Tower crawling crane concept for WTG

A concept for crawling crane for maintaining wind turbine generators. Two adaptable clamping rings are assembled around a tower foundation. The rings are connected by a parallel kinematic mechanism that ensures perfect alignment of the crawling crane.

The clamping rings carry winches, that will lift the boom for exchanging a gearbox. Alternatively the boom can be replaced with a 6DOF cable robot that has full control over the lifted loads like blades.