Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B66—HOISTING; LIFTING; HAULING
  • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
  • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
  • B66C23/62—Constructional features or details
  • B66C23/82—Luffing gear
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
  • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B66—HOISTING; LIFTING; HAULING
  • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
  • B66F13/00—Common constructional features or accessories
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
  • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
  • B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means

Definitions

• the present invention relates to a method of tensioning an inextensible or substantially inextensible strap allowing in particular the lifting of a load at a distance or the spatial displacement of a large mass located at a remote end of the actuating mechanism. .
• substantially inextensible organ is meant an organ
• the object of the present invention is to remedy these drawbacks
• the invention proceeds from an entirely different approach from that of the prior art. It starts from the careful observation of the functioning of the muscle of an arm and more particularly of the biceps which, to lift a load by hand located at the end of the forearm (lever arm) does not reduce its length but stiffens the biceps by increasing the transverse volume of the muscle fibers constituting it.
• the equivalent of a transverse volume increase produces the tensioning of a not very extensible link or ligament and, in this case, the spatial displacement movement of a large mass at the end. arm, at least equivalent to a longitudinal shortening, but above all and this
• the invention proposes in particular a method of tensioning an inextensible or substantially longitudinal strap
• pressurizing or transverse thrust is meant the exercise of a force initially perpendicular and then substantially perpendicular (+ a few degrees increasing progressively with respect to 90 °) on the strap with respect to its initial longitudinal direction without displacement, "in its plane”
• 5 exerted pressures are of small length, in comparison with the length of the strap between the end portions, for example of the order of 0.2% to 1%, for example 0.5% of the length, that is to say for example less than 5 cm, for example 1 to 2 cm for a strap 1 m long.
• the strap can of course be a cable, a band, a chain, a link or more generally any elongated member, for example formed of inextensible or substantially inextensible fibers, for example of a material known under the trademark DYNE EMA of great resistance. at breakage in tension, for example greater than 500 Mpa,
• the successive pressurizations are arranged to actuate the lifting of said lever arm between a first rest position and a second working position.
• the rest position or low position is for example a horizontal position of the arm
• the working position or position high is a position of the arm vertically, or with an angle between 30 ° and 80 °, for example 50 ° with the horizontal.
• the invention thus provides a method of lifting a load fixed to a distal end of a lever arm movable in rotation around
• one has more and / or additionally recourse to one and / or the other of the following provisions:
• the second and third pressurizations are distributed symmetrically or substantially symmetrically on either side of the first pressurization.
• substantially symmetrically is meant as symmetrically as possible, that is to say not exceeding a few centimeters from the strictly symmetrical position.
• the second and third pressurizations are exerted successively.
• the time elapsed between successive pushes is for example less than 1/10 th of a second or 1
• the first, second and third strap portions are moved vertically respectively on a first, second and third determined heights then again the first part on a new determined height;
• the determined heights are arranged so that the angles taken by the strap with the straight line formed between the strap portions and / or adjacent to the pressurized portions, are between 5 ° and 15 °, for example ⁇ 10 °.
• the parts of straps and / or points are between 5 ° and 15 °, for example ⁇ 10 °.
• At least one cycle comprises at least a fourth and a
• the pressurization is exerted on the strap by means of rotary cams configured to allow the successive pressurization cycle (s) for determined thrust values and / or for vertical movements of the strap over determined heights.
• cams allow excellent continuity and flexibility in pressure build-ups, as well as a perfect
• the invention also proposes a device implementing the method or methods described above.
• the pushing means comprise movable rotating cams programmed and / or configured to allow the cycles of determined successive pressurization.
• the device further comprises a lever arm extending longitudinally between a proximal portion and a distal portion for supporting a load, the proximal portion being movable in rotation about an axis set at a
• the distal end portion of the strap being for its part fixed to said proximal part of the arm by one of the attachment points, directly or via a pulley and / or for example a rotary cylinder-type axis, and the portion proximal end of the strap being fixed to a fixed point forming the second of the attachment points for example
• the strap, the pushing means and the axis of rotation of the arm are integral with the same base.
• the base is movable, for example mounted on a movable frame, which allows the movement of the
• the pusher means comprise a single rotary motor for actuating the cams arranged to exert one or more cycles of determined transverse pressurization on the strap.
• the three pushing means comprise a central means and two lateral means arranged symmetrically with respect to the central means.
• the number of pushing means is not limited to three, but includes n + 2 pushing means with
• a guide roller arranged to cooperate in friction or rolling with the rail or the groove, said roller being integral with a
• pusher system (or rod) terminated at the top by a ring or a rotating cylinder arranged to cooperate with the strap so as to transmit to it the thrust of the pusher system according to the determined pressure cycle or cycles.
• the slope of the groove of the cam makes it possible to vary, for the same circular movement, the torque and the speed.
• a low slope results in a strong torque and a reduced speed
• a strong slope results in a low torque and a higher speed. Varying the slopes therefore allows you to play on the
• the slope of the groove is understood to mean the angle that the tangent to the curve forms with the horizontal at the location of the roller.
• Another example of a set of cams produced has made it possible to achieve an increase in torque by a factor of more than twelve, for a reduction in speed by a factor of ten.
• FIG.1 is a flowchart of the load lifting process according to a
• FIG.2 shows the diagram of forces applied to a strap according to the embodiment of the invention more particularly described here applied to three portions of strap.
• FIG.3 shows a side view of a device according to one embodiment of the invention, before application of the first thrust (according to the diagram of FIG. 2), the lever arm being in its lower or lower position. rest ( Figure 3A), after the first push (Figure 3B), after the 2 nd and 3 rd pushes, (Figure 3C), and after the 4 th push, the lever arm being in its high position ( Figure 3D).
• FIG.4 is a force diagram showing a succession of push cycles on the strap of the type shown with reference to Figure 2.
• FIG.5 shows the curve of variation of the thrust heights produced by the central and lateral pushing means, according to the embodiment of the device of the invention more particularly described here.
• FIG.6 shows the variation curve of the angle taken by the lifting arm as a function of time, corresponding to the variations in the heights of the
• FIG.7 is a side view of the lifting device according to the embodiment of the invention more particularly described here.
• FIG.8 is an axionometric perspective view of Figure 7.
• FIG.9 is a perspective view of the three cams of the device of the
• FIG.10 shows a side view of the central and side cams in figure 9.
• Figure 1 shows a flowchart 1 of a load lifting method according to an embodiment of the invention.
• the load for example a 500 kg pipeline tube portion
• a lifting device for example a 500 kg pipeline tube portion
• a distal part of a lever arm step 1
• the part proximal part of the lever arm having been fixed at one end to the distal portion of an inextensible strap extending
• proximal longitudinally and horizontally, itself attached to its other end, called proximal, to a fixed point for example belonging to a carriage or to a base secured to the ground on which it rests.
• a first cycle 2 of transverse pressurization is then exerted, in this case vertical (that is to say transverse to the initial horizontal position of the strap) on said strap.
• cycle 2 comprises a first setting
• step 5 Depending on the configuration of the load to be lifted, and in particular its location relative to the positioning of the lifting device comprising the strap, it is possible or not (step 5) to decide to renew the pressurizations of steps 3 and 4.
• step 25 simply immediate cycle 2, to carry out or not (step 6) pressurization (step 7) on a 4 th and 5 th strap portions, for example symmetrically disposed outwardly of the second and third portions, which allows to continue the movement of lifting of the arm in a more progressive manner, via a cycle 8 comprising steps 3, 4 and 7.
• Cycle 8 may or may not (test 9) be repeated to continue lifting the lifting arm before ending with a last step 10,
• step 5 for example identical to step 3 for a different height.
• the first, 2 nd , 3 rd and, if necessary, 4 th and 5 th strap portions are moved vertically, respectively on the first, 2 nd , 3 rd , 4 e , 5 e etc. determined heights or distances, these displacements possibly being
• the proximal end portion 1 1 of the strap 12 is fixed at 13 to a base 14, its distal end portion 15 being fixed at 16 to
• the centers of the strap portions 20 21, 22 on which the successive tensionings 23 24, 25 and 26 are exerted are for example distributed substantially at equal distances between them and with the fixed points 14 and 18.
• the central parts of the strap portions are raised to height h1, h2, h3, h4 corresponding to the respective tensionings resulting in the formation of angles a, b between the direction of the strap before pressurization and management
• the arm 29 is movable in rotation about an axis 30 between a first horizontal position (FIG. 3A) and a last position, substantially vertical (Figure 3D).
• This fixing at 16 is for example made removably by anchoring the strap on the lever arm at a distance d from the axis 30, between 1/20 and
• the mounting of the anchor can also and for example be carried out as follows (embodiment not shown in the figure).
• the strap 12 in its distal end position 15 passes below or even more advantageously makes a complete turn around the axis 30 to then attach to the proximal part 17 of the arm 29 at point 16 at the distance d.
• the device is therefore arranged to exert pressure for or put under tension
• a first tensioning 23 is first of all exerted on a central portion 20, in the center thereof, then lifting the inextensible strap, which generates to compensate for a first upward movement 31 of the lever arm ( Figure 3B).
• This pressurizing can for example be exerted by means of pushing means, for example vertical pistons or rotary cams as will be described below.
• Figure 3D shows the final lifting step.
• FIG. 4 shows the force and / or displacement diagram 34 of the strap portions showing a succession of pushing cycles on said strap 12, of the type of that shown in FIG. 2. Only the three portions of strap 20 21, 22 are activated here, the movements in height corresponding to the respective segments in the figure, CD, EG, FH, DI, GJ, HK, etc., the angles a and b between the strap portions between the fixed points A and B and the
• FIG. 5 shows the curves of variation of the thrust heights (on the ordinate) over time (abscissa) of the first
• Figure 6 shows an example of the variation (curve 38) of the angle taken by the lifting arm during the implementation of
• Figures 7 and 8 show in side view and in perspective an exemplary embodiment of part of the device according to the invention
• this device acts on a lever arm 29 movable in rotation about an axis 30 integral with a base 14.
• This base 14 is formed of a frame for example metal which can
• the frame comprises two side cheeks 39 for example substantially rectangular to which are fixed transversely, on the one hand the axis 30 of rotation of the lever arm on one side, and on the other hand, on the other side, a bar 41 on which is fixed
• the frame further comprises three modules 43, 44, 45 for supporting three cams, 46, 47, 48.
• Two modules (43,45) and two cams (46,48) are here identical in size and in configurations , respectively
• cams are in the form of discs 51, 52
• Each module further comprises a guide roller 57, 58 arranged to cooperate with the rail or the corresponding groove facing each other.
• the guide roller is integral with a pushing system 59, 60. Each pushing system is terminated at the top by a
• each pusher system is for example constituted by a portal arm 63, 64 formed of vertical uprights
• the grooves being however designed to allow the first thrust 23 of the central part without allowing a thrust on the second and third portions.
• each cam is driven by a different motor, and / or the cams are replaced by more conventional pushing means such as electric jacks, for example.

Landscapes

• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Life Sciences & Earth Sciences (AREA)
• Geology (AREA)
• Structural Engineering (AREA)
• Robotics (AREA)
• Basic Packing Technique (AREA)
• Jib Cranes (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=69468593

Family Applications (1)

Country Status (5)

Family Cites Families (2)

• 2019
  • 2019-03-06 FR FR1902282A patent/FR3093510B1/fr not_active Expired - Fee Related
• 2020
  • 2020-03-06 WO PCT/EP2020/056074 patent/WO2020178440A1/fr unknown
  • 2020-03-06 EP EP20711019.8A patent/EP3935003A1/de not_active Withdrawn
  • 2020-03-06 JP JP2021552758A patent/JP2022523232A/ja active Pending
  • 2020-03-06 US US17/436,341 patent/US20220177282A1/en not_active Abandoned

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