GB2544513A - Controller and method of controlling a load - Google Patents
Controller and method of controlling a load Download PDFInfo
- Publication number
- GB2544513A GB2544513A GB1520396.1A GB201520396A GB2544513A GB 2544513 A GB2544513 A GB 2544513A GB 201520396 A GB201520396 A GB 201520396A GB 2544513 A GB2544513 A GB 2544513A
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- load
- orientation
- hoist
- ties
- connector
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- 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
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- Mechanical Engineering (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
A load orientation device for controlling orientation of a load comprising a torque generator 14, 15 which adjusts the rotational position of the load about a vertical axis and a controller 16 which controls the torque generator 14, 15. There may be a receiver (17 fig 2a) which may receive signals wirelessly. There may be a spreader beam 10 to which the load can be attached. The torque generator 14, 15 may include thrust generators 15 mounted on the beam 10 which may produce a force perpendicular to the beam 10. There may be a direction sensor detecting the orientation of the load. There may be a counterbalance unit 30 which may have an arm with first and second connectors 33, 34 and a counterweight 37. Also disclosed is a load levelling device for controlling the alignment of a load comprising a plurality of adjustable ties 11, 12 attachable to the load and a controller 16, with a receiver (17 fig 2a), which adjusts the length of the ties 11, 12. Some ties 11, 12 may be fixed in length. The controller 16 may include a motor 14 associated with each tie 11, 12 to adjust its length.
Description
CONTROLLER AND METHOD OF CONTROLLING A LOAD Field of the Invention
The present invention relates to a controller and a method of controlling a load. It is particularly, but not exclusively, concerned with a controller which allows for close control of the alignment or orientation of a load suspended from a crane or other lifting mechanism and a method of controlling a suspended load.
Background of the Invention
During construction projects, it is often necessary to lift loads up to high levels, either to deliver them to operatives working on upper levels of the construction, or to directly fix or install the load as part of the construction process.
For example, balconies are installed to the exterior of many new buildings, particularly residential developments. The balconies may be fabricated as part of the structure of the building as it is constructed, but are commonly installed after construction.
Post-construction installation of balconies requires the balcony construction to be lifted from the ground to the required level and either moved into position to engage with connectors on the building, or held in the desired position whilst the necessary connections are made.
The most common method of installation currently is to suspend the balcony from four chains which connect directly from the hook of the lifting crane to the four corners of the balcony. However, this approach suffers from three main problems, which equally apply to the installation of other loads, particularly where the loads are light relative to their size and/or where the loads are intended for installation onto the side of a construction.
Firstly, the suspended balconies are subject to the action of winds as it is being lifted. These winds may be strong and highly variable in the vicinity of the building, particularly for higher-rise developments. If the wind catches the balcony it can cause it to rotate and, once rotation has started, continue in a rotary fashion.
Secondly, the connection of the balcony to the crane by chains often results in the balcony not being level when it arrives at its installation position in order for the balcony to engage with the connectors on the building, or to be in the correct position for connections to be made. The connection of numerous chains to a single crane hook will naturally result in some corners being lifted higher than others. Further, even if the connections to the balcony can be adjusted to level the balcony in absolute terms, the required installation position on the building may not be precisely level due to building tolerances in the installation of the connectors etc. and the orientation of the balcony may therefore need adjusting before it can be connected. Minor variations are often addressed by local application of force, or partial engagement of the balcony with one or more of the connectors and use of gravity to adjust the levelling, but are generally imprecise and can involve risks for the operatives involved.
Thirdly, suspending a balcony directly below the crane hook generally requires that installation of balconies in the same or a similar vertical line is performed by starting at the bottom and working up the building. This can lead to restrictions on the timing of installation and delays, for example, if there is scaffolding in position at lower levels, or other work being carried out which prevents the lower balconies from being installed.
Rotation can be prevented by operatives on the building “catching” the turning balcony and guiding it into position, but this has obvious safety risks for those operatives and can only address the issue of rotation as the balcony nears its final position.
Alternatively, rotation can be prevented by attaching long tag lines (typically ropes) which drop from the balcony to the ground. This allows one or more operatives on the ground to “steer” the balcony, but obviously becomes impractical with higher-rise buildings and also requires available space on the ground immediately below and/or surrounding the installation position of the balcony, which is not always available. In particular, this approach cannot be used where the balcony has to be lifted over the building to reach the installation location.
The provision of a counterbalance lifter between the crane hook and the balcony addresses the problem of direct suspension from the crane hook, but such counterbalance lifters still suffer from the other problems set out above.
Whilst the above problems have been set out specifically in relation to balconies, they apply equally to other loads which require suspension from a crane or other lifting device for their installation and the present invention is also directed at solving the problems with the installation of those loads.
Accordingly, it is an object of the present invention to provide a controller and a method of controlling a load which allows the load to be safely craned up from ground level, for example to an installation position.
It is a further object of the present invention to provide a controller and a method of controlling a load so that it can be simply adjusted for installation to an existing construction.
Summary of the Invention
At its broadest a first aspect of the present invention provides a device for controlling the orientation of a suspended load by controlling its rotation about a vertical axis.
Preferably the first aspect of the present invention provides a load orientation device for controlling the orientation of a load suspended from a hoist, the device including: a torque generator for generating a torque which acts to adjust the rotational position of the load about a substantially vertical axis; a control unit which is arranged to control the torque generator based on an orientation control signal so as to cause the load to rotate about a vertical axis and thereby control its orientation.
The device of this aspect is particularly useful for installing a load which is a balcony or other item intended for installation to the exterior of a construction such as a building, however it can also be used for other loads.
The hoist is typically a crane hook which is suspended from a crane, but may be any other kind of lifting device, including a beam or a drone.
The device of this aspect allows the rotation of a load suspended from the hoist to be controlled and adjusted whilst the load is suspended. In particular it can permit installers to concentrate on guiding the load to its final position (for example, its installation position) without themselves having to exert physical force on the load.
The use of a device according to this aspect can remove the need for tag lines to be connected to operatives on the ground and therefore reduce the number of operatives required during the lifting of the load as well as improving the safety of the overall operation.
The removal of the need for tag lines also permits the load to be lifted over a building or other construction whilst the orientation of the load is maintained, and also for the load to be positioned in the correct orientation even where there is no available space for operatives to work below the load (for example, on the ground).
Using a device according to this aspect can also speed up the installation process as a desired orientation of the load can be maintained or achieved without the need for coordination between those holding it in alignment and those supervising the installation of the load at its final position.
Further, if tag lines are not required, the time to attach and remove those lines and safely return them to the ground is no longer required and the hoist can be immediately used for the next load.
The orientation control signal may be set before the load is lifted by the hoist. However, preferably the device further includes a receiver connected to the control unit and arranged to receive the orientation control signal. The receiver may receive the orientation control signal through a wired connection to an operative (for example the crane driver, or an operative based on the construction onto which the load is being installed or placed). However, preferably the receiver receives the orientation control signal wirelessly. A wide range of wireless communication protocols are well known and can be used for such communication, including radio control and WiFi.
In certain embodiments, the load orientation device further includes a longitudinal spreader beam to which the load can be attached, and wherein the torque generator includes at least one thrust generator mounted on the spreader beam and arranged to generate a force substantially perpendicular to the axis of the spreader beam.
The thrust generator may be, for example, a fan or other impeller, or a jet (for example a “puffer”).
By providing the spreader beam, any rotation of the load will be mirrored by the beam. The beam can also provide structural support for the torque generator and allow it to be positioned away from the axis of rotation, thus increasing the torque applicable to the load for a given force exerted.
In certain embodiments there are two thrust generators mounted on opposite ends of the spreader beam and arranged to provide a turning moment on the spreader beam in opposite directions. Whilst the arrangement of this embodiment is applicable to all kinds of thrust generator, it may be particularly applicable where the thrust generator is unidirectional (e.g. a jet). Even for fans, which are generally capable of providing thrust in opposing directions by reversing the rotation of the fan, the configuration of the fan may be such that it operates more effectively or more efficiently in one direction, and so it is preferable to provide two such fans, each oriented to provide thrust in their preferred direction.
In an alternative embodiment, two thrust generators may be mounted in close proximity on one end of the spreader beam and arrange to provide thrust in substantially opposite directions.
The device preferably further includes a direction sensor which detects the orientation of the load and provides a direction signal. The direction signal may be provided to the control unit, or may be transferred to a remote device, such as a display or controller provided in the crane cab, or to an operative supervising the lift.
The direction sensor may be, for example, a compass (including an electronic compass) or a gyroscope. The direction sensor may measure the absolute orientation of the load, for example, relative to the Earth’s magnetic field, or may measure the relative orientation of the load, for example relative to the orientation in which the load was initially lifted, or a predetermined direction on the ground or on a construction to which the load is to be installed.
Providing a direction signal permits close control of the orientation of the load using the device. This is useful when the orientation is being controlled remotely, for example by the crane operator as it may not always be possible for the crane operator to observe the orientation. The direction signal may also provide a more accurate or precise indication of the orientation of the load than is possible with the naked eye.
The orientation signal may also permit automation of the orientation device to maintain the load in a desired orientation.
In particular embodiments the orientation control signal may provide a desired orientation for the load and the control unit is arranged to compare the orientation control signal to the direction signal to determine a correction signal and to control the torque generator in accordance with the correction signal. Thus the control unit can act at all times to attempt to maintain the desired orientation.
The effect of such automatic orientation control may be over-ridden by an external input, for example to provide for close control of rotation as the load approaches its destination.
In certain embodiments, the device may further include a counterbalance unit, the counterbalance unit having an arm with a first connector for connecting the arm to the hoist, at least one second connector to which said load can be attached and a counterweight attached to the arm such that the first connector is between said counterweight and the second connector. A pivoting counterbalance, in which the load and the counterweight are connected on opposite sides of the pivot, can give the load a see-saw effect, allowing the balcony to float up and down a little as it is being brought into place, avoiding the risk of it catching on the support structure when the crane is raised or lowered slightly.
Providing a counterbalance in this fashion also allows the load to be suspended in a position which is not directly below the hoist, and thus make the process of installing a plurality of loads to installation points which are vertically aligned easier and possible in any order as previously installed loads do not interfere with the installation of a subsequent load.
The device of the present aspect may include any combination of some, all or none of the above described preferred and optional features.
At its broadest, a second aspect of the present invention provides a load levelling device which is able to control the alignment of a load relative to a horizontal plane.
Preferably the second aspect of the present invention provides a load levelling device for controlling the alignment of a load suspended from a hoist, the device including: a plurality of ties releasably attachable to the load for connecting the load to the hoist and bearing the weight of the load, wherein at least one of the ties is adjustable; and a controller arranged to adjust the length of said adjustable tie or ties, the controller having a receiver for receiving an alignment control signal and adjusting the length of said adjustable ties based on said control signal so as to control the alignment of the load relative to a horizontal plane.
The device of this aspect is particularly useful for installing a load which is a balcony or other item intended for installation to the exterior of a construction such as a building, however it can also be used for other loads.
The hoist is typically a crane hook which is suspended from a crane, but may be any other kind of lifting device, including a beam or a drone.
The ties may be any conventional tie that is used to suspend a load from a hoist, such as ropes, straps, wires, wire rope, chains, etc.
The device of this aspect permits the alignment of the load to be adjusted in mid-air, preferably remotely, i.e. without intervention from operatives on the ground (or on a building). This permits the load to be accurately positioned for installation.
Accordingly, the device of this aspect can reduce the safety risks associated with installing loads which need to be lifted into position. The device can also speed up the installation process by providing precise control of the alignment of the load.
For example, if the load is to be installed to fixings which have already been installed on an existing construction, then it is not necessary to get the alignment of the load correct when it is connected to the hoist. It is also not necessary for operatives to apply force to align or balance the load at the point of installation.
Preferably at least one of the ties is fixed in length. Having a fixed length tie provides a pivot at the point of connection of the fixed length tie to the load about which the load will pivot when the length of the adjustable tie(s) is adjusted. Although all ties can be adjustable, increasing the number of adjustable ties increases the complexity and cost of the device.
In a particularly preferred embodiment, there are two adjustable ties. This allows for adjustment of the alignment about two different axes. In this embodiment there is preferably at least one fixed length tie to provide a pivot and the adjustable ties are arranged to connect to the load so that changing the length of one adjustable tie causes the load to pivot about an axis which is substantially perpendicular to the axis about which changing the length of the other adjustable ties causes the load to pivot about.
The controller preferably includes a motor associated with each adjustable tie to adjust the length of said tie.
The receiver may have a wired connection to an operative (for example the crane driver, or an operative based on the construction onto which the load is being installed or placed). However, preferably the receiver receives the alignment control signal wirelessly. A wide range of wireless communication protocols are well known and can be used for such communication, including radio control and WiFi.
In certain embodiments, the load levelling device may further include a counterbalance unit, the counterbalance unit having an arm with a first connector for connecting the arm to the hoist, at least one second connector to which said ties are attached and a counterweight attached to the arm such that the first connector is between said counterweight and the second connector. A pivoting counterbalance, in which the load and the counterweight are connected on opposite sides of the pivot, can give the load a see-saw effect, allowing the balcony to float up and down a little as it is being brought into place, avoiding the risk of it catching on the support structure when the crane is raised or lowered slightly.
Providing a counterbalance in this fashion also allows the load to be suspended in a position which is not directly below the hoist, and thus make the process of installing a plurality of loads to installation points which are vertically aligned easier and possible in any order as previously installed loads do not interfere with the installation of a subsequent load.
The device of the present aspect may include any combination of some, all or none of the above described preferred and optional features. A third aspect of the present invention provides a load installation device which includes a load orientation device according to the above described first aspect (including some, all or none of the preferred and optional features of that aspect) and a load levelling device according to the above described second aspect (including some, all or none of the preferred and optional features or that aspect).
In this aspect, the controller of the first aspect and the control unit of the second aspect may be combined in a single controller. Alternatively they may be provided separately.
Similarly, the receiver of the first aspect and the receiver of the second aspect may be the same receiver and the counterbalance, if present, may be the same. A fourth aspect of the present invention provides a method of orienting a load suspended from a hoist, the method including the steps of: connecting the load to the hoist with a connector equipped with a torque generator; and controlling the torque generator to adjust the rotational position of the load about a substantially vertical axis whilst the load is suspended from the hoist.
The method of this aspect is particularly useful for installing a load which is a balcony or other item intended for installation to the exterior of a construction such as a building, however it can also be used for other loads.
The hoist is typically a crane hook which is suspended from a crane, but may be any other kind of lifting device, including a beam or a drone.
The method of this aspect allows the rotation of a load suspended from the hoist to be controlled and adjusted whilst the load is suspended. In particular it can permit installers to concentrate on guiding the load to its final position (for example, its installation position) without themselves having to exert physical force on the load.
The use of a method according to this aspect can remove the need for tag lines to be connected to operatives on the ground and therefore reduce the number of operatives required during the lifting of the load as well as improving the safety of the overall operation.
The removal of the need for tag lines also permits the load to be lifted over a building or other construction whilst the orientation of the load is maintained, and also for the load to be positioned in the correct orientation even where there is no available space for operatives to work below the load (for example, on the ground).
Using a method according to this aspect can also speed up the installation process as a desired orientation of the load can be maintained or achieved without the need for coordination between those holding it in alignment and those
Further, if tag lines are not required, the time to attach and remove those lines and safely return them to the ground is no longer required and the hoist can be immediately used for the next load.
The torque generator may be controlled to maintain the load in a pre-determined orientation set before the load is lifted by the hoist. However, preferably the control of the torque generator is performed remotely. Such control may be through a wired connection to an operative (for example the crane driver, or an operative based on the construction onto which the load is being installed or placed), or through a wireless control. A wide range of wireless communication protocols are well known and can be used for such communication, including radio control and WiFi.
The method preferably further includes the step of detecting the orientation of the load. The detected orientation may be transferred to a remote device, such as a display or controller provided in the crane cab, or to an operative supervising the lift, or may be used as part of internal feedback to control the orientation.
The detection may measure the absolute orientation of the load, for example, relative to the Earth’s magnetic field, or may measure the relative orientation of the load, for example relative to the orientation in which the load was initially lifted, or a predetermined direction on the ground or on a construction to which the load is to be installed.
Detecting the orientation of the load can permit close control of the orientation of the load using the device. This is useful when the orientation is being controlled remotely, for example by the crane operator as it may not always be possible for the crane operator to observe the orientation. The detected orientation may also provide a more accurate or precise indication of the orientation of the load than is possible with the naked eye.
In particular embodiments the method involves the further steps of comparing the detected orientation of the load to an orientation control signal (for example indicating the desired orientation) and determining a correction based on that comparison, and controlling the torque generator in accordance with the correction. Thus the control unit can act at all times to attempt to maintain the desired orientation.
The effect of such automatic orientation control may be over-ridden by an external input, for example to provide for close control of rotation as the load approaches its destination.
The method of the present aspect may include any combination of some, all or none of the above described preferred and optional features.
The method is preferably used in conjunction with a load orienting device according to the above first aspect, but need not be. A fifth aspect of the present invention provides a method of controlling a load suspended from a hoist, the method including the steps of: suspending the load from the hoist with a plurality of releasably attached ties; and adjusting the length of at least one of said ties, whilst the load is suspended, to control the alignment of the load relative to a horizontal plane.
The method of this aspect is particularly useful for installing a load which is a balcony or other item intended for installation to the exterior of a construction such as a building, however it can also be used for other loads.
The hoist is typically a crane hook which is suspended from a crane, but may be any other kind of lifting device, including a beam or a drone.
The ties may be any conventional tie that is used to suspend a load from a hoist, such as ropes, straps, wires, wire rope, chains, etc.
The method of this aspect permits the alignment of the load to be adjusted in mid-air, preferably remotely, i.e. without intervention from operatives on the ground (or on a building). This permits the load to be accurately positioned for installation.
Accordingly, the method of this aspect can reduce the safety risks associated with installing loads which need to be lifted into position. The method can also speed up the installation process by providing precise control of the alignment of the load.
For example, if the load is to be installed to fixings which have already been installed on an existing construction, then it is not necessary to get the alignment of the load correct when it is connected to the hoist. It is also not necessary for operatives to apply force to align or balance the load at the point of installation.
Preferably at least one of the ties is fixed in length. Having a fixed length tie provides a pivot at the point of connection of the fixed length tie to the load about which the load will pivot when the length of the adjustable tie(s) is adjusted. Although all ties can be adjustable, increasing the number of adjustable ties increases the complexity and cost of the device.
In a particularly preferred embodiment, there are two adjustable ties. This allows for adjustment of the alignment about two different axes. In this embodiment there is preferably at least one fixed length tie to provide a pivot and the adjustable ties are arranged to connect to the load so that changing the length of one adjustable tie causes the load to pivot about an axis which is substantially perpendicular to the axis about which changing the length of the other adjustable ties causes the load to pivot about.
The length(s) of the adjustable tie(s) may be adjusted using a motor.
Preferably the control of the alignment of the load is performed remotely. For example this may be through a wired connection from an operative (for example the crane driver, or an operative based on the construction onto which the load is being installed or placed) to cause the adjustment of the ties. However, preferably the control is wireless. A wide range of wireless communication protocols are well known and can be used for such communication, including radio control and WiFi.
The method of the present aspect may include any combination of some, all or none of the above described preferred and optional features.
The method is preferably used in conjunction with a load levelling device according to the above second aspect, but need not be. A sixth aspect of the present invention provides a method of installing a load to an existing construction, the method including the steps of: attaching the load to a hoist; lifting the load; orienting the load using a method according to the above described fourth aspect, including some, all or none of the preferred and optional features of that aspect, so that the load is correctly oriented for installation and the effects of external forces on the load are compensated; controlling the load using a method according to the above described fifth aspect, including some, all or none of the preferred and optional features of that aspect, so that it is aligned with a desired installation position on the existing construction; and installing the load at the desired installation position.
The method is preferably used in conjunction with a load installation device according to the above third aspect, but need not be.
Brief Description of the Drawings
Embodiments of the invention will now be described by way of example with reference to the accompanying drawings in which:
Figure 1 shows an installation controller according to an embodiment of the present invention;
Figures 2a and 2b show, respectively, a side view and an end view of an installation controller according to an embodiment of the present invention.
Detailed Description
Figure 1 shows an installation controller 1 according to an embodiment of the present invention. Figure 2a shows a side view of an installation controller T according to a further embodiment of the present invention and Figure 2b shows an end view of the further installation controller T.
The installation controller 1 shown in Figure 1 combines both an orientation device and an alignment device according to separate embodiments of the invention. Although certain of the components are common to the two devices, the skilled person will readily appreciate how an installation controller could be provided which only performs one of these functions. Naturally, by providing both of these functions in a single controller 1, the control over the suspended load can be increased.
The installation controller 1 is arranged to assist in the installation of a balcony 20 which is suspended from the installation controller. The installation controller has an engagement 31 which allows the hook 32 of a crane (not shown) to lift the installation controller and the attached balcony for installation on the side of a pre-existing construction.
The installation controller 1 is made up of a spreader beam 10 which extends across the width of the balcony 20 (the precise relationship between the length of the spreader beam 10 and the balcony 20 is not critical and the spreader beam 10 may be longer than the balcony, as shown in Figure 1, or may be shorter) and a counterbalance 30.
The counterbalance 30 has two arms 33, 34 joined in a substantially V-shaped profile with a cross-brace 35 joining the two to provide rigidity. At one end the arm 34 is pivotally connected to the spreader beam 10 at a pivot joint 36, whilst at the other it has a weight or weights 37. The engagement 31, in the form of a welded bar is provided near the point at which the arms 33, 34 join.
By using the pivot engagement 31 and the counterbalance 30, the balcony 20 is offset and is not suspended directly below the crane hook. This allows balconies in a single vertical elevation to be installed in any sequence as the crane and the crane cables do not require vertical access from above to the installation position of each balcony.
The balcony 20 is suspended from the spreader beam by a fixed chain 11 and by two adjustable chains 12. The fixed chain 11 is connected between a mid-point of the spreader beam 10 and the mid-point of one of the longer sides of the balcony. The adjustable chains 12 are connected between respective hoists 13 mounted at opposite ends of the spreader beam and the corners of the longer side of the balcony opposite the side to which the fixed chain 11 is attached.
By lengthening or shortening the two adjustable chains 12, the angle of the balcony 20 relative to a horizontal plane can be adjusted in any direction, even whilst the balcony is suspended in the air. The point of attachment of the fixed chain 11 to the balcony provides a pivot point about which adjustment of the adjustable chains 12 cause the balcony 20 to rotate.
At either end of the spreader beam 10, a battery-powered motor 14 is mounted, each of which drives a guarded fan 15. A control unit 16 is mounted on the spreader beam and controls the operation of the hoists 13 and the motors 14. A direction sensor (not shown) detects the direction the spreader beam 10 and therefore the balcony 20 is facing. The direction sensor may be a compass, such as an electronic compass, which measures the absolute orientation of the balcony or may measure deviation from the initial orientation when the balcony was first lifted and the control initiated. The direction sensor provides a direction signal to the control unit 16 and the control unit drives the motors 14 and the fans 15, constantly adjusting the speed of each fan, to rotate the load to the required direction and hold it there.
The required direction may also be set in advance, when the load and the installation controller 1 is on the ground, by programming the control unit 16. The control unit 16 can then run automatically during the lift cycle to maintain the orientation of the spreader beam 10 and the balcony 20 at the desired orientation by correcting for any detected deviation. Alternatively or additionally, the whole arrangement can be radio controlled, allowing an operative on the ground or at the installation site to control the fans and the direction.
Figures 2a and 2b show an installation controller T according to a further embodiment of the invention. This installation controller T is only arranged to control and adjust the alignment of the balcony (not shown) and does not provide for orientation control. However, the skilled person will readily appreciate how the necessary features from the embodiment described above could be added to this installation controller to allow for orientation control as well. Except as set out below, the components in Figures 2a and 2b have the same functionality and operation as those described above in respect of Figure 1 and have been given the same reference numerals.
In the installation controller T as shown in Figures 2a and 2b, the adjustable ties 12’ between the spreader beam 10 and the balcony (not shown) are 5mm wire ropes arranged in a double-fall to snatch block pulley hooks 19 with the free end anchored on the spreader beam 10. The wire ropes 12’ and the fixed chain 11 all terminate in releasable hooks which engage with attachment points on the balcony or other load.
Each hoist 13 is a 500kg capacity wire rope hoist with a lifting speed of 3m per minute.
The control unit 16 has a wireless receiver and antenna 17 attached to receive wireless control signals from a remote controller which may be positioned with the crane operator or with an operative on the ground or at the installation position who is charged with controlling the balcony during the lifting operation.
Further variations and alternatives of the above embodiments will now be set out.
Having a fan 15 at each end of the spreader beam 10 is only one option. Alternatively the orientation of the balcony could be controlled by a single dual-direction fan. The fan (or other device generating thrust) could be located at one end of the spreader beam, but could also be located on the counterbalance 30. Air-jets, small jet engines or gyroscopes could be used instead of the fan(s).
Once the balcony is in place, the fans could be switched to push the balcony towards the building, either helping to slide the balcony into place, or helping to hold the balcony against the building while it is fixed
While the invention has been described in conjunction with the exemplary embodiments described above, many equivalent modifications and variations will be apparent to those skilled in the art when given this disclosure. Accordingly, the exemplary embodiments of the invention set forth above are considered to be illustrative and not limiting. Various changes to the described embodiments may be made without departing from the spirit and scope of the invention.
Claims (17)
1. A load orientation device for controlling the orientation of a load suspended from a hoist, the device including: a torque generator for generating a torque which acts to adjust the rotational position of the load about a substantially vertical axis; a control unit which is arranged to control the torque generator based on an orientation control signal so as to cause the load to rotate about a vertical axis and thereby control its orientation.
2. A load orientation device according to claim 1 further including a receiver connected to the control unit and arranged to receive the orientation control signal.
3. A load orientation device according to claim 2 wherein the receiver receives the orientation control signal wirelessly.
4. A load orientation device according to any one of the preceding claims further including a longitudinal spreader beam to which the load can be attached, and wherein the torque generator includes at least one thrust generator mounted on the spreader beam and arranged to generate a force substantially perpendicular to the axis of the spreader beam.
5. A load orientation device according to claim 4 wherein there are two thrust generators mounted on opposite ends of the spreader beam and arranged to provide a turning moment on the spreader beam in opposite directions.
6. A load orientation device according to any one of the preceding claims further including a direction sensor which detects the orientation of the load and provides a direction signal to the control unit.
7. A load orientation device according to claim 6 wherein the orientation control signal provides a desired orientation for the load and the control unit is arranged to compare the orientation control signal to the direction signal to determine a correction signal and to control the torque generator in accordance with the correction signal.
8. A load orientation device according to any one of the preceding claims further including a counterbalance unit, the counterbalance unit having an arm with a first connector for connecting the arm to the hoist, at least one second connector to which said load can be attached and a counterweight attached to the arm such that the first connector is between said counterweight and the second connector.
9. A load levelling device for controlling the alignment of a load suspended from a hoist, the device including: a plurality of ties releasably attachable to the load for connecting the load to the hoist and bearing the weight of the load, wherein at least one of the ties is adjustable; and a controller arranged to adjust the length of said adjustable tie or ties, the controller having a receiver for receiving an alignment control signal and adjusting the length of said adjustable ties based on said control signal so as to control the alignment of the load relative to a horizontal plane.
10. A load levelling device according to claim 9 wherein at least one of said ties is fixed in length.
11. A load levelling device according to claim 9 or claim 10 wherein the controller includes a motor associated with each adjustable tie to adjust the length of said tie.
12. A load levelling device according to any one of claims 9 to 11 wherein the receiver receives the alignment control signal wirelessly.
13. A load levelling device according to any one of claims 9 to 12 further including a counterbalance unit, the counterbalance unit having an arm with a first connector for connecting the arm to the hoist, at least one second connector to which said ties are attached and a counterweight attached to the arm such that the first connector is between said counterweight and the second connector.
14. A load installation device including a load levelling device according to any one of claims 9 to 13 and a load orientation device according to any one of claims 1 to 8.
15. A method of orienting a load suspended from a hoist, the method including the steps of: connecting the load to the hoist with a connector equipped with a torque generator; controlling the torque generator to adjust the rotational position of the load about a substantially vertical axis whilst the load is suspended from the hoist.
16. A method of controlling a load suspended from a hoist, the method including the steps of: suspending the load from the hoist with a plurality of releasably attached ties; and adjusting the length of at least one of said ties, whilst the load is suspended, to control the alignment of the load relative to a horizontal plane.
17. A method of installing a load to an existing construction, the method including the steps of: attaching the load to a hoist; lifting the load; orienting the load using a method according to claim 15 so that the load is correctly oriented for installation and the effects of external forces on the load are compensated; controlling the load using a method according to claim 16 so that it is aligned with a desired installation position on the existing construction; and installing the load at the desired installation position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB1520396.1A GB2544513B (en) | 2015-11-19 | 2015-11-19 | Controller and method of controlling a load |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB1520396.1A GB2544513B (en) | 2015-11-19 | 2015-11-19 | Controller and method of controlling a load |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| GB201520396D0 GB201520396D0 (en) | 2016-01-06 |
| GB2544513A true GB2544513A (en) | 2017-05-24 |
| GB2544513B GB2544513B (en) | 2021-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB1520396.1A Active GB2544513B (en) | 2015-11-19 | 2015-11-19 | Controller and method of controlling a load |
Country Status (1)
| Country | Link |
|---|---|
| GB (1) | GB2544513B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107500137A (en) * | 2017-08-14 | 2017-12-22 | 三海洋重工有限公司 | A kind of crane gear is anti-to shake control method, device, suspender and crane |
| US10538417B1 (en) * | 2015-07-06 | 2020-01-21 | Revolutionice Inc. | Construction beam robot |
| US20200391980A1 (en) * | 2018-03-09 | 2020-12-17 | Tadano Ltd. | Remote operation terminal and mobile crane comprising remote operation terminal |
| US11370642B2 (en) * | 2016-11-21 | 2022-06-28 | Roborigger Pty Ltd | Apparatus for controlling orientation of suspended loads |
| CN117142373A (en) * | 2023-08-15 | 2023-12-01 | 重庆交通建设(集团)有限责任公司 | Intelligent monitoring system and device for ultrahigh tower crane |
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Also Published As
| Publication number | Publication date |
|---|---|
| GB2544513B (en) | 2021-07-14 |
| GB201520396D0 (en) | 2016-01-06 |
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