Handling systems for handling sections of structures

Abstract

A handling system for assembling an elongated structure, such as a wind tower, along a vertical axis from a plurality of sections thereof, and a method for erecting such a structure and aligning its sections, the handling system comprising a plurality of spaced apart interface elements for engaging the sections to be handled, and a jack arrangement for moving the interface elements radially and vertically.

Description

[Technical Field]

[0001] The present invention relates to a handling system for assembling elongated structures from a plurality of sections and to a method for erecting such structures, and more particularly, although not exclusively, to a handling system and method for assembling elongated towers of wind turbine installations from a plurality of concrete rings. [Background technology]

[0002] Handling bulky, heavy, or unwieldy sections of large structures (e.g., civil engineering structures or equipment) for moving or erecting structures is commonly done using conventional crane systems and construction methods. There can be safety risks, delays, and downtime associated with employing these large, bulky, and inefficient systems and methods.

[0003] This can be particularly challenging for some structures, such as the slender tower sections of wind turbine installations. Current systems may employ either a crane system positioned around the base of the tower to be constructed, or a self-climbing crane system that climbs the tower as the tower height increases. These systems become more susceptible to high dynamic wind loads as the tower height increases, as well as structural limitations resulting from the stiffness required of such cranes when lifting significant heights and tonnage. Additionally, the slowdown in construction associated with fully considering such limitations can add significant effort and cost. Summary of the Invention [Problem to be solved by the invention]

[0004] It is an object of the present invention to provide a handling system and method for assembling elongated structures from multiple sections that overcomes or at least partially ameliorates some of the above-mentioned drawbacks, or at least provides the public with a useful choice. [Means for solving the problem]

[0005] In a first aspect, the invention broadly provides a handling system for assembling an elongated structure from a plurality of sections along a vertical axis, the handling system comprising a plurality of spaced apart interface elements for engaging sections of the structure to be handled, and a jacking arrangement, the jacking arrangement including 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 sections 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 sequentially erecting elongated structures, such as wind towers, from a plurality of successive sections (e.g. concrete rings) thereof, from the bottom up.

[0007] Preferably, the jack arrangement comprises a plurality of jack devices, each jack device configured to move a respective interface element of the plurality of interface elements.

[0008] The jacking devices may be structurally and spatially distinct and may be capable of independent and synchronous movement.

[0009] Preferably, the jack arrangement comprises a bridge arrangement comprising a pair of jack devices and an intermediate beam spanning between the pair of jack devices, for synchronously moving one or more (preferably two) interface elements of the plurality of interface elements, said one or more interface elements being supported on said intermediate beam, and the bridge arrangement configured to provide a clearance zone through which sections of the structure can pass for handling by the jack arrangement.

[0010] With this configuration, the present invention allows successive sections to be handled without the need to dismantle or significantly reconfigure the handling system (e.g., the location of the jacking devices), thereby providing a faster, more efficient system.

[0011] Preferably, the intermediate beam comprises two interface elements configured to translate horizontally along said beam to vary their horizontal spacing from one another.

[0012] Preferably, the bridge arrangement and the plurality of jack devices are configured to move the interface elements radially in unison relative to the vertical axis.

[0013] With this configuration, the interface elements can preferably simultaneously engage and / or disengage the sections to be handled. Bridge configurations and multiple jack devices can be configured for central and synchronized control (e.g., by a central controller).

[0014] Preferably, the interface elements are distributed (preferably evenly and / or symmetrically) around the section to be handled and / or around a notional handling system trajectory (preferably a circle or part thereof).

[0015] The interface elements may be distributed in a symmetrical arrangement or in a regular pattern, and the jacking devices of the jack arrangement may be distributed around the section to be treated.

[0016] Preferably, the interface element comprises an upright member and a foot member projecting outwardly from a lower end of said upright member for engaging the section to be handled.

[0017] The interface element may have an L-shape.

[0018] Preferably, at least one jack device comprises a lifting mechanism for vertically moving the interface element.

[0019] The lifting mechanism (ie, lift or jack mechanism) may be configured to lift one or more sections of the structure by means of the interface elements to effect bottom-up sequential erection of the structure.

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

[0021] The lifting mechanism may be completely housed within the support frame.

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

[0023] Preferably, the lifting mechanism comprises at least one (preferably two) upright threaded rod and a carriage configured to move along the at least one upright threaded rod, the carriage being connected to a respective interface element to cause vertical movement of said interface element.

[0024] Preferably, the lifting mechanism comprises a lifting drive unit configured to rotate at least one upright threaded rod of the lifting mechanism, and the carriage moves upwardly or downwardly along said threaded rod to cause vertical movement of the respective interface element.

[0025] The carriage is therefore movable relative to the support frame.

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

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

[0028] This configuration allows the handling system to be used to assemble structures of non-constant diameter (eg, tapered structures).

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

[0030] Preferably, the translation mechanism is or comprises a horizontal slider mechanism.

[0031] Preferably, the horizontal slider mechanism comprises a slider frame along which the support frame of the jack device can move.

[0032] Preferably, the slider frame is fixed (eg, bolted) to the foundation.

[0033] This arrangement preferably allows the load of the handled section to be transferred to the foundation.

[0034] Preferably, the slider 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 slider frame.

[0035] Preferably, the handling system further comprises a controller configured for synchronized and / or independent control of the jacking devices.

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

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

[0038] The handling system may include one or more load cells to obtain load data that is used by the controller.

[0039] Preferably, the handling system further comprises an alignment platform for supporting a lower section of the tower below one or more upper sections of the tower handled by the jack arrangement, the alignment platform being 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 reactively under the influence of an external force, whereby the alignment platform moves in response to engagement of alignment features of adjacent sections.

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

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

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

[0045] Preferably, the alignment platform comprises a pair of elongated support arms each coupled to one or more carriages via one or more displacement posts.

[0046] Preferably, the carriage is arranged to travel along rails or tracks to transport the section of the structure to the jack arrangement.

[0047] Preferably, 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 one or more upper sections.

[0048] The alignment platform may have a lifting capacity for lifting one section, for example up to 80 tons. The hydraulic cylinders of the alignment platform may have a hydraulic release value for lowering one or more sections of the structure.

[0049] Preferably, the elongated structure comprises an elongated tower of a wind turbine installation, optionally a section of the elongated tower being a concrete ring.

[0050] The first (top) section of the tower may comprise or be connected (ie attached) to the nacelle of the wind turbine installation.

[0051] In a second aspect, the present invention broadly provides a mobile jacking device for handling a section of a structure, the mobile jacking device comprising an interface element for engaging the section to be handled. The interface element comprises (a) a lower engagement portion and an upper engagement portion, and (b) a floating point about which the engagement portions are both free to pivot, such that contact and engagement of either the upper or lower engagement portion with the section causes the other of the upper or lower engagement portion to contact and engage with the section. The interface element is vertically movable to lift the section to be handled, and the mobile jacking device is arranged to move along the ground.

[0052] The mobile jack device may have any functionality of a jack device or mobile mechanism as defined in any of the statements above or below. Similarly, the interface element may have any functionality of an interface element as defined in any of the statements above or below.

[0053] The mobile jack device may be provided with a wheel arrangement for movement along the ground. The wheel arrangement, or other means for ground-based movement of the mobile jack device, may allow for radial positioning of the interface element relative to the section to be treated.

[0054] In a third aspect, the present invention broadly provides a handling system comprising a plurality of mobile jacking devices as defined above, the plurality of mobile jacking devices being configured to cooperate to handle sections of a tower.

[0055] The mobile jack device may be configured to be positioned around the section to be treated.

[0056] Preferably, the multiple mobile jack devices are arranged for synchronized and / or independent operation.

[0057] The multiple jack devices may be configured to move or function autonomously.

[0058] In a fourth aspect, the present invention provides a method for assembling an elongated structure along a vertical axis from a plurality of sections thereof using a handling system according to any of the preceding statements, comprising the steps of: a) positioning the handling system at the construction site; b) positioning a first section of the plurality of sections substantially in alignment with a vertical axis; c) using a jack arrangement to move an interface element of the handling assembly towards and engage the first section; d) using a jack arrangement to lift the first section to an elevated position along said vertical axis; e) positioning a second section of the plurality of sections below the elevated first section such that the second section is substantially aligned with the vertical axis; f) lowering the first section towards the second section and / or lifting the second section towards the first section to bring the first section and the second section into contact and form a joint in the structure, the second section defining a lower section of the joint; g) using a jack arrangement to move an interface element of the handling assembly away from the first section, disengage it from the first section, and reposition the interface element to engage the lower section of the coupling; h) using a jack arrangement to lift the lower section along said vertical axis to an elevated position, thereby raising the joint; i) repeating steps e) through h) on the consecutively numbered sections to sequentially add sections to the recursively extending joints, thereby assembling the elongated structure from the bottom up; The present invention provides a method comprising:

[0059] Preferably, the step a) of positioning the handling system comprises fixing a jacking device to the foundation.

[0060] Preferably, step f) of positioning the second section below the elevated first section comprises providing the second section on an alignment platform as defined in any of the preceding statements.

[0061] Preferably, step f) comprises lowering the first section using a jack arrangement and / or lifting the second section using an alignment platform, whereby alignment features at the lower end of the first section engage with alignment features at the upper end of the second section, said engagement signalling horizontal displacement of the second section due to the alignment platform being free to move in a horizontal plane.

[0062] Preferably, during step f) an interface element of the jack arrangement remains substantially engaged with the first section to support the load of said first section.

[0063] Preferably, during step f), once both sections are substantially fully aligned, an alignment platform is lowered into the recess in the foundation in sync with the vertical lowering of the jack arrangement for lowering the first section, thereby applying the full weight of the notional connection to the foundation.

[0064] Preferably, step b) of positioning the first section and / or step c) of positioning the second section comprises placing each section on an alignment platform and transporting the alignment platform horizontally to said position below each raised section.

[0065] Preferably, step b) and / or step c) further comprises raising a bridge arrangement of the jack arrangement to provide a clearance zone and transporting the alignment platform, together with each section, through the clearance zone.

[0066] Preferably, the method further comprises transporting the first section and / or the second section to the alignment platform using a mobile handling system as defined in any of the preceding statements.

[0067] Preferably, the elongated structure comprises an elongated tower of a wind turbine installation.

[0068] Preferably, the method comprises: j. post-tensioning or otherwise securing the sections at the structural joints after they reach the appropriate height; k. lowering the structure joint along the vertical axis until the bottom section is in a final position below the non-raised position; Further includes:

[0069] Preferably, step k comprises: i. engaging a section of a joint of a structure currently in a first elevated position; ii. lowering the notional joint of the structure until the engaged sections are in a non-raised position and then disengaging the engaged sections; iii. repeating steps i. and ii. for successive sections of the joint of the structure until the bottom section is in a final position below the non-raised position; and Includes.

[0070] Preferably, step k comprises lowering the joint of the structure at least partially below the waterline so that the final position of the lowermost section is within the seabed.

[0071] Preferably, step k comprises lowering the joint of the structure at least partially into the pit so that the final position of the lowermost section is in the pit.

[0072] In a further aspect, the present invention provides a method for aligning two sections of an elongated structure erected along a vertical axis using a handling system as set forth in any preceding statement, the method comprising: (a) lifting the first section to an elevated position using an interface element; (b) positioning the second section below the first section substantially in line with the vertical axis using an alignment platform; (c) lifting the second section toward the first section using the alignment platform to initiate engagement of alignment features of the two sections; (d) tilting the second section using the alignment platform so that an upper surface of the second section is parallel to a lower surface of the first section; and (e) in response to the inductive 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 hydraulic pressure in the alignment platform through a hydraulic release valve so that the underside of the second section is positioned parallel to the foundation and the weight of the notional coupling is supported by the foundation; (g) optionally repositioning the interface element to engage the second section; (h) optionally using the interface element to tilt the notional coupling so that it realigns with the vertical axis; and (i) optionally using the interface element to lift the notional coupling to a raised position.

[0073] The first section may itself be a conceptual conjunction containing two or more sections.

[0074] The alignment method may be part of the assembly method described above.

[0075] The following additional statements describe further examples of the present invention. Any of the following examples and related features can be combined with the statements above. In the following, the handling system will be referred to as a handling assembly, the jack arrangement as a moving arrangement, the jack device as a mover mechanism, and the alignment platform as a displacement platform. Other equivalent terms will become apparent from the detailed description.

[0076] In a further aspect, the present invention can be described as a handling assembly for handling sections of a structure, comprising a plurality of spaced apart interface elements, each of the plurality of interface elements comprising a lower engagement portion and an upper engagement portion and a float point about which the engagement portion can freely pivot, the interface elements being movable towards and / or away from the section to enable coupling to and / or release from the section, the engagement portion of each interface element being free to pivot about its respective float point such that contact and engagement of either the upper or lower engagement portion with the section causes the other of the upper or lower engagement portion to contact and engage the section, and engagement of both the upper and lower engagement portions of the plurality of interface elements substantially eliminates forces across the section to be handled, effectively coupling the interface elements to the section to enable handling of the section by the interface elements.

[0077] In one example, the interface elements are effectively or substantially evenly or uniformly spaced around the section to be handled and / or around the notional handling assembly locus or perimeter.

[0078] In one example, the notional handling assembly trajectory comprises a circular trajectory.

[0079] In one example, both the upper and lower engagement portions are free to pivot about the float point in an opposing, counter-acting manner and / or relative to one another.

[0080] In one example, free pivoting of the interface element about its float point produces pivoting of either engagement portion in one direction and responsive pivoting of the other engagement portion in the opposite direction.

[0081] In one example, both engagement portions are hinged and balanced relative to one another about the float point, so that free pivoting of the interface element about the float point involves opposing pivoting of both engagement portions relative to one another.

[0082] In one example, the free pivoting of the interface element about the float point defines the translation and / or pivoting of the engagement portion.

[0083] In one example, the engagement portion and the float point are fixed to one another.

[0084] In one example, the engagement portion and the float point are unitarily and / or integrally formed.

[0085] In one example, the float point comprises a substantially horizontal pivot axis, and the interface element is free to pivot about said substantially horizontal pivot axis.

[0086] In one example, the float point comprises a curved lower surface that defines a radius of curvature of the float point.

[0087] In one example, the magnitude of the radius of curvature defines upper and lower angular limits for the free pivoting of the interface element about and relative to the float point.

[0088] In one example, the magnitude of the radius of curvature defines upper and lower angular limits for free pivoting of the upper and / or lower engagement portions about and relative to the float point.

[0089] In one example, the vertical and / or horizontal distance of the upper and / or lower engagement portions relative to the substantially horizontal pivot axis defines upper and lower angular limits of free pivoting of the upper and / or lower engagement portions around and relative to the float point.

[0090] In one example, the lower engagement portion and the upper engagement portion define an upstanding elongated connecting member extending therebetween.

[0091] In one example, the interface element comprises an upstanding elongated connecting member, the upper end of which comprises the upper engagement portion of the interface element and the lower end of which comprises the lower engagement portion of the interface element.

[0092] In one example, the lower engagement portion comprises a pedestal extending outwardly from a lower end of the coupling member, and the upper engagement portion comprises a pad extending outwardly from an upper end of the coupling member.

[0093] In one example, the connecting member comprises an upstanding flat surface, the pad comprises a uniform rectangular protrusion from the flat surface, and the pedestal comprises a wedge-shaped projection extending further outward from the flat surface.

[0094] In one example, the vertical and horizontal distances of the center of mass of the upper engagement portion from the float point define the magnitude of free pivoting of the upper engagement portion around and relative to the float point and / or upper and lower angular limits of the free pivoting of the upper engagement portion.

[0095] In one example, the vertical and horizontal distances of the center of mass of the lower engagement portion from the float point define the magnitude of free pivoting of the lower engagement portion around and relative to the float point and / or upper and lower angular limits of free pivoting of the upper engagement portion.

[0096] In one example, at least some of the flat surfaces of the upper and lower engagement portions configured to contact the section to be handled are perpendicular to each other and / or form an angle of between about 10 degrees and about 170 degrees with respect to each other.

[0097] In one example, at least some flat surfaces of the upper and lower engagement portions configured to contact the section to be handled form an acute, right or obtuse angle with each other.

[0098] In one example, at least some flat surfaces of the upper and lower engagement portions configured to contact the section to be handled form an angle between 0 degrees and 180 degrees with respect to each other.

[0099] In one example, the interface element may be configured to be movable radially inward and outward relative to the section being treated.

[0100] In one example, the upper and lower engagement portions are freely pivoted in opposite offsetting directions and / or relative to one another to effect contact and engagement of both engagement portions with the section to be handled.

[0101] In one example, engagement of both the upper and lower engagement portions of the plurality of interface elements substantially eliminates and cancels forces exerted on and / or across the sections.

[0102] In one example, the force exerted on and / or across the section by contact and engagement of either the upper engagement portion or the lower engagement portion is offset by the force exerted on and / or across the section by contact and engagement of the other of the upper engagement portion or the lower engagement portion with the section.

[0103] In one example, the force exerted on and / or across the upper portion of the section by contact and engagement of the upper engagement portion is offset by the force exerted on and / or across the lower portion of the section by contact and engagement of the lower engagement portion.

[0104] In one example, contact and engagement of the upper engagement portion with the upper portion of the section generates a force at the upper portion, which is counterbalanced and / or eliminated by a force at the lower portion of the section generated by contact and engagement of the lower engagement portion with the lower portion.

[0105] In one example, contact and engagement of the upper engagement portion with the upper portion of the section creates tension and / or compression at the upper portion, which is counteracted and / or eliminated by a force at the lower portion of the section created by contact and engagement of the lower engagement portion with the lower portion.

[0106] In a further aspect, the present invention can be referred to as a movement arrangement configured to move interface elements of a handling assembly of the first aspect, the movement arrangement comprising at least one mover mechanism configured to move at least one interface element of the handling assembly along at least one translational or rotational axis.

[0107] In a further aspect, the present invention may be described as an apparatus for repeatedly and sequentially erecting an elongated structure from a plurality of sections thereof along a vertical axis, comprising a handling assembly of the first aspect and a moving arrangement configured to move interface elements of the handling assembly along the vertical axis, thereby effecting sequential raising of consecutive, conceptually numbered sections of the plurality of sections for erection of said structure, wherein the moving arrangement comprises at least one mover mechanism configured to move at least one interface element of the handling assembly along said axis.

[0108] In a further aspect, the present invention provides an apparatus for repetitively and sequentially erecting an elongated structure from a plurality of sections thereof along a vertical axis, the apparatus comprising a handling assembly for handling the sections of the structure, the handling assembly comprising a plurality of spaced apart interface elements, each of the plurality of interface elements having lower and upper engagement portions and a float point about which the engagement portions can freely pivot, the interface elements being movable towards and / or away from the section to be handled to engage and / or release from the section during handling, the free pivoting of the engagement portions about their respective float points causing contact and engagement of either the upper or lower engagement portion with the section to cause the other of the upper or lower engagement portion to contact and engage the section, and engagement of both the upper and lower engagement portions of the plurality of interface elements to extend across the section to be handled. the movement arrangement comprises at least one mover mechanism configured to move at least one interface element of the handling assembly along said axis, the movement arrangement being configured to move the interface element of the handling assembly towards and / or away from the section to be handled, whereby the interface element can couple to and / or release from a given section of the plurality of sections to be handled or to be handled, and further configured to move the interface element of the handling assembly along a vertical axis, whereby sequential lifting of successive, conceptually numbered sections of the plurality of sections to be handled or to be handled by the handling assembly occurs, and the structure is erected.

[0109] In one example, the mover arrangement is configured to move the interface element radially inward or outward relative to a vertical axis, and the mover mechanism is configured to move the interface element vertically as well as radially inward and outward relative to the vertical axis.

[0110] In one example, the mover arrangement is configured to move the interface element radially inward or outward relative to a vertical axis and / or about or along multiple horizontal translation axes.

[0111] In one example, the mover mechanism comprises a support frame that supports at least a portion of at least one interface element, a stiffening frame for stiffening the support frame, and a slider frame for permitting and / or effecting translation of the support frame and stiffening frame along the slider frame.

[0112] In one example, the slider frame comprises a longitudinally extending slider housing through which a slider shaft passes and to which a slider drive unit is connected, the slider drive unit being configured to actuate and / or effect translation of the support frame and stiffening frame relative to and along the slider frame.

[0113] In one example, the mover mechanism comprises an elevator mechanism comprising at least one upright elongated threaded rod and a main carriage coupled to the threaded rod, both of which are partially housed within and by the support frame.

[0114] In one example, the main carriage is configured to support the curved underside of the float point of each interface element.

[0115] In one example, the main carriage comprises a curved upper surface configured to support and at least partially conform to the curved lower surface of the float point of each interface element.

[0116] 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 float point of each interface element.

[0117] 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 float point of each interface element.

[0118] In one example, the main carriage comprises a pin joint plain bearing, a spherical plain bearing, a ball joint, a hinge joint, a floating knuckle, and / or an axle, has a radius of curvature, and is configured to support the curved underside of the float point of each interface element.

[0119] In one example, the radius of curvature is configured to at least partially match and / or be at least partially equal to the radius of curvature of the curved lower surface of the float point of each interface element.

[0120] In one example, the mover mechanism comprises an elevator drive unit configured to actuate the rotation of at least one upright elongated threaded rod of the elevator mechanism, thereby causing a main carriage coupled thereto to move upward or downward along said threaded rod, thereby effecting vertical movement of the respective interface element.

[0121] In one example, each of the plurality of first mover mechanisms moves a respective first interface element of the plurality of interface elements along a vertical axis, and the second mover mechanism includes an intermediate beam supporting at least one second interface element of the plurality of interface elements, the beam moving a corresponding at least one second interface element along the vertical axis by at least one subordinate mover mechanism configured to move the beam vertically along the vertical axis.

[0122] In one example, the second mover mechanism comprises two subordinate mover mechanisms, each at a respective end of an intermediate beam and configured to vertically move an interface element supported thereby in unison, and coupled to a respective end of the intermediate beam to vertically move the beam along a vertical axis, thereby vertically moving at least one corresponding second interface element supported by the beam.

[0123] In one example, the intermediate beam comprises two interface elements configured to translate horizontally along the beam to vary their horizontal spacing from one another.

[0124] In one example, the intermediate beam comprises a horizontal slider slot through and along which the two second interface elements are configured to translate horizontally.

[0125] In one example, horizontal translation of the two second interface elements, along with horizontal translation of both dependent mover mechanisms at each end of the intermediate beam, results in radial inward and outward translation of the two second interface elements relative to a vertical axis.

[0126] In one example, the radially inward and outward translation of the two second interface elements relative to the vertical axis is performed or configured by a plurality of respective first mover mechanisms in unison with the radially inward and outward translation of a first interface element of the plurality of interface elements.

[0127] In one example, raising the intermediate beam allows a clearance zone through which the section to be handled can be positioned for handling and vertical movement by the device.

[0128] In one example, the handling assembly comprises the handling assembly of any one or more of the first aspect and / or related examples.

[0129] In one example, the elongated structure comprises an elongated tower of a wind turbine installation, and the plurality of sections moved vertically along a vertical axis by the apparatus comprise sections of the elongated tower conceptually numbered sequentially along their height.

[0130] In a further aspect, the present invention provides a method for repeatedly and sequentially erecting an elongate structure along a vertical axis from a plurality of sections thereof using the apparatus of the fourth aspect, the sections being conceptually numbered sequentially along the length of the elongate structure, the method comprising: a. placing an apparatus at an erection site of an elongated structure, the mobile arrangement being supported on, at or above a foundation of the erection site; b. positioning a first uppermost section of the plurality of sections on, at, or above the foundation substantially in alignment with the vertical axis; c. actuating a movement arrangement to move an interface element of a handling assembly toward and couple to a first section, and couple said handling assembly to said first section; d. operating a movement arrangement to move the first section upwardly along said vertical axis from a non-elevated position on, at or above the foundation to a first elevated position; e. positioning a second section of the plurality of sections below the elevated first section on, at, or above the foundation and substantially in line with said vertical axis; f. operating a movement arrangement to lower the elevated first section from a first elevated position onto and align the elevated first section with the second section to form a notional joint of the structure, the second section defining a bottom section of the notional joint; g. actuating the moving arrangement to move the interface element of the handling assembly away from and release it from the first section; h. actuating a movement arrangement to move an interface element of a handling assembly downwardly and then towards and coupled to a bottom section of a notional coupling, coupling said handling assembly to said bottom section; i. actuating a movement arrangement to move a lowermost section of the conceptual coupling upward along said vertical axis to a raised position, thereby raising the conceptual coupling; j. repeating steps c) through i) for successive conceptually numbered sections, sequentially adding sections to the conceptual joint and iteratively raising said conceptual joint of the structure with each sequentially added section; The method can be said to include the steps of:

[0131] In one example, the handling assembly of the apparatus comprises the handling assembly of any one or more of the first aspect and / or related examples, and the steps of coupling the handling assembly to the first section and the bottom section in steps c) and h), respectively, comprise moving interface elements so that pedestals of their respective lower engagement portions at least partially enter section holes in the first section and the bottom section.

[0132] In one example, the steps of connecting the handling assembly to the first section and the bottom section, steps c) and h), respectively, include contacting and engaging upper engagement portions with the tops of the first section and the bottom section, causing tension and / or compression at the tops, which is counteracted and / or eliminated by tension and / or compression at the bottoms generated by contacting and engaging lower engagement portions with the bottoms of the first section and the bottom section.

[0133] In one example, step f) of positioning the second section below the elevated first section includes providing a platform operably connected to the foundation and configured to be freely displaced along at least one substantially horizontal translational axis, and placing the second section on the platform so as to be supported by the platform.

[0134] In one example, the step of lowering the elevated first section onto the second section and contacting and aligning the second section to form the conceptual joint of the structure in step f) may include: i. lowering a first section so that a registration feature at its lower end becomes an adjacent registration feature at an upper end of a second section; ii. further lowering the first section to initiate an interface between the alignment features of both sections, and continuing to lower the first section, said interface signaling a substantially horizontal displacement of the second section by a platform configured for free displacement along at least one substantially horizontal translational axis; iii. continuing further lowering of the first section, and moving and guiding the second section into alignment with the first section by said substantially horizontal displacement of the second section, until the alignment features and corresponding ends of both sections are substantially perfectly aligned; Includes.

[0135] In one example, during step f), an interface element of a handling assembly of the apparatus remains substantially coupled to said first section to support the weight and / or load of said first section.

[0136] In one example, during step f), once both sections are substantially fully aligned, the platform may be actuated to lower vertically, whereby, in unison with the vertical lowering of the moving arrangement for lowering said first section, said platform is recessed below the upper surface of the foundation, and thus both the first and second sections, now forming the notional joint, are lowered to said upper surface, whereby the full weight and / or load of said notional joint is exerted on and supported by said foundation.

[0137] In one example, the platform comprises at least one displacement support for supporting the platform and operatively connecting the platform to a foundation on which the platform is supported, at least a portion of the at least one displacement support configured for free displacement along at least one substantially horizontal translational axis to enable free displacement of the platform, and therefore the second section, relative to the foundation.

[0138] In one example, the platform is movable horizontally along a recessed slot in the foundation, so that the platform can translate from a position outside the device to a position within the device's notional erection footprint.

[0139] In one example, the actions of step b) positioning the first section on, at, or above the foundation so that it is substantially aligned with the vertical axis and step e) positioning the second section below the raised first section on, at, or above the foundation so that it is substantially aligned with the vertical axis each include first placing each section on a platform when in a location external to the apparatus, and actuating the platform to move horizontally to a position within the notional erection footprint of the apparatus, and positioning each section substantially aligned with the vertical axis.

[0140] In one example, the elongated structure comprises an elongated tower of a wind turbine installation, the plurality of sections comprising sections of the elongated tower conceptually numbered sequentially along its height, the first uppermost section of the plurality of sections comprising the topmost section of the tower and / or at least one of a nacelle of the wind turbine installation already coupled to a rotor hub of the wind turbine installation.

[0141] In a further aspect, the invention can be described as 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 lowered onto 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 operably connecting the support arm to a foundation on which the displacement platform is supported, at least a portion of the at least one displacement strut being configured for free displacement along at least one substantially horizontal translational axis to enable free displacement of the at least one support arm, and therefore the lower section, relative to the foundation, and wherein the free displacement of the at least one support arm, and therefore the lower section, relative to the foundation causes an alignment feature of the two sections to signal, after interface, the displacement of the bottom section along the at least one substantially horizontal translational axis to move and guide the lower section into alignment with the upper section as it is lowered onto the upper section.

[0142] In one example, a planar platform is disposed above the at least one support arm.

[0143] In one example, at least one displacement strut is operatively connected at one end to said support arm and at the other end to a foundation on which the displacement platform is supported.

[0144] In one example, either and / or both ends of at least one displacement strut are configured for free displacement along at least one substantially horizontal translational axis.

[0145] In one example, the ends of the at least one displacement strut comprise an upper end and a lower end, and the upper end and / or the lower end comprises a spherical ball joint interface.

[0146] In one example, both ends include a spherical ball joint interface, and both the upper and lower ends of the displacement strut are configured for both translational and angular displacement with multiple degrees of freedom.

[0147] In one example, the displacement strut is configured to pivot at an angle to change the axis angle relative to one or more horizontal and vertical planes or axes.

[0148] In one example, the at least one displacement strut is configured to be free to displace along a plurality of substantially horizontal translational axes.

[0149] In one example, the at least one displacement strut is configured to be free to displace along a substantially horizontal plane.

[0150] In one example, the at least one support arm comprises a horizontally oriented elongated member.

[0151] In one example, the displacement platform comprises vertical actuation means configured to move the platform vertically relative to the foundation.

[0152] In one example, the vertical actuation means is configured to lower the displacement platform into a recess below an upper surface of the foundation when the upper section is lowered onto the lower section, so that upon completion of said lowering, the full weight and / or load of said sections is exerted on, transferred to and / or supported by said foundation.

[0153] In one example, the vertical actuation means comprises a hydraulic arrangement.

[0154] In one example, the hydraulic arrangement comprises at least one internal hydraulic jack that is each at least partially housed within the at least one displacement column and connects at one end to the foundation.

[0155] In one example, the hydraulic arrangement includes a pump configured to pressurize the at least one internal hydraulic jack to lift the displacement platform, and a release valve configured to release the pressure to lower the displacement platform.

[0156] In a seventh aspect, the present invention provides 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 foundation of the structure being erected, and a second, upper section of the two sections is lowered onto said lower section and into alignment with said lower section, the method comprising: a. positioning a first lower section on a platform below and generally aligned with a second upper section; b. lowering the second upper section so that the registration feature at its lower end becomes the adjacent registration feature at the upper end of the first lower section; c. further lowering the second upper section to initiate an interface between the alignment features of both sections, and continuing to lower the second upper section, said interface signaling a substantially horizontal displacement of the first lower section by a platform configured for free displacement along at least one substantially horizontal translational axis; d. continuing further lowering of the second upper section, and moving and guiding the lower section into alignment with the upper section by said substantially horizontal displacement of the lower section, until the alignment features and corresponding ends of both sections are substantially perfectly aligned; A method comprising:

[0157] In one example, the platform is configured to move vertically so that when both sections are substantially fully aligned, the platform may lower and recess below the top surface of the foundation so that both sections lower above said top surface and the full weight and / or load of both sections is exerted on and supported by said foundation.

[0158] In one example, the platform comprises at least one displacement strut for supporting the platform and operatively connecting the platform to a foundation on which the platform is supported, at least a portion of the at least one displacement strut being configured to be freely displaceable along at least one substantially horizontal translational axis to allow free displacement of the platform, and therefore the lower section, relative to the foundation.

[0159] In one example, the platform is horizontally movable along, on, and / or above the foundation, allowing the platform to translate from a position outside the construction site where the structure is being erected to a position within the construction site.

[0160] In one example, step a) of positioning the first lower section on a platform below and generally aligned with the second upper section includes first placing each first lower section on the platform when the platform is in a location outside the construction site and actuating the platform to move it horizontally to its position within the construction site.

[0161] In one example, the structure comprises an elongated tower of a wind turbine installation, the two sections forming part of a plurality of sections comprising sections of the elongated tower that are conceptually numbered sequentially along their height.

[0162] In one example, the second upper section of the two sections comprises at least one of the top section of the tower and / or a nacelle of the wind turbine installation that is already coupled to a rotor hub of the wind turbine installation.

[0163] In one example, the platform comprises a displacement platform of any one or more of the sixth aspect and / or related examples.

[0164] In a further aspect, the present invention can be directed to a mobile platform interface element for handling a section of a structure, the mobile platform interface element comprising: a. a lower engagement portion and an upper engagement portion; b. A float point about which both engagement portions are free to pivot, and wherein contact and engagement of either the upper or lower engagement portion with said section causes the other of the upper or lower engagement portion to contact and engage with said section; Equipped with the mobile platform interface element is configured for use with at least one other mobile platform interface element as part of a handling assembly, whereby the handling assembly defines a plurality of mobile platform interface elements, each of the plurality of mobile platform interface elements independently moving towards and / or away from a section to be handled and independently positioned at intervals around the section to enable coupling to and / or release from the section, and wherein engagement of both the upper and lower engagement portions of the plurality of mobile platform interface elements substantially eliminates forces across the section to be handled, effectively coupling the interface element to the section to enable handling of the section by the mobile platform interface element; It can be referred to as a mobile platform interface element.

[0165] In one example, the mobile platform interface element comprises a mover mechanism for moving the interface element along at least one vertical axis and thus effecting vertical movement of a section handled by a handling assembly when said mobile platform interface element forms part of said assembly.

[0166] In one example, the mover mechanism comprises: a. a support frame supporting at least a portion of an interface element; b. an elevating mechanism comprising at least one upstanding elongated threaded rod and a main carriage coupled to the threaded rod, both partially housed within and by the support frame, the main carriage configured to support a curved underside of a float point of the interface element; c. an elevation drive unit configured to actuate the rotation of at least one upstanding elongated threaded rod of the elevation mechanism, whereby a main carriage coupled thereto moves upward or downward along said threaded rod, thereby effecting said vertical movement of the interface element; and Equipped with.

[0167] In one example, the mobile platform interface element comprises movement means for moving the support frame, and therefore the mobile platform interface element, horizontally along and over the ground surface, whereby the movement means provides said independent positioning of the interface element around the section to be treated and mobility towards and / or away from the section.

[0168] In one example, the means for movement comprises at least one steerable, powered or actuated wheel, track.

[0169] In one example, i. both the upper and lower engagement portions are free to pivot about the float point in an opposing, counter-balancing manner and / or relative to one another; ii. the free pivoting of the interface element about its float point produces pivoting of either engagement portion in one direction and corresponding pivoting of the other engagement portion in the opposite direction; and / or iii. Both engagement portions are hinged and balanced relative to one another about the float point, so that free pivoting of the interface element about the float point involves opposing pivoting of both engagement portions relative to one another.

[0170] In one example, the free pivoting of the interface element about the float point defines the translation and / or pivoting of the engagement portion.

[0171] In one example, the engagement portion and the float point are fixed relative to one another and / or are unitary and / or integrally formed.

[0172] In one example, the lower engagement portion and the upper engagement portion define an upstanding elongated connecting member extending therebetween.

[0173] In one example, the lower engagement portion comprises a pedestal extending outwardly from a lower end of the coupling member, and the upper engagement portion comprises a pad extending outwardly from an upper end of the coupling member.

[0174] In one example, the connecting member comprises an upstanding flat surface, the pad comprises a uniform rectangular protrusion from the flat surface, and the pedestal comprises a wedge-shaped projection extending further outward from the flat surface.

[0175] In one example, the vertical and horizontal distances of the center of mass of the upper engagement portion from the float point define the magnitude of free pivoting of the upper engagement portion around and relative to the float point and / or upper and lower angular limits of the free pivoting of the upper engagement portion.

[0176] In one example, the vertical and horizontal distances of the center of mass of the lower engagement portion from the float point define the magnitude of free pivoting of the lower engagement portion around and relative to the float point and / or upper and lower angular limits of free pivoting of the upper engagement portion.

[0177] In one example, at least some of the flat surfaces of the upper and lower engagement portions configured to contact the section to be handled are perpendicular to each other and / or form an angle of between about 10 degrees and about 170 degrees with respect to each other.

[0178] In one example, at least some flat surfaces of the upper and lower engagement portions configured to contact the section to be handled form an acute, right or obtuse angle with each other.

[0179] In one example, at least some flat surfaces of the upper and lower engagement portions configured to contact the section to be handled form an angle between 0 degrees and 180 degrees with respect to each other.

[0180] In a ninth aspect, the present invention provides a method for repeatedly and sequentially erecting an elongate structure along a vertical axis from a plurality of sections thereof, the sections being conceptually numbered sequentially along the length of the elongate structure, the method comprising: a. positioning a first uppermost section of the plurality of sections substantially in alignment with the vertical axis; b. moving the first section upwardly along said vertical axis from a non-raised position to a first raised position; c. positioning a second section of the plurality of sections below the elevated first section; d. lowering the elevated first section from the first elevated position onto and aligning the elevated first section with the second section to form a notional joint of the structure, the second section defining a bottom section of the notional joint; e. moving the bottom section of the conceptual joint upward along said vertical axis to a raised position, thereby raising the conceptual joint; f. repeating steps c) through e) for successive conceptually numbered sections, sequentially adding sections to the conceptual joint and iteratively raising said conceptual joint of the structure with each sequentially added section; The method can be said to include the steps of:

[0181] In one example, the method is performed by an apparatus according to one or more of the fourth aspect and / or related examples.

[0182] In one example, step d) of lowering the elevated first section from a first elevated position onto the second section to contact and align with the second section includes providing a platform operably connected to a foundation and configured to be freely displaceable along at least one substantially horizontal translational axis, and positioning the second section on the platform so as to be supported by the platform.

[0183] In one example, step d) of lowering the elevated first section from a first elevated position onto the second section to contact and align with the second section includes: i. lowering a first section so that a registration feature at its lower end becomes an adjacent registration feature at an upper end of a second section; ii. further lowering the first section to initiate an interface between the alignment features of both sections, and continuing to lower the first section, said interface signaling a substantially horizontal displacement of the second section by a platform configured for free displacement along at least one substantially horizontal translational axis; iii. continuing further lowering of the first section, and moving and guiding the second section into alignment with the first section by said substantially horizontal displacement of the second section, until the alignment features and corresponding ends of both sections are substantially perfectly aligned; Includes.

[0184] In one example, the platform is horizontally movable along, on, and / or above the foundation, allowing the platform to translate from a position outside the construction site where the structure is being erected to a position within the construction site.

[0185] In one example, step a) of positioning a first, uppermost section of the plurality of sections so that it is substantially aligned with the vertical axis, and step c) of positioning a second section of the plurality of sections below the raised first section, each include first placing each section on a platform while in a position outside the construction site, and then actuating the platform to move horizontally to a position within the construction site so that each section is positioned substantially aligned with the vertical axis.

[0186] Any one or more of the examples described above relating to any one or more of the aspects may also be applied to any other aspect of one or more of the nine aspects described above.

[0187] Where reference is made herein to external sources, including patent specifications and other documents, this is generally for the purpose of providing a context for discussing features of the present invention. Unless otherwise stated, the reference to such sources should not be construed as an admission that such sources are prior art or form part of the common general knowledge in the art in any jurisdiction.

[0188] When method steps are described in this specification as being in a sequence, that sequence does not necessarily imply that the steps are chronologically arranged in that sequence, unless there is no other logical way to interpret the sequence.

[0189] As used herein, the term "and / or" means "and" or "or," or both.

[0190] As used herein, "(s)" after a noun refers to the plural and / or singular form of that noun.

[0191] The term "comprises" as used in this specification and claims means "consisting at least in part of." When interpreting statements in this specification and claims that include this term, all features followed by the term in each statement must be present, although other features may also be present. Related terms such as "comprises" and "comprised" should be interpreted similarly.

[0192] The present invention may also be said to reside broadly in the parts, elements, and features referred to or described herein in this application, individually or collectively, and in any and all combinations of any two or more of said parts, elements, or features, where, where a particular integer having a known equivalent in the art to which the invention pertains is described herein, such known equivalent is deemed to be incorporated herein as if individually set forth.

[0193] Reference to a range of numerical values ​​disclosed herein (e.g., 1 to 10) is intended to incorporate reference to every rational number within that range (e.g., 1, 1.1, 2, 3, 3.9, 4, 5, 6, 6.5, 7, 8, 9, and 10), as well as any rational number range within that range (e.g., 2 to 8, 1.5 to 5.5, and 3.1 to 4.7); thus, all subranges of every range explicitly disclosed herein are expressly disclosed herein. These are merely examples of what is specifically intended, and all possible combinations of numerical values ​​between the lowest and highest values ​​recited are to be considered to be expressly set forth in this application as well.

[0194] The invention will now be described, by way of example only, with reference to the drawings in which: [Brief explanation of the drawings]

[0195] [Figure 1A-C] FIG. 1 is a perspective view of an exemplary handling assembly. [Figure 2] FIG. 2 is a side view of a first exemplary interface element. [Figure 3] FIG. 3 is a perspective view of the first exemplary interface element of FIG. 2. [Figure 4] FIG. 10 is a side view of a second exemplary interface element. [Figure 5A-C] 1A-1C are a series of schematic side views of an exemplary handling assembly engaging and interlocking with a section to be handled. [Figure 6A-B] 10A-10C are side and front views of a third exemplary interface element. [Figure 7] FIG. 1 is a perspective view of an exemplary handling system. [Figure 8] FIG. 1 is a perspective view of a first exemplary jack device. [Figure 9] FIG. 9 is a cutaway perspective view of the first exemplary jack device of FIG. 8. [Figure 10] FIG. 9 is a cutaway side view of the first exemplary jack device of FIG. 8. [Figure 11A-C] FIG. 10 is a schematic diagram of a second exemplary jack configuration. [Figures 12A-H] 1 is a series of schematic side views of an exemplary method of erecting a structure employing an exemplary apparatus. [Figure 12I] 1 is a perspective view of an exemplary handling system employing an exemplary method for erecting a structure. [Figure 13] FIG. 1 is a cutaway perspective view of an exemplary handling system having an exemplary alignment platform. [Figure 14] FIG. 14 is a perspective view of the exemplary alignment platform of FIG. 13. [Figure 15A-D] FIG. 15 is a cutaway perspective view of the support arm of the alignment platform of FIG. 14. [Figure 15E-F] FIG. 1 is a side view of an exemplary displacement strut. [Figures 16A-F] 1A-1C are a series of schematic side views of an exemplary method for aligning two sections of a structure. [Figures 17A-F] 10A-10C are a series of side views of a second exemplary method of aligning two sections of a structure. [Figure 18] FIG. 1 is a perspective view of an exemplary handling system applied to an onshore wind turbine installation erection application. [Figure 19A-B] 1A and 1B are perspective and cross-sectional views of an exemplary handling system applied in an offshore wind turbine installation; [Figures 20A-E] 1 is a series of schematic side views of an exemplary method of erecting a structure and then lowering it to the seabed employing an exemplary apparatus. [Figure 22] FIG. 1 is a schematic perspective view of an exemplary mobile handling system. [Figure 22A] 1 is a schematic perspective view of an exemplary mobile jack device. [Figure 22B-E] 1A-1C are a series of schematic perspective views of an exemplary mobile jack device handling various exemplary sections. DETAILED DESCRIPTION OF THE INVENTION

[0196] The present invention broadly relates to a handling system for handling sections of a structure, a method for erecting a structure, and an alignment platform and method for aligning two sections of a structure to be erected.

[0197] Generally, the sections of structures referred to herein relate to sections (of various forms, configurations and shapes) of structures of any size, i.e. civil engineering structures or installations. Preferably, but not exclusively, examples may relate to sections such as rings, masts or towers for wind turbine installations and the like.

[0198] Broadly, one aspect of the invention provides a handling system for assembling an elongated structure from a plurality of sections along a vertical axis, the handling system comprising a plurality of spaced apart interface elements (referred to as handling assemblies) for engaging the sections of the structure to be handled, and a jacking arrangement comprising at least one jacking device configured to move the interface elements, the interface elements being movable radially relative to the vertical axis to engage and / or disengage the sections to be handled, and also movable vertically to lift one or more sections of the structure.

[0199] An exemplary handling assembly 1000 for handling sections of a structure is shown in FIG. 1A and is shown as comprising a plurality of spaced apart interface elements 100. The interface elements 100 are provided to couple to (i.e., engage) the sections and carry the associated loads. Generally, the handling assembly is configured so that the interface elements are movable toward and / or away from the section to be handled, allowing them to couple to (and / or disengage from) the section during handling, and are vertically movable to lift (and / or lower) the section to be handled. This will be discussed in more detail below.

[0200] Some or all of the interface elements 100 may be distributed on a notional circular locus 1000X having a substantially vertical upright axis 1000Y, such that the interface elements 100 are positioned equidistant from the center (defined by the substantially vertical upright axis 1000Y) around / centered on said circular locus 1000X. This circular configuration may be suitable for handling circular sections (e.g., concrete rings). Other configurations may be used to handle sections or objects of different shapes.

[0201] In some examples, the interface elements 100 are substantially evenly or uniformly spaced around whatever particular shape of assembly (e.g., a notional circular locus) is employed for their positioning. In other examples, such as that shown in FIG. 1A, the interface elements 100 are arranged in several more closely spaced groups (e.g., in pairs as shown), with the groups being evenly or symmetrically distributed.

[0202] Although FIG. 1A shows eight spaced-apart interface elements 100, any number of interface elements, at least two, can be employed in a given handling assembly depending on the application, with any given spacing or distance between each element depending on several requirements specific to any given handling assembly application. FIG. 1B shows an example handling assembly 1002 having four example interface elements 100D spaced apart on each side of a square locus 1002X, for example, for handling square or other right-angled sections. FIG. 1C shows another example handling assembly 1004 having six example interface elements 100E spaced apart on each side of a hexagonal locus 1004X, for example, for handling hexagonal or other polygonal sections. Different handling assembly configurations, for example, for handling right-angled sections or objects, can employ two interface elements positioned to handle the section or object on only two opposing sides of the section or object, or four interface elements positioned to handle the section or object on all four sides. In general, a polygonal or circular path may be employed, with the number of interface elements defined by the number of faces of the particular polygonal shape.

[0203] Each of the interface elements includes a lower engagement portion in the form of an outwardly projecting foot member for engaging the section to be handled (e.g., for engaging a pocket-like recess in the section).

[0204] 1A-5C, each interface element 100 includes a lower engagement portion 120 (i.e., foot), an upper engagement portion 140 (i.e., pad), and a float point 110 about which both engagement portions 120, 140 are free to pivot. This configuration allows the interface elements to be positioned to grip or clamp the section being handled and to cooperate to substantially eliminate forces across the section being handled. A non-clamping alternative is shown in FIGS. 6A-B.

[0205] In the first exemplary handling assembly 1000, the free pivoting of the interface element 100 about its float point 110 results in pivoting of either engagement portion in one direction (e.g., clockwise) and a corresponding pivoting of the other engagement portion in the opposite direction (e.g., counterclockwise), so that the pivoting may be counter-acting and / or reciprocal. The degree to which one engagement portion moves or pivots relative to the other engagement portion may be determined or defined by several factors. The pivoting may also be represented as a rocking motion about the float point, which is the coordinated pivoting / rotation of both engagement portions relative to and against each other with mutual hinge balance about the float point.

[0206] The free pivoting of the interface element 100 about the float point 110 can generally define the pivoting movement of the engagement portions 120, 140, and the free pivoting of the interface element 100 about the float point 110 defines the translation and / or pivoting of the engagement portions. This may be achieved in several ways, and in the exemplary handling assembly 1000 shown in FIGS. 1-5C , at least, is provided by having the interface element 100 be an integrally formed, unitary component, with the engagement portions 120, 140 and the float point 110 not being movable relative to one another due to their structurally integrated configuration. Thus, the upper and / or lower engagement portions 120, 140 of the exemplary handling assembly 1000 are fixed relative to the float point 110. In other examples, the upper and / or lower engagement portions may be movable relative to the float point and each other, i.e., not cast, formed, or assembled as a single unit or integrally, but still have a mutual pivoting relationship about the float point.

[0207] The float point 110 of the exemplary first interface element 100A in FIG. 2 is shown having a substantially horizontal pivot axis 110X, which extends "into the page." The float point can be a point at which an interface element balances such that an engagement portion hinges about the float point. The float point 110 is also shown having a radius of curvature 110R, which is the radius of curvature of the curved lower surface 112 of the float point 110, i.e., the notional radius of a notional arc that defines the shape of the curved lower surface 112. The features, i.e., structural elements, upon which the curved lower surface 112 floats, rests, or is otherwise supported and pivots are described in more detail below in connection with specific examples of the invention, such as the apparatus 2000 of FIGS. 7-11 employing the exemplary handling assembly 1000 of FIG. 1.

[0208] FIG. 3 illustrates the exemplary first interface element 100A in a perspective view, showing the radius of curvature 110R and the substantially horizontal pivot axis 110X. The magnitude of the radius of curvature 110R may define the free pivot behavior of the first interface element 100A. The orientation of the pivot axis 110X may also define at least a portion of the free pivot behavior of the first interface element 100A. In some embodiments, the pivot axis 110X may not be substantially horizontal. In any case, it should be understood that the radius of curvature 110R and the pivot axis 110X may define or determine the pivot behavior, or range of pivoting, of the entire interface element 110A and its component engagement portions 120, 140, as the float point 110 balances on the curved lower surface 112. Furthermore, it should be understood that the pivoting behavior of either or both engagement portions, or their pivoting relative to one another, may be determined by their horizontal and vertical distances from one another and from pivot axis 110X. The relative size and mass of engagement portions 120, 140 may also affect their relative pivoting movement.

[0209] The lower engagement portion 120 and the upper engagement portion 140 of at least the interface element 100 define a connecting member (i.e., elongated portion) 130 extending therebetween. The lower engagement portion 120 is shown as including a foot or pedestal 122 extending outwardly from the connecting member 130, particularly from its lower end 132. The upper engagement portion 140 includes a pad 142 extending outwardly from the connecting member 130, particularly from its upper end 134.

[0210] The connecting member 130 in both interface element examples 100A, 100B is shown with a flat, sub-chamber surface 130A, the pad 142 with a uniform rectangular protrusion from the flat surface 130A, and the pedestal 122 with a wedge-shaped protrusion extending further outward from the flat surface 130A. The shape and size of the pad 142 with the uniform rectangular protrusion and the wedge-shaped protrusion can both be varied in some configurations, as can the length they extend outward from the flat surface 130A. The shape and size of the float point 110 and connecting member 130 can also be varied to suit a particular configuration or desired pivot behavior.

[0211] 2 shows the vertical and horizontal distances 142Y, 142X from the center of mass of the pad 142 to the pivot axis 110X, and the vertical and horizontal distances 122Y, 122X from the center of mass of the pedestal 122 to the pivot axis 110X. The vertical and / or horizontal distances 142Y, 142X from the center of mass of the pad 142 to the pivot axis 110X can define the magnitude of the pivoting of the upper engagement portion 140 relative to the pivoting (rotational and / or translational) of the lower engagement portion 120. Conversely, the vertical and / or horizontal distances 122Y, 122X from the center of mass of the pedestal 122 to the pivot axis 110X can define the magnitude of the pivoting of the lower engagement portion 120 relative to the pivoting (rotational and / or translational) of the upper engagement portion 140.

[0212] 4 illustrates an exemplary second interface element 110B having all of the same features as described above with respect to the first exemplary interface element 110A of FIGS. 2 and 3, as indicated by the use of the same reference numerals, with one notable difference being that the float point 110 is configured higher toward the upper end 134 of the connecting member 130, and therefore the vertical and / or horizontal distances 122X, 122Y, 142X, 142Y of the pedestal 122 and pad 142 from the pivot axis 110X are different. In particular, the vertical and / or horizontal distances 142Y, 142X of the center of mass of the pad 142 from the pivot axis 110X of the exemplary second interface element 110B are much smaller than those of the first interface element 110A. This may result in different pivoting behavior of the second interface element 110B compared to the first exemplary interface element 110A.

[0213] At least some flat surfaces of the upper and lower engagement portions configured to contact the section to be handled may be perpendicular to each other and / or form an angle between about 10 degrees and about 170 degrees with respect to each other. In the exemplary interface elements 100A, 100B described above, the flat surfaces may be the vertical flat surfaces of the pads 142 and the horizontal upper flat surfaces of the wedge-shaped pedestals 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, at least some flat surfaces or contact surfaces of the upper and lower engagement portions, such as pads, pedestals, or one or more surfaces configured to contact and engage at least a portion of the surface of the section to be handled, may form an acute, right, or obtuse angle with each other, or may form an angle between 0 degrees and 180 degrees with respect to each other.

[0214] It should be understood that the various features of the interface elements described above may be configured as desired to affect or define the pivot behavior, i.e., the rocking motion about the float point. It should also be understood that the amount of contact, i.e., surface area, of a given engagement portion may vary depending on the exemplary interface element and how it is configured, as well as the surface of the portion of the section feature with which the interface element contacts and engages. For example, when the pivot angle is minimal and a more substantial portion of the upper end of the coupling member contacts and presses against the section wall, the contact surface of the upper engagement portion may extend just beyond pad 142. The distances described relative to the above features may also affect certain characteristics of the coupling action, force resolution, force / moment cancellation, and other engagement / handling aspects of the invention, as further described below.

[0215] It should be noted that free pivoting behavior about the float contact points is optional, and all of the above features may be present even without free-pivoting float points. Nevertheless, it should be understood that, for the purposes of this discussion, the engagement portions (of the interface elements) are free to pivot about their respective float points, such that contact and engagement of either the upper or lower engagement portion with the section causes the other of the upper or lower engagement portion to contact and engage the section, and the interface elements, when under load, effectively grip the handled section, thereby resolving forces across the section. This is illustrated in Figures 5A-5C in connection with the exemplary handling assembly 1000 described thus far.

[0216] 5A shows a section 90 (of a structure) to be handled, e.g., having an upper surface 90A, a lower surface 90B, and a side surface 90C. For illustrative purposes, the section 90 is handled by two interface elements 100 (the first interface element 100A in FIGS. 2 and 3) of an exemplary handling assembly 1000. Arrows A1, A2, and A3, respectively, indicate that the two elements 100 move upwardly toward the section 90, with the lower engagement portions 120 and their component pedestals 122 moving toward the lower surface 90B of the section 90 and laterally toward the side surface 90C of the section 90, thereby generally moving the elements 100 toward the section 90 (specifically, the pads 142 of the upper engagement portions 140 and the connecting members 130 moving toward the side surface 90C of the section 90).

[0217] In FIG. 5B, the lower engagement portion 120 (particularly the pedestal 122) contacts and engages the section 90 at least at or against the lower surface 90B. Due to the opposing pivotal relationship between the upper and lower engagement portions 120 and 140, this contact, along with further upward movement in direction A1, causes a pivotal response of the float point 110 and the interface element 100 about their respective pivot axes 110X (clockwise and counterclockwise rotation along pivot arrows A4 and A5, respectively). The pivotal response is a rotation of the upper engagement portions 140 and their pads 142 toward the side 90C of the section 90, which contacts and engages the section 90 as shown in FIG. 5C. Thus, the contact and engagement of the lower engagement portion 120 causes a pivotal response about the float point 110A, resulting in the contact and engagement of the upper engagement portion 140.

[0218] Other handling assemblies may have a different sequence of movement and contact that results in engagement of both engagement portions with the section, for example, initial contact and engagement of the upper engagement portion by inward, upward, and / or downward movement relative to the section, resulting in contact and engagement of the lower engagement portion by further inward, upward, and / or downward movement relative to the section. An alternative interface element may have the pedestal 122 and pad 142 reversed, with the pedestal 122 positioned on the upper engagement portion 140 and the pad 142 positioned on the lower engagement portion 120. In such a case, the interface element may instead be lowered with an inward lateral movement toward the section first, first resulting in contact and engagement of the pedestal with the top surface of the section, followed by pivoting of the pad and therefore contact and engagement with the side of the section.

[0219] Thus, the exemplary steps of Figures 5A-5C are merely exemplary.

[0220] When either of the engagement portions first engages a section, a compressive force or load may be applied to the section. When the other of the engagement portions engages the section, a tensile force or load may be applied that counteracts and eliminates the compressive force initially generated. Thus, both the upper and lower engagement portions of multiple interface elements may be engaged with a section, substantially eliminating forces across the section and effectively coupling the interface elements to the section, allowing the interface elements to handle the section. In other words, when a section is properly engaged by both engagement portions of an interface element, the interface elements operably couple to the section such that the handling assembly moves the section in unison with its own movement. For example, when the example handling assembly 1000 of FIGS. 1-5C engages and couples to a given section, collective movement of the interface elements, such as by connection to an external structure (e.g., system 2000 of FIG. 7), moves the section along with the handling assembly 1000.

[0221] It will further be appreciated that a force exerted on and / or across an upper portion of a section by contact and engagement of an upper engagement portion may be offset by a force exerted on and / or across a lower portion of a section by contact and engagement of a lower engagement portion, where contact and engagement of an upper engagement portion with an upper portion of a section creates a force at the upper portion that is offset and / or canceled by a force at the lower portion of the section created by contact and engagement of a lower engagement portion with the lower portion, and / or where contact and engagement of an upper engagement portion with an upper portion of a section creates tension and / or compression at the upper portion that is offset and / or canceled by tension and / or compression at the lower portion of the section created by contact and engagement of a lower engagement portion with the lower portion. This occurs, in part, due to the opposing cancellation of the interface elements about the float point 110 or float axis 110X, so that any force or moment exerted on the section at one part / area of ​​the section is canceled by an equal force or moment exerted on another part / area when the other engagement portion acts. It will also be appreciated that this force cancellation can occur across the opposing interface elements, and that the interface elements are preferably at least partially evenly distributed around the section to be handled, so that the generated forces are uniformly distributed across / around the section, and therefore canceled. Thus, while the handling assembly can include any plurality of interface elements, i.e., two or more, these are preferably distributed around the periphery of the section, so that the forces or moments acting on the section during engagement and coupling of the interface elements are evenly distributed and therefore evenly canceled or canceled, and thus neutralized. In other words, the interface elements are preferably distributed around the section to be handled to provide an even force distribution.

[0222] The above discussion describes the use of a free-pivoting interface element having first and second engaging portions that act to clamp and grip a section when under load, relieving forces across the section. However, in other examples, the interface element may not be configured in this manner. A simplified example of a non-clamping interface element 100C is shown in FIGS. 6A-B. Like the previous interface element, the interface element 100C comprises an upstanding elongated portion 130 and foot members 120 projecting outward from its lower portion 132 (the foot members 120 are positioned to engage and support the load of the section being handled, preferably shaped to be inserted into pocket-like features in the section). However, in this case, the interface element is fixed or supported so as not to pivot. FIG. 6B shows a front view of the interface element, illustrating a flange 124 for securing the interface element 100C to a jacking device (the main carriage of the lifting mechanism discussed below). Otherwise, interface element 100C can have any of the features already discussed.

[0223] As previously mentioned, the handling assembly is part of a handling system in which the interface elements are movable, load-bearing components. An exemplary handling system 2000 (sometimes referred to as an apparatus) including multiple interface elements is shown in FIG. 7. In this and subsequent examples, a handling system using the free-pivoting ("clamping") interface elements 100A, 100B of FIGS. 1-5 is described and illustrated. However, this is merely one example used to illustrate the possible uses and advantages of the handling assembly. It should be understood that the handling system could alternatively use non-clamping interface elements, such as those of FIGS. 6A-B.

[0224] The handling system 2000 may be used for the repetitive and sequential "bottom-up" erection of an elongated structure from multiple sections along a vertical axis 2000Y. This vertical axis may generally coincide with the vertical axis of the elongated structure after it has been erected. Erection may occur on an erection footprint FP at the structure's final installation location. The erection footprint may be defined by the area of ​​the foundation within the jacking arrangement on which a given structure is to be erected. The erection footprint may be informed by the peripheral shape (e.g., a circle or polygon or rectangular shape having a diameter, circumference, radius, etc.) of given interface elements and / or given jacking devices of a given system. The erection footprint may define a conceptual area or zone enclosed by the interface elements, handling assemblies, and / or jacking arrangements of a given handling system. This may generally correspond to a variable or adjustable locus or perimeter (such as, for example, the notional circular locus 1000X of FIG. 1) of the interface elements, handling assemblies, jack configurations, and / or jack devices for a given system.

[0225] The illustrated system 2000 comprises the exemplary handling assembly 1000 of Figures 1-5C. It therefore comprises a handling assembly 1000 having interface elements 100 in a substantially circular arrangement (on a circular trajectory) to accommodate handling of a circular section of the elongated structure described above. The elongated structure may be, for example, a tower, such as the tower of a wind turbine.

[0226] The handling system 2000 also comprises a jacking arrangement (also called a moving arrangement) 2100, which is configured to move interface elements of an associated handling assembly towards and / or away from a section to be handled, so that the interface elements can be connected (i.e., engaged) and / or released (i.e., disengaged) from a given section of the plurality of sections being handled or to be handled, and the jacking arrangement 2100 is further configured to move (i.e., lift) the interface elements of the handling assembly along the vertical axis 2000Y, thus performing sequential lifting of consecutive, conceptually numbered sections of the plurality of sections to be assembled by the handling system for erection of a structure.

[0227] To this end, the jack configuration 2100 includes at least one jack device (also referred to as a mover mechanism) 2200 configured to move (i.e., lift) at least one interface element 100 of the handling assembly 1000 along the above-mentioned vertical axis 2000Y.

[0228] A first exemplary jacking device 2200A is shown in FIGS. 8-10. The jacking device 2200A includes a support frame 2200 that supports at least a portion of the first exemplary interface element 100A described above, a reinforcing frame 2240 for reinforcing the support frame 2200, a slider mechanism 2260, and a roller screw mechanism 2290. The slider mechanism is an example of a translation mechanism arranged to allow radial movement and positioning of the interface element for engaging and disengaging with sections, as well as adjustment of the radial position of the interface element for engaging sections of various diameters. The slider mechanism includes a slider frame 2260 for translation of the support frame 2200 and the reinforcing frame 2240 along the slider frame 2260. The roller screw mechanism is an example of an elevation mechanism for raising (and lowering) the interface element for lifting the section.

[0229] The support frame 2200 is comprised of a vertical upright bar 2222 sandwiched between an upper plate 2224 and a lower plate 2226. The support frame 2200 is a unitary assembly, such that the upright bar 2222 and the lower and upper plates 2224, 2226 do not move relative to each other. The support frame 2200 provides a partial housing to support the vertical movement of the interface element 100A.

[0230] The stiffening frame 2240 includes triangular right angle stiffening members 2242 that extend to stiffening plates 2246 located on either side of the lower end of the support frame 2200. The upright bars 2243 of the stiffening members 2242 are adjacent to the vertical upright bars 2222 of the support frame 2200. The stiffening members 2242 thereby help to stiffen the support frame 2200 against flexing and deformation caused by and during handling of the apparatus 2000.

[0231] During movement of the interface element 100 in a vertical direction relative to the support frame 2200, the support frame 2200 is preferably supported on the ground (e.g., a foundation). A pair of frame actuators 2248 may be provided to connect a support plate 2228 extending between the upright bars 2222 of the support frame 2200 to reinforcing plates 2246 of a stiffening frame 2240 located on either side of the lower end of the support frame 2200. The actuators 2248 may be actuated to lift the support frame 2200 sufficiently off the ground or foundation. This may allow horizontal movement of the support frame 2200 by horizontal translation of the stiffening frame 2240 along the slider frame 2260.

[0232] The slider frame 2260 includes a slider housing 2262 having a slider drive unit 2264, such as a DC or AC motor coupled to a gearbox. A slider shaft 2266 extends longitudinally through the slider housing 2262 and is actuated by the drive unit 2264 to translate the stiffening frame 2240 along and relative to the slider frame 2260. Preferably, the slider frame 2260 (e.g., slider housing 2262) is secured (e.g., bolted) to a foundation to withstand or offset loads carried by the interface element and to dissipate forces acting on the base of the structure to the foundation. This may be particularly preferable when the interface element is not of the free-pivoting type (e.g., interface element 100C of FIGS. 6A-B).

[0233] An example of a lifting mechanism 2290 for vertically moving the interface element 100A of the jacking device is shown in FIGS. 9 and 10 in the form of a roller screw (the vertical upright bar 2222 of the support frame 2220 is hidden for clarity). The lifting mechanism 2290 comprises 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 threaded rods 2292 of the lifting mechanism 2290. Operation of the motors 2282 rotates the threaded rods 2292, which (by virtue of internal threads of the carriage 2294, not visible in FIGS. 9 and 10 ) moves the main carriage 2294 of the lifting mechanism 2290 upward or downward. A brake unit 2284, such as a disc brake, is also shown, which can be used to slow or stop operation of the lifting mechanism 2290 by the motors 2282 in an emergency.

[0234] The main carriage 2294 may provide a feature or structural element on which, supported by, and pivoted about, the curved lower surface 112 of the float point 110 of the first exemplary interface element 100A floats. In other examples (e.g., the example of FIGS. 6A-B), the interface element may 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.

[0235] The lifting mechanism 2290 (e.g., the threaded rod 2292, the main carriage 2294, and / or the motor 2294) may be completely or partially housed within the support frame 2220 of the jacking device 2200. In particular, the main carriage 2294 may move vertically within (and relative to) the support frame 2220, and some or all of the interface element 100A may also be housed within the support frame.

[0236] Thus, the jacking device 2200A facilitates vertical movement of the interface element 100A, as well as inward and outward (i.e., radial) movement 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 various diameters. This configuration allows the handling system to be used to assemble structures of non-constant diameters (e.g., tapered structures). The translation mechanism may be configured to adjust the radial position of the interface element to multiple discrete positions or continuously, and may be configured to lift one or more sections at any of those radial positions. Still other jacking configurations may be configured to move the handling assembly interface element about multiple horizontal translation axes. Those skilled in the art will recognize the jacking device 2200A as illustrating just one possible configuration for enabling desired movement of the handling assembly interface element along the vertical axis, as well as radial inward or outward movement of the handling assembly interface element. This configuration facilitates movement of the interface element towards and / or away from the section to be treated, so that the interface element contacts, engages, and then couples with and / or disengages from that section if and when desired.

[0237] 10 , the pivot axis 110A of the previously described free-pivoting interface element is shown as extending across the main carriage 2294, with the curved lower surface 112 of the float point 110 of the interface element 100A resting and pivoting on the curved upper surface 2296 of the main carriage 2294. As such, the curved lower surface 112 of the float point 110 and the curved upper surface 2296 of the main carriage 2294 are configured to at least partially coincide with one another, thereby providing support for the float point 110. The radius of curvature of the curved upper surface 2296 of the main carriage 2294 may at least partially coincide with the radius of curvature 110R of the curved lower surface 112 of the float point 110. Preferably, the radius of curvature of the curved upper surface 2296 of the main carriage 2294 is smaller than the radius of curvature of the curved lower surface 112 of the float point 110.

[0238] This is merely one example of how the float point interface may be configured. Other known engineering joints or connections may be employed to achieve a free-floating pivot interface. For example, a pin-joint plain bearing mounted on a substantially horizontal axle may be used in place of the curved upper surface 2296 of the main carriage 2294. Here, the radius of curvature of the plain bearing, or simply the radius, may be configured in consideration of the geometric characteristics of the curved lower surface 112 of the float point 110 to achieve the desired pivot behavior of the interface element 100A. Alternatively, a spherical plain bearing may be employed in place of the curved upper surface 2296 of the main carriage 2294 to achieve free-floating pivoting of the float point 110 with greater degrees of freedom. The radius of curvature, width, depth, and other geometric characteristics of the features about which the float point 110 pivots, such as the curved upper surface 2296 of the main carriage 2294, and the characteristics of the curved lower surface 112 of the float point 110, may be modified, adjusted, and / or configured to suit the desired pivoting behavior of the interface element 100A. In other examples, the float point may comprise other suitable engineered joints, such as ball joints, hinge joints, floating knuckles, etc., which may be appropriately configured to provide a floating, hinge, pivot, or balance point. Those skilled in the art may also envision lubrication measures, such as grease application, along with the use of bearings, that may be desirable when assembling such float points to meet service life, safety, engineering, and other operational or regulatory requirements.

[0239] Additionally, while free pivot is used to describe free-floating movement of the interface element about the float point and pivot axis, the physical structure and components surrounding the interface element, as well as the configuration of the main carriage and / or 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 float point 110 may be configured to create an inherently high resistance to pivoting at both ends of the pivoting range of motion. Furthermore, contact between the interface element 100A, e.g., the upper and lower ends 132, 134 of its connecting member 130, and the support frame 2220 or main carriage 2294, may define upper and lower pivot limits for the upper and lower engagement portions 120, 140, preventing further pivoting at those limits.

[0240] For interface elements that do not pivot freely, such as those shown in FIGS. 6A-B, it may be desirable to effectively transfer loads from the interface element to the foundation to resolve the forces. FIG. 11A shows a schematic diagram of an exemplary jack configuration with the alternative interface element 100C of FIGS. 6A-B, illustrating the load path to the foundation 4000. The jack device 2200A is shown in isolation in FIGS. 11B-C. The associated forces acting at each point are indicated by arrows. In addition to the configuration of the interface element and certain differences discussed below, the jack device can have any of the features of the jack device 2200A previously described, with common components designated by the same reference numerals. Some features have been omitted for clarity.

[0241] Here, the upright elongated portion of the interface element is disposed within a support frame 2220 of the jacking device and coupled (e.g., directly or indirectly via a flange, etc.) to a main carriage 2994 of a lifting mechanism 2290, moving vertically with the carriage 2994 within the support frame 2220. The interface element may be further supported by the support frame 2220 via bearings, rollers, etc. 126, which transfer loads from the interface element 100C to the support frame 2220 and allow relative vertical movement of the two components. The bearings 126 may be positioned relative to the intended load transfer path. For example, as shown in FIGS. 11A and 11C , a first bearing may support the radially inner side of an upper end of the upright elongated portion of the interface element, and a second bearing may support the radially outer side of a lower end of the upright elongated portion. This configuration can desirably transfer loads relative to the illustrated L-shaped interface element 100C when subjected to expected loads (carried by the protruding foot members). As will be appreciated, the interface element configuration exerts an overturning moment on the support frame (pulling the frame of the jacking device inward). As a result, it may be desirable to secure the jacking device to the foundation 4000 to resist this overturning moment. In FIGS. 11A and 11C , the slider frame 2260, positioned radially outward from the support frame 2200, is bolted to the foundation 4000. Those skilled in the art will appreciate that the same principles can be applied to other jacking devices / configurations, such as the bridge configuration discussed in connection with FIG. 7 .

[0242] For any of the jack configurations described herein, an electronic control system can be employed to provide precise actuation of the lift drive unit 2280. This, in conjunction with the high torque of the motor 2282, the low speed gearing, and the finite precision inherent in the threaded rod 2292 interfacing with the main carriage 2294, provides finite precision vertical movement of the interface element 100A. Such a system can also communicate with the drive unit 2264 of the slider frame 2260 and the actuator 2248 of the stiffener frame 2240 to coordinate the precise finite travel of the translation mechanism.

[0243] The electronic control system may be a central control system for synchronously or otherwise cooperatively controlling the jacking devices (e.g., their lifting and translation mechanisms). The lifting of the individual interface elements may be controlled in response to data or other information received or provided regarding load and / or alignment. The system may include sensors, such as load cells, for acquiring such data.

[0244] Returning to FIG. 7, a second exemplary jacking device 2200B (also referred to as a second mover mechanism) is also shown, which in this case is a linked configuration of two jacking devices. The linked configuration provides a bridge configuration, which is shown as including two subordinate jacking devices 2200C. The subordinate jacking device 2200C may be similar to the first exemplary jacking device 2200A described above, except that the device 2200C does not face forward (i.e., toward the longitudinal or vertical axis 2000Y of the slider frame 2260) but instead faces laterally relative to the support frame 2220, supporting an intermediate beam 2300 spanning therebetween.

[0245] Intermediate beam 2300 is shown as comprising two interface elements 100B. As previously described, it is these interface elements 100B in bridge configuration 2200B that contact, engage, and couple with the section to be handled. In this case, however, the main carriage of slave mover mechanism 2200C does not directly support and vertically move the interface elements to handle the section of the structure, but rather uses the main carriage to jointly support and vertically move intermediate beam 2300, indirectly raising and lowering the two interface elements 100B jointly (e.g., in unison) so that the interface elements 100B themselves contact and engage the section to be handled.

[0246] The interface elements 100B supported by the intermediate beam may be configured to translate horizontally to vary their horizontal spacing from one another, which may be provided by a horizontal slider slot 2302 in the intermediate beam 2300. An internal mechanism within the intermediate beam 2300, such as a motorized rack and pinion, a worm gear and threaded rod, or other suitable configuration, may be used to actuate the horizontal translation of the second exemplary interface element 100B along the horizontal slider slot 2302 in the intermediate beam 2300.

[0247] The interface element 100B may be mounted on an auxiliary carriage (not shown) that extends into the horizontal slider slot 2302. In the case of a free pivot example, the auxiliary carriage may provide the feature or structural element about which the curved lower surfaces 112B of the float points 110B of the two second exemplary interface elements 100B pivot.

[0248] The movement of the two subordinate mover mechanisms 2200C along their respective slider frames 2260C and the horizontal translation of the two second exemplary interface elements 100B may be performed in unison, effectively providing radial inward and outward translation of the two second exemplary interface elements 100B relative to the vertical axis 2000Y, which may be coordinated with the radial inward and outward translation of the interface elements 100A by the other (e.g., six) jack devices 2200A.

[0249] Furthermore, it should be understood that the second exemplary bridge configuration of the jack device 2200B, comprising the slave jack device 2200C, the intermediate beam 2300, and the two second exemplary interface elements 100B, provides an example in which the jack configuration can be configured to move the interface elements of the handling assembly around multiple horizontal translation axes in addition to moving the interface elements of the handling assembly along a vertical axis.

[0250] The two subordinate jacking devices 2200C can operate substantially as previously described with respect to free pivoting, contact, engagement, and substantial force cancellation of the sections being handled, except that the actions described above are performed to handle the intermediate beam 2300 rather than the sections of the structure. Similarly, similarities to the operation of the jacking device of Figures 11A-C (using the second, non-gripping interface element 100C) will also be apparent.

[0251] In the former case, forces imparted to intermediate beam 2300 from handling the section using second exemplary interface element 100B are transmitted to the interface elements of the two subordinate mover mechanisms 2200C, which are themselves free to pivot at float points on the main carriage as previously described. Forces, moments, deflections, and / or deformations of intermediate beam 2300 during handling / lifting operations of moving arrangement 2100 with respect to a section of the structure can be transmitted along the above-mentioned connection chains to the interface elements of the two subordinate jack devices 2200C, to the respective support frames, stiffening frames, slider frames, and ultimately to the foundation / ground on which apparatus 2000 is placed.

[0252] Alternatively, arrangements may be provided to neutralize or dampen the transmission of such forces if and when desired. For example, the carriage on which the second exemplary interface element 100B of the intermediate beam 2300 is supported may be mounted relative to the intermediate beam 2300 so as to dampen or neutralize the transmission of forces to the interface elements of the two subordinate jack devices 2200C.

[0253] From the foregoing discussion, it is apparent that the interface elements can provide a modular and adaptable means for manipulating sections of a structure in that they can be arranged in multiple "tiers" or layers of connection with features of the jacking arrangement, providing a variety of spacing, actuation, translation, and movement options depending on the particular application. Furthermore, the modular design generally provided by multiple interface elements and corresponding multiple jacking devices allows the system 2000 to be easily assembled and disassembled at the construction site, as needed, at or around the desired footprint where the structure is to be placed.

[0254] In tower erection applications of the exemplary apparatus 2000 described thus far, it may be desirable to move sections of a structure within the notional erection footprint of the apparatus 2000, e.g., within a notional circular locus defined by the interfacing elements of the handling assembly 1000, so that the sections can be interlocked along a vertical axis. The bridging of the jacking devices by raising the intermediate beam 2300 to a raised position provides a clearance zone 2100C through which the next section of the structure to be handled can be moved into position below the intermediate beam 2300 and into the notional erection footprint of the apparatus 2000. This is discussed in more detail below with reference to FIG. 12I. To create a wider clearance zone for the passage of larger sections of the structure, the length of the intermediate beam 2300 can be increased, and thus the distance between the subordinate jacking devices 2200C can be increased.

[0255] As previously mentioned, the jack arrangement 2100 is configured to vertically move the interface element 100A of the handling assembly 1000 to move the structure sections along the vertical axis 2000Y, ultimately resulting in the sequential raising of successive, conceptually numbered sections of the plurality of sections to erect the elongated structure from the ground. An exemplary method of this iterative, sequential, "bottom-up" erection will now be described with reference to FIGS. 12A-12H. This exemplary method may generally include positioning a first (top) section 91 of the plurality of sections substantially in line with the vertical axis 2000Y, i.e., within the erection footprint FP of the apparatus 2000, as shown in FIG. 12A. The footprint FP may be, for example, the notional surface area of ​​the circular locus 2000X of the exemplary handling assembly 1000 of the exemplary apparatus 2000 of FIG. 7.

[0256] The jacking arrangement 2100, comprising jacking devices 2200A, 2200B, is configured to move the interface elements 100A, 100B of the handling assembly 1000 radially and vertically. In FIG. 12B, the jacking arrangement 2100 is actuated, causing the interface elements 100A, 100B of the handling assembly 1000 to move toward the first section 91 (positioned on the erection footprint FP) and contact, engage, and couple with the first section 91 as previously described. In FIG. 12B, the interface elements are engaged within the section holes 91H of the first section 91 (discussed further below with reference to FIG. 12I), indicating that the handling assembly 1000 is now coupled to said section 91. In FIG. 12B, the apparatus 2000 is shown hidden for clarity.

[0257] The jack arrangement 2100 can move the first section 91 along the vertical axis from a non-raised position to a first raised position EP2 by means of the jack devices 2200A, 2200B, 2200C. This is shown in FIG. 12C. Furthermore, while the first section 91 is in the first raised position (carried by the various interface elements 100A, 100B of the handling assembly 1000), a second section 93 of the plurality of sections can be positioned below the raised first section 91.

[0258] The jacking arrangement 2100 then lowers the first section 91 from the first elevated position EP2 towards the second section 93 by means of the jacking devices 2200A, 2200B, 2200C, so as to contact and align said second section 93 to form the notional joint 9 of the structure, whereby the second section 93 now defines the bottom section of the notional joint 9. This is shown in FIG. 12D. Alternatively, or additionally, the second section 93 may be elevated towards the first section 91 (e.g., by a support platform, discussed below).

[0259] The various interface elements 100A, 100B of the handling assembly 1000 may then be decoupled (i.e., disengaged) from the first section 91 by translating radially outward from the first section 91, as shown in Figures 12E and 12F, respectively, and then move downward to contact, engage, and couple with the second section 93, i.e., lower the sections of the conceptual coupling 9.

[0260] The entire coupling 9 (in this case the first and second sections 91, 93) can then be moved upwards along the vertical axis to a raised position EP3, which may be at the same height as the first-mentioned raised position EP2 or at a different height, as shown in Figure 12G.

[0261] While the coupling 9 is in the above-mentioned raised position EP3, the next section in the sequence, i.e., the third section 95 shown in Figure 12G, can be positioned below the raised notional coupling 9. The jack arrangement 2100 is then again actuated to lower the coupling 9 so that its bottom section (i.e., the second section 93) contacts and aligns with the third section 95. Now, as shown in Figure 12H, the coupling 9 includes first, second, and third portions 91, 93, 95, with the third section 95 defining the bottom section of the coupling 9.

[0262] This process may be repeated for successive conceptually numbered sections, sequentially adding sections to the joint, and with each added section raising the joint of the iteratively growing structure.

[0263] It should be noted that the terms “connection” or “conceptually connected” sections may be used in reference to sections being linked and lifted together. These sections may not be fully or completely assembled or connected, but may be temporarily linked or interfaced for purposes of the lifting and handling operations of the exemplary systems and methods described herein. Full connection of adjacent sections may be achieved later with internal or external post-tensioning, structural reinforcement, connecting elements, and the like, as would be apparent to one skilled in the art. After the systems or methods described herein have completed their operations to erect a structure, the notional connection may also allow other sections to be added above, below, or generally to it. For these reasons, two or more sections lifted together by the apparatus and methods described herein may provide only a temporary “conceptual” connection of the structure, with complete or final erection (with or without the above-mentioned finishing operations) presenting the “finished” structure. Furthermore, “raised position” or “raised position” as used herein with respect to sections lifted upward by the exemplary systems and methods may be understood as a variable position defined by the desired height above the foundation to which the section may be raised. The desired height may be anywhere between the minimum and maximum vertical range of motion of the jacking arrangement 2100 parallel to the vertical axis 2000Y, or may be the maximum vertical range of motion of the jacking arrangement 2100 parallel to the vertical axis 2000Y. The elevated or raised position to which a given section is lifted or moved may or may not be the same as the preceding or successive section. The height of a section may change as multiple sections are iteratively added to a conceptual joint of an already elevated structure. Thus, the height of a given section that may be moved upward, the height of the preceding or successive section that is moved upward, and / or the maximum vertical range of motion of the jacking arrangement may define the magnitude of the elevated position to which a given section may be moved.

[0264] The system 2000 provides an efficient, iterative process for erecting an elongated structure from a plurality of pre-assembled sections from above ground by iteratively adding successive conceptually numbered sections to a growing joint via the handling assembly 1000 and jacking arrangement 2100. Once the desired number of sections have been added to the conceptual joint, the "last" joint can be lowered onto the foundation via the jacking arrangement 2100, followed by final decoupling of the interface elements 110A, 110B of the handling assembly 1000.

[0265] Between Figures 12B and 12C (similarly, between Figures 12F and 12G), it may be necessary to position the second section 93 within the erection footprint FP below the raised first section 91. For jacking configurations that substantially encircle the erection footprint FP, such as those shown in Figure 7, one or more jacking devices may need to be temporarily moved or disassembled to allow additional space for personnel and machinery to work on the erection site. Alternatively, the present invention provides for doing this by passing the second section through a clearance zone below the bridge jack configuration, as previously described. Figure 12I shows an example of this process for handling system 2000, with section 92 in raised position EP1. Section 92 is shown as a single circular tower section for ease of viewing, but in reality may represent the bottom section of a conceptual connection with various tower sections already stacked above it.

[0266] The intermediate beam 2300 of the bridge jack configuration 2200B, along with all interface elements 100A, 100B supported thereon, is raised to define a clearance zone 2100C beneath the intermediate beam 2300 and between the subordinate jack devices 2200C. The next conceptually numbered section 94 is shown positioned adjacent the system 2000 and moved beneath and added to the raised section 92. As represented by arrow A10, section 94 is led beneath the intermediate beam 2300, through the clearance zone 2100C, and into the erection footprint of the apparatus 2000. The raised section 92 can now be lowered over section 94 to contact and align with it.

[0267] FIG. 12I also shows in more detail an example of a type of section that can be handled and assembled by the system. In this example, the section is a concrete ring (i.e., a hollow cylindrical circular cross section) with a number of pocket-like holes 92H distributed around the periphery of its underside. The holes 92H are configured to receive the foot members of the interface elements, and the number of interface elements in the assembly may correspond to the number of section holes 92H. The holes 92H are one example means by which they may be pre-formed, pre-cast, or pre-assembled as part of the section of the structure to engage with the foot members (pedestals 122) of the lower engagement portion 120 of the example interface element 100 described above.

[0268] In some instances, the sections of the elongated structure may be precast concrete sections that are pre-cast to match one another, providing upper and lower surfaces that closely or precisely match the surfaces of the sections placed directly above and below. Alternatively, the sections may be pre-assembled or pre-formed metal sections. In either case, it is preferable to precisely and properly align the two sections 92, 94 prior to raising them and adding the next section.

[0269] Although the example handling assemblies and jack configurations described can be used for fine horizontal adjustment to align the elevated section 92 (and / or notional joint) with the lower section when the two sections meet, some applications may benefit from limiting or completely preventing horizontal movement of the elevated section 92 (and / or notional joint) during this stacking operation due to loading considerations.

[0270] Therefore, the lower section is preferably horizontally displaceable or movable in some way so that the alignment features of the two sections can serve to move and guide the lower section 94 into alignment with the upper section 92 when the two are brought together (by lowering the upper section 92 or lifting the lower section 94, or both).

[0271] 13 shows an exemplary system 2001 on a foundation 4000, including an exemplary alignment platform 3000 (also referred to as a displacement platform) for supporting a lower section of a tower, the alignment platform 3000 being movable in a horizontal plane to enable alignment of the lower section with one or more upper sections. For clarity, portions of the exemplary system 2001 have been omitted (i.e., some interface elements and jacking devices are hidden and not visible). Preferably, the jacking configuration is substantially the same as that of FIG. 7 or 11A.

[0272] An alignment platform 3000 is provided for aligning two sections of the structure to be erected, with a first lower section 94 of the two sections being supported by the alignment platform 3000 and contacting a second upper section of the two sections (not shown, but which may be considered, for example, as the raised section 92 in Figure 12I), for example, by lowering the upper section onto the lower section 94.

[0273] 13, the alignment platform 3000 is shown as comprising a pair of elongated support arms 3100 arranged to move horizontally along rails or tracks for delivering the lower section 94 to the jack configuration (i.e., footprint). The tracks may be recessed slots 4002 in the base 4000 in which the support arms are housed, or rails located on top of the base 4000, allowing the support arms to move in one dimension.

[0274] FIG. 14 shows an exemplary alignment platform 3000 in isolation. Generally, the alignment platform comprises at least one support arm 3100, but preferably two as shown. Each support arm 3100 is an elongated beam-like structure connected to a number of carriages 3110 (called arm carriages) arranged along the length of the arm. In FIG. 14, each arm 3100 comprises four carriages, one at each end and two in between. Generally, the support arm 3100 comprises at least one carriage 3110 (the number being selected depending, for example, on the load and the length of the arm). The support arm 3100 may have a flat upper surface for mounting (directly or indirectly) the underside of the section to be handled.

[0275] The alignment platform 3000 may, if desired, include cross members 3112 (e.g., planar, circular, or beam-shaped) spanning between the support arms 3100 to distribute loads. The alignment platform 3000 may include a multi-piece cross member beam 3112 having engaging features 3113 at each end for engaging cooperating features attached to (or formed within) the sections.

[0276] The support arm 3100 is movably coupled to the carriage to allow movement of the arm relative to the carriage in a horizontal plane. Such movement is preferably "reactive" 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 a translational degree of freedom and / or a rotational degree of freedom. The support arm may be capable of moving freely in a horizontal plane.

[0277] One example of a linkage between the carriage and support arm that allows the relative motion described above is shown in Figures 15A-D in the form of a displacement post 3200 provided within each carriage 3110. Figures 15A-D show a cross section through the carriage 3110 at the end of the support arm 3100. The displacement post 3200 is shown in isolation in Figures 15E-F.

[0278] At least a portion of the displacement strut 3200 is configured for free displacement along at least one substantially horizontal translational axis, allowing free displacement of at least the support arm 3100, and therefore the lower section 94, relative to the foundation 4000. The free displacement of the at least one support arm 3100, and therefore the lower section 94, relative to the foundation 4000 allows the alignment features of the two sections 92, 94, after interfacing, to signal the displacement of the bottom section 94 along said at least one substantially horizontal translational axis, and to move and guide the lower section 94 into alignment with the upper section.

[0279] The exemplary displacement strut 3210 has an upper end 3212 and a lower end 3214. The upper and lower ends 3212, 3214 can each include a respective spherical ball-joint interface 3210A, 3210B, which is a convex surface that projects outward from the displacement strut at each end 3212, 3214 for engaging a concave rolling surface 3210D, 3210E. A contact point 3210C between these surfaces when the strut is in the displaced position can be seen in the cross-sectional portion of FIG. 15F. As shown in FIGS. 15E-F, when the displacement strut is substantially vertical, the length A of the displacement strut is shortest (it is a longer length A' in FIG. 15F). Thus, the displacement strut can deflect toward a vertical position, which can provide a self-centering function. This is one example of how to achieve the desired functionality; other suitable means will be apparent to those skilled in the art.

[0280] The upper end 3212 of the displacement post 3200 may be configured to allow the support arm 3100 to be displaced in multiple degrees of freedom, both translationally (in the horizontal plane) and angularly (rotationally). Similarly, the lower end 3214 may be configured to allow the post 3210 itself to be displaced in multiple degrees of freedom, both translationally (in the horizontal plane) and angularly (rotationally). The angular degree of freedom allows the supported section to rotate in a plane, and the translational degree of freedom allows the supported section to shift in a plane.

[0281] In this exemplary configuration, the displacement support 3210 is freely displaceable along multiple substantially horizontal translational axes, allowing for free displacement of at least the support arm, and therefore the lower section, relative to the base. The extent to which the support arm 3100 is free to displace about the upper end 3212 of the displacement support 3200 may depend on the configuration of each spherical ball joint interface 3210A. Similarly, the extent to which the support arm 3100 is free to move about its lower end 3214 may depend on the configuration of each spherical ball joint interface 3210B. For example, the radius of curvature of the convex surface of each spherical ball joint interface relative to the concave surface, and vice versa, can define or inform the range of motion provided by a given spherical ball joint interface 3210A, 3210B.

[0282] Instead of the exemplary spherical ball joint interface, other mechanisms or joint connections may be employed, such as hinge or ball joint bearing connections, knuckle pin type connections, or any other suitable engineering interface that allows some range of horizontal displacement of the support arm relative to the foundation via a displacement strut.

[0283] Strict limits on the range of motion of the displacement platform and its support arms relative to a static foundation may be provided by the physical structure and components surrounding the displacement column, and the configuration of the support arms, support arm carriages, and / or displacement column.

[0284] 15A-D, the illustrated carriage includes a pair of roller assemblies 3120 that flank the displacement column 3210 longitudinally and are sandwiched between flanges of the arm carriage 3110. These roller assemblies 3120 are provided only as exemplary means by which the support arm 3100 can translate horizontally along a rail or track (e.g., slot 4002 in base 4000), and other suitable means will be apparent to those skilled in the art. The carriage's roller assemblies can be driven (e.g., by a motor) to move the support arm 3100 and / or multiple support arms. Alternatively, the roller assemblies 3120 can simply provide a "passive" rolling surface, and support arm movement can be externally driven. In one preferred example, the system includes a winch system (not shown) connected to the alignment platform to pull the alignment platform into position.

[0285] The rails or tracks (e.g., slots 4002) and roller assemblies 3120 are provided as a convenient way of delivering the next section (preferably through clearance zone 2100C of the bridge configuration) into the notional erection footprint FP for handling / lifting by system 2000. This need not be connected to the displacement platform 3000 as described. Instead, the section may be provided by another independent mechanism, such as a conveyor track or other moving platform, with the displacement platform already provided in a fixed position within the erection footprint FP of system 2000. However, in a preferred example, the displacement platform 3000 can serve the dual purpose of both aligning the lower section 94 with the upper section 92 and delivering said lower section 94 into position within the erection footprint FP.

[0286] Preferably, the alignment platform 3000 is also configured to raise and lower the support section, for example, by raising and lowering the support arm on the carriage via one or more lifting mechanisms. FIGS. 15B and 15D show the raised position, with one exemplary lifting mechanism in the form of a hydraulic cylinder 3216 inside (housed within) the carriage (shown in the extended position in FIGS. 15B and 15D). In another example, the displacement column 3210 may be configured to provide vertical movement, for example, via a hydraulic cylinder inside (housed within) the displacement column 3210. The hydraulic cylinder moves the support arm 3100 in the vertical direction, as shown. The hydraulic cylinders are shown on either side of the displacement column and may be connected to the displacement column via V-shaped support plates 3218 (one on each side), as shown in FIGS. 15C and 15D. In some examples, raising the support arm causes it to extend out of slot 4002, and lowering the support arm causes it to retract into slot 4002, thus allowing the alignment platform to be used to transfer the load of the supported section to and from the foundation. Preferably, each arm comprises at least two carriages, each with a lifting mechanism (e.g., a pair of hydraulic cylinders connected to a displacement column via a support member), allowing the supported section to be lifted horizontally (i.e., by actuating the lifting mechanisms in unison) or tilted (i.e., by actuating the lifting mechanisms separately). The ability to tilt the alignment platform, and therefore the section supported thereon, provides an additional degree of freedom that can be used to align the supported (lower) section with the section above. This alignment aspect is discussed below with reference to FIGS. 16 and 17.

[0287] The lifting mechanism may comprise a valve and pump arrangement that can pressurize the hydraulic arrangement of the displacement platform 3000 to lift the displacement platform 3000 and release and vent the hydraulic pressure to lower the displacement platform 3000. Lowering of the displacement platform 3000 may be performed manually by actuated release of the valve, or may simply be an automatic / passive action that is triggered when sufficient weight or load support is placed on the displacement platform 3000, i.e., as / when the upper section 92 and aligned lower section 94 are lowered together.

[0288] An exemplary method for aligning two sections of a structure is shown in Figures 16A-16F and will now be described in relation to the exemplary alignment platform 3000 of Figures 13-15. This example uses a recessed slot 4002, but the same principles can be applied to other configurations.

[0289] 16A shows a cross-sectional schematic view of the foundation 4000, its slot 4002, the support arm 3100, and the alignment platform 3000. Also shown is the first lower section 94 above the alignment platform 3000, which in this example is recessed within the slot 4002, with the load being partially or wholly carried by the foundation 4000.

[0290] The second (upper) section 92 is typically located 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 (thus section 92 is already a conceptual joint of the structure). For consistency, it is referred to as the upper section, but in the step of Figure 16A it has not yet been raised to its upper position.

[0291] The method may generally include placing a first lower section 94 on an alignment platform 3000, with the section 94 being supported (partially or wholly) by the platform 3000 (e.g., by a support arm and / or crossbar member) or a foundation above the platform 3000.

[0292] The displacement platform 3000, and in particular the support arm 3100, may be raised, for example using the hydraulic cylinders described above, so that it protrudes from the slot 4002, allowing the load of section 94 to be fully transferred to the platform 3000. This is shown in Figure 16B, which also shows an exemplary device 2001 positioned around the second upper section 92.

[0293] In Figure 16C, the second upper section 92 has been raised as previously described.

[0294] The lower section 94 is then brought into position below the second section 92, i.e., moved to the notional erection footprint FP, by horizontal movement of the alignment platform 3000 along the slot 4002 (e.g., by using a winch to pull the carriage's roller assembly 3120), as described above.

[0295] After the lower section 94 is generally aligned with the upper section 92, while still supported on the alignment platform 3000, the method can proceed to FIG. 16D , where the second upper section 92 is lowered onto the first lower section 94, so that alignment features on the lower end of the second upper section 92 approximate corresponding alignment features on the upper end of the first lower section 94. In other examples, the two sections are also or alternatively approached by lifting the lower section 94 using the lifting mechanism of the alignment platform.

[0296] In the illustrated example, the alignment features are represented by male tapered pins (e.g., cones) 92Z projecting downwardly from the lower end or surface of the second upper section 92 and corresponding female tapered (e.g., conical) holes 94Z in the upper end or surface of the first lower section 94. These alignment features 92Z, 94Z are merely illustrative examples. The alignment features can take a variety of forms, such as mating male and female pinhole interfaces, interior or exterior walls, and others apparent to those skilled in the art. Preferably, the features are tapered or otherwise configured such that as the sections approach, the alignment features naturally self-guidably engage with one another to precisely align the sections. The alignment platform, as previously described, adjusts by displacing and / or rotating through various degrees of freedom in response to the guiding engagement of the alignment features, thus aligning the lower section with the position and rotation of the upper section. In other words, the alignment function signals and influences the horizontal displacement and / or rotation (about a vertical axis) of the first lower section 94 by allowing the alignment platform to move freely in a horizontal plane (or along at least one horizontal axis of movement).

[0297] Once the alignment features are fully engaged, the two sections can also be fully engaged and aligned, thereby forming and / or adding to the conceptual bond of the structure as previously described. This is shown in Figure 16E.

[0298] As shown by interface element 100 in FIG. 16E, the interface element of the handling assembly of exemplary apparatus 2001 may still be coupled (e.g., engaged) to the upper section, thereby supporting at least a portion of the weight of upper section 92 during the alignment process.

[0299] The exemplary handling assemblies and jack configurations described herein may generally be configured to support the load of a given section and given notional joint of a structure, allowing for the continuous lifting of an increasing joint in a repetitive manner. In contrast, the displacement platform 3000 need only support the weight of one section.

[0300] Once both sections are nearly fully aligned, the displacement platform 3000 may be actuated to vertically lower in unison with the corresponding vertical lowering of the jack arrangement of the exemplary apparatus 2001, thereby lowering both the upper section 92 and the aligned lower section 94 onto the foundation 4000. This is shown in FIG. 16F.

[0301] The load of the upper section 92 resting on the lower section 94 can provide a flush / continuous connection of the two sections, at least at each end, when both are on foundation (i.e., the device 2000 no longer supports the weight / load of section 92).

[0302] The alignment method may be followed by the erection method described above in connection with exemplary apparatus 2000, whereby jack arrangement 2100 is actuated to move interface elements radially outward from upper section 92 and then downward to engage and lift the now aligned lower section 94, and thus the conceptual joint of the structure now includes lower section 94.

[0303] The next consecutive conceptually numbered section to be added can then be loaded onto displacement platform 3000 (which has translated along slot 4002 back to its position outside apparatus 2001) and the above process can be repeated to align the next consecutive conceptually numbered section with the conceptual joint of the structure (which here includes lower section 94).

[0304] Figures 17A-F show further alignment methods that can be used when the underside of one or more sections is not horizontal with respect to the vertical axis of the structure (e.g., due to match-cast errors during manufacture of the sections). Additional steps that will become apparent from the discussion below can supplement or replace the steps of Figures 16D-F, as will become apparent.

[0305] In Figure 17A, a notional tower joint 92 is raised by a jack-configured interface element (any of those previously described), and a subsequent (lower) section 94 is positioned below, ready for connection. Although not shown, the lower section 94 is positioned on the alignment platform previously described. As shown, the lower surface of the lower section of joint 92 is not horizontal relative to the foundation (and relative to the vertical axis of the structure). Additionally or alternatively, the upper surface of lower section 94 may not be horizontal.

[0306] In FIG. 17B, the two portions (i.e., conceptual coupling portion 92 and lower section 94) may be brought closer together as described in FIGS. 16D-E. However, in this example, the lower portion is tilted so that the adjacent surfaces of the two engaged sections are parallel. In particular, the alignment platform is lifted asymmetrically (e.g., by independent hydraulic cylinders in the carriage), so that lower section 94 is tilted in accordance with coupling portion 92. In the illustrated example, the right side of the lower section is lifted higher than the left side by respective lift mechanisms in the alignment platform. The sections may be brought into rough alignment and engagement as previously described.

[0307] In Figures 17C-D, sections 92 and 94 are lowered together until at least a portion of the tower (the left side in the illustrated example) contacts foundation 4000. To prevent damage to the structure, the load can be transferred to the foundation by controlled adjustments to the jacking arrangement and / or alignment platform. The hydraulic jacks on the alignment platform can compress under the load of the tower, and the resulting pressure can be released by hydraulic relief valves to bring the structure onto the foundation. As shown in Figure 17D, the structure can be placed in an inclined position, such that the vertical axis of the structure no longer coincides with the "true" centerline (the desired vertical axis of the complete slender structure).

[0308] In Figure 17E, the interface elements of the jack configuration are repositioned to engage the new (lower) section and are used to lift the combined structure, causing it to rotate back into alignment with the "true" centerline. The jack configuration can be controlled by a program executed by a central controller to adjust the angle of the tower.

[0309] In Figure 17F, the interface elements are lifted (by the jack arrangement) to raise the newly joined part and add a further section. During this operation, the jack arrangement can be controlled synchronously.

[0310] It should be understood that aspects of the exemplary method described in connection with Figures 12A-12H may also apply to or overlap with the exemplary method described in connection with Figures 16A-16F, where the alignment procedure of the exemplary method described in connection with Figures 16A-16F is an optional subset of, or separate from, the broader erection method described in connection with Figures 12A-12H. Similarly, the alignment procedure of Figures 17A-F may be an optional subset of, or separate from, the broader alignment and / or erection method described in connection with Figures 16A-F and 12A-H, respectively.

[0311] It should also be understood that the alignment method and exemplary displacement platform 3000 described in connection with Figures 13-15 may generally be employed wherever a method of aligning two sections of a structure to be erected is desirable or required, where a second, upper section of the two sections is lowered onto the lower section to contact and align it with the lower section. The alignment platform and / or alignment method may also be employed off-site to align sections for subsequent transportation to the erection site.

[0312] As previously mentioned, the above methods and systems are preferably employed to erect wind turbine towers that may be assembled from multiple sections, such as the concrete rings shown in Figure 121. While the figures have thus far shown a combination of one or two sections for ease of illustration, it should be noted that the upper section at any given stage may itself be a combination of previously assembled sections.

[0313] With this in mind, FIG. 18 illustrates a later stage in the assembly process of a wind tower using exemplary system 2001 on foundation 4000. System 2001 may have performed multiple iterations of the erection method of FIGS. 12A-H (preferably including the alignment method of FIGS. 16A-F and / or 17A-F). Here, system 2001 is about to lift notional joint 9 of a wind tower comprising a stacked assembly of sections. The next section to be added (section 94) is waiting adjacent to system 2001, similar to section 94 in FIG. 12I. FIG. 18 visually illustrates the form factor and lifting capabilities of a given exemplary system employing a handling system for a structure to be erected.

[0314] 18, the first (top) section of multiple sections that may be erected iteratively is shown comprising a wind turbine nacelle 1 and rotor hub 2. The nacelle may already be coupled and connected to the top tower section of the wind turbine tower, for example via a transition section 3.

[0315] Subsequent successive conceptually numbered sections may be similar ring sections of the wind tower. Typically, the sections may be circular or polygonal steel or concrete rings that are individually pre-cast, pre-formed, or pre-assembled and transported in sections to the erection site, where each successive conceptually numbered section is connected to the preceding section at the lower end of a conceptual joint. With each addition, the top section of the wind turbine installation (in this case, the combination of nacelle, rotor hub, and top tower section) is repeatedly raised.

[0316] In other applications, multiple portions of a structure may be repeatedly erected by the system and then transported or assembled together outside of the apparatus and methods described above.

[0317] 18, the wind tower sections are of constant diameter, and therefore the wind tower is not tapered (i.e., constant cross-section). However, in other instances, such as in the case of an upwardly tapering tower of a wind turbine installation, each successive notionally numbered tower section may have a larger diameter than the preceding notionally numbered tower section. Accordingly, the interface elements of a given system's handling assembly may benefit from radial inward and / or outward adjustment, such as via slider frames 2260A, 2260C and horizontal slider slots 2302 of the exemplary jack configuration 2100 of the exemplary system 2000, as previously discussed. Additionally, the bridge jack configuration 2200B of the exemplary system 2000 may be configured to provide an appropriately sized clearance zone 2100C beneath which successive notionally numbered tower sections can move into the notionally erected footprint of the apparatus 2000. This may therefore allow larger diameter tower sections to fit within the notional erection footprint of apparatus 2000 and then be handled, lifted and assembled by apparatus 2000.

[0318] Generally, the sections of a structure referred to herein may relate to sections (of various forms, configurations, and shapes) of structures, i.e., civil structures or installations, of any size, but more particularly, examples may relate to sections such as rings, masts, or towers for wind turbine installations. Such sections may be precast concrete segments (rings), metal, or other assembled segments of a tower that can be repeatedly erected and assembled together. The sections may be connected to or include the nacelle of the tower, or other components of the tower, such as internal parts of the nacelle (gearbox, motor, pivot ring, etc.) and parts of the foundation, or where it is desired to handle or move any large, bulky, heavy, and / or cumbersome section of the wind turbine installation.

[0319] These examples, and their given application to wind turbine installations, are provided to illustrate the economies of scale, form factor, efficiency, and other advantages described herein that result from the features of the present invention when applied to that application. However, it should be understood that the present invention may be applied to many applications in which large, bulky, heavy, and / or unwieldy sections of structures of substantial size are handled, and in particular moved, to facilitate the erection, assembly, and / or construction of at least a portion of said structures.

[0320] Other exemplary structures may generally include towers of buildings, support columns of portions of commercial buildings, or bridges, piers, marine facilities, etc. Indeed, those skilled in the art can envision several other applications that could benefit from the employment of the present invention to facilitate the handling, i.e., movement, of sections of a structure for erection, assembly, and / or construction of the structure. Furthermore, those skilled in the art can envision several applications that could benefit from the employment of the present invention to facilitate the handling, e.g., movement, of the sections themselves (not necessarily as part of the erection, assembly, and / or construction process of the associated structure), for example, for transporting, storing, unloading, etc., of the sections from one destination to another. For example, the handling system may be applied in fixed applications, i.e., for moving or handling sections of a structure about one translational or rotational axis, or in mobile applications, i.e., for a large vehicle or other movable platform (e.g., a conveyor in an assembly area), to move or handle sections of a structure about one or more translational or rotational axes corresponding to the translational or rotational axes of the platform or vehicle.

[0321] Exemplary ranges of section sizes and tonnages for a circular tower of a wind turbine installation are now provided to illustrate the handling capabilities of the assemblies and apparatus described herein, where the tower may comprise or be erected from a plurality of precast concrete circular tower sections. These ranges are provided to exemplarily illustrate the functionality of the present invention, but are not intended to limit its functionality.

[0322] A given section of the plurality of sections may be about 1 m to about 2 m in height, preferably 2.4 m.

[0323] A given section of the plurality of sections may have a diameter of approximately 4.5m, 4.58m, 4.68m, 4.78m, 4.89m, 4.92m, 5.10m, 5.2m, 5.3m, 5.41m, 5.51m, 5.61m, 5.72m, 5.82m, 5.93m, 6.03m, 6.13m, 6.24m, 6.34m, 6.44m, 6.55m, 6.65m, 6.76m, 6.86m, 6.92m, 7.07m, 7.17m, 7.28m, 7.38m, 7.48m, 7.59m, 7.69m, 7.79m, 7.89m, and / or 8m.

[0324] Each of the above sections may have a mass of about 1000 kg, 1100 kg, 1200 kg, 1300 kg, 1500 kg, or any value between about 1000 kg and 2000 kg.

[0325] A given tower of a wind turbine installation to be erected may comprise multiple sections.

[0326] The tower defines an elongated structure to be erected by the systems and / or methods described herein and may include multiple sections to be handled or moved by the handling assemblies and / or systems described herein.

[0327] The elongated structure or tower may comprise an upper non-tapered portion of 32 sections and a lower tapered portion of 36 sections for a total of 68 sections.

[0328] The 32 sections of the upper non-tapered portion of the elongated structure or tower may be about 2.4 m high, have a diameter of about 4.5 m and a mass of about 1000 kg to 1500 kg each.

[0329] The 36 sections of the lower tapered portion of the elongated structure or tower may each be about 2.4 m in height and have diameters ranging from about 4.5 m to about 8 m, which may vary from one another in increments of about 0.10 m (i.e., 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, 5.51m, 5.61m, 5.72m, 5.82m, 5.93m, 6.03m, 6.13m, 6.24m, 6.34m, 6.44m, 6.55m, 6.65m, 6.76m, 6.86m, 6.92m, 7.07m, 7.17m, 7.28m, 7.38m, 7.48m, 7.59m, 7.69m, 7.79m, 7.89m, or 8m diameter).

[0330] The total height of the elongated structure or tower above the foundation may be approximately 160m.

[0331] The height from the foundation to the top of the non-tapered upper portion of the elongated structure or tower may be approximately 60m, constituting the uppermost 60m of the total height of the elongated structure or tower.

[0332] The diameter of the untapered upper portion of the elongated structure or tower may be constant and may be 4.5m.

[0333] The height of the lower tapered portion of the elongated structure or tower from the foundation may be approximately 100 meters, constituting the lower 100 meters of the total height of the elongated structure or tower.

[0334] The diameter of the lower tapered portion of the elongated structure or tower may range from about 4.5m at its height to about 8m at its base.

[0335] A nacelle of a wind turbine installation that may be lifted as part of a structure notional joint by the apparatus and / or methods described herein may have a mass of approximately 1000 kg.

[0336] The total mass of the wind turbine installation, including the nacelle, rotor hub, and tower structure, may be approximately 3,917,614 kg, or between approximately 3,000,000 kg and 4,000,000 kg.

[0337] Thus, the total base, static, and / or dynamic lifting capacity of the exemplary system for erecting the wind turbine installation may be about 4,920,000 kg, or between about 3,000,000 kg and about 5,000,000 kg.

[0338] The exemplary device 2000 described herein is shown as having eight interface elements 100A, 100B, each driven by two lifting mechanisms 2290 and lifting drive units 2280, and the total base, static, and / or dynamic lifting capacity of the exemplary device, i.e., its moving configuration 2100, may be approximately 4,920,000 kg.

[0339] The DC or AC motor 2282 of the lift drive unit 2280 may consist of a 15KW DC motor, coupled to a suitable gearbox arrangement that reduces the motor speed to an output speed of approximately 1450 rpm to an output speed of approximately 16 rpm.

[0340] The height of the interface elements 100A, 100B and their connecting members and / or the distance between the upper and lower engagement portions may be about 1.8 m, or about 1 m to 2 m, or 3 m.

[0341] The width of the interface elements 100A, 100B and / or their connecting members may be about 0.55 m, or between about 0.5 m and about 1 m.

[0342] The notional diameter of the circular locus of the handling assembly and / or the notional erection footprint of the exemplary system may be between about 2 m and about 8 m, or 10 m.

[0343] The handling assembly may be configured so that the notional diameter of its circular locus may be adjusted between about 2 m and about 10 m.

[0344] The system and / or its jack configuration may be configured such that the notional diameter of its notional erection footprint may be adjusted between about 2 m and about 10 m.

[0345] An exemplary system and its jack configuration may be configured to withstand a wind load of approximately 550 kN acting on the portion of the elevated structure it rests on.

[0346] Such wind loads may be caused, for example, by winds of up to 30 m / s acting on a slender structure, for example 160 m high, held or raised above by the system and its jack-up arrangement.

[0347] Thus, each pair of lift drive unit and lift mechanism for each interface element can provide a total base, static and / or dynamic lifting capacity of approximately 307,000 kg each.

[0348] The interface of the threaded rod 2292 and the main carriage 2994 may comprise, for example, an SKF planetary roller screw HRP / HRC / HRF180.

[0349] The dynamic load rating (L10 life as understood by those skilled in the art) of the exemplary jack configuration of the exemplary system for erecting the exemplary wind turbine installation described above may be such that 90% of a sufficiently large sample of such threaded rod 2292 and main carriage 2994 interfaces (e.g., each being a roller screw) can be expected to reach or exceed 1,000,000 revolutions under a constant centrally acting pure axial load without fatigue or spalling.

[0350] The mass of the intermediate beam 2300 of the exemplary apparatus 2000 can be about 13,921 kg, or between about 10,000 kg and about 15,000 kg.

[0351] The overall height of the exemplary system 2000 may be approximately 6.5 m, or between approximately 4 m and 8 m, depending on the application (i.e., the height of the sections to be handled and lifted).

[0352] The lift cycle time of the exemplary system 2000 may be approximately three sections per hour, ie, three sections per hour may be lifted to add to the concept joint.

[0353] The average erection time for a 180m-200m tall elongated structure with the exemplary system 2000 may be approximately 24 hours.

[0354] The lift or lift stroke of the exemplary system 2000 may be approximately 3 m.

[0355] The lift or elevation speed of the exemplary system 2000 may be approximately 10 mm / s.

[0356] Thus, one skilled in the art of assembly, construction, and other erection of large structures can appreciate the load-bearing capacity of the exemplary systems described herein, which is provided in part by the configuration of its jack arrangements, and further by the configuration of its handling assemblies, the configuration of its interface elements, and the unison of the apparatus, jack arrangements, interface elements, and handling assemblies all in conjunction with the methods described herein to enable the repeatable and sequential erection of a structure.

[0357] Thus, in other applications, any large, bulky, heavy, and / or unwieldy section of a structure of substantial size, i.e., having a mass of at least about 500 kg to 1000 kg and a volume size of at least about 6 m 3 ~9m 3 sections are handled, and in particular moved, to facilitate erection, assembly and / or construction of at least part of said structure having a total weight of several million kilograms and a height of at least 50 m to 100 m or over 200 m.

[0358] As previously mentioned, known systems and methods for handling large structures of substantial size, i.e., large, bulky, heavy, and / or unwieldy sections of civil engineering structures or equipment, such as external cranes and self-climbing crane systems, can have associated structural limitations, significant labor and cost requirements, and efficiency issues when used to erect such large structures. Known systems employing bottom-up lifting techniques can require substantial support truss structures, large and powerful actuators, lifting means, and the like. Indeed, lifting the necessary tonnage associated with large structures can result in very large bending moments and forces acting on engagement elements and attachment / support points. Therefore, it may be necessary to employ truss support structures for support and to counter potentially large bending moments.

[0359] These truss support structures are necessarily large, cumbersome, heavy, and bulky to assemble at the construction site, potentially resulting in significant downtime and reduced efficiency, despite the adoption of bottom-up lifting techniques to reduce the downtime and inefficiencies of previous crane systems. To reduce the number of sections to be handled for a given tower height, thereby at least partially addressing the inefficiencies, bottom-up lifting systems may be designed for large 20-30 meter structures to handle large 10-20 meter tall sections of the tower being erected. These systems can face challenges when erecting towers of various dimensions, i.e., towers with sections of various heights, diameters, or overall sizes, particularly in the case of tapered towers, where the entire system must be repositioned radially outward from the erection site as the section size increases.

[0360] The handling assembly of the present invention provides a plurality of spaced-apart interface elements, preferably in the form of elongated vertical members of small height and hinged to one another about a common float point. This configuration allows the interface elements to be coupled to the sections in a manner that allows forces to be resolved across the sections. This configuration significantly reduces the form factor required to lift the sections, as all contact points to the sections (the upper and lower engagement portions of each interface element) are hinged and therefore supported around the mutual float point or pivot axis as described above. Therefore, due to the short mutual distances between the above contact points to the sections (the upper and lower engagement portions of each interface element) and to the mutual float point, the forces, loads, and bending moments generated can be significantly reduced and substantially resolved across the entire section or handling assembly, allowing them to be more efficiently transferred to the surrounding jacking arrangement and, therefore, the foundation of the structure.

[0361] Thus, the handling systems and associated methods described herein can provide significant improvements in lifting capacity when compared to known bottom-up lifting systems and methods. These improvements further reduce the need for large, cumbersome truss support structures that are difficult to assemble. For example, in a handling system having interface elements 1.8 m high (or between about 1 m and 3 m) and 0.55 m wide (or between about 0.5 m and about 1 m), the overall height of the handling system can be about 6.5 m, or between about 4 m and 8 m, depending on the application (i.e., the height of the sections to be handled and lifted). Considering a 6.5 m high handling system capable of handling lifting loads (and dynamic wind loads) comparable to, if not greater than, known 20-30 m high bottom-up lifting systems, it should be appreciated that the present invention can provide significant advantages in setup time, modularity, transportation costs and times, and the like.

[0362] Furthermore, the smaller form factor of the above-described exemplary system, e.g., 6.5 m high, can enable faster, repetitive, and sequential erection of multiple shorter sections of a structure (such as the 2.4 m high sections described above) compared to the 10-20 m high sections of known 20-30 m high bottom-up lifting systems. This can justify a corresponding manufacturing process of match-casting (or otherwise forming) multiple shorter sections of a slender structure rather than using a smaller number of larger sections. The manufacturing of smaller sections can enable significant manufacturing cost and time / efficiency benefits, such as just-on-time casting or manufacturing, due to the reduced manufacturing requirements per section or per unit, both from an engineering and manufacturing cost perspective, compared to the section-by-section or unit-by-unit manufacturing of larger sections.

[0363] Additionally, the cumbersome truss support structure and large, powerful actuators of known bottom-up lifting systems can make small movements or precise adjustments of the sections to be handled or lifted difficult. As a result, the ability to precisely align the sections with one another when lowering a raised section onto the lower section is limited. Rather than attempting precise alignment, these systems can employ concrete grout between sections, or at least every third or third section, to effectively connect their bearing surfaces and avoid at least some of the need for precise alignment. The curing time, labor, and cost associated with employing the above grouting process result in additional downtime, inefficiencies, and costs.

[0364] In contrast, the exemplary systems and methods described herein can provide a means for precise radial and vertical coordination and control, as well as accurate and efficient control of the lower section in the horizontal plane. When employed in wind turbine tower erection, the present invention can achieve cycle times of raising or adding to a notional joint three sections per hour at a lift or raising rate of approximately 10 mm / s, with a total erection time of approximately 24 hours for a tower 180 m to 200 m tall.

[0365] In addition to the advantages discussed above (and elsewhere herein), handling systems can also have the advantage of being set up or employed where other systems may be considered too bulky, too heavy, or too complex. For example, Figures 19A and 19B show an exemplary system 2002 employed for erection of an marine offshore wind turbine installation on an installation pontoon 5000. Here, the system 2002 is surrounded or enclosed by a support truss frame 2006, which may have generally the same height as the system 2002 itself.

[0366] In the figure, the top part of the wind turbine installation (in this case, the nacelle 1, rotor hub 2, and conceptual joint 9 with transition section 3) is already supported on the truss frame 2006. System 2002 is coupled to section 92 by a respective handling system and jack arrangement, and connects to the bottom section of conceptual joint 9 (i.e., transition section 3), in the process lifting section 92 upwards towards the conceptual joint 9.

[0367] As previously mentioned, the transport functionality of the displacement platform 3000 (e.g., provided by the roller assemblies 3120 and slots 4002) need not be employed in all instances. In this case, the displacement platform, if employed, may simply rest on the upper surface 5001 of the pontoon rather than using a moveable winch beam 2004 that rests on the truss frame 2006. This is shown as lifting the next section 94 to be handled from a floating platform (barge, ship, etc.) and then approaching the system 2002 for handling.

[0368] The handling system in this example, together with the jack arrangement, associated truss frame 2006 and winch beam 2004, and already conceptually combined parts 9 having nacelle 1, rotor hub 2, and transition section 3, can all be pre-positioned onshore, placed in / on the marine vessel, and then lifted onto the pontoon 5000 as a combined unit.

[0369] Alternatively, the individual interface elements and their corresponding jacking devices are individually and independently lifted and / or positioned about the pontoon 5000 and any auxiliary hardware or truss frame 2006, etc.

[0370] The marine application of this handling system further demonstrates the potential adaptability and modularity of the handling assemblies, apparatus, displacement platforms, and methods described herein.

[0371] After assembling the structure or portion of a structure by stacking sections, the handling system 1000 can be used to lower the structure or portion of a structure below the level of the handling system 1000. As shown in Figures 20A-20E, in marine applications, this can facilitate lowering the structure below water level and embedding the bottom section into the seabed, rather than building the structure on an existing pontoon 5000 or equivalent support structure. In other applications, this can facilitate lowering the structure into a pit or onto a foundation below the level of the handling assembly 1000.

[0372] The initial stacking of sections may be performed according to the exemplary methods described in Figures 12A-12H and / or 16A-16F and / or 17A-17F, thereby creating the conceptual joint 9 of the structure to be lowered. After the conceptual joint 9 is assembled to the appropriate height, but before it is lowered (i.e., in the position shown in Figure 20B), post-tensioning is applied or the sections are secured together in some other manner. This allows the conceptual joint 9 to maintain its structural integrity while being lowered (as shown in Figures 20C-20E). This is because sections of the conceptual joint 9 below the level of the handling assembly will hang from the rest of the joint 9 and will not be supported from below until the lowering operation is complete.

[0373] Preferably, the handling system 1000 assembles and lowers the notional couplings 9 in the same position. To facilitate this, the support apparatus 6100 within the erection footprint of the handling system 1000 can be reconfigured to a supported state where the weight of the structure is supported by the support apparatus, but a free-pass state where the structure can be lowered through the trajectory of the handling system 1000 without hindrance. The support apparatus 6100 can take any suitable form, for example hydraulically driven pins extending from the side across an aperture 6200, a horizontally movable surface providing a retractable and extendable aperture 6200, or some other configuration.

[0374] When lowered below water level, the handling system 1000 is preferably mounted on a barge 6000 with an aperture 6200 associated with the support device 6100. Preferably, the aperture is located in the center of the barge 6000.

[0375] When the support apparatus 6100 is in the supporting state to support the bottom section, the handling system 1000 can operate normally to erect the notional joint 9. Once the notional joint 9 is at the appropriate height and post-tensioning is complete, the handling system 1000 can re-engage to support the structure and reconfigure the support apparatus 6100 to a free-pass state.

[0376] Lowering of the conceptual coupling 9 is preferably done in stages, similar to the reverse of the procedure performed during stacking, i.e. the interface element 100 of the handling system 1000 moves up and down repeatedly to successively engage, lower and disengage successive sections. However, for the lowering operation, the structure must be adequately supported to prevent it from falling through the aperture 6200 as the handling system 1000 moves to engage higher sections.

[0377] In one embodiment, the support device 6100 alternates between a support state and a free-pass state to facilitate stepwise lowering. Thus, the support device 6100 is in a free-pass state when the handling system 1000 engages a section and lowers it, but moves to the support state while the handling system 1000 disengages, raises, and engages a new section.

[0378] In another embodiment, subsets of the interface elements 100 of the handling system 1000 may alternate to facilitate a stepwise lowering. That is, half (or approximately half) of the interface elements 100 may be lowered while engaging the section holes 92H to support the structure, while the remaining interface elements 100 may be disengaged and raised until they reach and engage the aforementioned set of section holes 92H. The two subsets of interface elements 100 then swap roles, repeatedly repeating the lowering process.

[0379] In this alternating lowering scheme, the structure must be supportable by only one subset (typically half) of the interface elements 100. Thus, the maximum load-bearing capacity may be reduced compared to stacking. However, the lowering operation does not have to work against the weight of the structure, which may alleviate the load-bearing capacity issue to some extent, or at least increase the speed at which the lowering operation can be performed compared to a lift operation over the same height.

[0380] The lowering operation is completed when the bottom section rests in its final position below the level of the handling system 1000 (ie below the non-raised position described above in connection with Figure 12C).

[0381] The appropriate height for the notional tie-in 9 (before lowering) will vary depending on the application. When lowering to the seabed, it may be desirable for the top of the structure to be at approximately water level after the bottom section has rested on the seabed (as shown in Figure 20E). This may allow for easier removal of barge 6000. When lowering into a pit or the like, the depth of the pit must be taken into account.

[0382] After being lowered to the seabed, the conceptual joint 9 can serve as an offshore foundation for a taller structure supported on the seabed, which can optionally be constructed by further iterations of the original method.

[0383] Thus, those skilled in the art will appreciate that the handling system described herein can be employed not only for handling sections for the erection of elongated structures such as towers, but also in many other applications where the handling of large sections of structures can benefit from the significantly reduced form factor described.

[0384] Any given application that would benefit from a modular, easy-to-assemble lifting or handling system for large, heavy sections of a structure may be offered at least significant efficiency, cost, and transportation / assembly improvements due to the resulting reduced form factor and the lifting and load-bearing capabilities still enabled by the handling system as implemented as desired.

[0385] In some situations, it may be desirable to transport sections of a structure (eg, tower sections for a wind turbine installation) to or near an installation site, for example, to deliver the sections to the alignment platform 3000 described above.

[0386] 21 shows an exemplary logistics or handling operation vehicle 7000 having a car body 7002, an exemplary system comprising the handling assembly 1002 of FIG. 1B and associated jacking device arrangement 2104 (including exemplary jacking device 2200D) carried by said car body 7002, and vehicle movement means such as steerable actuated wheels 7004 for moving said vehicle around, for example, a storage or manufacturing facility. Vehicle 7000 can be used for storage purposes and / or to lift, handle, and move sections onto suitable trucks, trains, containers, etc., as desired, for eventual transport to the erection site of said structure.

[0387] In one example, two, three, four, six, or more interface elements are spaced apart on a notional locus (circular, rectangular, polygonal, etc.) within the frame or body of a movable platform or vehicle to handle large sections of a structure. For example, shipping or logistics operations, or transporting sections of a structure on or off site, may benefit from a vehicle having the described handling assemblies, which can handle large lifting and load-bearing requirements while remaining relatively small in volume compared to traditionally employed cranes, vehicles, or other systems.

[0388] Additionally, some applications may benefit from multiple independently movable jacking devices, i.e., two or more interface elements mounted on separate movable platforms, which can be positioned at variable intervals around the section to be handled or at variable positions around the section. A system of independently movable jacking devices can be used to deliver sections of a structure (e.g., sections of a wind tower) at a site, for example, onto the alignment platform mentioned above.

[0389] 22A shows an exemplary mobile jack device 2200E including an interface element 100 for handling sections of a structure. The mobile platform interface element 100 may be configured similarly to the exemplary interface elements previously described, and like parts are designated with common reference numerals. The mobile interface element 100 is shown including a lower engagement portion 120 and an upper engagement portion 140, and a float point 110 about which both engagement portions 120, 140 are free to rotate.

[0390] The mobile jack device 2200E may be configured for use with at least one other mobile jack device as part of a mobile handling system, with multiple mobile interface elements 100 each independently movable towards and / or away from the section to be handled (to enable coupling to and / or release from the section) and independently positionable at intervals around the section.

[0391] The same features and functions as those of the exemplary handling system already described may be applied to this mobile handling system. In particular, the interface element 100 may be of the free-pivoting type, configured to engage both upper and lower engagement portions, as previously described, to grip the section and substantially eliminate forces across the section. However, other interface elements (such as non-clamping interface elements) may also be used.

[0392] The mobile jack device 2200E is shown configured substantially similarly to the exemplary jack device 2200 of the previously described exemplary system 2000, and includes a support frame 2200 that supports at least a portion of the interface element 100, and a lifting mechanism 2290 that includes at least one upstanding, elongated, threaded rod 2292 and a main carriage 2294 coupled thereto (both of which are at least partially housed within and by the support frame 2200). The main carriage 2294 may be configured to support the curved lower surface 112 of the float point 110 of the interface element 100. A lifting drive unit 2280 may be provided to actuate the rotation of the at least one upstanding, elongated, threaded rod 2292 of the lifting mechanism 2290, such that the coupled main carriage 2294 moves upward or downward along the threaded rod 2292 to effect vertical movement of the interface element 100.

[0393] Thus, the exemplary mobile jack device 2200E can be used as part of a handling system for lifting or lowering sections of a structure.

[0394] The exemplary mobile jack device 2200E is also shown with movement means for moving the support frame 2200, and therefore the mobile interface element 100, horizontally along a surface, such as a surface at a storage, transportation, or manufacturing site (for a section of a 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 handled, as well as mobility towards and / or away from the section (e.g., similar to the slider mechanism of FIG. 8).

[0395] The means for locomotion may, for example, comprise at least one steerable, powered, or actuated wheel. Here, four steerable, powered wheels 7004 are shown, as is the handling operation vehicle 7000. Other suitable means of locomotion can be envisioned by those skilled in the art.

[0396] Each mobile jack device may be centrally controlled (e.g., via a central controller) and the mobile devices may move and function cooperatively (e.g., in conjunction with one another). For example, the movement means and / or lifting mechanism of each mobile jack device may be centrally controlled. In some examples, at least some of the movement of the mobile jack device may be autonomous. In other examples, the mobile jack device may be manually controlled.

[0397] The moving means 7004 allows each of the plurality of mobile jack devices 2200E to be positioned around the section to be treated, at any desired intervals around a section of any given size or shape, in a circular, rectangular, and / or polygonal configuration. The moving means 7004 allows translation radially inward and outward about a plurality of substantially horizontal axes, i.e., through horizontal planes, relative to the vertical axis of the section, achieving equivalent functionality to the translation mechanism described in the previous example.

[0398] The positioning of the mobile jacking devices is illustrated in Figures 19B-19E, where Figure 19B shows multiple mobile jacking devices 2200E near the circular section 10, the triangular or polygonal section 12, and the rectangular or square section 14. Figure 19C shows two of the mobile jacking devices 2200E moved to engage and handle the circular section 10. Figure 19D shows three of the mobile jacking devices 2200E (one on each of the three sides of the polygonal section 12) moved to engage and handle the polygonal section 12. Figure 19E shows four of the mobile jacking devices 2200E (one on each of the four sides of the square section 14) moved to engage and handle the square section 14. Many other configurations are possible.

[0399] It will thus be appreciated that additional modularity and utility may be provided by installing multiple mobile jacking devices at a job site to move sections of various sizes and shapes. The independent movement of the jacking devices allows differences in section size, shape, and transport / destination to be more easily accommodated. The mobile handling system may be used in combination with the exemplary handling system 2000 (or any other handling system described herein) as part of a larger system.

[0400] Those skilled in the art will appreciate that any dimensions provided as examples can be altered, i.e., significantly scaled down or up, to suit a particular application and handle a particular structure of a particular size. This, along with any given number of multiple interface elements spaced and arranged about any desired shape, provides a wide range of potential implementations and applications for the handling system.

[0401] It should be understood that the use herein of numbering or ordering terms such as "first," "second," "third," etc. in reference to a section of a structure, or a section of a plurality of sections, or a series or group of sections "conceptually numbered in sequence" is conceptual, exemplary, and for descriptive purposes only. Other sections may precede or follow the "first," "second," "third," etc. section.

[0402] Additionally, terms denoting vertical locations such as "upper," "lower," "top," "bottom," etc. are provided for descriptive purposes only and with reference to a generally vertical or upright frame of reference.

[0403] Where reference is made to elements or integers that have known equivalents, such equivalents are also included as if individually set forth.

[0404] Although the present invention has been described by way of example and with reference to specific embodiments, it will be understood that modifications and / or improvements can be made without departing from the scope or spirit of the invention.

[0405] Furthermore, where features or aspects of the invention are described in terms of a Markush group, those skilled in the art will understand that the invention may also be described in terms of individual elements or subgroups of elements of the Markush group.

Claims

1. 1. A handling system for assembling an elongated structure from a plurality of sections along a vertical axis, comprising: a) a plurality of spaced apart interface elements for engaging sections of the structure to be manipulated; b) a jack arrangement comprising at least one jack device, said jack device comprising: i. moving the interface element of the handling assembly radially relative to the vertical axis to engage and / or disengage the section to be handled; ii. Vertically moving the interface element of the handling assembly to lift one or more sections of the structure. The jack configuration is as follows: A handling system comprising:

2. 2. The handling system of claim 1, wherein the jack arrangement comprises a plurality of jack devices, each jack device configured to move a respective interface element of the plurality of interface elements.

3. 3. The handling system according to claim 1 or 2, wherein the jack arrangement comprises a bridge arrangement comprising a pair of jack devices and an intermediate beam spanning between the pair of jack devices, for moving one or more (preferably two) of the plurality of interface elements in unison, the one or more interface elements being supported on the intermediate beam, the bridge arrangement being configured to provide a clearance zone through which sections of the structure can pass for handling by the jack arrangement.

4. 4. The handling system of claim 3, wherein the intermediate beam comprises two interface elements configured to translate horizontally along the beam to vary their horizontal spacing from one another.

5. 5. A handling system according to claim 3 or 4, wherein the bridge arrangement and the plurality of jack devices are configured to move the interface elements radially in unison relative to the vertical axis.

6. 6. A handling system according to any one of claims 1 to 5, wherein the interface elements are distributed (preferably evenly and / or symmetrically) around the section to be handled and / or around a notional handling system trajectory (preferably a circle or part thereof).

7. 7. A handling system according to any preceding claim, wherein the interface element comprises an upright member and a foot member projecting outwardly from a lower end of the upright member for engaging a section to be handled.

8. 8. A handling system according to any one of the preceding claims, wherein the at least one jacking device comprises a lifting mechanism for vertically moving the interface element.

9. 9. A handling system according to claim 8, wherein the lifting mechanism is at least partially housed within a support frame of the jack device.

10. 10. A handling system according to claim 8 or 9, wherein the lifting mechanism is a screw-type mechanism, such as a roller screw.

11. 11. A handling system according to claim 10, wherein the lifting mechanism comprises at least one (preferably two) upright threaded rod and a carriage configured to move along the at least one upright threaded rod, the carriage being connected to a respective interface element to cause vertical movement of the interface element.

12. 12. The handling system of claim 11, wherein the lifting mechanism comprises a lifting drive unit configured to rotate the at least one upstanding threaded rod of the lifting mechanism, and wherein the carriage moves upwardly or downwardly along the threaded rod to cause vertical movement of the respective interface element.

13. Handling system according to any one of claims 1 to 12, wherein the at least one jacking device comprises a translation mechanism for moving the interface element radially relative to the vertical axis to engage and / or disengage with a section to be handled.

14. The handling system of 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. Handling system according to claim 13 or 14, wherein the translation mechanism is or comprises a horizontal slider mechanism.

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

17. Handling system according to claim 16, wherein the slider frame is fixed (e.g. bolted) to a foundation.

18. 18. A handling system according to claim 16 or 17, wherein the slider 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 slider frame.

19. Handling system according to any one of the preceding claims, further comprising a controller configured for synchronized and / or independent control of the jacking devices.

20. 21. A handling system according to claim 20, wherein the controller is configured to adjust the raising and lowering of the interface element in response to load and / or alignment data.

21. 21. A handling system according to any one of claims 1 to 20, further comprising an alignment platform for supporting a lower section of the tower below one or more upper sections of the tower handled by the jack arrangement, the alignment platform being movable in a horizontal plane to enable alignment of the lower section with the one or more upper sections.

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

23. 23. A handling system according to claim 21 or 22, wherein the alignment platform is movable freely in the horizontal plane and / or reactively under the influence of an external force, whereby the alignment platform moves in response to engagement of alignment features of adjacent sections.

24. Handling system according to any one of claims 21 to 23, wherein said alignment platform comprises at least one displacement post arranged for said movement in said horizontal plane.

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

26. 26. A handling system according to claim 24 or 25, wherein the alignment platform comprises a pair of elongated support arms each connected to one or more carriages via one or more displacement struts.

27. 27. A handling system according to claim 26, wherein the carriage is arranged to travel along rails or tracks to transport the section of the structure to the jack arrangement.

28. 28. A handling 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. A handling system according to any preceding claim, wherein the elongated structure comprises an elongated tower of a wind turbine installation, and optionally the section of the elongated tower is a concrete ring.

30. 1. A mobile jacking device for handling sections of a structure, comprising: an interface element for engaging the section to be handled, said interface element comprising: a) a lower engagement portion and an upper engagement portion; b) a float point about which both engagement portions are free to pivot, and wherein contact and engagement of either the upper or lower engagement portion with the section causes the other of the upper or lower engagement portion to contact and engage with the section; Equipped with the interface element is vertically movable to lift the section to be handled; The mobile jack device is arranged to move along the ground. Mobile jack device.

31. 31. A handling system comprising a plurality of mobile jack devices according to claim 30, wherein the plurality of mobile jack devices are configured to cooperate to handle sections of a tower.

32. 32. A handling system according to claim 31, wherein the plurality of mobile jack devices are arranged for synchronized and / or independent operation.

33. A method for assembling an elongated structure along a vertical axis from a plurality of sections thereof using a handling system according to any one of claims 1 to 29, comprising the steps of: a) positioning the handling system at a construction site; b) positioning a first section of the plurality of sections substantially in alignment with the vertical axis; c) using the jack arrangement to move the interface element of the handling assembly towards and engage the first section; d) using said jack arrangement to lift said first section to an elevated position along said vertical axis; e) positioning a second section of the plurality of sections below the elevated first section such that the second section is substantially aligned with the vertical axis; f) lowering the first section towards the second section and / or lifting the second section towards the first section to bring the first section and the second section into contact and form a joint in the structure, the second section defining a lower section of the joint; g) using the jack arrangement to move the interface element of the handling assembly away from the first section, disengage it from the first section, and reposition the interface element to engage the lower section of the coupling; h) using said jack arrangement to lift said lower section to an elevated position along said vertical axis, thereby raising said joint; i) repeating steps e) through h) on consecutively numbered sections to sequentially add sections to the recursively extending joints, thereby assembling the elongated structure from the bottom up; A method comprising:

34. 34. The method of claim 33, wherein the step a) of positioning the handling system includes securing the jacking device to a foundation.

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

36. 36. The method of claim 35, wherein step f) comprises lowering the first section using the jack arrangement and / or lifting the second section using the alignment platform, whereby alignment features on a lower end of the first section engage with alignment features on an upper end of the second section, said engagement signaling horizontal displacement of the second section due to the alignment platform being free to move in the horizontal plane.

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

38. 38. The method of claim 36 or 37, wherein during step f), once both sections are substantially fully aligned, the alignment platform is lowered into the foundation recess in unison with the vertical lowering of the jack arrangement to lower the first section, thereby applying the full weight of the notional connection to the foundation.

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

40. 40. The method of claim 39, wherein step b) and / or step c) further comprises raising the bridge arrangement of the jack arrangement to provide the clearance zone and transporting the alignment platform, together with the respective sections, through the clearance zone.

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

42. A method according to any one of claims 33 to 41, wherein the elongated structure comprises an elongated tower of a wind turbine installation.

43. j) post-tensioning or otherwise securing said sections of said joints in said structure after they have reached the appropriate height; k. lowering said joint of said structure along said vertical axis until a bottom section is in a final position below said non-raised position; The method of any one of claims 33 to 42, further comprising:

44. Step k is k1) engaging the section of the joint of the structure currently in the first elevated position; k2) lowering the notional joint of the structure until the engaged sections are in the non-raised position, and then disengaging the engaged sections; k3) repeating steps k1 and k2 for successive sections of the joint of the structure until the bottom section is in the final position below the non-raised position; 44. The method of claim 43, comprising:

45. 45. A method according to claim 43 or 44, wherein step k comprises lowering the joint of the structure at least partially below the waterline so that the final position of the lowermost section is within the seabed.

46. 45. The method of claim 43 or 44, wherein step k comprises lowering the joint of the structure at least partially into a pit, the final position of the bottom section being within the pit.

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