EP2920102B1 - Dispositif de rotation de charge - Google Patents

Dispositif de rotation de charge Download PDF

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Publication number
EP2920102B1
EP2920102B1 EP13802899.8A EP13802899A EP2920102B1 EP 2920102 B1 EP2920102 B1 EP 2920102B1 EP 13802899 A EP13802899 A EP 13802899A EP 2920102 B1 EP2920102 B1 EP 2920102B1
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EP
European Patent Office
Prior art keywords
rotating device
motor
load
rotation
rotation body
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.)
Not-in-force
Application number
EP13802899.8A
Other languages
German (de)
English (en)
Other versions
EP2920102A1 (fr
Inventor
Sebastian Repetzki
Christian FÖGER
Ronald Stärz
Peter Wimmer
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.)
MCI MANAGEMENT CENTER INNSBRUCK
Original Assignee
Mci Management Center Innsbruck
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Filing date
Publication date
Application filed by Mci Management Center Innsbruck filed Critical Mci Management Center Innsbruck
Publication of EP2920102A1 publication Critical patent/EP2920102A1/fr
Application granted granted Critical
Publication of EP2920102B1 publication Critical patent/EP2920102B1/fr
Not-in-force legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical

Definitions

  • 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.
  • 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.
  • a flywheel used on the principle of angular momentum conservation for orientation of crane loads was already proposed in 1963 by L. Lawton (see for example US 3,210,114 ). In it, the rotational energy is supplied via cable from the crane.
  • the flywheel is designed as a disc-shaped solid.
  • the drive motor is housed in a frame which is attached to the load.
  • 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.
  • the device according to the invention hereinafter also referred to as a rotary device or load rotary 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.
  • the first problem is solved; no external power cables are needed.
  • the use of heavy accumulators can aggravate the second problem as the accumulator mass further reduces the carrying capacity of the crane.
  • 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.
  • a part of the engine for example, the motor housing and / or a flange of the motor housing is fixedly connected to the flywheel, so that the motor housing and / or the flange form part of the flywheel.
  • parts of the engine preferably high-mass parts of the engine, contribute to the mass moment of inertia of the flywheel.
  • the motor shaft is in a 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 is sufficient for a desired number of load orientations by the operator of the device.
  • 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.
  • 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.
  • mechanical friction, wind and shocks change the total angular momentum of load and flywheel.
  • the rotation of the flywheel itself causes torques due to air friction.
  • the moment of inertia of a load is often not experienced by the crane operator, e.g. when containers are handled with changing loads.
  • 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.
  • 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.
  • 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.
  • 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. of cables, 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.
  • a rotating device for rotating a load suspended on a suspension, wherein the rotating device is attachable to the suspension.
  • This preferably includes at least one motor, preferably an electric motor, the motor shaft in the suspended state is substantially vertical (vertical) aligned and rotatably connected to the load, wherein the motor housing with a rotatable rotary body (flywheel) is fixedly connected, preferably non-rotatably with the Rotary body or the flywheel is connected.
  • the rotational body is fixedly connected to an energy store, and the axis of the motor shaft substantially coincides with a main axis of inertia of the rotational body / flywheel, whereby a rotational movement of the rotational body / flywheel is achieved without imbalance.
  • the rotational body can be subdivided into an inner area and an outer area with respect to its radial extent R, wherein according to the invention the outer area is defined with respect to the axis of rotation as the sum of all volume elements which have at least a distance 2/3 R to the axis, preferably at least 3 / 4R.
  • the outer area is defined with respect to the axis of rotation as the sum of all volume elements which have at least a distance 2/3 R to the axis, preferably at least 3 / 4R.
  • at least 60% of the mass of the energy storage and / or the total mass of the flywheel are housed in this outdoor area.
  • at least 70%, preferably at least 80%, preferably at least 90% of the mass of the energy store is mounted in the outer area.
  • the at least one energy store is at least one element from the group consisting of battery, accumulator and capacitor.
  • this energy store is used to operate the at least one motor.
  • the motor shaft with the object / load preferably via a connecting element, rotatably connected and / or the motor housing rotatably connected to the rotating body.
  • the motor can also be operated as a generator, wherein a relative movement between the motor housing and motor shaft then generates electricity.
  • This generated current can be stored at least partially in the at least one energy store.
  • the load rotary gyroscope according to the invention may also preferably with at least one sensor for detecting a rate of rotation / rotational speed of the rotary body and / or for detecting a rate of rotation / rotational speed of the load rotary gyro itself or for detecting a rate of rotation / rotational speed of the motor housing and / or the suspended load relative to the environment be provided.
  • the load rotary gyroscope according to the invention can also have at least one movable additional mass whose position relative to the flywheel is variable in order to change the moment of inertia of the flywheel or the main axis of inertia of the flywheel. This can be done either manually or with the help of an actuator.
  • the at least one movable additional mass may be movable, for example, on a circular path about the axis of the flywheel / body of revolution, and / or be movable radially to the axis of the body of revolution.
  • the load rotary gyroscope according to the invention can be provided with at least one additional sensor for detecting and / or measuring an imbalance of the rotary body.
  • the load rotating gyroscope 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.
  • 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.
  • a system with an operating element for controlling the load rotary gyroscope is also provided according to the invention.
  • a rate of rotation of the suspended load can be regulated.
  • the operating element is adapted to inform a user of the operating element about the current rate of rotation of the article / load and / or the rotational body.
  • 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.
  • a circuit in the control element by driving the motor may be present to automatically compensate for the detected rotation rate.
  • 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.
  • FIG. 1 shows a first embodiment of 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.
  • 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.
  • a load rotary gyro 21 is attached to the load receiving means 16.
  • FIG. 2 schematically shows an inventive control element 18 for controlling the rotating device according to the invention.
  • 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 operating principle of the rotary device 1 according to the invention is based on the set of angular momentum conservation, which in the Fig. 1 can be applied to the totality of all components, which are mounted on the thrust bearing 12 (the pivot bearing of the crane) hanging and have moments of inertia with respect to its axis of rotation (dash-dotted lines 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.
  • 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 rotating device according to the invention (in the application also referred to as load rotary gyroscope) in a cross-sectional view.
  • the rotating device comprises a first connecting element for fixed connection to the load.
  • this first connecting element is a foot 31, which on the one hand with the load, on the other hand with 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.
  • the body of revolution 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 Fig. 3 ).
  • 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.
  • the interior region I is defined as the region comprising volume elements which have a distance smaller than 2 / 3R to the axis.
  • 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.
  • At least 60% of the mass of the energy storage and / or the total mass of the flywheel are housed in this outdoor area.
  • at least 70%, preferably at least 80%, preferably at least 90% of the mass of the energy store is mounted in the outer area.
  • centrifugal forces generated during rotation are preferably absorbed by an outer ring 36.
  • This ring also contributes 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, controls and monitors these and all other processes in Last spinning top.
  • 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.
  • FIG. 4 shows a further preferred embodiment of the rotating device according to the invention, wherein like reference numerals describe like parts.
  • the load bearing is designed as lifting harness 51, which is connected via stop means 52 (ropes, chains) with the payload 53 in connection, and the load rotation gyro can advantageously also be suspended suspended 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, essentially, in general, at least, at least”, etc., were called (ie, “about 3” should also “3” or “substantially radially” should also include “radial”).
  • the expression “or” means moreover “and / or”.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Claims (15)

  1. Dispositif de rotation (1) pour la rotation d'une charge (17) accrochée à une suspension, où ledit dispositif de rotation peut être fixé à la suspension et où ledit dispositif de rotation comprend :
    un moteur (34), dont l'arbre de moteur est orienté sensiblement à la verticale en état de suspension et peut être raccordé à la charge (17) de manière solidaire en rotation, le carter de moteur étant fixement raccordé à un corps rotatif (21 ; 33) ;
    caractérisé en ce que
    le corps rotatif (21 ; 33) est fixement raccordé à un accumulateur d'énergie (35) et l'axe (46) de l'arbre de moteur coïncide sensiblement avec un axe d'inertie principal du corps rotatif.
  2. Dispositif de rotation selon la revendication 1, où le corps rotatif présente une extension radiale R par rapport à l'axe (46), au moins 60 % de la masse de l'accumulateur d'énergie (35) étant disposée dans une zone extérieure à l'extension radiale R.
  3. Dispositif de rotation selon l'une des revendications précédentes, où ledit au moins un accumulateur d'énergie (35) comprend au moins un élément du groupe comprenant batteries (35), accumulateurs (35) et condensateurs.
  4. Dispositif de rotation selon l'une des revendications précédentes, où le moteur (34) peut être mis en service avec l'énergie dudit au moins un accumulateur d'énergie (35).
  5. Dispositif de rotation selon l'une des revendications précédentes, où l'arbre de moteur est raccordé solidairement en rotation à un objet, préférentiellement au moyen d'un élément de connexion (31), et/ou où le carter de moteur est raccordé solidairement en rotation au corps rotatif (21 ; 33).
  6. Dispositif de rotation selon l'une des revendications précédentes, où le moteur (34) peut être mis en service comme générateur et où un déplacement relatif entre le carter de moteur et l'arbre de moteur génère du courant au moins partiellement accumulable dans ledit au moins un accumulateur d'énergie (35).
  7. Dispositif de rotation selon l'une des revendications précédentes, où la zone extérieure est définie en ce qu'elle est espacée d'au moins 2/3 R par rapport à l'axe (46), préférentiellement au moins ¾ R et/ou au moins 70 %, préférentiellement au moins 80 %, préférentiellement au moins 90 % de la masse de l'accumulateur d'énergie (35) étant disposée dans la zone extérieure.
  8. Dispositif de rotation selon l'une des revendications précédentes, comprenant en outre au moins un capteur (43, 44) pour la détection d'une fréquence/vitesse de rotation du corps rotatif (21 ; 33) et/ou d'une fréquence/vitesse de de la charge suspendue (17) par rapport à l'environnement.
  9. Dispositif de rotation selon l'une des revendications précédentes, où ledit dispositif de rotation comprend en outre au moins une masse additionnelle mobile (37), laquelle est préférentiellement déplaçable au moyen d'au moins un actionneur par rapport au corps rotatif (21 ; 33).
  10. Dispositif de rotation selon la revendication 9, où ladite au moins une masse additionnelle mobile (37)
    i) est déplaçable sur une orbite autour de l'axe du corps rotatif (21 ; 33), et/ou
    ii) est déplaçable radialement par rapport à l'axe du corps rotatif (21) pour modifier le moment d'inertie et/ou un axe d'inertie principal du corps rotatif (21 ; 33).
  11. Dispositif de rotation selon l'une des revendications précédentes, comprenant des capteurs additionnels pour la détection et/ou la mesure d'un déséquilibre du corps rotatif (21) et un dispositif de compensation avec au moins une masse additionnelle mobile (37), un déplacement de ladite masse additionnelle (37) compensant le déséquilibre.
  12. Dispositif de rotation selon la revendication 10 ou la revendication 11, où ladite au moins une masse additionnelle mobile (17) est déplaçable en fonction de la fréquence de rotation du corps rotatif (21).
  13. Système pour la rotation d'un objet suspendu avec un dispositif de rotation selon l'une des revendications précédentes et un élément de commande (18) permettant de régler une fréquence de rotation de la charge suspendue (17).
  14. Système selon la revendication 13, où l'élément de commande (18) est prévu pour
    i) qu'un utilisateur de l'élément de commande (18) soit informé de la fréquence de rotation actuelle de l'objet (17) et/ou du corps rotatif (21), de manière à permettre une commande du moteur (34) pour compenser ladite fréquence de rotation d'objet (17) détectée et/ou
    ii) où un circuit dans l'élément de commande compense automatiquement la fréquence de rotation détectée par commande du moteur.
  15. Procédé de rotation d'un objet suspendu au moyen d'un dispositif de rotation selon l'une des revendications 1 à 12 ou au moyen d'un système selon la revendication 14, comprenant les étapes
    i) d'entraînement du moteur (34) par l'énergie dudit au moins un accumulateur d'énergie pour la compensation d'un mouvement de rotation propre de l'objet suspendu et/ou
    ii) de freinage d'un mouvement de rotation propre de l'objet suspendu au moyen du moteur, ledit mouvement de rotation propre induisant une tension dans le moteur, préférentiellement accumulée dans ledit au moins un accumulateur d'énergie.
EP13802899.8A 2012-11-16 2013-11-14 Dispositif de rotation de charge Not-in-force EP2920102B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012220975.1A DE102012220975A1 (de) 2012-11-16 2012-11-16 1Lastdrehkreisel
PCT/EP2013/073846 WO2014076189A1 (fr) 2012-11-16 2013-11-14 Dispositif de rotation de charge

Publications (2)

Publication Number Publication Date
EP2920102A1 EP2920102A1 (fr) 2015-09-23
EP2920102B1 true EP2920102B1 (fr) 2018-01-03

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP13802899.8A Not-in-force EP2920102B1 (fr) 2012-11-16 2013-11-14 Dispositif de rotation de charge

Country Status (3)

Country Link
EP (1) EP2920102B1 (fr)
DE (1) DE102012220975A1 (fr)
WO (1) WO2014076189A1 (fr)

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SE541791C2 (en) * 2015-12-22 2019-12-17 Indexator Rotator Sys Ab Device for a jib-carried tool and a system thereof
WO2018113882A1 (fr) * 2016-12-22 2018-06-28 Mhi Vestas Offshore Wind A/S Ensemble pour faire tourner une charge suspendue
US11142316B2 (en) 2018-02-08 2021-10-12 Vita Inclinata Technologies, Inc. Control of drone-load system method, system, and apparatus
US11209836B1 (en) 2018-02-08 2021-12-28 Vita Inclinata Technologies, Inc. Long line loiter apparatus, system, and method
US11535496B2 (en) * 2018-05-28 2022-12-27 Vita Inclinata Technologies, Inc. Device for stabilizing a hoisted object
WO2020176665A1 (fr) 2019-02-26 2020-09-03 Vita Inclinata Technologies, Inc. Appareil de déploiement de câble, système et procédés pour équipement de contrôle de charge suspendue
US11834305B1 (en) 2019-04-12 2023-12-05 Vita Inclinata Ip Holdings Llc Apparatus, system, and method to control torque or lateral thrust applied to a load suspended on a suspension cable
US11618566B1 (en) 2019-04-12 2023-04-04 Vita Inclinata Technologies, Inc. State information and telemetry for suspended load control equipment apparatus, system, and method
CN110920897B (zh) * 2019-12-14 2021-09-03 赵海荣 一种飞行器救援吊舱及控制方法
DE102021124757A1 (de) 2021-09-24 2023-03-30 Liebherr-Werk Biberach Gmbh Kran
US11620597B1 (en) 2022-04-29 2023-04-04 Vita Inclinata Technologies, Inc. Machine learning real property object detection and analysis apparatus, system, and method
US11992444B1 (en) 2023-12-04 2024-05-28 Vita Inclinata Ip Holdings Llc Apparatus, system, and method to control torque or lateral thrust applied to a load suspended on a suspension cable

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AT334019B (de) * 1974-04-12 1976-12-27 Waagner Biro Ag Lastdreheinrichtung fur krane
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Publication number Publication date
DE102012220975A1 (de) 2014-05-22
EP2920102A1 (fr) 2015-09-23
WO2014076189A1 (fr) 2014-05-22

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