CA2373247A1 - Human power amplifier for lifting load including apparatus for preventing slack in lifting cable - Google Patents

Human power amplifier for lifting load including apparatus for preventing slack in lifting cable Download PDF

Info

Publication number
CA2373247A1
CA2373247A1 CA002373247A CA2373247A CA2373247A1 CA 2373247 A1 CA2373247 A1 CA 2373247A1 CA 002373247 A CA002373247 A CA 002373247A CA 2373247 A CA2373247 A CA 2373247A CA 2373247 A1 CA2373247 A1 CA 2373247A1
Authority
CA
Canada
Prior art keywords
load
operator
lifting
effector
power amplifier
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA002373247A
Other languages
French (fr)
Other versions
CA2373247C (en
Inventor
Homayoon Kazerooni
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US09/443,278 external-priority patent/US6386513B1/en
Application filed by Individual filed Critical Individual
Priority to CA002487979A priority Critical patent/CA2487979C/en
Priority to CA002487992A priority patent/CA2487992C/en
Publication of CA2373247A1 publication Critical patent/CA2373247A1/en
Application granted granted Critical
Publication of CA2373247C publication Critical patent/CA2373247C/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D3/00—Portable or mobile lifting or hauling appliances
    • B66D3/18—Power-operated hoists
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
    • B66C1/0212—Circular shape
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
    • B66C1/0237—Multiple lifting units; More than one suction area
    • B66C1/0243—Separate cups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
    • B66C1/0256—Operating and control devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/02—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
    • B66C1/0256—Operating and control devices
    • B66C1/0275—Operating and control devices actuated by lifting action

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Invalid Beds And Related Equipment (AREA)
  • Emergency Lowering Means (AREA)
  • Electric Cable Installation (AREA)

Abstract

A human power amplifier assist device (10) includes an end-effector (14) that is grasped by a human operator and applied to a load (25). The end-effector (14) is suspended, via a line (13), from a take-up pulley (11), winch or drum that is driven by an actuator (12) to lift or lower the load (25). The end-effector (14) includes a force sensor (31) that measures the vertical force imposed on the end-effector (14) by the operator and delivers a signal to a controller (20). The controller (20) and actuator (12) are structured in such a way that a predetermined percentage of the force necessary to lift or lower the load (25) is applied by the actuator (12), with the remaining force being supplied by the operator. The load (25) thus feels lighter to the operator, but the operator does not lose the sense of lifting against both the gravitation and inertial forces originating in the load (25).
CA002373247A 1999-05-13 2000-02-17 Human power amplifier for lifting load including apparatus for preventing slack in lifting cable Expired - Lifetime CA2373247C (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CA002487979A CA2487979C (en) 1999-05-13 2000-02-17 Human power amplifier for lifting load including apparatus for preventing slack in lifting cable
CA002487992A CA2487992C (en) 1999-05-13 2000-02-17 Human power amplifier for lifting load including apparatus for preventing slack in lifting cable

Applications Claiming Priority (9)

Application Number Priority Date Filing Date Title
US13400299P 1999-05-13 1999-05-13
US60/134,002 1999-05-13
US14653899P 1999-07-30 1999-07-30
US14654199P 1999-07-30 1999-07-30
US60/146,541 1999-07-30
US60/146,538 1999-07-30
US09/443,278 1999-11-18
US09/443,278 US6386513B1 (en) 1999-05-13 1999-11-18 Human power amplifier for lifting load including apparatus for preventing slack in lifting cable
PCT/US2000/004065 WO2000069771A1 (en) 1999-05-13 2000-02-17 Human power amplifier for lifting load including apparatus for preventing slack in lifting cable

Related Child Applications (2)

Application Number Title Priority Date Filing Date
CA002487992A Division CA2487992C (en) 1999-05-13 2000-02-17 Human power amplifier for lifting load including apparatus for preventing slack in lifting cable
CA002487979A Division CA2487979C (en) 1999-05-13 2000-02-17 Human power amplifier for lifting load including apparatus for preventing slack in lifting cable

Publications (2)

Publication Number Publication Date
CA2373247A1 true CA2373247A1 (en) 2000-11-23
CA2373247C CA2373247C (en) 2005-05-24

Family

ID=27495069

Family Applications (1)

Application Number Title Priority Date Filing Date
CA002373247A Expired - Lifetime CA2373247C (en) 1999-05-13 2000-02-17 Human power amplifier for lifting load including apparatus for preventing slack in lifting cable

Country Status (7)

Country Link
EP (1) EP1183206B1 (en)
KR (3) KR100473093B1 (en)
AT (1) ATE412605T1 (en)
AU (1) AU762907B2 (en)
CA (1) CA2373247C (en)
DE (1) DE60040663D1 (en)
MX (1) MXPA01011489A (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100668147B1 (en) * 2005-04-18 2007-01-11 주식회사 동성산기 Balancing air hoist system without control
KR100713836B1 (en) * 2005-10-25 2007-05-02 주식회사 고려호이스트 Air balancing hoist
CN104444876A (en) * 2014-07-25 2015-03-25 西安联纵航空精密制造有限公司 Flexible high-precision lifting mechanical hand
FR3075191B1 (en) * 2017-12-15 2020-12-11 Sapelem LOAD HANDLING INSTALLATION
DE202020104055U1 (en) 2020-02-05 2020-08-14 BARRUS GmbH Manipulator for placing on a vehicle
KR102201269B1 (en) * 2020-05-08 2021-01-11 부경용기검사주식회사 Marking system of gas cylinder
CN113371628B (en) * 2021-06-10 2022-12-13 西安卓越智动科技有限公司 Force sensing movement self-following lifting device
DE102021131264A1 (en) 2021-11-29 2023-06-01 Liftkon GmbH Device and method for preventing the windings of a traction mechanism from expanding when the load changes

Also Published As

Publication number Publication date
KR20020021634A (en) 2002-03-21
AU762907B2 (en) 2003-07-10
AU3234600A (en) 2000-12-05
EP1183206B1 (en) 2008-10-29
KR20040097389A (en) 2004-11-17
KR100478396B1 (en) 2005-03-24
CA2373247C (en) 2005-05-24
EP1183206A1 (en) 2002-03-06
KR100473093B1 (en) 2005-03-08
KR20040097388A (en) 2004-11-17
DE60040663D1 (en) 2008-12-11
KR100545695B1 (en) 2006-01-24
MXPA01011489A (en) 2003-08-20
ATE412605T1 (en) 2008-11-15

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Legal Events

Date Code Title Description
EEER Examination request
MKEX Expiry

Effective date: 20200217