface element about its floating point results in pivoting of either engagement portion in one direction and responsive pivoting of the other engagement portion in the opposite direction, and / or

[0209] iii. Wherein the engagement portions are hinged to each other and balanced about the floating point such that the free pivoting of the interface element about its floating point includes pivoting rotations of the two engagement portions relative to each other and relative to each other.

[0210] In one example, the free pivoting of the interface element about its floating point defines translation and / or pivoting of the engagement portions.

[0211] In one example, these engagement portions and the floating point are fixed relative to each other, and / or wherein these engagement portions and the floating point are integrally and / or monolithically formed with each other.

[0212] In one example, the lower engagement portion and the upper engagement portion define an upright elongate coupling member extending therebetween.

[0213] In one example, the lower engagement portion includes a base extending outwardly from the lower end of the coupling member, and the upper engagement portion includes a pad extending outwardly from the upper end of the coupling member.

[0214] In one example, the coupling member includes a flat upright surface, the pad includes a rectangular uniform extrusion from the flat surface and the base includes a wedge-shaped perturbation extending further outwardly from the flat surface.

[0215] In one example, the vertical and horizontal distances of the centroid of the upper engagement portion from the floating point define the magnitude of the free pivoting of the upper engagement portion and / or the upper and lower angular limits of the free pivoting of the upper engagement portion about and relative to the floating point.

[0216] In one example, the vertical and horizontal distances of the centroid of the lower engagement portion from the floating point define the magnitude of the free pivoting of the lower engagement portion and / or the upper and lower angular limits of the free pivoting of the upper engagement portion about and relative to the floating point.

[0217] In one example, the planar surfaces of the upper and lower engagement portions configured to contact at least a plurality of portions of the section to be treated have a right angle relative to each other therebetween, and / or have a right angle between about 10 degrees and about 170 degrees relative to each other therebetween.

[0218] In one example, the planar surfaces of the upper and lower engagement portions configured to contact at least a plurality of portions of the section to be treated have an acute angle, a right angle, or an obtuse angle relative to each other therebetween.

[0219] In one example, the planar surfaces of the upper and lower engagement portions configured to contact at least a plurality of portions of the section to be treated have an angle between 0 and 180 degrees relative to each other.

[0220] In a ninth aspect, the present invention can be said to be a method for repeatedly and sequentially erecting an elongate structure from a plurality of sections of the elongate structure along a vertical axis, the sections being conceptually sequentially numbered along the length of the elongate structure, the method comprising:

[0221] a. Positioning the first uppermost section of the plurality of sections substantially aligned with the vertical axis,

[0222] b. Moving the first section upward along the vertical axis from a non-elevated position to a first elevated position,

[0223] c. Positioning the second section of the plurality of sections below the elevated first section,

[0224] d. Lowering the elevated first section from the first elevated position onto the second section so as to contact and align with the second section to form a conceptually combined portion of the structure, the second section defining the lowest section of the conceptually combined portion,

[0225] e. Moving the lowest section of the conceptually combined portion upward along the vertical axis to an elevated position, thereby elevating the conceptually combined portion,

[0226] f. Repeat steps c) to e) for successive concept numbering ranges to add the parts to the concept combination part in sequence, and for each range added in sequence, iteratively elevate the concept combination part of the structure.

[0227] In one example, the method is performed by the apparatus of the fourth aspect and / or any one or more associated examples.

[0228] In one example, step d) of lowering the raised first section from the first raised position onto the second section to contact and align with the second section includes providing a platform operatively connected to the base and configured to be freely displaceable along at least one substantially horizontal translation axis, and placing the second section on top of the platform to be supported by the platform.

[0229] In one example, step d) of lowering the raised first section from the first raised position onto the second section to contact and align with the second section includes:

[0230] i. Lower the first section such that a plurality of alignment features at its lower end become close to alignment features at the upper end of the second section.

[0231] ii. Further lower the first section to initiate an interface between these alignment features of the two sections, and continue to lower the first section such that the interface informs a substantially horizontal displacement of the second section by means of the platform, the platform being configured to be freely displaceable along at least one substantially horizontal translation axis, and

[0232] iii. Continue to further lower the first section so as to move and guide the second section into alignment with the first section by means of the substantially horizontal displacement of the second section until these alignment features and corresponding ends of the two sections are substantially fully aligned.

[0233] In one example, the platform can move horizontally along, on, and / or above the base such that the platform can be translated from a position outside the erection site where the structure is being erected to a position inside the erection site.

[0234] In one example, step a) of positioning the first uppermost section of the plurality of sections to be substantially aligned with the vertical axis, and step c) of positioning the second section of the plurality of sections below the raised first section each include: when the platform is in its position outside the erection site, first placing the respective section on top of the platform, and actuating the platform to move horizontally to its position inside the erection site to position the respective section to be substantially aligned with the vertical axis.

[0235] Any one or more of the examples described above with respect to any one or more aspects can be applied to any other of the one or more nine aspects described above.

[0236] In this specification, external information sources have been referred to, including patent specifications and other documents, usually in order to provide context for discussing the features of the invention. References to such information sources should not be construed as an admission, under any authority, that such information sources are prior art or form part of the common general knowledge in the art, unless otherwise stated.

[0237] For the purposes of this specification, where method steps are described in sequence, the sequence does not necessarily mean that the steps are chronologically ordered in that sequence, unless there is no other logical way to explain the sequence.

[0238] As used herein, the term "and / or" means "and" or "or", or both.

[0239] As used herein, "(s)" following a noun means the plural and / or singular form of that noun.

[0240] The term "comprising" as used in this specification and the claims means "consisting at least in part of". When interpreting statements in this specification and the claims that include this term, the features starting with this term in each statement need to be present, and other features may also be present. Related terms such as "comprise" and "comprised" will be interpreted in the same way.

[0241] The invention can also be broadly described as including the parts, elements and features mentioned or indicated separately or jointly in the specification of this application, and any or all combinations of any two or more of said parts, elements or features, and wherein specific integers are mentioned herein, and these specific integers have known equivalents in the field to which the invention pertains, and these known equivalents are considered to be incorporated herein as if set forth separately.

[0242] The numerical ranges disclosed herein (e.g., 1 to 10) also include all rational numbers within the mentioned range (e.g., 1, 1.1, 2, 3, 3.9, 4, 5, 6, 6.5, 7, 8, 9 and 10) and any range of rational numbers within the range (e.g., 2 to 8, 1.5 to 5.5 and 3.1 to 4.7), and thus, all sub-ranges of all ranges explicitly disclosed herein are hereby explicitly disclosed. These are merely examples of specific intents, and all possible combinations of numerical values between the lowest and highest values enumerated are considered to be explicitly stated in this application in a similar manner. Description of the Drawings

[0243] The present invention will now be described only by way of example and with reference to the accompanying drawings, in which:

[0244] Figure 1A - C: is a perspective view of an exemplary processing component.

[0245] Figure 2 : is a side view of a first exemplary interface element.

[0246] Figure 3 : is Figure 2 a perspective view of a first exemplary interface element of

[0247] Figure 4 : is a side view of a second exemplary interface element.

[0248] Figures 5A - 5C : is a series of schematic side views of an exemplary processing component engaged and coupled to a section to be processed.

[0249] Figure 6A - B: is a side view and a front view of a third exemplary interface element.

[0250] Figure 7 : is a perspective view of an exemplary processing system.

[0251] Figure 8 : is a perspective view of a first exemplary lifting device.

[0252] Figure 9 : is Figure 8 a sectional perspective view of a first exemplary lifting device of

[0253] Figure 10 : is Figure 8 a sectional side view of a first exemplary lifting device of

[0254] Figure 11A - C: is a schematic view of a second exemplary lifting arrangement.

[0255] Figures 12A - 12H : is a series of schematic side views of an exemplary method of erecting a structure using an exemplary device.

[0256] Figure 12I : is a perspective view of an exemplary processing system of an exemplary method of using an erected structure.

[0257] Figure 13 : is a sectional perspective view of an exemplary processing system having an exemplary alignment platform.

[0258] Figure 14 : is Figure 13 a perspective view of an exemplary alignment platform of

[0259] Figures 15A - 15D : is Figure 14 A cutaway perspective view of a support arm of an alignment platform.

[0260] Figures 15E - 15F : is a side view of an exemplary displacement strut.

[0261] Figures 16A - 16F : is a series of schematic side views of an exemplary method of two sections of an alignment structure.

[0262] Figures 17A - 17F : is a series of side views of a second exemplary method of two sections of an alignment structure.

[0263] Figure 18 : is a perspective view of an exemplary processing system applied in an onshore wind turbine facility erection application.

[0264] Figures 19A - 19B : is a perspective view and a cross-sectional view of an exemplary processing system applied in an offshore wind turbine facility.

[0265] Figures 20A - 20E : is a series of schematic side views of an exemplary method of using an exemplary equipment erection structure and then lowering it to the seabed. Figure 22: is a perspective schematic view of an exemplary mobile processing system.

[0266] Figure 22A : is a perspective schematic view of an exemplary mobile lifting device.

[0267] Figures 22B - 22E : is a series of schematic perspective views of an exemplary mobile lifting device for processing various exemplary sections. DETAILED DESCRIPTION

[0268] The present invention broadly relates to a processing system for processing sections of a structure, and a method for erecting a structure, and an alignment platform and method for aligning two sections of a structure being erected.

[0269] Generally, the sections of the structure mentioned herein relate to a relatively large number of sections of structures (in various forms, configurations, and shapes), namely civil engineering structures or facilities. Preferably, but not exclusively, the examples may relate to sections for wind turbine facilities, etc., such as rings, columns, or towers.

[0270] Broadly speaking, one aspect of the present invention provides a processing system for assembling an elongate structure from a plurality of sections along a vertical axis. The processing system includes a plurality of spaced-apart interface elements (referred to as processing components) and a lifting arrangement. The interface elements are for engaging sections of the structure to be processed, and the lifting arrangement includes at least one lifting device configured to move the interface elements. The interface elements are radially movable relative to the vertical axis for engaging and / or disengaging the sections to be processed, and vertically movable for lifting one or more sections of the structure.

[0271] An Figure 1A exemplary processing component 1000 for processing sections of a structure is shown in, and the exemplary processing component 1000 is shown as including a plurality of spaced-apart interface elements 100. The interface elements 100 are provided for attachment to (i.e., engagement with) the sections and for carrying associated loads. Generally, the processing component is configured such that the interface elements are movable towards and / or away from the sections to be processed to enable attachment to (and / or release from) them during processing, and vertically movable to lift (and / or lower) the sections to be operated on. This will be discussed in more detail later.

[0272] Some or all of the interface elements 100 may be distributed on a conceptual circular locus 1000X having a substantially vertically upright axis 1000Y such that the interface elements 100 are arranged around / around the circular locus 1000X and equidistant from its center (defined by the substantially vertically upright axis 1000Y). Such a circular configuration may be suitable for the processing of circular parts (e.g., concrete rings). Other configurations may be used to process sections or objects of different shapes.

[0273] In some examples, the interface elements 100 are spaced apart substantially evenly or uniformly, and any particular shaped assembly (e.g., a conceptual circular locus) is used around them for their positioning. In other examples, for example Figure 1A in the example shown, the interface elements 100 are arranged in several more closely spaced groups (e.g., in pairs as shown), and these groups are distributed evenly or symmetrically.

[0274] An Figure 1A exemplary processing component 1002 having eight spaced-apart interface elements 100 is shown in, but any number of at least two interface elements may be employed for a given processing component depending on the application, and any given distance or spacing may be employed between each interface element depending on the specific requirements of the application for any given processing component. Figure 1B An exemplary processing component 1002 having four exemplary interface elements 100D is shown, which are spaced apart on each side on a square locus 1002X for processing, for example, square or other orthogonal sections. Figure 1CAnother exemplary processing assembly 1004 is shown having six exemplary interface elements 100E, the interface elements 100E being spaced apart on each side thereof on a hexagonal locus 1004X for processing, for example, hexagonal or other polygonal segments. Different processing assembly configurations for processing, for example, orthogonal segments or objects may employ two interface elements positioned to process segments or objects only at two opposite faces out of their four faces, or four interface elements positioned to process segments or objects at all four of their faces. Generally, polygonal or circular loci may be used in conjunction with the number of interface elements defined by the number of faces of a particular polygonal shape or multiple shapes.

[0275] Each of the plurality of interface elements includes a lower engagement portion in the form of an outwardly projecting foot member for engaging a segment to be processed (e.g., for engaging a pocket-like recess in the segment).

[0276] In Figures 1A - 5C In the first exemplary processing assembly 1000 shown, each interface element 100 includes a lower engagement portion 120 (i.e., a foot), an upper engagement portion 140 (i.e., a pad), and a floating point 110 about which the engagement portions 120, 140 are each pivotable freely. With this arrangement, the interface elements are arranged to grip or clamp the segment being processed and can cooperate to substantially eliminate forces passing through the segment being processed. In Figure 6A Another non-clamping example is shown in -B.

[0277] In the first exemplary processing assembly 1000, the pivoting can be in a relative canceling and / or reciprocating manner since the free pivoting of the interface element 100 about its floating point 110 results in the pivoting of one engagement portion in one direction (e.g., clockwise) and the responsive pivoting of the other engagement portion in the opposite direction (e.g., counterclockwise). The extent to which one engagement portion moves or pivots relative to the other engagement portion can be determined or defined by a number of factors. The pivoting can also be described as a rocking movement about the floating point, with the two engagement portions pivoting / rotating harmonically relative to each other and relative to each other due to their mutual articulated balance about the floating point.

[0278] The free pivoting of the interface element 100 about its floating point 110 generally defines the pivoting movement of the engagement portions 120, 140, where the free pivoting of the interface element 100 about its floating point 110 defines the translation and / or pivoting of its engagement portions. This can be achieved in a number of ways and, in this example, FIGS. 1 to Figure 5CThe processing component 1000 shown is provided by at least a single component formed by integrating the interface element 100, wherein the engagement portions 120, 140 and the floating point 110 cannot move relative to each other due to their structurally unified form. Thus, the upper and / or lower engagement portions 120, 140 of the exemplary processing component 1000 are fixed relative to the floating point 110. In other examples, the upper engagement portion and / or the lower engagement portion may move relative to the floating point and may move relative to each other, i.e., not cast, formed, or assembled integrally or monolithically, but still have a reciprocating pivot relationship about the floating point.

[0279] Figure 2 The floating point 110 of the exemplary first interface element 100A in is shown as having a substantially horizontal pivot axis 110X that extends "into the page". The floating point can be a point at which the interface element is balanced such that the engagement portions articulate about the floating point. Also shown is the floating point 110 including a radius of curvature 110R, which is the radius of curvature of the curved lower surface 112 of the floating point 110, i.e., the conceptual radius of the conceptual arc that defines the shape of the curved lower surface 112. The characteristics of the curved lower surface 112 on which it floats, rests, or is otherwise supported and pivots, i.e., the structural article, will be described in more detail below in connection with certain examples of the present invention, such as the device 2000 of FIGS. 1 Figure 7 through 11.

[0280] Figure 3 The exemplary first interface element 100A is shown in perspective, wherein the radius of curvature 110R and the substantially horizontal pivot axis 110X are also shown. The magnitude of the radius of curvature 110R can define the free pivoting behavior of the first interface element 100A. The orientation of the pivot axis 110X can also define at least a portion of the free pivoting behavior of the first interface element 100A. In some embodiments, the pivot axis 110X may not be substantially horizontal. In any case, it can be understood that due to the balance of the floating point 110 on the lower curved surface 112, the radius of curvature 110R and the pivot axis 110X can define or determine the pivoting behavior, i.e., the degree of pivoting of the interface element 110A as a whole and its constituent engagement portions 120, 140. It should also be understood that the pivoting behavior of the engagement portion or portions, or their pivoting relative to each other, can be determined by their horizontal and vertical distances from each other, as well as their horizontal and vertical distances from the pivot axis 110X. The relative dimensions and masses of the engagement portions 120, 140 can also affect their relative pivoting movement.

[0281] At least a lower engagement portion 120 and an upper engagement portion 140 for the interface element 100 define a coupling member (i.e., an elongate portion) 130 extending therebetween. The lower engagement portion 120 is shown as including a foot or base 122 extending outwardly from the coupling member 130, particularly from the lower end 132 of the coupling member 130. The upper engagement portion 140 includes a pad 142 extending outwardly from the coupling member 130, particularly from its upper end 134.

[0282] The coupling members 130 in both of the exemplary interface elements 100A, 100B are shown as including a flat upright surface 130A, the pad 142 includes a rectangular uniform extrusion from the flat surface 130A and the base 122 includes a wedge-shaped perturbation extending further outwardly from the flat surface 130A. The shape and size of the pad 142 including the rectangular uniform extrusion and the wedge-shaped perturbation can vary in some configurations, as well as the extent to which they extend outwardly from the flat surface 130A. The shape and size of the floating point 110 and the coupling member 130 can also vary to accommodate a particular configuration or a desired pivoting behavior.

[0283] The vertical and horizontal distances 142Y, 142X of the centroid of the pad 142 from the pivot axis 110X together with the vertical and horizontal distances 122Y, 122X of the centroid of the base 122 from the pivot axis 110X are shown in Figure 2 The vertical and / or horizontal distances 142Y, 142X of the centroid of the pad 142 from the pivot axis 110X can define the magnitude of the pivot (rotation and / or translation) of the upper engagement portion 140 relative to the lower engagement portion 120. Conversely, the vertical and / or horizontal distances 122Y, 122X of the centroid of the base 122 from the pivot axis 110X can define the magnitude of the pivot (rotation and / or translation) of the lower engagement portion 120 relative to the upper engagement portion 140.

[0284] Figure 4 An exemplary second interface element 110B is shown which has all the same features as described above with respect to Figure 2 and 3 the first exemplary interface element 110A, as indicated by the use of the same reference numerals, with a notable difference being that the floating point 110 is configured to be higher upwardly towards the upper end 134 of the coupling member 130 and, accordingly, these vertical and / or horizontal distances 122X, 122Y, 142X, 142Y of the base 122 and the pad 142 from the pivot axis 110X are different. In particular, the vertical and / or horizontal distances 142Y, 142X of the centroid of the pad 142 from the pivot axis 110X of the exemplary second interface element 110B are much less than those of the first interface element 110A. This can result in the second interface element 110B having a different pivoting behavior compared to the first exemplary interface element 110A.

[0285] The planar surfaces of the upper and lower engagement portions that are configured to contact at least a plurality of portions of the section to be treated may have a right angle relative to each other therebetween, and / or may have a right angle between about 10 degrees and about 170 degrees relative to each other therebetween. In the exemplary interface elements 100A, 100B described above, the flat surface may be the flat vertical surface of the pad 142 and the flat horizontal upper surface of the wedge base 122 for the upper and lower engagement portions 120, 140. The angle between the surfaces may be a right angle (about 90 degrees). In other examples, the planar or contact surfaces of at least a plurality of portions of the upper and lower engagement portions, such as pads, bases, or one or more surfaces configured to contact and engage at least a portion of the surface of the section to be treated, may have an acute angle therebetween, a right angle therebetween, an obtuse angle therebetween, or a relative angle between 0 and 180 degrees.

[0286] It will be appreciated that the various features of the interface elements described above may be configured as desired to affect or define the pivoting behavior, i.e., the rocking movement about the floating point. It should also be understood that the amount of contact of a given engagement portion, i.e., the surface area, may differ from that of the exemplary interface elements and the portions of the surfaces of the characteristics of how they are configured and the sections they contact and engage. For example, in the case where the pivot angle is minimal and a greater portion of the upper end of the coupling member contacts and bears against the section wall, the contact surface of the upper engagement portion may only extend beyond the pad 142. The distances from each other described with respect to the above features may also affect certain characteristics of the joining action, force elimination, force / moment cancellation, and other joining / processing aspects of the present invention, as will be further described below.

[0287] It should be noted that the free pivoting behavior about the floating contact point is optional, and any one of the above features may be present without a freely pivoting floating point. However, for the purposes of this discussion, it should be understood that by the engagement portions (of the plurality of interface elements) freely pivoting about their respective floating points, the contact and engagement of either the upper engagement portion or the lower engagement portion with the section causes the other of the upper engagement portion or the lower engagement portion to contact and engage with the section, such that the interface element effectively clamps the section being treated under load, thereby eliminating the force passing through the section. This is illustrated in Figures 5A to 5C with respect to the exemplary processing assembly 1000 described heretofore.

[0288] In Figure 5A is shown a section 90 of a (structure) to be treated, which has, for example, an upper surface 90A, a lower surface 90B, and side surfaces 90C. For purposes of illustration, the section 90 is held by two interface elements 100 of the exemplary processing assembly 1000 (which areFigure 2 and Figure 3 processing of the first interface element 100A) of Figure 3 . Arrows A1, A2, and A3 respectively show two elements 100 moving upward toward section 90, such that the lower engagement portion 120 and their constituent base 122 move toward the lower surface 90B of section 90, and laterally toward the side surface 90C of section 90, such that the elements 100 move generally toward section 90 (specifically, the pads 142 of the upper engagement portion 140 and the coupling member 130 move toward the side surface 90C of section 90).

[0289] In Figure 5B Figure 5B , the lower engagement section 120 (specifically the base 122) has contacted and engaged section 90 at or at least at the lower surface 90B. Due to the relative pivoting relationship of the upper and lower engagement members 120, 140, this contact, together with further upward movement in direction A1, causes a pivoting response of the interface elements 100 about their floating points 110 and corresponding pivot axes 110X (rotating clockwise and counterclockwise along pivot arrows A4, A5 respectively). The pivoting response is a rotation of the upper engagement portion 140 and their pads 142 toward the side surface 90C of section 90 such that they contact and engage said section 90, as Figure 5C shown. Thus, the contact and engagement of the lower engagement portion 120 causes a pivoting response about floating point 110A, thereby causing the contact and engagement of the upper engagement portion 140.

[0290] Other processing components may have different movement and contact sequences, which result in both engagement portions engaging to the section, for example, by moving inward, upward, and / or downward relative to the section, initial contact and engagement of the upper engagement portion, and by further moving inward, upward, and / or downward relative to the section, resulting in final contact and engagement of the lower engagement portion. Alternative interface elements may have an inverted base 122 and pads 142 such that the base 122 is located at the upper engagement portion 140 and the pads 142 are located at the lower engagement portion 120. In this case, the interface element may alternatively cause initial contact and engagement of the base with the top surface of the section by an initial lowering, together with an inward lateral movement toward the section, followed by pivoting and thus causing contact and engagement of the pads with the side surface of the section.

[0291] Thus, Figures 5A to 5C the exemplary steps of Figures 5A to 5C are merely illustrative.

[0292] The engagement of any first engagement portion with the section can result in a compressive force or load acting on the section. Once another of the engagement portions engages with the section, a tensile force or load can be applied that cancels out and eliminates the initially generated compressive force. Thus, the engagement of the upper and lower engagement portions of the plurality of interface elements with the section can substantially eliminate the force passing through the section and effectively couple the interface elements to the section such that the section can be handled through the interface elements. In other words, once the section is properly engaged by the two engagement portions of these interface elements, the interface elements are operatively coupled to the section in a manner that allows the handling assembly to move the section in unison with its own movement. For example, once the example of the handling assembly 1000 of FIGS. 1 to 5C has been engaged and coupled to a given section, the co-movement of the interface elements, such as by connection to an external structure (e.g., Figure 7 system 2000), moves the section having the handling assembly 1000.

[0293] It can also be understood that the force applied and / or across the upper portion of the section by the contact and engagement of the upper engagement portion can be cancelled by the force applied and / or across the lower portion of the section by the contact and engagement of the lower engagement portion, wherein the contact and engagement of the upper engagement portion with the upper portion of the section generates a force at the upper portion that is cancelled and / or eliminated by the force generated at the lower portion of the section by the contact and engagement of the lower engagement portion with the lower portion, and / or the contact and engagement of the upper engagement portion with the upper portion of the section generates a tension and / or pressure at the upper portion that is cancelled and / or eliminated by the tension and / or pressure generated at the lower portion of the section by the contact and engagement of the lower engagement portion with the lower portion. This occurs in part due to the relative cancellation of the interface elements about their floating points 110 or floating axes 110X, whereby any force or moment applied to the section at one of its parts / regions is cancelled by an equal force or moment applied at another part / region once another engagement portion acts thereon. It should also be understood that this cancellation of forces can occur on opposing interface elements and preferably the interface elements are distributed around the section to be handled in at least a partially evenly spaced manner such that the forces generated are evenly distributed over / around the section and thus cancelled. Thus, although the handling assembly can include any number of interface elements, i.e., two or more, the interface elements are preferably distributed around the outer perimeter of the section such that the forces or moments acting on the section during the engagement and coupling of the interface elements are evenly distributed and thus evenly cancelled or offset and thus neutralized. In other words, the interface elements are preferably distributed around the section to be handled in a manner that provides an even force distribution.

[0294] The above discussion describes an example of using a freely pivoting interface element having first and second engagement portions for clamping and gripping a section under load and eliminating forces passing through the section. However, in other examples, the interface element may not be configured in this way. In Figure 6A -B shows a simplified example of a non-clamping interface element 100C. Similar to the previous interface elements, the interface element 100C includes an upright elongate portion 130 and a foot member 120 projecting outwardly from its lower portion 132 (the foot member 120 being arranged to engage and carry the load of the section to be processed, preferably shaped for insertion into a pocket feature of the section). However, in this case, the interface element is fixed or supported in a non-pivoting manner. In Figure 6B shows a front view of the interface element, which shows a flange 124 for securing the interface element 100C to a lifting device (the main carriage of a lifting mechanism, which will be discussed below). Additionally, the interface element 100C may have any of the features already discussed.

[0295] As described above, the handling assembly is part of a handling system in which the interface element is a moving load-bearing member. Figure 7 shows an exemplary handling system 2000 (which may also be referred to as a device) including a plurality of interface elements. In this example, and in subsequent examples, the freely pivoting ("clamping") interface elements 100A, 100B of FIGS. 1-5 are used to describe and illustrate the handling system. However, this is merely an example for illustrating the potential applications and advantages of the handling assembly. It will be understood that the handling system may alternatively use non-clamping interface elements, such as Figure 6A those of -B.

[0296] The handling system 2000 can be used to repeatedly and sequentially erect an elongate structure "from bottom to top" along a vertical axis 2000Y from its multiple sections. Once erected, the vertical axis can generally coincide with the vertical axis of the elongate structure. The erection can occur on an erection footprint FP at the final installation location of the structure. The erection footprint can be defined by the area of a base within a lifting arrangement for erecting a given structure. The erection footprint can be informed by the peripheral shape (e.g., circular or polygonal or orthogonal shape having a diameter, circumference, radius, etc.) of a given plurality of interface elements and / or a given plurality of lifting devices of a given system. The erection footprint can define a conceptual area or zone enclosed by the interface elements, handling assembly, and / or lifting arrangement of a given handling system. It can generally correspond to a variable or adjustable trajectory or perimeter (e.g., the conceptual circular trajectory 1000X of FIG. 1) of the interface elements, handling assembly, lifting arrangement, and / or lifting devices of a given system.

[0297] The system 2000 shown includes the exemplary processing assembly 1000 of FIGS. 1 to 5C. Accordingly, it includes a processing assembly 1000 having interface elements 100 arranged substantially in a circular layout (on a circular track) to suit operation on a circular section of the elongate structure. For example, the elongate structure may be a tower, such as a tower of a wind turbine.

[0298] The processing system 2000 also includes a jacking arrangement (also referred to as a moving device) 2100 configured to move the interface elements of the associated processing assembly towards and / or away from the section to be processed such that they can be coupled to (i.e., engaged with) and / or released from (i.e., disengaged from) a given section of the plurality of sections being or to be processed, and configured to move (i.e., lift) the interface elements of the processing assembly along a vertical axis 2000Y and thus sequentially raise successive concept numbered sections of the plurality of sections to be assembled by the processing system in order to erect the structure.

[0299] To this end, the jacking arrangement 2100 includes at least one jacking device (also referred to as a moving mechanism) 2200 configured to move (i.e., lift) at least one interface element 100 of the processing assembly 1000 along the vertical axis 2000Y.

[0300] In Figures 8 to 10 a first exemplary jacking device 2200A is shown. It includes a support frame 2200 that supports at least a portion of the aforementioned first exemplary interface element 100A, a stiffening frame 2240 that supports the support frame 2200, a slider mechanism 2260, and a ball screw mechanism 2290. The sliding mechanism is an example of a translation mechanism arranged to be able to radially move and position the interface elements for engaging and disengaging sections and to be able to adjust the radial position of the interface elements for engaging sections of different diameters. The slider mechanism includes a sliding frame 2260 for translating the support frame 2200 and the stiffening frame 2240 along the sliding frame 2260. The ball screw mechanism is an example of a lifting mechanism for raising (and lowering) the interface elements for lifting the sections.

[0301] The support frame 2200 includes vertical uprights 2222 clamped between an upper plate 2224 and a lower plate 2226. The support frame 2200 is an integral assembly in which the uprights 2222 and the lower and upper plates 2224, 2226 do not move relative to each other. The support frame 2200 provides a partial housing for supporting the vertical movement of the interface element 100A.

[0302] The reinforcement frame 2240 includes a triangular right-angle reinforcement member 2242 that extends to a reinforcement plate 2246 located on both sides of the lower end of the support frame 2200. The upright rod 2243 of the reinforcement member 2242 is close to the vertical upright rod 2222 of the support frame 2200. Thus, the reinforcement member 2242 helps to reinforce the support frame 2200 to prevent flexure and deformation experienced during the processing operation of the device 2000.

[0303] During the vertical movement of the interface element 100 relative to the support frame 2200, the support frame 2200 will preferably be supported on the ground (e.g., on a base). A pair of frame actuators 2248 can be provided for connecting a support plate 2228 extending between the upright rods 2222 of the support frame 2200 to the reinforcement plate 2246 of the reinforcement frame 2240, which is located on either side of the lower end of the support frame 2200. The actuator 2248 can be actuated to raise the support frame 2200 sufficiently from the ground or the base. Due to the horizontal translation of the reinforcement frame 2240 along the sliding frame 2260, this can enable the support frame 2200 to move horizontally.

[0304] The sliding frame 2260 includes a sliding housing 2262 having a sliding drive unit 2264, which is, for example, a DC or AC motor coupled to a gearbox. A sliding shaft 2266 extends longitudinally through the sliding housing 2262, and this sliding shaft 2266 actuates the reinforcement frame 2240 to translate along and relative to the sliding frame 2260 by the drive unit 2264. Preferably, the sliding frame 2260 (e.g., the sliding housing 2262) is fixed (e.g., bolted) to the base to resist or counteract the load carried by the interface element and to decompose the forces acting at the base of the structure into the base. This may be particularly preferred in the case where the interface element is not of the freely pivoting type (e.g., an interface element 100C having Figure 6A -B).

[0305] In Figure 9 and Figure 10 an example of a lifting mechanism 2290 for vertically moving the interface element 100A of the lifting device is shown in the form of a roller screw (the vertical upright rods 2222 of the support frame 2220 are hidden for clarity). The lifting mechanism 2290 includes a lifting drive unit 2280 having a pair of DC or AC motors 2282 with an appropriate gearbox arrangement coupled to a respective pair of screws 2292 of the lifting mechanism 2290. Actuation of the motors 2282 causes the screws 2292 to rotate, thereby causing the main carriage 2294 of the lifting mechanism 2290 to move up or down (through the internal threads of the carriage 2294, inFigure 9 and 10 not visible). A braking unit 2284, such as a disc brake, is also shown, which can be used in an emergency to slow down or stop the actuation of the lifting mechanism 2290 by the motor 2282.

[0306] The main carriage 2294 can provide such a feature that the curved lower surface 112 of the floating point 110 of the first exemplary interface element 100A floats on this feature, is supported by the curved lower surface 112 of the floating point 110 of the first exemplary interface element 100A, and pivots on and around the curved lower surface 112 of the floating point 110 of the first exemplary interface element 100A. In other examples (e.g., Figure 6A -B example), the interface element can be connected (e.g., via flange 124), coupled, or integrally formed with the main carriage such that movement of the main carriage causes corresponding movement of the interface element.

[0307] The lifting mechanism 2290 (e.g., screw 2292, main carriage 2294, and / or motor 2294) can be wholly or partly received within the support frame 2220 of the jacking device 2200. In particular, the main carriage 2294 can move vertically within (and relative to) the support frame 2220. Some or all of the interface elements 100A can also be received within the support frame.

[0308] Thus, the jacking device 2200A facilitates vertical movement of the interface element 100A, as well as inward and outward (i.e., radial) translation of the interface element relative to the vertical axis 2000Y. Preferably, the translation mechanism is configured to adjust the radial position of the interface element to engage sections of different diameters. With this arrangement, the processing system can be used to assemble structures of non-constant diameter (e.g., conical structures). The translation mechanism can be configured to adjust the radial position of the interface element to multiple discrete positions, or to a continuous region, and can be configured to lift one or more sections at any of these radial positions. There are other jacking arrangements that can be configured to move the interface element of the processing assembly around multiple horizontal translation axes. Those skilled in the art will recognize that the exemplary jacking device 2200A is merely one possible arrangement for enabling the interface element of the processing assembly to make the desired movement along the vertical axis, and for enabling the interface element of the processing assembly to move radially inward or outward so as to facilitate movement of the interface element towards and / or away from the section to be processed such that they can contact, engage, then couple to and / or release from it as needed.

[0309] In Figure 10In [the figure], the pivot axis 110A of the previously described freely pivotable interface element is shown as extending across the main carriage 2294, where the curved lower surface 112 of the floating point 110 of the interface element 100A rests on and pivots on the curved upper surface 2296 of the main support 2294. Thus, the curved lower surface 112 of the floating point 110 and the curved upper surface 2296 of the main carriage 2294 can be configured to at least partially conform to each other and thus support the floating point 110. The radius of curvature of the curved upper surface 2296 of the main carriage 2294 can at least partially match the radius of curvature 110R of the curved lower surface 112 of the floating point 110. Preferably, the radius of curvature of the curved upper surface 2296 of the main carriage 2294 is less than the radius of curvature of the curved lower surface 112 of the floating point 110.

[0310] This is merely an example of how the floating point interface can be configured. Other known engineering joints or connectors can be employed to achieve a freely floating pivot interface. For example, a pinned joint sliding bearing mounted on a substantially horizontal shaft can be used instead of the curved upper surface 2296 of the main carriage 2294. Here, considering the geometric characteristics of the curved lower surface 112 of the floating point 110, the radius of curvature of the sliding bearing, or rather the simple radius, can be configured to pursue the desired pivoting behavior of the interface element 100A. Alternatively, a spherical sliding bearing can be used instead of the curved upper surface 2296 of the main carriage 2294 to provide a freely floating pivot of the floating point 110 about a greater degree of freedom. The radius of curvature, width, depth, and other geometric characteristics of the feature on which the floating point 110 pivots (such as the curved upper surface 2296 of the main carriage 2294) can vary, be adjusted, and / or be configured together with the radius of curvature, width, depth, and other geometric characteristics of the curved lower surface 112 of the floating point 110 to suit the desired pivoting behavior of the interface element 100A. In other examples, the floating point can include any other suitable engineering joint, such as a ball joint, hinge joint, floating joint, etc., which can be appropriately configured to provide a floating, hinged, pivoted, or balance point. Those skilled in the art can also envision devices for lubrication, greasing, and the use of bearings, etc., which may be desired when assembling the floating point, in order to meet service life, safety, engineering, and other operational or regulatory requirements.

[0311] In addition, while free pivoting has been used to describe the free floating movement of an interface element about its floating point and pivot axis, the physical structure and components of the interface element, as well as the configuration of the main carriage and / or the interface element itself, may define upper and lower pivot limits for the upper and lower engagement portions. For example, the curvature of the curved upper surface 2296 of the main carriage 2294 and the curved lower surface 112 of the floating point 110 may be configured to produce an inherently higher pivot resistance at the ends of the pivot movement range. In addition, the contact of the interface element 100A (e.g., the upper end 132 and the lower end 134 of its coupling member 130) with the support frame 2220 or the main carriage 2294 may define upper and lower pivot limits for the upper engagement portion 120 and the lower engagement portion 140, which prevent further pivoting at those limits.

[0312] In the case of a non-free pivoting interface element, such as Figure 6A those shown in -B, it may be desirable to effectively transfer the load from the interface element to the base to eliminate forces. Figure 11A An exemplary lifting arrangement is shown having Figure 6A an alternative interface element 100C of -B, showing the load path to the base 4000. The lifting device 2200A is shown independently in Figure 11B -C. The relevant forces acting at each point are shown by arrows. Except for the configuration of the interface element and the specific differences discussed below, the lifting device may have any of the features of the lifting device 2200A described previously, and common components are denoted by the same reference numerals. Some features are omitted for clarity.

[0313] Here, the upright elongate portion of the interface element is disposed within the support frame 2220 of the lifting device and is coupled (e.g., directly or indirectly connected, such as via a flange) to the main carriage 2994 of the lifting mechanism 2290 so as to move vertically with the carriage 2994 within the support frame 2220. The interface element may also be supported by the support frame 2220 by bearings, rollers, or the like 126, which transfer the load from the interface element 100C to the support frame 2220 while allowing relative vertical movement of the two components. The bearings 126 may be positioned for the intended load transfer path. For example, as Figure 11A and 11CAs shown, the first bearing can support the radially inner side of the upper end of the upright extension of the interface element, while the second bearing can support the radially outer side of the lower end of the upright extension. When subjected to the expected load (borne by the protruding foot member), this arrangement can ideally transfer the load for the L-shaped interface element 100C shown. It can be understood that the configuration of the interface element applies a tipping moment to the support frame (pulling the frame of the jacking device inward). Therefore, it may be desirable to fix the jacking device to the base 4000 in a manner that resists this tipping moment. In Figure 11A and 11C , a sliding frame 2260 positioned radially outward from the support frame 2200 is bolted to the base 4000. Those skilled in the art will understand how the same principle can be applied to other jacking devices / arrangements, such as the bridging arrangement discussed with respect to Figure 7 .

[0314] For any jacking arrangement described herein, an electronic control system can be employed to provide precise drive of the lifting drive unit 2280, which, together with the high-torque, low-speed gear drive of the electric motor 2282, and the limited precision inherent in the screw 2292 connected to the main carriage 2994, provides limited-precision vertical movement of the interface element 100A. Such a system can also communicate with the drive unit 2264 of the sliding frame 2260 and the actuator 2248 of the reinforcement frame 2240 to coordinate precise limited movement of the translation mechanism.

[0315] The electronic control system can be a central control system for synchronously or in a coordinated manner controlling the jacking device (e.g., its lifting mechanism and translation mechanism). The height of each interface element can be controlled in response to received or provided data or other information regarding load and / or alignment. The system can include sensors for obtaining such data, such as load sensors.

[0316] Returning to Figure 7 , a second exemplary jacking device 2200B (also referred to as a second moving mechanism) is also shown. In this case, the jacking device is a coupling arrangement of two jacking devices. This coupling arrangement provides a bridging arrangement that is shown to include two auxiliary jacking devices 2200C. The auxiliary jacking devices 2200C can be similar to the previously described first exemplary jacking device 2200A, except that the devices 2200C do not face forward (i.e., in the longitudinal direction of the sliding frame 2260 or towards the vertical axis 2000Y), but face laterally with respect to the support frame 2220 to support an intermediate beam 2300 spanning between them.

[0317] The intermediate beam 2300 is shown as including two interface elements 100B. These interface elements 100B of the bridging arrangement 2200B contact, engage, and couple to the section to be processed as previously described. However, in this case, instead of the main carriage of the auxiliary moving mechanism 2200C directly supporting and vertically moving the interface elements to process the section of the structure, they are used to jointly support the intermediate beam 2300 and vertically move it to indirectly jointly raise or lower the two interface elements 100B (e.g., uniformly), and these two interface elements 100B themselves contact and engage the section to be processed.

[0318] The interface elements 100B supported on this intermediate beam can be configured to translate horizontally to change their horizontal spacing from each other. This can be provided by the horizontal sliding slots 2302 of the intermediate beam 2300. An internal mechanism within the intermediate beam 2300, such as an electric rack and pinion, a worm gear and screw, or other suitable arrangement, can be used to actuate the horizontal translation of the second exemplary interface elements 100B along the horizontal sliding slots 2302 of the intermediate beam 2300.

[0319] The interface elements 100B can be mounted on a spare carriage (not shown) that extends into the horizontal sliding slots 2302. In the case of the freely pivoting example, these spare carriages can provide the feature that the structural article on which the curved lower surfaces 112B of the floating points 110B of the two second exemplary interface elements 100B pivot.

[0320] The movement of the two auxiliary moving mechanisms 2200C along their respective sliding frames 2260C, together with the horizontal translation of the two second exemplary interface elements 100B, can act in unison to effectively provide the radial inward and outward translation of the two second exemplary interface elements 100B relative to the vertical axis 2000Y. This can be coordinated with the radial inward and outward translation of the interface elements 100A by another (e.g., six) jacking device 2200A.

[0321] It can be further understood that the second exemplary bridging arrangement of the jacking device 2200B, including the auxiliary jacking device 2200C, the intermediate beam 2300, and the two second exemplary interface elements 100B, provides an example of how a jacking arrangement can be configured to move the interface elements of a processing assembly not only along a vertical axis but also around multiple horizontal translation axes.

[0322] The two auxiliary jacking devices 2200C can actually operate in substantially the same manner as previously described for the free pivoting, contact, engagement, and substantially eliminating forces of the part being processed, except that instead of the section of the structure, the actions are performed to manipulate the intermediate beam 2300. Similarly, as with Figure 11AThe parallelism of the operation of the lifting device for -C (with the second, non - clamping interface element 100C) will be apparent.

[0323] In the former case, the force applied to the intermediate beam 2300 from the processing of the section using the second exemplary interface element 100B is transmitted to the interface elements of two auxiliary moving mechanisms 2200C, which themselves pivot freely at the floating points on the previously described main carriage. During the processing / lifting operation of this moving arrangement 2100 relative to the section of the structure, the forces, moments, deflections, and / or deformations of this intermediate beam 2300 can be transmitted along the said connection chain to these interface elements of the two auxiliary lifting devices 2200C, on their respective support frames, reinforcement frames, sliding frames and ultimately transmitted to the base / ground on which the device 2000 is placed.

[0324] Alternatively, if desired and when needed, an arrangement can be provided to counteract or inhibit such force transmission. For example, the carriage of the second exemplary interface element 100B on which the intermediate beam 2300 is supported can be mounted relative to the intermediate beam 2300 in a manner that dampens or counteracts the transmission of force to the interface elements of the two auxiliary lifting devices 2200C.

[0325] From the foregoing discussion, it is clear that the interface elements can provide modular and adaptable means for processing sections of a structure, since they can be arranged in a plurality of "layers" or hierarchies connected to the characteristics of the lifting arrangement in order to provide varying spacing, actuation, translation, and movement options according to a particular application. Additionally, through the modular design generally provided by a plurality of interface elements and corresponding plurality of lifting devices, the system 2000 can be easily assembled and disassembled at the erection site, at or around the desired footprint where the structure is to be placed, as needed.

[0326] In the tower erection application of the exemplary device 2000 described so far, it may be desirable to move multiple sections of the structure into the conceptual erection footprint of the device 2000, for example, into the conceptual circular locus defined by the interface elements of the processing assembly 1000, such that these sections can be combined along a vertical axis. By raising the intermediate beam 2300 to the raised position, the bridging arrangement of the lifting device provides a clearance zone 2100C through which the next section of the structure to be processed can be moved into a position below the intermediate beam 2300 and thus within the conceptual erection footprint of the device 2000. This will be discussed in more detail below with reference to Figure 12I The length of the intermediate beam 2300 can be increased and thus the distance between the auxiliary lifting devices 2200C can be increased to create a wider clearance zone for larger sections of the structure to move through.

[0327] As described above, the lifting arrangement 2100 is configured to vertically move the interface elements 100A of the processing assembly 1000 so as to move a section of the structure along the vertical axis 2000Y, thereby ultimately achieving the sequential lifting of sections with consecutive concept numbers in a plurality of sections in order to erect an elongate structure from the ground upwards. An exemplary method of such repetitive and sequential "bottom-up" erection will now be described with reference to Figures 12A to 12H and generally may include positioning a first (uppermost) section 91 of a plurality of sections substantially in alignment with the vertical axis 2000Y, i.e., within the erection footprint FP of the apparatus 2000, as Figure 12A shown. The footprint FP may be, for example, the conceptual surface area of the circular locus 2000X of an exemplary processing assembly 1000 of an exemplary apparatus 2000 as Figure 7 illustrated.

[0328] The lifting arrangement 2100, which includes lifting devices 2200A, 2200B, is configured to move the interface elements 100A, 100B of the processing assembly 1000 in both radial and vertical directions. In Figure 12B , the lifting arrangement 2100 is actuated to move the interface elements 100A, 100B of the processing assembly 1000 towards the first section 91 (located on the erection footprint FP) and to contact, engage, and couple to the first section 91, as already described. In Figure 12B , the interface elements engage within the section holes 91H of the first section 91 (to be further discussed below with reference to Figure 12I ), showing that the processing assembly 1000 is now connected to the section 91. For clarity, the apparatus 2000 is shown hidden in Figure 12B .

[0329] Then, by means of the lifting devices 2200A, 2200B, 2200C, the lifting arrangement 2100 can move the first section 91 upwards along the vertical axis from a non-lifted position to a first lifted position EP2. This is shown in Figure 12C . Additionally, when the first section 91 is in the first lifted position (carried by the respective interface elements 100A, 100B of the processing assembly 1000), a second section 93 of the plurality of sections can be positioned below the lifted first section 91.

[0330] Then, by means of the lifting devices 2200A, 2200B, 2200C, the lifting arrangement 2100 can lower the first section 91 from the first lifted position EP2 towards the second section 93 to contact and align with the second section 93, thereby forming a conceptual combined part 9 of the structure such that the second section 93 now defines the lowermost section of the conceptual combined part 9. This is shown in Figure 12Dshown. Alternatively, or additionally, the second section 93 may be raised towards the first section 91 (e.g., via a support platform as discussed below).

[0331] The various interface elements 100A, 100B of the processing assembly 1000 may then be separated (i.e., disengaged) from the first section 91 by translating radially outwardly from the first section 91 and then moved downward to contact, engage, and couple with the second section 93, i.e., lowering the sections of the conceptual combination part 9, as shown respectively in Figure 12E and 12F shown.

[0332] Thereafter, the entire combination part 9 (in this case, the first and second sections 91, 93) may be moved upward along the vertical axis to a raised position EP3, which may be at the same or a different height as the first-mentioned raised position EP2. This is shown in Figure 12G shown.

[0333] When the combination part 9 is in the raised position EP3, the next section in the sequence, i.e., Figure 12G the third section 95 shown in, may be positioned below the raised conceptual combination part 9. Then, the jacking arrangement 2100 may be actuated again to lower the combination part 9 such that its lowest section (i.e., the second section 93) contacts and aligns with the third section 95. The combination part 9 now includes the first, second, and third parts 91, 93, 95, where the third section 95 defines the lowest section of the combination part 9, as shown in Figure 12H shown.

[0334] For successive conceptual numbered sections, this process may be repeated in order to sequentially add sections to the combination part and, for each added section, iteratively elongate the combination part of the lifting structure.

[0335] Note that the term "combined" or "conceptually combined" parts may be used with respect to sections that are joined and lifted together. These parts may not be fully or completely assembled or joined, but are temporarily coupled or engaged for the purpose of the lifting and processing operations of the exemplary devices and methods described herein. Full joining of adjacent sections may be achieved later by internal or external post-tensioning, structural reinforcements, connecting elements, etc., which will be apparent to those skilled in the art. After the system or method described herein has completed its erection structure operation, other sections may also be added above, below, or generally onto the conceptually combined part. For these reasons, two or more sections lifted together by the devices and methods described herein may only present a temporarily "conceptual" combined part of the structure, where the complete or final erection (with or without the finishing operations described above) presents the "finished" structure. Additionally, when used herein with reference to one or more sections lifted upward by the exemplary systems and methods, the "elevation position" or "elevated position" may be understood to be a variable position defined by the desired height from the base to which the section will be lifted. The desired height may be somewhere between the minimum and maximum vertical movement ranges of the lifting arrangement 2100 parallel to the vertical axis 2000Y, or the maximum vertical movement range of the lifting arrangement 2100 parallel to the vertical axis 2000Y. The elevation or elevated position to which a given section is lifted or moved may be the same as or different from the elevation or elevated position of a previous or consecutive section. When multiple sections are iteratively added to the conceptually combined part of an already elevated structure, the sections may vary in height. Thus, the height of a given section to be moved upward, the height of a previous or consecutive section to be moved upward, and / or the maximum vertical movement range of the lifting arrangement may define the magnitude of the elevation position to which a given section will be moved.

[0336] Through the processing assembly 1000 and the lifting arrangement 2100, the system 2000 provides an efficient and iterative process for ground erection of an elongating structure from its multiple pre-assembled sections by adding consecutive conceptually numbered sections to an iteratively growing (elongating) combined part. Once the desired number of sections have been added to the conceptually combined part, the "final" combined part may be lowered to the base by the lifting arrangement 2100 before finally decoupling the interface elements 110A, 110B of the processing assembly 1000.

[0337] Between Figure 12B And 12C And equivalently, between Figure 12F And 12GIt may be necessary to position the second section 93 within the erection footprint FP below the raised first section 91. For a jacking arrangement substantially around the erection footprint FP, for example Figure 7 As shown, one or more of the jacking devices may have to be temporarily moved or removed to allow additional clearance for personnel or machinery to operate on the erection site. Alternatively, as described above, the present invention achieves this by allowing the second section to pass through the clearance area below the bridging jacking arrangement. Figure 12I An example of this process for handling system 2000 is shown with segment 92 in raised position EP1. For clarity, segment 92 is shown as a single circular tower segment, but may actually represent the lowest segment of a conceptual composite portion having various tower segments already stacked thereon.

[0338] The middle beam 2300 of the bridging jacking arrangement 2200B and all interface elements 100A, 100B supported thereon are raised to define a clearance zone 2100C below the middle beam 2300 and between the auxiliary jacking device 2200C. The next conceptual numbered segment 94 is shown positioned adjacent the system 2000 so as to be moved below the raised segment 92 so as to be added to the raised segment 92. As indicated by arrow A10, the segment 94 is guided through the clearance zone 2100C below the middle beam 2300 to the erection footprint of the apparatus 2000. The raised segment 92 can now be lowered atop the segment 94 so as to contact and align it.

[0339] Figure 12I An example of the type of segments that can be handled and assembled by the system is also shown in more detail. In this example, the segments are concrete rings (i.e., circular segments of a hollow cylinder) having a plurality of pocket holes 92H distributed around their lower surface. The holes 92H are configured to accommodate the foot members of the interface elements, and the number of interface elements in the assembly can correspond to the number of segment holes 92H. The hole 92H is an exemplary device that can be preformed, precast, or preassembled as part of a structural segment to engage with the foot member (base 122) of the lower engagement portion 120 of the aforementioned exemplary interface element 100.

[0340] In some examples, the segments of the elongated structure may be precast concrete segments that are precast to match each other to provide upper and lower surfaces that are closely or precisely aligned with the segments placed directly above and below. Alternatively, the segments may be preassembled or preformed metal segments. In either case, correct and proper alignment of the two segments 92, 94 is preferred before raising the two segments 92, 94 and adding the next segment.

[0341] Although the described examples of handling components and lifting arrangements can be used for minor horizontal adjustment of the elevated section 92 (and / or the concept combination section) to align with the lower section when the elevated section 92 (and / or the concept combination section) contacts the lower section, due to load considerations, some applications may benefit from restricting or completely preventing horizontal movement of the elevated section 92 (and / or the concept combination section) during this stacking operation.

[0342] Accordingly, the lower part is preferably displaceable or horizontally movable in some way such that the alignment features of the two sections can assist in moving and guiding the lower section 94 into alignment with the upper section 92 when the two parts are brought together (by lowering the upper section 92 or raising the lower section 94, or both).

[0343] Figure 13 An exemplary system 2001 on a base 4000 is shown, which includes an exemplary alignment platform 3000 (also referred to as a displacement platform) for supporting the lower section of a tower, where the alignment platform 3000 is movable in a horizontal plane such that the lower section can be aligned with one or more upper sections. For clarity, a portion of the exemplary system 2001 is omitted (i.e., multiple interface elements and lifting devices are hidden from view). Preferably, the lifting arrangement is substantially the same as Figure 7 or in 11A.

[0344] The alignment platform 3000 is provided for aligning two sections of a structure being erected, where a first lower section 94 of the two sections is supported by the alignment platform 3000 to contact a second upper section of the two sections (not shown, but which can be considered, for example, as Figure 12I the elevated section 92) of, for example, by lowering the upper section onto the lower section 94.

[0345] The alignment platform 3000 is shown in Figure 13 as including a pair of elongate support arms 3100, which are arranged to travel horizontally along a guide rail or track for delivering the lower section 94 to the lifting arrangement (i.e., the footprint). The track can be a groove 4002 in the base 4000 that houses the support arms, or a track located on top of the base 4000 that allows the support arms to travel in one dimension.

[0346] Figure 14 An example alignment platform 3000 is shown in isolation. Generally, the alignment platform includes at least one support arm 3100, but preferably two support arms as shown. Each support arm 3100 is an elongate beam-like structure that is connected to a plurality of carriages 3110 (referred to as arm carriages) disposed along the length of the arm. In Figure 14In this case, each arm 3100 includes four carriages, one disposed at each end and two disposed therebetween. Generally, the support arm 3100 includes at least one carriage 3110 (e.g., a number selected according to the load and the length of the arm). The support arm 3100 may have a flat upper surface for mounting (directly or indirectly) the lower surface of the section to be processed.

[0347] If desired, the alignment platform 3000 may further include a transverse member 3112 (e.g., planar circular or beam-like) spanning between the support arms 3100 to distribute the load. The alignment platform 3000 may include a multi-part transverse member beam 3112 that has engagement features 3113 at each end for engaging cooperative features attached to (or formed on) a section.

[0348] The support arm 3100 is movably coupled to the carriage in a manner that enables the support arm to move relative to the carriage in a horizontal plane. This movement is preferably "responsive" in the sense that the arm 3100 is configured to move under the influence of an external force without actuation. Preferably, the support arm has at least two degrees of freedom, including translational and / or rotational degrees of freedom. The support arm is capable of freely moving in a horizontal plane.

[0349] In Figure 15A -D, an example of the coupling mechanism between the carriage and the support arm that allows the relative movement described above is shown in the form of displacement struts 3200 disposed within each carriage 3110. Figure 15A -D shows a cross-sectional view through the carriage 3110 at one end of the support arm 3100. In Figure 15E -F, the displacement strut 3200 is shown separately.

[0350] At least a portion of the displacement strut 3200 is configured to freely displace along at least one substantially horizontal translation axis to allow free displacement of the at least one support arm 3100 and thus the lower section 94 relative to the base 4000. The free displacement of the at least one support arm 3100 and thus the lower section 94 relative to the base 4000 enables the alignment features of the two sections 92, 94 (once interfaced) to notify the displacement of the lowermost section 94 along the at least one substantially horizontal translation axis in order to move and guide the lower section 94 into alignment with the upper section.

[0351] An exemplary displacement strut 3210 has an upper end 3212 and a lower end 3214. The upper and lower ends 3212, 3214 may each include respective spherical ball joint interfaces 3210A, 3210B, which are convex outwardly projecting surfaces of the displacement strut at the two ends 3212, 3214 for engagement into concave rolling surfaces 3210D, 3210E. In Figure 15FIn the cross-sectional portion, the contact point 3210C between these surfaces can be seen when the support pillar is in the displaced position. As Figure 15E shown in -F, when the displaced support pillar is substantially vertical, the length A of the displaced support pillar is the shortest (a longer length A' in Figure 15F ). Thus, the displaced support pillar can be biased towards the vertical position, which can provide a self-centering function. This is an example for achieving the desired function, and other suitable devices will be obvious to those skilled in the art.

[0352] The upper end 3212 of the displaced support pillar 3200 can be configured to allow the support arm 3100 to translate (in the horizontal plane) and angularly (rotate) displace with multiple degrees of freedom. Similarly, the lower end 3214 can be configured to allow the support pillar 3210 itself to translate (in the horizontal plane) and angularly (rotate) displace with multiple degrees of freedom. The angular degrees of freedom allow the supported section to rotate within the plane, while the translational degrees of freedom allow the supported section to move within the plane.

[0353] In this exemplary configuration, the displaced support pillar 3210 can freely displace along a plurality of substantially horizontal translation axes to allow the at least one support arm to freely displace relative to the base, and thus allow the lower section to freely displace relative to the base. The extent to which the support arm 3100 can freely displace around the upper end 3212 of the displaced support pillar 3200 can depend on the configuration of the corresponding spherical ball joint interface 3210A. Similarly, the extent to which the support pillar 3210 can freely move around its lower end 3214 can depend on the configuration of the corresponding spherical ball joint interface 3210B. For example, the radius of curvature of the convex surface relative to the concave surface of each spherical ball joint interface, and vice versa, can define or inform the range of movement provided by the given spherical ball joint interfaces 3210A, 3210B.

[0354] Other mechanisms or joint connections can be employed instead of the exemplary spherical ball joint interfaces, such as hinge or ball joint bearing connections, knuckle pin type connections, or any other suitable engineering interface that allows a certain range of horizontal displacement of the support arm relative to the base via the displaced support pillar.

[0355] The strict limitation of the movement range of the displaced platform and its support arm relative to the stationary base can be provided by the physical structure and components around the displaced support pillar and the configuration of the support arm, support arm carriage, and / or displaced support pillar.

[0356] Returning to Figure 15A-D, the carriage shown includes a pair of roller assemblies 3120 that are longitudinally located on the sides of the displacement struts 3210 and are sandwiched between the flanges of the arm carriage 3110. These roller assemblies 3120 are provided purely as an exemplary means by which the support arm 3100 can be horizontally translated along a guide rail or track (e.g., the slot 4002 of the base 4000), and other suitable means will be apparent to those skilled in the art. The roller assemblies of the carriage can be driven (e.g., by an electric motor) to move the support arm 3100 and / or the support arm. Alternatively, the roller assemblies 3120 can simply provide a "passive" rolling surface, and the movement of the support arm can be driven externally. In a preferred example, the system includes a winch system (not shown) connected to the alignment platform for pulling the alignment platform to the appropriate position.

[0357] The guide rail or track (e.g., the slot 4002) and the roller assemblies 3120 are provided as a convenient means for delivering the next section into the conceptual erection footprint FP for processing / lifting by the system 2000 (preferably through the gap zone 2100C of the bridging arrangement). This does not require connection to the displacement platform 3000 as described. Alternatively, these sections can be provided by another separate mechanism, such as a conveyor track, or other mobile platform, where the displacement platform is already provided at a fixed position within the erection footprint FP of the system 2000. However, in a preferred example, the displacement platform 3000 can be used for the dual purpose of aligning the lower section 94 with the upper section 92 and for delivering the lower section 94 to a position within the erection footprint FP.

[0358] Preferably, the alignment platform 3000 is also configured to raise and lower the support section, e.g., by raising and lowering the support arm at these carriages via one or more lifting mechanisms. Figure 15B and 15D The raised position is shown, where an exemplary lifting mechanism is in the form of a hydraulic cylinder 3216 located inside the carriage (accommodated within the carriage) (shown in Figure 15B and 15D shown in the extended position). In other examples, these displacement struts 3210 can be configured to perform this vertical movement, e.g., via a hydraulic cylinder inside (accommodated within) these displacement struts 3210. As shown, the hydraulic cylinder vertically moves the support arm 3100. As Figure 15C and 15DAs shown, the hydraulic cylinders are shown on either side of the displacement strut and can be coupled to the displacement strut via V-shaped support plates 3218 (either side). In some examples, raising of these support arms causes the support arms to project from the slots 4002, while lowering of the support arms causes the support arms to recess into the slots 4002, such that the alignment platform can be used to transfer the load of the supported section to and from the base. Preferably, each arm includes at least two carriages, each carriage having a lifting mechanism (e.g., a pair of hydraulic cylinders coupled to the displacement strut via support members), such that the supported section can be raised horizontally (i.e., by actuating the lifting mechanisms uniformly) or tilted (i.e., by actuating the lifting mechanisms differently). The ability to tilt the alignment platform and thus the section supported thereon provides another degree of freedom that can be used to align the supported (lower) section with the section above. This aspect of alignment will be discussed below with reference to FIGS. 16 and 17.

[0359] The lifting mechanism can include a valve and pump arrangement that can pressurize the hydraulic arrangement of the displacement platform 3000 to lift it and release to drain the hydraulic pressure to lower the displacement platform 3000. Lowering of the displacement platform 3000 can be actuated manually via actuation of the valve, or can simply be an automatic / passive action that occurs once sufficient weight or load is applied on the displacement platform 3000, i.e., as / when the upper section 92 and the aligned lower section 94 lower together.

[0360] In Figures 16A to 16F an exemplary method of the two sections of the alignment structure is shown and will now be described with respect to Figure 13 the exemplary alignment platform 3000 of FIGS. 10 to 15. This example uses slots 4002, but the same principles can be applied to other configurations.

[0361] In Figure 16A a cross-sectional schematic view of the base 4000, its slots 4002, the support arms 3100, and the alignment platform 3000 is shown. Also shown is a first lower section 94 above the alignment platform 3000, which in this example recesses into the slot 4002 such that the load is partially or fully carried by the base 4000.

[0362] The second (upper) section 92 is typically placed at the erection site and may already be connected to the nacelle 1, rotor hub 2, and transition section 3 of the wind turbine installation (so section 92 is already an integrated part of the structure conceptually). For the sake of consistency, it is referred to as the upper section, but it can also be raised to an upper position in the Figure 16A steps.

[0363] The method generally may include placing a first lower section 94 on an alignment platform 3000 such that the section 94 is (partially or fully) supported on the platform 3000 (e.g., on support arms and / or crossbar members), or on a pedestal above the platform 3000.

[0364] The displacement platform 3000, particularly the support arm 3100, may be raised to project from the slot 4002, e.g., using the hydraulic cylinder described above, to fully transfer the load of the section 94 onto the platform 3000. This is shown Figure 16B in Figure 16B Also shown is an exemplary device 2001 that has been arranged around the second upper section 92.

[0365] In Figure 16C the second upper section 92 is raised as previously described.

[0366] Then, the lower section 94 is transported to a position below the second section 92, i.e., moved into the conceptual erection footprint FP via horizontal travel along the slot 4002 of the alignment platform 3000 (e.g., pulled on the roller assembly 3120 of the carriage using a winch), as previously discussed.

[0367] Once the lower section 94 is generally aligned with the upper section 92 and while still supported on the alignment platform 3000, the method may proceed to Figure 16D , where the second upper section 92 is lowered onto the first lower section 94 such that the alignment features at its lower end become close to the corresponding alignment features at the upper end of the first lower section 94. In other examples, the lower section 94 is raised using the lifting mechanism of the alignment platform, or alternatively, the two sections are moved towards each other.

[0368] In the illustrated example, the alignment features are represented by male conical pins (e.g., cones) 92Z that project downward from the lower end or surface of the second upper section 92 and corresponding female conical (e.g., conical-shaped) holes 94Z in the upper end or surface of the first lower section 94. These alignment features 92Z, 94Z are merely illustrative examples. Alignment features can take various forms, such as male-to-female mating pin-hole interfaces, inner or outer walls, and other forms that will be apparent to those skilled in the art. Preferably, these features are conical or otherwise configured such that when the sections are brought closer together, the alignment features naturally self-align and engage with each other to bring the sections into precise alignment. The alignment platform is adjusted by moving and / or rotating according to various degrees of freedom in response to the guided engagement of the alignment features already described, thereby aligning the position and rotation of the lower section with the upper section. In other words, due to the ability of the alignment platform to move freely in the horizontal plane (or along at least one horizontal translation axis), the alignment features notify and affect the horizontal displacement and / or rotation (about the vertical axis) of the first lower section 94.

[0369] When the alignment features are fully engaged, the two sections can also be fully engaged and aligned, thereby forming and / or adding to the conceptual combined portion of the structure as previously described. This is shown in Figure 16E which is illustrated.

[0370] The interface element of the processing component of the example device 2001 can still be coupled (e.g., engaged) with the upper section and thereby support at least some of the weight of the upper section 92 during the alignment process, as shown by the interface element 100 in Figure 16E which is illustrated.

[0371] The exemplary processing components and lifting arrangements described herein can generally be configured to support the load of a given section of the structure and a given conceptual combined portion such that the iteratively growing combined portion can be continuously lifted. In contrast, the displacement platform 3000 may only need to support the weight of one section.

[0372] Once the two sections are substantially fully aligned, the displacement platform 3000 can be actuated to vertically descend in unison with the corresponding vertical descent of the lifting arrangement of the example device 2001 such that both the upper section 92 and the aligned lower section 94 descend onto the base 4000. This is shown in Figure 16F which is illustrated.

[0373] Once both the upper section 92 and the lower section 94 are on the base (i.e., once the device 2000 no longer supports the weight / load of the section 92), the load of the upper section 92 resting on top of the lower section 94 can join the two sections flush / continuously together at least at their respective ends.

[0374] After the alignment method, the erection method described above with respect to the exemplary device 2000 can continue, whereby the lifting arrangement 2100 is actuated to move the interface element radially outward from the upper section 92 and then downward to engage and lift the now-aligned lower section 94, such that the conceptual combined portion of the structure now includes the lower section 94.

[0375] Then the next successive concept-numbered section to be added can be loaded onto the displacement platform 3000 (which has been translated back along the slot 4002 to a position outside the device 2001), and the above process is repeated to align the next successive concept-numbered section with the conceptual combined portion of the structure (which now includes the lower section 94).

[0376] Figure 17A -F shows another alignment method that can be used when the lower surface of one or more sections is not horizontal with respect to the vertical axis of the structure (e.g., due to mating casting errors during the manufacture of the sections). Additional steps that are apparent from the following discussion can supplement or replace Figure 16D the steps that are apparent in -F.

[0377] In Figure 17A the conceptual combined portion 92 of the tower is lifted by the interface element of the lifting arrangement (any of those previously described), and subsequently the (lower) section 94 is positioned below to prepare for combination. Although not shown, the lower section 94 is positioned on the aforementioned alignment platform. As shown, the lower surface of the lower section of the combined portion 92 is not horizontal with respect to the base (and with respect to the vertical axis of the structure). Additionally or alternatively, the top surface of the lower section 94 may not be horizontal.

[0378] In Figure 17B the two parts (i.e., the conceptual combined portion 92 and the lower section 94) can be oriented towards each other as described in Figure 16D -E. However, in this example, the lower part is tilted such that the adjacent surfaces of the two mating parts are parallel. In particular, the alignment platform is lifted asymmetrically (e.g., by independent hydraulic cylinders within the carriage) such that the lower section 94 is deflected in unison with the lower surface of the combined portion 92. In the example shown, the right side of the lower section is lifted to a higher height than the left side by a corresponding lifting mechanism within the alignment platform. The sections can be guided to be generally aligned and engaged as previously described.

[0379] In Figure 17C-D, sections 92 and 94 are lowered together until at least a part of the tower (the left side in the illustrated example) contacts the base 4000. The load can be transferred to the base through the lifting arrangement and / or the controlled adjustment of the alignment platform to prevent damage to the structure. The hydraulic jacks in the alignment platform can be compressed under the load of the tower, and the resulting pressure can be released through the hydraulic relief valve, allowing the structure to rest on the base. As Figure 17D shown, the structure can remain in an inclined position where the vertical axis of the structure is not in line with the true centerline (which is the required vertical axis of the entire elongated structure).

[0380] In Figure 17E , the interface elements of the lifting arrangement are repositioned to engage with the new (lower) section and are used to lift the combined structure in such a way that the structure turns back into alignment with the "true" centerline. The lifting arrangement can be controlled by a program executed by the central controller for adjusting the angle of the tower.

[0381] In Figure 17F , the interface elements are lifted (by the lifting arrangement) to lift the newly joined part, thereby adding another section. During this operation, the lifting arrangement can be synchronously controlled.

[0382] It should be understood that aspects of the exemplary method described with respect to Figures 12A to 12H can also be applied to the exemplary method described with respect to Figures 16A to 16F , or overlap with the exemplary method described with respect to Figures 16A to 16F , where the alignment process of the exemplary method described with respect to Figures 16A to 16F is an optional subset of the broader erection method described with respect to Figures 12A to 12H , or is separate therefrom. Similarly, Figure 17A -F's alignment process can be an optional subset of the broader alignment method and / or erection method described with respect to Figure 16A -F and Figure 12A -H, or is separate therefrom.

[0383] It should also be understood that the alignment method and the exemplary displacement platform 3000 described with respect to Figure 13 to 15 are generally applicable to cases where a method is desired or required to align two sections of a structure being erected, where the second upper section of the two sections is to be lowered onto the lower section to contact and align with the lower section. The alignment platform and / or the alignment method can also be used off-site to align the parts together for later transportation to the erection site.

[0384] As described above, the above methods and systems are preferably used for erecting a wind turbine tower, which can be assembled from a large number of sections, such as Figure 12IThe concrete ring shown in []. Although the drawings have thus far shown a combination of one or two sections for ease of illustration, it has been noted that the upper section at any given stage can itself be a combination of previously assembled sections.

[0385] With this in mind, Figure 18 shows a later stage in the assembly of a wind tower using the exemplary system 2001 on a base 4000. The system 2001 can perform Figure 12A multiple iterations of the erection method in -H (preferably including Figure 16A -F and / or Figure 17A the alignment method of -F). Here, the system 2001 will lift the conceptual combined part 9 of the wind tower that includes a stacked assembly of sections. The next section to be added - section 94 - awaits Figure 12I near the system 2001 similar to section 94 in []. Figure 18 Visually shows the form factor and lifting capacity of a given exemplary system using these processing systems relative to the structure being erected.

[0386] In Figure 18 the first (uppermost) section of the plurality of sections to be erected iteratively includes the nacelle 1 and the rotor hub 2 of the wind turbine, as shown. The nacelle may already be coupled and connected to the uppermost tower section of the wind turbine tower, for example via a transition section 3.

[0387] Subsequent consecutive concept-numbered sections can be similar annular sections of the wind tower. Generally, the sections can be circular or polygonal steel or concrete rings that are precast, preformed, or preassembled individually and transported to the erection site as a plurality of sections, where each consecutive concept-numbered section is connected to its preceding part at the lower end of the conceptual combined part. With each addition, the uppermost section of the wind turbine facility (in this case, the combination of the nacelle, rotor hub, and uppermost tower section) is iteratively raised.

[0388] In other applications, multiple parts of the structure can be erected iteratively by the system and then transported externally or combined together using the above-described equipment and methods.

[0389] In Figure 18In [the example], the cross-section of the wind tower has a constant diameter, such that the wind tower is non-tapered (i.e., constant cross-section). However, in other examples, each successive concept-numbered tower section can (e.g., in the case of a tower that tapers upward in a wind turbine facility) include a greater diameter than the previous concept-numbered tower section. In this way, the interface elements of the processing components of a given system can benefit from radial inward and / or outward adjustment, e.g., via the horizontal sliding slots 2302 of the sliding frames 2260A, 2260C and the exemplary lifting arrangement 2100 of the exemplary system 2000, as already discussed. Additionally, the bridging lifting arrangement 2200B of the exemplary system 2000 can also be configured to provide a clearance zone 2100C of appropriate size, below which successive concept-numbered tower sections can move to enter the conceptual erection footprint of the device 2000. Thus, this can enable tower sections of greater diameter to enter the conceptual erection footprint of the device 2000 and then be processed, lifted, and assembled by the device 2000.

[0390] Generally, the sections of the structures mentioned herein can relate to sections of a relatively large number of structures (i.e., civil engineering structures or facilities) (having different forms, configurations, and shapes), although the examples can more specifically relate to sections for wind turbine facilities, etc., such as rings, columns, or towers. Such sections can be precast concrete blocks (rings), metals, or other assembled blocks of towers to be erected or assembled iteratively together. These sections can be connected to or include the nacelle of the tower, or other components thereof, such as the internal components of the nacelle (gearbox, motor, slewing ring, etc.), parts of the base, etc., or in cases where any large, complex, heavy, and / or bulky section of a wind turbine facility is desired to be processed or moved.

[0391] These examples and their given application in wind turbine facilities are provided to illustrate the economies of scale, form factors, efficiencies, and other advantages as described herein that are produced by the features of the present invention when applied to that application. However, it can be understood that the present invention can be applied to many applications in which any large, complex, heavy, and / or bulky section of a relatively large number of structures will be processed, particularly moved, to facilitate the erection, assembly, and / or construction of at least a portion of said structures.

[0392] Other exemplary structures can include towers of general buildings, support columns for components of commercial buildings, or for bridges, piers, offshore facilities, etc. In fact, those skilled in the art can envision several other applications that can benefit from the use of the present invention for ease of handling, i.e., the movement of sections of the structure for its erection, assembly, and / or construction. Additionally, those skilled in the art can envision several applications that can benefit from the use of the present invention for ease of handling, such as the movement of sections within themselves and of themselves (not necessarily as part of the erection, assembly, and / or construction process of an associated structure), e.g., the handling, i.e., movement, of sections for purposes such as transportation, storage, unloading, etc., from one destination to another. For example, the handling system can be applied to fixed applications, i.e., moving or handling sections of a structure about a translation or rotation axis, or can be applied to mobile applications, i.e., large vehicles or other movable platforms (transporters of the assembly area), to move or handle sections of a structure about one or more translation or rotation axes corresponding to the translation or rotation axes of the platform or vehicle.

[0393] Exemplary ranges for the dimensions and tonnages of sections of a circular tower for a wind turbine installation will now be given to demonstrate the ability to handle the components and equipment described herein, where the tower can comprise or be erected from a plurality of precast concrete circular tower sections. These ranges are provided to exemplify the capabilities of the present invention but are not intended to limit those capabilities.

[0394] The height of a given section among the plurality of sections can be from about 1 m to about 2 m, preferably 2.4 m.

[0395] A given section among the plurality of sections can have a diameter of about 4.5 m, 4.58 m, 4.68 m, 4.78 m, 4.89 m, 4.92 m, 5.10 m, 5.2 m, 5.3 m, 5.41 m, 5.51 m, 5.61 m, 5.72 m, 5.82 m, 5.93 m, 6.03 m, 6.13 m, 6.24 m, 6.34 m, 6.44 m, 6.55 m, 6.65 m, 6.76 m, 6.86 m, 6.92 m, 7.07 m, 7.17 m, 7.28 m, 7.38 m, 7.48 m, 7.59 m, 7.69 m, 7.79 m, 7.89 m, and / or 8 m.

[0396] The above-mentioned sections can have a mass of about 1,000 kgs, 1,100 kgs, 1,200 kgs, 1,300 kgs, 1,500 kgs, or any value between about 1,000 kgs and 2,000 kgs.

[0397] A given tower of a wind turbine installation to be erected can comprise a plurality of sections.

[0398] The tower may define an elongate structure to be erected by the systems and / or methods described herein and include a plurality of segments to be processed or moved by the processing components and / or systems described herein.

[0399] The elongate structure or tower may include an upper non-tapered portion of 32 segments and a lower tapered portion of 36 segments for a total of 68 segments of the plurality of segments.

[0400] The 32 segments of the upper non-tapered portion of the elongate structure or tower may have a height of about 2.4 m, a diameter of about 4.5 m, and a mass of about 1,000 kgs to 1,500 kgs each.

[0401] The 36 segments of the lower tapered portion of the elongate structure or tower may each have a height of about 2.4 m and have a diameter in the range of about 4.5 m to about 8 m, varying by an increment of about 0.10 m between each other (i.e., diameters of about 4.58 m, 4.68 m, 4.78 m, 4.89 m, 4.92 m, 5.10 m, 5.2 m, 5.3 m, 5.41 m, 5.51 m, 5.61 m, 5.72 m, 5.82 m, 5.93 m, 6.03 m, 6.13 m, 6.24 m, 6.34 m, 6.44 m, 6.55 m, 6.65 m, 6.76 m, 6.86 m, 6.92 m, 7.07 m, 7.17 m, 7.28 m, 7.38 m, 7.48 m, 7.59 m, 7.69 m, 7.79 m, 7.89 m, or 8 m).

[0402] The total height of the elongate structure or tower above its base may be about 160 m.

[0403] The height from the base to the top of the upper non-tapered portion of the elongate structure or tower may be about 60 m, constituting the uppermost 60 m of the total height of the elongate structure or tower.

[0404] The diameter of the upper non-tapered portion of the elongate structure or tower may be a constant 4.5 m.

[0405] The height above the base of the lower tapered portion of the elongate structure or tower may be about 100 m, constituting the lower 100 m of the total height of the elongate structure or tower.

[0406] The diameter of the lower tapered portion of the elongate structure or tower may be in the range from about 4.5 m at its height to about 8 m at its base.

[0407] The nacelle of the wind turbine installation may have a mass of about 1,000 kg and may be lifted by the equipment and / or methods described herein as part of a conceptual combination of the structure.

[0408] The total mass of the wind turbine installation (including nacelle, rotor hub and tower structure) can be about 3,917,614 kgs, or about 3,000,000 kgs to 4,000,000 kgs.

[0409] Thus, the total basic, static and / or dynamic lifting capacity of an exemplary system for erecting the wind turbine installation can be about 4,920,000 kgs, or about 3,000,000 kgs to about 5,000,000 kgs.

[0410] The exemplary device 2000 described herein is shown as having eight interface elements 100A, 100B driven by two lifting mechanisms 2290 and a lifting drive unit 2280, wherein the total basic, static and / or dynamic lifting capacity of the exemplary device (i.e., its mobile arrangement 2100) can be about 4,920,000 kgs.

[0411] The lifting drive unit 2280 DC or AC motor 2282 can include a 15KW DC motor that is coupled to a suitable gearbox arrangement that reduces the motor speed from about 1,450 revolutions per minute to an output speed of about 16 revolutions per minute.

[0412] The interface elements 100A, 100B, the height of their coupling members and / or the distance between the upper and lower engagement portions can be about 1.8 m, or between about 1 m and 2 m or 3 m.

[0413] The width of the interface elements 100A, 100B and / or their coupling members can be about 0.55 m, or between about 0.5 m and about 1 m.

[0414] The conceptual diameter of the circular trajectory of the processing assembly and / or the conceptual erection footprint of the exemplary system can be about 2 m to about 8 m or 10 m.

[0415] The processing assembly can be configured such that the conceptual diameter of its circular trajectory can be adjusted to about 2 m to about 10 m.

[0416] The system and / or its jacking arrangement can be configured such that the conceptual diameter of its conceptual erection footprint can be adjusted to about 2 m to about 10 m.

[0417] The exemplary system and its jacking arrangement can be configured to withstand a wind load of about 550 kN acting on the upright raised portion of the structure.

[0418] The wind load can be caused, for example, by wind up to 30 m / s acting on an elongate structural portion, for example 160 m high, which is held or raised upwards by the system and its jacking arrangement.

[0419] Thus, for each interface element, each pair of lifting drive units and lifting mechanisms can provide a total basic, static, and / or dynamic lifting capacity of approximately 307,000 kgs.

[0420] The screw 2292 interfaces with the main carriage 2994 and may include, for example, an SKF planetary roller screw HRP / HRC / HRF180.

[0421] The dynamic rated load (L10 life as understood by those skilled in the art) of the exemplary jacking arrangement of the exemplary system for erecting the exemplary wind turbine facility may be such that, under a pure axial load acting centrally and constantly, 90% of a large enough sample of such screws 2292 and one or more main carriage 2994 interfaces (e.g., each being a roller screw) can be expected to reach or exceed 1,000,000 revolutions without fatigue or spalling.

[0422] The mass of the intermediate beam 2300 of the exemplary device 2000 can be approximately 13,921 kgs, or approximately 10,000 kgs to approximately 15,000 kgs.

[0423] The total height of the exemplary system 2000 can be approximately 6.5 m, or approximately 4 m to 8 m, depending on the application (i.e., the height of the section to be processed and lifted).

[0424] The elevation cycle time of the exemplary system 2000 can be approximately 3 sections per hour, i.e., 3 sections per hour can be elevated to be added to the concept combination section.

[0425] With the exemplary system 2000, for an elongate structure 180 m to 200 m high, the average erection time can be approximately 24 hours.

[0426] The lifting or elevation stroke of the exemplary system 2000 can be approximately 3 m.

[0427] The lifting or elevation speed of the exemplary system 2000 can be approximately 10 mm / s.

[0428] Thus, those skilled in the art of assembling, constructing, and otherwise erecting large structures can understand that the load-bearing capacity of the exemplary system described herein is provided in part by the configuration of its jacking arrangement and due to the configuration of its handling components, interface elements, and the unity of all the devices, jacking arrangements, interface elements, and handling components described herein, for the iterative and sequential erection of the structure.

[0429] Thus, in other applications, any large, complex, heavy, and / or cumbersome section of a structure has a significant size, i.e., a mass of at least approximately 500 kgs to 1,000 kgs and a volume dimension of at least approximately 6m 3 to 9m 3 and will be handled, in particular moved, to facilitate the erection, assembly, and / or construction of at least a portion of the structure, where at least a portion of the structure has a total weight of millions of kilograms and a height of at least 50m to 100m or more than 200m.

[0430] As previously mentioned, known systems and methods for handling large, complex, heavy, and / or cumbersome large structural sections (i.e., civil engineering structures or facilities such as external cranes or self-erecting crane systems) may have associated structural limitations, significant labor and cost conditions, and efficiency issues when these systems are used for erecting such large structures. Known systems that employ a bottom-up lifting method may require substantial support trusses, large and powerful actuators, lifting devices, etc. In fact, lifting the required tonnage associated with a large structure may generate very large bending moments and forces acting on the interface elements and the installation / support points. Therefore, it may be necessary to employ a truss support structure to support and counteract the potentially significant bending moments.

[0431] These truss support structures are inevitably large, cumbersome, heavy, and complex to assemble at the construction site, and thus, despite initially using a bottom-up lifting method to reduce the downtime and inefficiency of previous crane systems, these truss support structures may still result in significant downtime and reduced efficiency. To reduce the number of sections to be handled for a tower of a given height and thus at least partially address the inefficiency, a bottom-up lifting system can be designed to handle large 20 - 30m structures of a large 10 - 20m high structure of the tower being erected. When erecting towers of different sizes (i.e., sections with different heights, diameters, or overall dimensions), these systems may face challenges, and especially for tapered towers, where the entire system must be readjusted radially outward from the erection site as the size of the section increases.

[0432] The processing assembly of the present invention provides a plurality of spaced-apart interface elements in the form of vertically elongated members, preferably short in height, and hinged to each other about a common floating point. With this arrangement, the interface elements can be coupled to the section in a manner that can eliminate the forces spanning the section. This configuration significantly reduces the form factor required to lift a section, since all contact points to the section (the upper and lower engagement portions of each interface element) are hinged and are thus supported about mutual floating points or pivot axes as described previously. Thus, the resulting forces, loads, and bending moments can be significantly reduced due to the short distances between said contact points to the section (the upper engagement portion and the lower engagement portion of each interface element) and to the mutual floating points, and can even be significantly eliminated on the section or on the processing assembly, and more effectively transferred to the surrounding jacking arrangement and thus to the foundation of the structure.

[0433] Accordingly, when compared to known bottom-up lifting systems and methods, the processing systems and associated methods described herein can provide substantial improvements in lifting capabilities. These improvements in turn reduce the need for difficult-to-assemble, large, and cumbersome truss support structures. For example, for a processing system with interface elements having a height of 1.8 m (or between about 1 m and 3 m) and a width of 0.55 m (or between about 0.5 m and about 1 m), the overall height of the processing system can be only about 6.5 m, or about 4 m to 8 m, depending on the application (i.e., the height of the section to be processed and lifted). Assuming that a 6.5 m high processing system can handle the same (if not greater) lifting load (as well as dynamic wind loads) as a known 20 - 30 m high bottom-up lifting system, it should be understood that the present invention can provide significant advantages in terms of installation time, modularity, transportation costs and time, etc.

[0434] Furthermore, compared to the 10 - 20 m high sections of known 20 - 30 m high bottom-up lifting systems, the smaller form factor of the exemplary system such as 6.5 m high enables faster iteration and sequential erection of multiple shorter sections of the structure (such as the exemplary 2.4 m high sections described above). This can justify the corresponding manufacturing processes that match cast (or otherwise form) a larger number of smaller height sections of the elongated structure rather than a smaller number of larger height sections of the elongated structure. Compared to per-section or per-unit manufacturing of larger sections, manufacturing smaller sections can achieve significant manufacturing cost and time / efficiency benefits from an engineering and manufacturing cost perspective, such as just-in-time casting or manufacturing, due to reduced per-section or per-unit manufacturing requirements.

[0435] In addition, the cumbersome truss support structures and large, powerful actuators of known bottom-up lifting systems may have difficulty with smaller movements or precise adjustment of the sections being handled or lifted. This results in a limited ability to precisely align the sections with each other, i.e., when lowering the raised section onto the section below. Instead of attempting precise alignment, these systems can employ concrete grouting between sections or at least every second or third section to effectively couple their support surfaces and avoid at least some of the situations that require precise alignment. The curing time, labor, and cost associated with using the grouting process can even result in more downtime, inefficiency, and cost.

[0436] In contrast, the exemplary systems and methods described herein can provide means for precise radial and vertical adjustment and control, as well as precise and effective control of the lower sections in the horizontal plane. When used for erecting a wind turbine tower, for a tower 180 m to 200 m tall, the present invention can achieve a cycle time of raising or adding three sections per hour at a raising or lifting speed of approximately 10 mm / s within a total erection time of approximately 24 hours.

[0437] In addition to the advantages discussed above (and elsewhere in the specification), the handling system can also have the advantage of being set up or used in situations where other systems may prove too complex, cumbersome, or difficult to understand. For example, Figure 19A and 19B An exemplary system 2002 for erecting an offshore wind turbine facility on a floating pontoon 5000 is shown. Here, the system 2002 is surrounded or enclosed by a support truss frame 2006, which typically can have the same height as the system 2002 itself.

[0438] In the drawing, the uppermost part of the wind turbine facility (in this case, the conceptual combination part 9 having a nacelle 1, a rotor hub 2, and a transition section 3) has been supported on top of the top of the truss frame 2006. The system 2002 is coupled to the section 92 through a corresponding handling system and a jacking arrangement, and is connected to the conceptual combination part 9 during the upward lifting process in order to connect to its lowest section (i.e., the transition section 3).

[0439] As described above, the transport function of the displacement platform 3000 (e.g., provided by the roller assembly 3120 and the groove 4002) is not required in all examples. In this case, the displacement platform (if used) can simply be located on top of the upper surface 5001 of the pontoon, while the moving winch beam 2004 is located on top of the truss frame 2006. This is shown as lifting the next section 94 to be handled from a floating platform (barge, sea vessel, etc.) and then bringing it closer to the system 2002 for handling.

[0440] The processing system of this example, together with the lifting arrangement, the associated truss frame 2006 and the winch beam 2004, and the already conceptually combined part 9 with the nacelle 1, the rotor hub 2 and the transition section 3, can all be pre-arranged on shore, placed in or on a seagoing vessel, and then lifted as a combined unit onto the top of the pontoon 5000.

[0441] Alternatively, the individual interface elements and their respective lifting devices can be lifted and / or arranged separately and independently around the pontoon 5000, followed by spare hardware, the truss frame 2006, etc.

[0442] This marine application of the processing system further demonstrates the potential adaptability and modularity of the processing components, equipment, displacement platforms and methods described herein.

[0443] After assembling a structure or a part of a structure by stacking sections, the processing system 1000 can be used to lower the structure or a part of the structure below the horizontal plane of the processing system 1000. As Figures 20A to 20E shown, for marine applications, this can facilitate lowering the structure below the water level and embedding the lowermost section into the seabed, rather than constructing it on top of a pre-existing pontoon 5000 or equivalent support structure. In other applications, this can help lower the structure into a pit or onto a pedestal below the horizontal plane of the processing assembly 1000.

[0444] The initial stacking of these sections can be carried out according to Figures 12A to 12H and / or Figures 16A to 16F and / or Figures 17A to 17F one or more of the exemplary methods described therein, resulting in the conceptually combined part 9 of the structure to be lowered. After the conceptually combined part 9 has been assembled to a suitable height but before its lowering (i.e., when in the position shown in Figure 20B ), it is post-tensioned or otherwise fixed together the sections. This allows the conceptually combined part 9 to maintain its structural integrity when being lowered (as shown in Figures 20C - 20E ), since the sections of the conceptually combined part 9 below the horizontal plane of the processing assembly will hang from the remainder of the combined part 9 and be unsupported from below until the lowering operation is completed.

[0445] Preferably, the processing system 1000 assembles and lowers the concept combination section 9 at the same location. To facilitate this, the support device 6100 within the erection footprint of the processing system 1000 can assume a support state in which the weight of the structure is supported by the support device but can be reconfigured to a free passage state in which the structure can descend unimpeded through the trajectory of the processing system 1000. The support device 6100 can take any suitable form, such as a hydraulically actuated pin extending laterally through an aperture 6200, a horizontally movable surface providing a contractible and expandable aperture 6200, or some other arrangement.

[0446] In the case of lowering below the water level, the processing system 1000 is preferably disposed on top of a barge 6000 that includes an aperture 6200 associated with the support device 6100. Preferably, the aperture is located at the center of the barge 6000.

[0447] In the case where the support device 6100 is in the support state to support the lowermost section, the processing system 1000 can operate normally to erect the concept combination section 9. Once the concept combination section 9 has the appropriate height and post-tensioning is completed, the processing system 1000 can re-engage to support the structure and allow the support device 6100 to be reconfigured to the free passage state.

[0448] The lowering of the concept combination section 9 preferably occurs in a reverse phase similar to that which occurs during stacking. That is, the interface element 100 of the processing system 1000 repeatedly moves up and down to successively engage, lower, and then disengage a series of sections. However, in the case of the lowering operation, when the processing system 1000 moves to engage a higher section, the structure must be adequately supported to prevent the structure from falling through the aperture 6200.

[0449] In one embodiment, the support device 6100 moves back and forth between the support and free passage states to facilitate staged lowering. Thus, when the processing system 1000 engages and lowers a section, the support device 6100 is in the free passage state, but when the processing system 1000 disengages and raises to engage a new section, the support device 6100 moves to the support state.

[0450] In another embodiment, a subset of the interface elements 100 of the processing system 1000 may move in an alternating fashion to facilitate a staged descent. That is, half (or approximately half) of the interface elements 100 may be lowered while they engage the section holes 92H to support the structure, while the remaining interface elements 100 may disengage and be raised until they reach the set of section holes 92H described above and engage them. Then, the roles of the two subsets of interface elements 100 are swapped to iteratively repeat the descent process.

[0451] For this alternating descent, the structure must be supported by only one subset (typically half) of the interface elements 100. Thus, the maximum load capacity may be reduced compared to stacking. However, the lowering operation does not have to work against the weight of the structure, which can mitigate the load capacity issue to some extent, or at least increase the speed at which the lowering operation can occur compared to the lifting operation at the same height.

[0452] When the bottommost section has been fixed in its final position below the level of the processing system 1000 (i.e., below the non-raised position previously described Figure 12C ), the lowering operation is complete.

[0453] The appropriate height (before lowering) of the concept combination section 9 will depend on the application. For descent to the seabed, it may be desirable for the top of the structure to be approximately at the water level after the lowest section on the seabed has settled (as Figure 20E shown). This can allow the barge 6000 to be removed more easily. For descent into a pit or the like, the depth of the pit must be considered.

[0454] After descent to the seabed, the concept combination section 9 can act as an offshore foundation for supporting a higher structure in the seabed. The higher structure can optionally be constructed by further iteration of the original method.

[0455] Thus, those skilled in the art will understand that the processing system as described herein can be used not only for processing sections for erecting an elongate structure (such as a tower), but also for many other applications where large sections of a structure can benefit from a significant reduction in the shape factor as described.

[0456] For any given application of large, heavy sections of a structure that would benefit from a modular, easily assembled lifting or processing system, at least significant efficiency, cost, and transportation / assembly improvements can be provided, attributable to the resulting reduction in the shape factor, as well as the lifting and load capacity still achieved by the desired processing system.

[0457] In some cases, it may be desirable to transport sections of a structure (e.g., tower sections for a wind turbine installation) to an erection site or around the erection site, e.g., for delivering such sections to the alignment platform 3000 described previously.

[0458] Figure 21 An exemplary logistics or handling operation vehicle 7000 is shown, which has a body 7002 and an exemplary system that includes Figure 1B a handling component 1002, and an associated lifting arrangement 2104 (with an exemplary lifting device 2200D) carried by the body 7002, and vehicle moving means, such as steerable drive wheels 7004 for moving the vehicle around a storage or manufacturing facility. As required, the vehicle 7000 can be used to lift, handle, and move sections for storage and / or for a suitable truck, train, container, etc., for eventual transportation to the erection site of the structure.

[0459] In one example, two, three, four, six, or more interface elements are spaced apart on a conceptual locus (circular, orthogonal, polygonal, etc.) within the frame or body of a movable platform or vehicle for handling large sections of a structure. For example, shipping or logistics operations, or transporting structure sections on-site or off-site can benefit from a vehicle having the handling component, where the vehicle can handle significant lifting and load requirements while still being relatively small in volume compared to any cranes, vehicles, or other systems previously employed.

[0460] Furthermore, some applications can benefit from multiple independently movable lifting devices, i.e., two or more interface elements mounted on separate movable platforms that can be positioned around a section to be handled with a variable spacing therearound, or at variable positions around the section. A system of independently movable lifting devices can be used to deliver multiple sections of a structure (e.g., multiple sections of a wind tower) on-site to, for example, the alignment platform described previously.

[0461] Figure 22A An exemplary movable lifting device 2200E is shown, which includes an interface element 100 for handling a section of a structure. The movable platform interface element 100 can be configured in the same manner as the exemplary interface elements described previously, where like parts are indicated by common reference numerals. The shown movable interface element 100 includes a lower engagement portion 120 and an upper engagement portion 140, and a floating point 110 about which the engagement portions 120, 140 are freely pivotable.

[0462] The mobile lifting device 2200E can be configured for use with at least one other mobile lifting device as part of a mobile processing system in which a plurality of mobile interface elements 100 can each be independently moved toward and / or away from a section to be processed (so as to be able to be coupled thereto and / or released therefrom) and can be independently positioned in a spaced-apart manner around the section.

[0463] The same features and functions of the exemplary handling system already described can be applied to the mobile handling system of the present invention. In particular, the interface element 100 can be of a freely pivoting type configured for engagement of both the upper engagement portion and the lower engagement portion to clamp the segment and substantially eliminate forces passing through the segment, as previously described. However, other interface elements (e.g., non-clamping interface elements) can also be used.

[0464] The mobile lifting device 2200E is configured in substantially the same manner as the exemplary lifting device 2200 of the aforementioned exemplary system 2000, wherein the lifting device 2200E includes a support frame 2200 supporting at least a portion of the interface element 100, a lifting mechanism 2290, and the lifting mechanism 2290 includes at least one upright extension screw 2292 and a main carriage 2294 coupled to the upright extension screw 2292 (both of which are at least partially accommodated within and by the support frame 2200). The main carriage 2294 may be configured to support the lower curved surface 112 of the floating point 110 of the interface element 100. A lifting drive unit 2280 may be provided to actuate the rotation of the at least one upright extension screw 2292 of the lifting mechanism 2290 so that the main carriage 2294 coupled thereto moves upward or downward along the screw 2292 to vertically move the interface element 100.

[0465] Thus, the exemplary mobile jacking device 2200E may be used as part of a handling system for raising or lowering sections of a structure.

[0466] An exemplary mobile lifting device 2200E is also shown including movement means to horizontally move the support frame 2200 and thus the mobile interface element 100 along the ground, such as the ground of a storage, transport or manufacturing site (for a section of the structure, or at or around the erection site of the structure itself). The movement means can provide independent positioning of the interface element 100 around the section to be processed and movability towards and / or away from the section (similar to, for example, Figure 8 sliding mechanism).

[0467] The mobile device may include, for example, at least one steerable, power-driven, or actuated wheel. Here, four steerable power wheels 7004 are shown, similar to the handling operation vehicle 7000. Those skilled in the art can envision other suitable mobile devices.

[0468] Each mobile lifting device can be centrally controlled (e.g., via a central controller) such that these mobile devices move and operate collaboratively (e.g., in unison with each other). For example, the mobile devices and / or lifting mechanisms of each mobile lifting device can be centrally controlled. In some examples, at least some of the movement of these mobile lifting devices can be autonomous. In other examples, these mobile lifting devices can be manually controlled.

[0469] The mobile device 7004 allows each of the plurality of mobile lifting devices 2200E to be positioned around the section to be processed in a circular, orthogonal, and / or polygonal form, at any desired interval around a section of any given size or shape. The mobile device 7004 can allow radial inward and outward translation relative to the vertical axis of the section and substantially around a plurality of horizontal axes (i.e., passing through a horizontal plane) to achieve an equivalent function of the translation mechanism described in the previous examples.

[0470] The positioning of the mobile lifting device is shown in Figure 19B to 19E, where in Figure 19B , a plurality of mobile lifting devices 2200E are shown close to a circular section 10, a triangular or polygonal section 12, and an orthogonal or square section 14. Figure 19C shows two of the mobile lifting devices 2200E being moved to engage and process the circular section 10; Figure 19D shows three of the mobile lifting devices 2200E, which are moved to connect with and process the polygonal section 12, i.e., one lifting device at each of its three sides; and Figure 19E shows four of the mobile lifting devices 2200E, which are moved to connect with and process the square section 14, i.e., one lifting device at each of its four sides. Many other configurations can be envisioned.

[0471] Therefore, it can be understood that by providing a plurality of mobile lifting devices at a construction site for moving sections of different sizes and shapes, additional modularity and practicality can be provided. The independent movement of the lifting devices can allow for easier consideration and accommodation of differences in section size, shape, and transportation / movement destination. The mobile processing system can be used in conjunction with the exemplary processing system 2000 (or any other processing system described herein) as part of a larger system.

[0472] Those skilled in the art will understand that any dimensions provided as examples can be varied, i.e., significantly reduced or enlarged, to suit certain applications for handling certain structures of specific dimensions. This, together with any given number of multiple interface elements arranged in any spaced-apart manner around any desired shape, provides a wide range of potential implementations and applications for the processing system.

[0473] The use of numbered or ranked terms such as "first", "second", "third", etc., herein referring to a section of a structure, or a section of multiple sections, or a series or group of sections of "conceptual sequential numbers", will be understood as conceptual, illustrative, and for explanatory purposes only. Other sections may exist before or after said "first", "second", "third", etc. sections.

[0474] In addition, vertical position terms such as "upper", "lower", "uppermost", "lowermost", etc. are also provided for explanatory purposes only, with reference to a generally vertical or upright reference frame.

[0475] In cases where reference is made to an element or entity having known equivalents, these equivalents are included as if they were individually recited.

[0476] Although the present invention has been described by way of example and with reference to specific embodiments, it should be understood that modifications and / or improvements can be made without departing from the scope or spirit of the present invention.

[0477] In addition, when features or aspects of the present invention are described in terms of a Markush group, those skilled in the art will recognize that the present invention is also thereby described in terms of any single member or subgroup of the Markush group.

Claims

1. A processing system for assembling an elongate structure from a plurality of sections along a vertical axis, the processing system comprising: a) a plurality of spaced-apart interface elements for engaging sections of the structure to be processed, b) a lifting arrangement including at least one lifting device configured to: i. move the interface elements of the processing assembly radially relative to the vertical axis for engaging and / or disengaging sections to be processed, and ii. move the interface elements of the processing assembly vertically for lifting one or more sections of the structure.

2. The processing system according to claim 1, wherein the lifting arrangement includes a plurality of lifting devices, each lifting device being configured to move a respective one of the plurality of interface elements.

3. The processing system according to claim 1 or 2, wherein the lifting arrangement includes a bridging arrangement including a pair of lifting devices and an intermediate beam spanning between the pair of lifting devices, the intermediate beam for uniformly moving one or more (preferably two) of the plurality of interface elements, wherein the one or more interface elements are supported on the intermediate beam, and wherein the bridging arrangement is configured to provide a clearance zone through which a section of the structure can pass for being processed by the lifting arrangement.

4. The processing system according to claim 3, wherein the intermediate beam includes two interface elements configured to translate horizontally along the beam to change their horizontal spacing from each other.

5. The processing system according to claim 3 or 4, wherein the bridging arrangement and the plurality of lifting devices are configured to move the interface elements radially uniformly relative to the vertical axis.

6. The processing system according to any one of the preceding claims, wherein the interface elements are distributed (preferably, evenly and / or symmetrically) around the section to be processed and / or around the conceptual processing system trajectory (preferably, circular or a section thereof).

7. The processing system according to any one of the preceding claims, wherein the interface element includes an upright member and a foot member projecting outwardly from the lower end of the upright member, the foot member for engaging the section to be processed.

8. The processing system according to any one of the preceding claims, wherein the at least one lifting device includes a lifting mechanism for vertically moving the interface element.

9. The processing system according to claim 8, wherein the lifting mechanism is at least partially received within a support frame of the lifting device.

10. The processing system according to claim 8 or 9, wherein the lifting mechanism is a lead screw type mechanism, such as a roller screw.

11. The processing system according to claim 10, wherein the lifting mechanism includes at least one (preferably two) upright screws and a carriage configured to move along the at least one upright screw, wherein the carriage is connected to a respective interface element to effect vertical movement of the interface element.

12. The processing system according to claim 11, wherein the lifting mechanism comprises a lifting drive unit configured to rotate at least one upright screw of the lifting mechanism such that the carriage moves up or down along the screw to effect vertical movement of the corresponding interface element.

13. The processing system according to any one of the preceding claims, wherein the at least one jacking device comprises a translation mechanism for radially moving the interface element relative to the vertical axis to engage and / or disengage a section to be processed.

14. The processing system according to claim 13, wherein the translation mechanism is further configured to adjust the radial position of the interface element to engage sections of different diameters.

15. The processing system according to claim 13 or 14, wherein the translation mechanism is or comprises a horizontal sliding mechanism.

16. The processing system according to claim 16, wherein the horizontal sliding mechanism comprises a sliding frame along which the support frame of the jacking device is movable.

17. The processing system according to claim 16, wherein the sliding frame is fixed (e.g., bolted) to a base.

18. The processing system according to claim 16 or 17, wherein the sliding frame comprises a shaft extending longitudinally through a housing and a drive unit configured to actuate the shaft to translate the support frame along the sliding frame.

19. The processing system according to any one of the preceding claims, further comprising a controller configured to synchronously and / or independently control the jacking device.

20. The processing system according to claim 20, wherein the controller is configured to adjust the height of the interface element in response to load and / or alignment data.

21. The processing system according to any one of the preceding claims, further comprising an alignment platform for supporting a lower section of the tower below one or more upper sections of the tower processed by the jacking arrangement, wherein the alignment platform is movable in a horizontal plane to enable alignment of the lower section with the one or more upper sections.

22. The processing system according to claim 21, wherein the alignment platform has at least two degrees of freedom, including translational and / or rotational degrees of freedom.

23. The processing system according to claim 21 or 22, wherein the alignment platform is freely movable in a horizontal plane and / or reacts to external forces such that the alignment platform moves in response to engagement of alignment features of adjacent sections.

24. The processing system according to any one of claims 21 to 23, wherein the alignment platform comprises at least one displacement strut arranged for movement in the horizontal plane.

25. The processing system according to claim 24, wherein the at least one displacement strut comprises an upper end and a lower end, and wherein the upper end and / or the lower end comprises a spherical ball joint interface.

26. The processing system according to any one of claims 24 or 25, wherein the alignment platform includes a pair of elongate support arms, each elongate support arm being coupled to one or more carriages by one or more displacement struts.

27. The processing system according to claim 26, wherein the carriage is arranged to travel along a guide rail or track for transporting a section of the structure to the lifting arrangement.

28. The processing system according to any one of claims 21 to 27, wherein the alignment platform has a lifting mechanism (such as one or more hydraulic cylinders) for lifting the lower section of the structure into contact with the one or more upper sections.

29. The processing system according to any one of the preceding claims, wherein the elongate structure includes an elongate tower of a wind turbine installation, and optionally, wherein the sections of the elongate tower are concrete rings.

30. A mobile lifting device for processing sections of a structure, the mobile lifting device comprising: an interface element for engaging a section to be processed, the interface element including: a) a lower engagement portion and an upper engagement portion, and b) a floating point about which the engagement portions are each freely pivotable such that contact and engagement of either the upper or lower engagement portion with the section causes contact and engagement of the other of the upper or lower engagement portions with the section, wherein the interface element is vertically movable for lifting the section to be processed, and wherein the mobile lifting device is arranged to travel along the ground.

31. A processing system comprising a plurality of mobile lifting devices according to claim 30, wherein the plurality of mobile lifting devices are configured to cooperate to process sections of a tower.

32. The processing system according to claim 31, wherein the plurality of mobile lifting devices are arranged for synchronous and / or independent operation.

33. A method of assembling an elongate structure from a plurality of sections of an elongate structure along a vertical axis using a processing system according to any one of claims 1 to 29, the method comprising: a) arranging the processing system at an erection site, b) positioning a first one of the plurality of sections substantially in alignment with the vertical axis, c) using the lifting arrangement to move the interface element of the processing assembly towards the first section to engage the first section, d) using the lifting arrangement to lift the first section along the vertical axis to a raised position, e) positioning a second one of the plurality of sections below the raised first section to be substantially in alignment with the vertical axis, f) bringing the first section and the second section into contact to form a combined portion of the structure by lowering the first section towards the second section and / or raising the second section towards the first section, wherein the second section defines the lower section of the combined portion, g) Use the lifting arrangement to move the interface element of the processing assembly away from the first section to release it therefrom, and reposition the interface element to engage the lower section of the combined part. h) Use the lifting arrangement to lift the lower section along the vertical axis to a raised position, thereby raising the combined part. i) Repeat steps e) to h) for successively numbered sections in order to add the sections to the iteratively elongating combined part one by one, thereby assembling the elongating structure from bottom to top.

34. The method according to claim 33, wherein step a) of arranging the processing system includes fixing the lifting device to a base.

35. The method according to claim 33 or 34, wherein the step of positioning the second section below the raised first section in step f) includes setting the second section on the alignment platform according to any one of claims 21 to 28.

36. The method according to claim 35, wherein step f) includes using the lifting arrangement to lower the first section, and / or using the alignment platform to raise the second section such that the alignment features at the lower end of the first section engage the alignment features at the upper end of the second section, wherein the engagement notifies the horizontal displacement of the second section by the free movement of the alignment platform in the horizontal plane.

37. The method according to claim 36, wherein in step f), the interface element of the lifting arrangement remains substantially engaged with the first section to support the load of the first section.

38. The method according to claim 36 or 37, wherein in step f), once the two sections are substantially fully aligned, the alignment platform descends into a recess in the base, and the first section is lowered in unison with the vertical descent of the lifting arrangement, thereby applying the entire weight of the combined part of the concept to the base.

39. The method according to any one of claims 35 to 38, wherein step b) of positioning the first section and / or step c) of positioning the second section includes placing the respective section on the alignment platform and horizontally transporting the alignment platform to the position below the respective raised section.

40. The method according to claim 39, wherein step b) and / or step c) further includes raising the bridging arrangement of the lifting arrangement to provide the clearance zone and transporting the alignment platform with the respective section through the clearance zone.

41. The method according to claim 39 or 40, further includes transporting the first section and / or the second section to the alignment platform using the mobile processing system according to claim 31 or 32.

42. The method according to any one of claims 33 to 41, wherein the elongating structure includes an elongating tower of a wind turbine installation.

43. The method according to any one of claims 33 to 42, further includes the following steps: j. Once the sections of the combined part of the structure have reached the appropriate height, post-tension or otherwise fix the sections together; and k. Lower the combined part of the structure along the vertical axis until the lowermost section stops in a final position below the non-elevated position.

44. The method according to claim 43, wherein step k. comprises: k1) engaging a section of the combined part of the structure that is currently in a first elevated position; k2) lowering the conceptual combined part of the structure until the engaged section is in the non-elevated position and then disengaging the engaged section; k3) repeating steps k1. and k2. for successive sections of the combined part of the structure until the lowermost section stops in a final position below the non-elevated position.

45. The method according to claim 43 or 44, wherein step k. comprises lowering the combined part of the structure at least partially below the waterline such that the final position of the lowermost section is in the seabed.

46. The method according to claim 43 or 44, wherein step k. comprises lowering the combined part of the structure at least partially into a pit such that the final position of the lowermost section is in the pit.

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