EP2920102A1

EP2920102A1 - Load-rotating spinner

Info

Publication number: EP2920102A1
Application number: EP13802899.8A
Authority: EP
Inventors: Sebastian Repetzki; Christian FÖGER; Ronald Stärz; Peter Wimmer
Original assignee: MCI Management Center Innsbruck - Internationale Hochschule GmbH
Current assignee: MCI MANAGEMENT CENTER INNSBRUCK
Priority date: 2012-11-16
Filing date: 2013-11-14
Publication date: 2015-09-23
Anticipated expiration: 2033-11-14
Also published as: DE102012220975A1; WO2014076189A1; EP2920102B1

Abstract

The invention relates to a rotating device and a method for rotating an object suspended on a suspension. The rotating device can be attached to the suspension, for example to a crane hook, and comprises at least one motor (34), the motor shaft of which is oriented substantially vertically in the suspended state and can be connected to the suspended object, whereas the motor housing of the motor is connected to a rotatable rotational body. The rotational body (21) is rigidly connected to an energy store (35) and the axis (46) of the motor shaft substantially coincides with a main axis of inertia of the rotational body. In order to obtain the largest possible moment of inertia of the rotational body, the main part of the mass of the energy store (35) is accommodated in an outer area in relation to the radial extent R in the rotational body.

Description

LAST TURNING KREISEL

The present invention relates to a rotary device and a method for rotating an article suspended on a suspension, in particular a load suspended from a crane. The rotating device is equipped with a motor for rotating the suspended object, the electrical energy for operating the motor being stored in the rotating device itself, preferably in accumulators, thereby providing an easy-to-use rotating device.

BACKGROUND OF THE INVENTION

Loads suspended on a rope change their orientation due to minute disturbances, e.g. by air movements, twisting of the rope, contact with other objects or momentum exchange inside the load. Especially during weaning or picking up, an unpredictably rotating load can cause considerable damage. To avoid this in the operation of cranes, more ropes are often attached to the load on which people must pull by using their physical strength to orient the load. This tedious and dangerous step is not only costly, but also error prone. The time required for this is also hardly reducible, since human factors such as height and communication are decisive for this.

It is already known to use rotary gyros with a flywheel to influence the orientation of rotatable loads targeted. Such rotary gyros have a motor mounted such that torque produced by the motor rotates the load in a rotational direction opposite to the direction of rotation of the flywheel driven by the motor, whereby the load can be turned in the desired orientation in a foreseeable time. By slowing down the relative rotation of load and flywheel both bodies come almost to a standstill again.

However, the following problems have been identified in the present case, which are practical

Constrain the above principle. If the acceleration energy is supplied by cables leading from the crane to the load, there is a risk of twisting of the cable and / or rope, which may result in their mutual damage. The weight of the flywheel and the components required to drive it reduce by their own weight the usable carrying capacity of the crane. Furthermore, the lifting and accelerating of these masses consumes additional investment and energy costs. Due to small disturbances, the load does not come to a complete standstill when the flywheel is completely decelerated. The other types of movement of a crane, however, are designed so that stopping their drive reliably stops the movement. The load orientation by flywheels thus requires a more intensive training and greater attention of the crane operator to ensure safe crane operation.

A flywheel used for the orientation of crane loads according to the principle of angular momentum conservation was already proposed by L. Lawton in 1963 (see, for example, US 3,210,114), in which the rotational energy is supplied by cable from the crane The flywheel is designed as a disc-shaped solid Drive motor is housed in a frame which is attached to the load.

The patent US 3,498,476 introduces brakes and a second flywheel to increase the torque which rotates the load.

In US Pat. No. 5,871,249, a double flywheel in the three main axis directions is proposed in each case in order to orient loads in all three rotational degrees of freedom. The proposed scope of the invention is in stabilizing loads on rescue helicopters.

The invention published under WO 94/1 1294 uses gyroscopic effects instead of the

Acceleration torque for generating torques on suspended loads.

In the patent application GB 2 467 149 an arrangement is described which includes a flywheel for orientation of loads about the vertical axis.

In addition, the documents DE 25 15 178 AI, DE 32 34 395 AI, GB 993.269 A and US 4,612,494 A were known, which deal with turning devices for cranes.

It is therefore an object of the present invention to overcome the above-mentioned disadvantages of the prior art and to provide an alternative or improved rotary device with a corresponding method.

The object of the present invention is solved by the independent device or method claims and the aspects discussed below. The dependent claims describe further preferred embodiments and modifications of the invention. SUMMARY OF THE INVENTION

The invention generally relates to a device and a method for orienting rotatable, in particular hanging on a rope crane loads by means of the conservation law for the angular momentum. Preferably, the device according to the invention, hereinafter also referred to as a rotary device or load gyroscope, comprises an energy store, preferably a regenerable energy store, a motor, and preferably a purely mechanical connection to the load. The invention is advantageous in that therefore preferably one, two or all of the three problems mentioned above, namely (i) power cables; (ii) increase in the burden and (iii) lack of controllability can be overcome.

By the use of mobile energy stores attached to the device itself, for example by the use of batteries for power supply to Schwangradantrieb, the first problem is solved; no external power cables are needed. However, the use of heavy accumulators can aggravate the second problem as the accumulator mass further reduces the carrying capacity of the crane. The decisive progress arises when the engine and accumulators are mounted in or on the rotating flywheel. The accumulators are preferably placed on the outer edge of the flywheel to provide with their mass preferably the largest possible contribution to the moment of inertia of the flywheel. The motor housing or a flange of the motor housing is advantageously also attached to the flywheel. In other words, according to the invention, a part of the motor, for example the motor housing and / or a flange of the motor housing is fixedly connected to the flywheel, that the motor housing and / or the flange form part of the flywheel. With this arrangement, it can be achieved, for example, that parts of the engine, preferably high-mass parts of the engine, contribute to the mass moment of inertia of the flywheel.

Preferably, only the motor shaft is in firm or rotationally fixed connection with the load and has no contribution to the mass moment of inertia of the flywheel.

The inventive arrangement of accumulators and motor creates an active flywheel, which can be configured so that the stored energy for a desired by the operator of the device number .Lastorientierungen sufficient. The skilled person will quickly realize that the spin of the flywheel Energy required when decelerating to a great extent as braking energy accumulates. If the motor is operated as a generator, this energy can be partially converted back into electrical energy and optionally stored.

It is also familiar to the person skilled in the art that the energy required for the rotational acceleration depends on the square of the rotational speed. To reduce the energy converted in each acceleration and deceleration cycle, therefore, the mass moment of inertia of the flywheel should be as large as possible relative to that of the load, but the mass of the flywheel should be as small as possible with respect to the load. On the one hand, mechanical friction, wind and shocks change the total angular momentum of load and flywheel. On the other hand, the rotation of the flywheel itself causes torques due to air friction. In addition, if the mass moment of inertia of the load increases, the achievable load rotation rate decreases with the same flywheel rotation rate. However, the moment of inertia of a load is often not experienced by the crane operator, e.g. when containers are handled with changing loads.

All this means for the crane operator that he has to continuously observe the rate of rotation of the load in order to readjust the flywheel rotation rate required for the desired orientation movement. The present invention solves this problem, for example, by the use of at least one sensor, which detects the rate of rotation of the load relative to the fixed environment. According to the invention, an operating element is provided for operating the load rotary gyroscope, wherein the operating element is preferably realized in such a way that a rotational rate for the load can be predetermined. Preferably, the control element for controlling the load rotary gyroscope includes a rotation rate controller, which controls the torque of the load rotary gyro drive so that the deviation between the rotation rate specification of the crane operator and the absolute rotation rate of the load is minimal. The rate of rotation default preferably covers a range of values from negative to positive, where the rate of rotation equals zero to a load that does not rotate relative to its environment.

To ensure a safe and functional state, the controller preferably monitors at least one of the following components or states and initiates - if necessary - securing or extending the operating time measures: 1. integrity of the energy storage, the motor, the controller, the electronics , the software, the Control element and the data connection; 2. Mechanical integrity and residual imbalance of the load rotary gyroscope.

In particular, unbalance is present when the mechanical axis of rotation of the load rotary gyroscope does not pass through the center of gravity and not through one of the main axes of inertia of the flywheel. Imbalances arise in particular when parts of the flywheel mass are changed in their position. These can be internal displacements, e.g. Kabein, or changes in shape due to external influences. The occurrence of impermissible imbalances is not visible to the observer from the outside, but leads to mechanical stresses that can endanger the integrity of the flywheel. To avoid the dangers caused by imbalances, they should preferably be continuously measured and preferably monitored. Additional, motor-driven masses within the load rotary gyroscope can also make it possible to reduce imbalances. A corresponding controller in the control panel can be provided, whereupon the position of the additional masses is changed with knowledge of the flywheel speed, the motor rotation angle and the height of the measured imbalance, so that the residual imbalance is minimal.

The essential features of the invention will be discussed again generally in the following aspects.

Provided is a rotating device for rotating a load suspended on a suspension, wherein the rotating device is attachable to the suspension. The preferably includes at least one motor, preferably an electric motor, the motor shaft in the suspended state is substantially vertically aligned (vertical) and is connected to the load, preferably rotatably connected, wherein the motor housing is connected to a rotatable rotary body (flywheel), preferably rotatably connected to the rotary body or the flywheel. According to the invention, the rotary body is connected to an energy store, preferably firmly connected thereto. Preferably, the axis of the motor shaft coincides substantially with a main axis of inertia of the rotating body / flywheel, whereby rotational movement of the rotating body / flywheel is achieved without imbalance. In principle, the rotational body can be divided into an inner region and an outer region with respect to its radial expansion. according to the invention, the outer area - defined with respect to the axis of rotation - as the sum of all Volume elements having at least a distance 2/3 R to the axis, preferably at least 3 / 4R. According to the invention preferably at least 60% of the mass of the energy storage and / or the total mass of the flywheel are housed in this outdoor area. Preferably, at least 70%, preferably at least 80%, preferably at least 90% of the mass of the energy store is mounted in the outer area.

Preferably, the at least one energy storage is at least one element of the

Group consisting of battery, accumulator and capacitor. Preferably, this serves

Energy storage for operating the at least one motor.

According to the invention, the motor shaft is connected to the object / load, preferably via a

Connecting element, rotatably connected and / or the motor housing with the

Rotation body is connected Drehlest.

According to another preferred embodiment, the engine may also be considered

Generator are operated, with a relative movement between the motor housing and motor shaft then generates electricity. This generated stream may be in the at least one

Energy storage are stored at least partially.

The inventive load gyro may also preferably with at least one

Sensor for detecting a rate of rotation / rotational speed of the rotating body and / or for

Detection of a rate of rotation / rotational speed load rotary gyro itself or for detecting a rate of rotation / rotational speed of the motor housing and / or the suspended

Be provided load relative to the environment.

The inventive load gyro can also at least one movable

Have additional mass whose position relative to the flywheel is variable to the

Moment of inertia of the flywheel or the main axis of inertia of the flywheel to change. This can be done either manually or with the help of an actuator. The at least one movable additional mass can, for example, on a circular path about the axis of the

Flywheel / rotational body be movable, and / or radial to the axis of the

Be rotational body movable.

The load gyroscope according to the invention can also be provided with at least one additional sensor for detecting and / or measuring an imbalance of the rotary body. Preferably, the load gyro according to the invention also has a

Compensation device, with at least one movable additional mass, wherein a Movement of this additional mass (37) can compensate for an imbalance. According to a preferred embodiment, the at least one movable additional mass can be movable as a function of the rotational rate of the rotational body. This can be done via a direct control of a user or automatically as a function of at least one sensor signal.

In addition to the load rotary gyroscope according to the invention, a system with an operating element for controlling the load rotary gyroscope is also provided according to the invention. For example, with the aid of the operating element, a rate of rotation of the suspended load can be regulated. Preferably, the operating element is adapted to informing a user of the operating element of the current rate of rotation of the article / load and / or the rotational body. Accordingly, the motor can be controlled manually or automatically so as to compensate for this detected rate of rotation of the object in relation to the environment. Accordingly, a circuit in the control element by driving the motor may be present to automatically compensate for the detected rotation rate.

Finally, the present invention also relates to a method for rotating a suspended object (a load) by means of a device according to the invention comprising the steps of: i) driving the motor by energy from the at least one energy store and / or braking a self-rotating movement of the suspended object with the aid of Motors, wherein the self-rotating motion induces a voltage in the motor, ie the engine is used as a generator.

BRIEF DESCRIPTION OF THE DRAWINGS

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. Show it:

Fig. 1 shows a typical crane load, which is about a load rotary gyroscope for orienting

Load was supplemented;

FIG. 2 shows an operating element according to the invention for controlling a load-rotation gyroscope according to the invention; FIG.

3 shows the schematic structure of the load rotary gyroscope in section; and

Fig. 4 shows an embodiment according to the invention of a suspended load rotary gyro which is suitable for lifting harnesses without a fixed connection with the payload. DETAILED DESCRIPTION PREFERRED

EMBODIMENTS

FIG. 1 shows a first embodiment according to the invention. A hanging on a rope hook hook 11 11 is equipped with a thrust bearing 12 for receiving a crane hook 13, which allows the crane hook an unlimited number of rotations about the vertical / vertical hook axis 14 at a comparatively low torque. According to the invention, the direction indication is used vertically or vertically with respect to the gravitational force of the earth. About more slings 15 such as chains, ropes or straps is an object, here a load 16, 17 attached to the crane hook 13 hanging. The load may, for example, the load receiving means 16 and the payload 17 have. In the illustrated preferred embodiment of the invention, a load rotary gyro 21 is attached to the load receiving means 16.

Figure 2 shows schematically an inventive control element 18 for controlling the rotating device according to the invention. Preferably, the control element 18 comprises a rotary knob, with which the crane operator can specify a rate of rotation of the load with respect to the fixed environment.

The principle of operation of the rotary device 1 according to the invention is based on the set of angular momentum conservation, which can be applied to the entirety of all components in FIG shown as axis 14). The angular momentum conservation law states that the total angular momentum of these components remains constant as long as no external moments are applied. If the load rotary gyroscope 21 (more precisely: the rotary body or the flywheel) is rotated by internal energy sources and drives (see arrow 22), then, due to the set of angular momentum conservation, all other components hanging from the axial bearing 12 must be in the opposite direction 23 set in rotation. The plane of rotation of the flywheel is preferably oriented substantially horizontally.

FIG. 3 shows a further preferred embodiment of a rotary device according to the invention (also referred to in the application as a load rotary gyroscope) in a cross-sectional view. The rotating device comprises a first connecting element for fixed connection to the load. In the illustrated embodiment, this first connecting element is a foot 3 1. which on the one hand with the load, on the other hand the one Rotary bearing 32 is mechanically connected. Attached thereto is a preferably disk-shaped girder 33. An electric motor 34 is installed so that the motor shaft coupled to the foot 31 and the motor housing on the gyro (flywheel / body of revolution) is attached. The energy stores 35 are arranged essentially at the periphery (outer area A) of the gyro carrier. As shown in FIG. 3, the rotational body can be logically divided into two separate (disjoint) regions with respect to its radial extent R, an inner region I and an outer region A (see FIG. 3). According to the invention, the outer area A is defined as the sum of all volume elements which have at least a distance 2/3 R to the axis 46. Correspondingly, the interior area I is defined as the area comprising volume elements which have a distance smaller than 2 / 3R to the axis. According to a further preferred embodiment, the outer region A is the region in which all volume elements are contained which have at least the distance 3/4 R to the axis. The area not referred to as the exterior is called the interior area. According to the invention preferably at least 60% of the mass of the energy storage and / or the total mass of the flywheel are housed in this outdoor area. Preferably, at least 70%, preferably at least 80%), preferably at least 90% of the mass of the energy store are mounted outdoors.

The centrifugal forces generated during rotation are preferably absorbed by an outer ring 36. This ring also contributes and advantageously to increase the mass moment of inertia of the load rotary gyroscope. Movable additional masses 37 can optionally be moved by the controller for reducing imbalances.

A power electronics 41 transmits electrical energy in two directions: from the energy storage 35 to the electric motor 34 on the one hand and on the other hand from the electric motor 34, which is operated as a generator, back to the energy storage 35. A controller 42 controls, regulates and monitors these and all other processes in Last spinning top.

Along the axis of symmetry on the motor axis and / or on the flywheel sensors 43, 44 can optionally be attached in order to record position and / or acceleration values and transmit them to the controller. A housing 45 protects the components of the gyro against external influences such as moisture or mechanical damage. An antenna 46 preferably carries out a wireless data exchange with the operating element. Figure 4 shows a further preferred embodiment of the rotating device according to the invention, wherein like reference numerals describe like parts. In this embodiment, the load bearing is designed as lifting harness 51, which is connected via stop means 52 (ropes, chains) with the payload 53 in connection, the load rotary gyro can be advantageously also attached hanging below the lifting harness.

The invention also includes the exact or exact terms, features, numerical values or ranges, etc. when, above or below, these terms, features, numerical values or ranges are used in conjunction with terms such as, for example. "About, about, substantially, in general, at least, at least", etc., were called (ie, "about 3" should also "3" or "substantially radially" should also include "radial"). respectively." means moreover "and / or".

Claims

P a t e n t a n s r ü c h . Rotating device (1) for rotating a load (17) suspended on a suspension, the rotating device being attachable to the suspension and the rotating device having:

a motor (34), the motor shaft of which is essentially vertically aligned in the suspended state and can be connected to the load (17), the motor housing being firmly connected to a rotatable rotating body (21; 33);

characterized in that

the rotating body (21; 33) is firmly connected to an energy storage (35) and the axis (46) of the motor shaft essentially coincides with a main axis of inertia of the rotating body.

2. Device according to claim 1, wherein the rotating body has a radial extent R with respect to the axis (46), with at least 60% of the mass of the energy storage (35) being attached in an outer area with respect to the radial extent R.

3. Device according to one of the preceding claims, wherein the at least one energy storage device (35) has at least one element from the group consisting of batteries (35), accumulators (35) and capacitors.

4. Device according to one of the preceding claims, wherein the motor (34) can be operated with energy from the at least one energy storage (35).

5. Device according to one of the preceding claims, wherein the motor shaft can be connected in a rotationally fixed manner to the object, preferably via a connecting element (31), and/or the motor housing is connected in a rotationally fixed manner to the rotating body (21; 33).

Device according to one of the preceding claims, wherein the motor (34) can be operated as a generator and a relative movement between the motor housing and the motor shaft generates electricity which can be at least partially stored in the at least one energy storage (35).

Device according to one of the preceding claims, wherein the outer area is defined in that it has at least the distance 2/3 R to the axis (46), preferably at least % R and / or at least 70%, preferably at least 80%, preferably at least 90% the mass of the energy storage (35) is attached outside.

Device according to one of the preceding claims, additionally with at least one sensor (43, 44) for detecting a rotation rate/speed of rotation of the rotating body (21; 33) and/or the rotation rate/speed of rotation of the suspended load (17) relative to the environment.

Device according to one of the preceding claims, wherein the device additionally has at least one movable additional mass (37), which is preferably movable relative to the rotating body (21; 33) with the aid of at least one actuator.

Device according to claim 9, wherein the at least one movable additional mass (37)

i) can be moved on a circular path around the axis of the rotating body (21; 33), and/or

ii) can be moved radially to the axis of the rotating body (21) in order to change the moment of inertia and/or a main axis of inertia of the rotating body (21; 33).

1 1 . Device according to one of the preceding claims, with additional sensors for detecting and/or measuring an unbalance of the rotating body (21) and a compensation device with at least one movable additional mass (37), a movement of this additional mass (37) compensating for the unbalance.

12. The device according to claim 10 or 1 1, wherein the at least one movable additional mass (17) is movable depending on the rotation rate of the rotating body (21).

13. System for rotating a suspended object with a device according to one of the preceding claims and an operating element (18) with which a rotation rate of the suspended load (17) can be regulated.

14. System according to claim 13, wherein the control element (18) is adapted to

i) that a user of the control element (18) is informed about the current rotation rate of the object (17) and/or the rotating body (21), so that the motor (34) can be controlled in such a way that this detected rotation rate of the object (17) to compensate and/or

ii) a circuit in the control element automatically compensates for the detected rotation rate by controlling the motor.

15. A method for rotating a suspended object using a device according to one of claims 1 to 1 2 or using a system according to claim 14, with the steps

i) driving the motor (34) with energy from the at least one energy storage device to compensate for the rotational movement of the suspended object or ii) braking a self-rotating movement of the suspended object with the aid of the motor, the self-rotating movement in the motor inducing a voltage, preferably stored in the at least one energy storage device.