EP4249419A1 - Ensemble de réglage d'orientation et de positionnement pour charges suspendues, équipement monte-charge le contenant, et procédé de fonctionnement de l'ensemble de réglage - Google Patents

Ensemble de réglage d'orientation et de positionnement pour charges suspendues, équipement monte-charge le contenant, et procédé de fonctionnement de l'ensemble de réglage Download PDF

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Publication number
EP4249419A1
EP4249419A1 EP22382271.9A EP22382271A EP4249419A1 EP 4249419 A1 EP4249419 A1 EP 4249419A1 EP 22382271 A EP22382271 A EP 22382271A EP 4249419 A1 EP4249419 A1 EP 4249419A1
Authority
EP
European Patent Office
Prior art keywords
load
assembly
gyroscopes
propellers
torque
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.)
Pending
Application number
EP22382271.9A
Other languages
German (de)
English (en)
Inventor
Juan Mercader Ferreres
Ivan Martinez Fajardo
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.)
Airpes SL
Original Assignee
Airpes SL
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
Application filed by Airpes SL filed Critical Airpes SL
Priority to EP22382271.9A priority Critical patent/EP4249419A1/fr
Publication of EP4249419A1 publication Critical patent/EP4249419A1/fr
Pending 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
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions

Definitions

  • the present invention relates to an assembly for the adjustment of the orientation and position of a load suspended from a load lifting system, affected by movements typical of the ascent of the same to the location of its unloading or installation, or by external agents such as the wind, which cause the variation of its position and/or orientation.
  • the present invention also relates to a method of operation of said adjustment assembly, and likewise to the load lifting equipment containing said orientation and position adjustment assembly.
  • gyroscopes as elements that generate a force that enables the stabilization of the load is well known in the state of the art.
  • the gyroscopes used are coupled to the lifting structure or equipment so that, due to the principle of gyroscopic movement and, therefore, thanks to their main properties of rigidity in space, or gyroscopic inertia, and precession, they enable the provision of a device that generates a torque that stabilizes the small variations in the orientation of the load.
  • motorized propellers as propulsion devices installed in load lifting structures or equipment is known in the state of the art. These propellers enable a prolonged moment to be applied to the load lifting structure in order to counteract, for example, the effect of the wind.
  • the purpose of the present invention is to provide an assembly for the adjustment of the orientation and position of a suspended load, and also a load lifting equipment containing the same and an operating method of said adjustment assembly, which enable the solving of the aforementioned drawbacks, providing other advantages which will be described below.
  • the present invention is based on an assembly for the adjustment of the orientation and position of a suspended load, which is configured to be installed on a structure to be stabilized.
  • this adjustment assembly comprises:
  • the at least one propeller-driven torque generation assembly and the at least one gyroscope-controlled torque generation assembly are in coordinated operation according to the configuration and governing of the control system.
  • This advantageous configuration achieves, within the same load orientation and positioning assembly, the use of propellers and gyroscopes that apply torque to the lifting structure wherein they are installed, achieving both the precision and immediacy of the action by gyroscopes and the action of the propellers to obtain a prolonged action over time, all in a coordinated manner, as indicated in its method of operation.
  • the adjustment assembly comprises two gyroscope-controlled torque generation assemblies, wherein each is in turn formed by two gyroscopes under the same frame, one gyroscope assembly being located symmetrically from the other with respect to the axis of the structure where they are installed, i.e. with respect to the axis of the possible rotation of the structure.
  • This particular configuration enables an optimal performance of the assembly and a balance between the torque that the gyroscope assemblies and propeller assemblies can exert.
  • each of the gyroscopes has a flywheel with a diameter of between 700 and 1000 mm and a thickness of between 100 and 250 mm; where in its normal operating state the rotation speed according to the axial axis, i.e. rotation axis, is approximately 3000 rpm and the rotation speed according to an axis located on the plane of rotation is approximately 1 rpm.
  • the rotation of the flywheel contained in each gyroscope is driven by an electric motor provided with a position control device which, preferably, is of the Encoder type.
  • each of the propellers is driven by an electric motor provided with a position control device which, preferably, is of the Encoder type.
  • the flywheel contained in each of the two gyroscopes of a single gyroscope torque generation assembly rotates in opposite directions, cancelling the component of the gyroscopic torque on the horizontal axis of the load.
  • the measuring equipment of the control system comprises at least:
  • the computer equipment of the control system comprises at least:
  • the assembly governing means are formed by a remote control configured to enable the operator to view the basic information on the status of the assembly and to send adjustment orders to the assembly.
  • a remote control configured to enable the operator to view the basic information on the status of the assembly and to send adjustment orders to the assembly.
  • the controller of the assembly, of the lifting equipment, and of the lifting operation itself to have information on the elements, on how they are acting and the possible orders for action to correct, or to carry out a particular operation.
  • the actuation method described below enables an automated actuation of the stabilization and positioning of the load.
  • the power supply control distributes power to supply the propeller and gyroscope drive motors, likewise the computer equipment, wherein the power source is one or more batteries and/or generators.
  • the present invention is also based on a load lifting equipment, wherein said load lifting equipment comprises a structure having means for coupling this structure to a crane or the like and having means for its coupling to the load.
  • the load lifting equipment comprises, installed in the structure thereof, an assembly for adjusting the orientation and position of the load attached thereto, such as that described in the first aspect of the invention.
  • the present invention is also based on a method of operation of a position and orientation adjustment assembly for a suspended load.
  • this method uses the adjustment assembly as described in the first aspect of the invention, wherein the method combines the simultaneous, coordinated operation of the gyroscopes and the propellers, following the steps below:
  • This method of operation allows a fine, fast and effective adjustment of the orientation and positioning of the load based on a simultaneous, coordinated operation of the gyroscopes and propellers, seeking to optimize the qualities of both without the operator's intervention.
  • the step relating to distributing the total torque to be applied between the gyroscopes and/or propellers comprises the assigning by the control system of independent functions to the propellers and to the gyroscopes:
  • the propellers maintain the load in the same position, counteracting the external forces; where in addition, the gyroscopes accelerate the load during a predetermined time and then slow it during the same time, thus having an alternative movement, thereby avoiding the problem of saturation.
  • the displacement obtained is approximately proportional to the gyroscopic torque applied and to the square of the acceleration time.
  • the propulsion force of the propellers is obtained from the measured angular acceleration of the load, subtracting the force equivalent to the gyroscopic torque induced by the gyroscopes.
  • the duration of the acceleration and deceleration phase of the load is determined depending on the angle to be rotated.
  • the control system corrects the thrust force in accordance with the angular speed of the load measured by an IMU or GPS or obtained by the integration of the acceleration measured.
  • the method of determining the moment of inertia of the equipment plus the load comprises the steps of:
  • this configuration entails that the difference of angular accelerations is proportional to the gyroscopic torque applied and to the moment of inertia of the equipment plus the load.
  • the value of the moment of inertia can be determined. Measuring in both directions eliminates the effect of the force of the wind if this is constant. The moment of inertia is twice the gyroscopic torque divided by the difference in angular accelerations measured.
  • the invention is embodied in an adjustment assembly (10) for the orientation and positioning of a load, not shown in the figures, installed on a structure (101) to be stabilized, which is part of a load lifting equipment (100) with means (102) for coupling this structure (101) to a crane or the like and having means (103) for attaching the load, where the details of the constitution of the lifting equipment are not shown in the figures, and correspond to conventional lifting cranes.
  • the adjustment assembly (10) is formed by two assemblies for the generation of torque by means of motorized propellers (20), an assembly for the generation of torque by means of gyroscopes, and a control system that manages the rotation of all the torque generation assemblies (20,30) jointly and in a coordinated manner.
  • This configuration may alternatively be modified by reducing or increasing the number of each of the torque generating assemblies, provided that they are appropriately located, according to the above preferred embodiment specified below.
  • an alternative embodiment with two gyroscope-controlled torque generation assemblies can be seen in Figure 3 .
  • Each of the propeller assemblies (20) is formed by two propellers installed symmetrically to each other at both ends of the structure (101) to be stabilized.
  • Each of the gyroscope assemblies (30) is formed by two gyroscopes (30) under the same frame and located in a symmetrical and balanced manner with respect to the axis of the structure (101) where they are installed. In the present embodiment there is a single gyroscope (30) assembly, located centrally and under the chassis itself.
  • This configuration of torque generators (20,30) is governed by a control system, not shown in the figures, which regulates the entry into operation of both propellers (20) and gyroscopes (30), based on the rotation and the speed of said rotation of said propellers, and on the rotation of the flywheel (16) of the gyroscopes (30).
  • These rotations caused in the flywheels (16) and in the propellers are driven by electric motors provided with Encoders.
  • all the propellers (20) initially keep rotating at the same speed.
  • the propellers (20) on each side of the load lifting structure (101) push in opposite directions; thus, the total torque generated by the propellers (20) is zero.
  • Increasing and decreasing the speed of the propellers (20) on each side of the suspension beam generates a rotation torque, wherein the resultant of the thrust forces is zero.
  • the flywheels (16) of the two gyroscopes (30) of a single assembly rotate in opposite directions to cancel the gyroscopic torque component at the horizontal axis of the load.
  • the approximate characteristics of the flywheel (16) of each gyroscope are: a diameter of between 700 and 1000 mm, a thickness of between 100 and 250 mm, a rotation speed according to the axial axis of approximately 3000 rpm and a rotation speed according to an axis located on the rotation plane of approximately 1 rpm.
  • the values may vary, depending on the size of the load to be handled.
  • the control system enables the automatic stabilization of the load attached to the structure (101) thanks to a coordinated operation of the torque generation assemblies (20,30) following the method of operation of the invention.
  • it is necessary to obtain the information from the measuring equipment (15) for the processing of the same, and to obtain the adjustment parameters, according to the method, by means of the computer equipment, and to proceed with the activation and adjustment of the torque generating assemblies, employing the governance and control means of the electrical power supply with its corresponding power source. All these devices of the control system are installed on the structure (101), together with the torque generation assemblies (20,30), although they are not shown in the figures, since they are incorporated within casings (17) created for this purpose.
  • the measuring equipment (15) has an accelerometer to determine the angular acceleration of the load, and Encoders on the motor shafts to obtain their rotation speed and position, and an IMU or gyrocompass installed on the structure (101) to obtain the angular orientation of the load.
  • the computer equipment has the elements corresponding to the unit for the collection of data from the measuring equipment (15) communicating therewith, a computer as a data processing system which incorporates a software for managing the control parameters and adjustments of the assembly (10), according to the parameters established, and following the operating method.
  • the adjustment assembly (10), in the present embodiment, has a remote control that enables the operator of the lifting equipment (100) to view the status of the torque generation assemblies, as well as being able to receive information and to issue orders to the control system that enable adjustments by the user, although as has been seen, the adjustment is automatic via the control system, with the data obtained from the measuring equipment (15), with the processing of the data, the application of the instructions of the operating method and acting upon the torque generation assemblies.
  • This action on the torque generation assemblies is carried out by the power supply control, supplying the drive motors and the computer equipment from batteries installed in the lifting structure (101). In alternative embodiments, these batteries can be replaced by electrical generators.
  • the distribution of the total torque (G) comprises the control system assigning independent functions to the propellers (20) and to the gyroscopes (30):
  • the propellers (20) maintain the load in the same position, counteracting the external forces.
  • the gyroscopes (30) which act in the first instance to counteract the effects typical of the lifting equipment (100), accelerate the load during a predetermined time and then slow it during the same time, thus having an alternative movement that prevents the saturation thereof.
  • the thrust force of the propellers (20) is obtained from the measured angular acceleration of the load, subtracting the force equivalent to the gyroscopic torque induced by the gyroscopes, wherein the duration of the acceleration and deceleration phase of the load is determined according to the angle to be rotated.
  • control system corrects the thrust force in accordance with the angular speed of the load measured by an IMU or GPS, or obtained by the integration of the acceleration measured.
  • the load is first placed sheltered from the wind, and gyroscopic torque is applied during a certain period with the propellers halted, the gyroscopes in the same position and with the flywheels (16) rotating according to the axial axis activated.
  • the angular acceleration of the lifting structure (101) is measured, and gyroscopic torque is applied in the reverse direction during the same period, and at that time the angular acceleration is measured.
  • the difference in angular accelerations is proportional to the gyroscopic torque applied and to the moment of inertia of the equipment assembly (100) plus the load.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Wind Motors (AREA)
EP22382271.9A 2022-03-24 2022-03-24 Ensemble de réglage d'orientation et de positionnement pour charges suspendues, équipement monte-charge le contenant, et procédé de fonctionnement de l'ensemble de réglage Pending EP4249419A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP22382271.9A EP4249419A1 (fr) 2022-03-24 2022-03-24 Ensemble de réglage d'orientation et de positionnement pour charges suspendues, équipement monte-charge le contenant, et procédé de fonctionnement de l'ensemble de réglage

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP22382271.9A EP4249419A1 (fr) 2022-03-24 2022-03-24 Ensemble de réglage d'orientation et de positionnement pour charges suspendues, équipement monte-charge le contenant, et procédé de fonctionnement de l'ensemble de réglage

Publications (1)

Publication Number Publication Date
EP4249419A1 true EP4249419A1 (fr) 2023-09-27

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EP22382271.9A Pending EP4249419A1 (fr) 2022-03-24 2022-03-24 Ensemble de réglage d'orientation et de positionnement pour charges suspendues, équipement monte-charge le contenant, et procédé de fonctionnement de l'ensemble de réglage

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190375615A1 (en) * 2016-11-21 2019-12-12 Tensa Equipment Pty Ltd Apparatus for controlling orientation of suspended loads
US20200231415A1 (en) * 2018-02-08 2020-07-23 Vita Inclinata Technologies, Inc. Integrated suspended load control apparatuses, systems, and methods
US20220017335A1 (en) * 2019-11-25 2022-01-20 Vita Inclinata Technologies, Inc Coupling for suspended load control apparatus, system, and method

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190375615A1 (en) * 2016-11-21 2019-12-12 Tensa Equipment Pty Ltd Apparatus for controlling orientation of suspended loads
US20200231415A1 (en) * 2018-02-08 2020-07-23 Vita Inclinata Technologies, Inc. Integrated suspended load control apparatuses, systems, and methods
US20220017335A1 (en) * 2019-11-25 2022-01-20 Vita Inclinata Technologies, Inc Coupling for suspended load control apparatus, system, and method

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