WO1994011294A1 - A load orientating device - Google Patents

A load orientating device Download PDF

Info

Publication number
WO1994011294A1
WO1994011294A1 PCT/GB1993/002277 GB9302277W WO9411294A1 WO 1994011294 A1 WO1994011294 A1 WO 1994011294A1 GB 9302277 W GB9302277 W GB 9302277W WO 9411294 A1 WO9411294 A1 WO 9411294A1
Authority
WO
WIPO (PCT)
Prior art keywords
load
flywheel
axis
turntable
orientating device
Prior art date
Application number
PCT/GB1993/002277
Other languages
French (fr)
Inventor
Peter Mark Fido
Original Assignee
Peter Mark Fido
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 Peter Mark Fido filed Critical Peter Mark Fido
Priority to JP51182694A priority Critical patent/JP3241730B2/en
Priority to CA002148832A priority patent/CA2148832C/en
Priority to DE69311128T priority patent/DE69311128T2/en
Priority to BR9307404A priority patent/BR9307404A/en
Priority to US08/433,342 priority patent/US5632222A/en
Priority to EP93924702A priority patent/EP0667833B1/en
Priority to AU54266/94A priority patent/AU669245B2/en
Publication of WO1994011294A1 publication Critical patent/WO1994011294A1/en
Priority to FI952209A priority patent/FI111244B/en
Priority to NO951789A priority patent/NO309713B1/en
Priority to GR970402179T priority patent/GR3024539T3/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • B63B39/04—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using gyroscopes directly
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/12—Gyroscopes
    • Y10T74/1218—Combined

Definitions

  • This invention relates to a load orientating device.
  • a load orientating device comprising a flywheel mounted in a flywheel housing for rotation therein about an axis such that, in use, the flywheel is able to rotate only in a single plane, drive means for rotating the flywheel, turntable means pivotally connected to said housing for selective rotation about a second axis and adapted to be secured to said load and second drive means fixed relative to the housing for rotating said turntable means.
  • said plane of rotation of the flywheel is substantially vertical, said first axis is substantially horizontal, and said second axis is substantially vertical and perpendicular to said first axis.
  • said flywheel housing is adapted to be suspended on the lifting cable means of a crane such that the second axis is coaxial relative to the general lengthwise axis of the cable means.
  • said second drive means comprises a motor and gear means, the turntable means also being provided with corresponding means for meshing with said gear means, preferably in the form of an annular array of teeth.
  • the gear means comprises a worm gear.
  • the turntable means is attached to the hull of a vessel such that rotation of the turntable means changes the orientation of the hull about the second axis of the turntable means.
  • the vessel is a submersible vessel and said hull encloses the load orientating device. It is a further preferred feature that a further load orientating device is attached to the hull with said second axis perpendicular to the second axis of the first device so as to move selectively the hull in a perpendicular plane.
  • Figure 1 is a schematic part-sectional side view of a load orientating device according to the present invention
  • Figure 2 is a schematic part-sectional front view of the device of figure 1, and
  • Figure 3 is a schematic sectional view through a vessel incorporating a load orientating device according to the present invention.
  • Figures 1 and 2 show a load orientating device
  • the device 10 comprises a flywheel 11 secured on a shaft 12 mounted in bearings 13 in a flywheel housing 14 which in this embodiment is fully enclosed for safety purposes.
  • the shaft 12 is adapted to be driven in rotation by motor means (not shown) at high speed.
  • the housing 14 incorporated a hole 15 by which the device 10 can be secured to the lifting cable or cables of the crane.
  • a turntable 17 Disposed in the base 16 of the housing 14 is a turntable 17 having an axle 18.
  • the turntable 17 is able to rotate relative to the housing 14, which rotation is facilitated by the provision of annular bearings 20.
  • the free end 21 of the axle 18 is adapted to have a load secured to it by any suitable means.
  • the turntable 17 is generally circular and is formed with teeth 22 around its periphery.
  • the teeth 22 of the turntable 17 mesh with a worm gear 2.3 which is mounted for rotation in the base 16 of the housing 14.
  • the worm gear 23 is driven by a second motor 24 which is secured relative to the housing 14 and which can be selectively actuated to move the worm gear 23 in either rotational direction thereby moving the turntable 17 in either direction relative to the housing 14.
  • the flywheel motor is actuated and the flywheel 11 is caused to rotate at high speed. The precise speed will of course depend on the loads which are to be moved and also on the geometry of the flywheel 11 itself. The high speed rotation of the flywheel 11 results in the flywheel 11 having a strong tendency to remain in a single plane by virtue of the gyroscopic effect.
  • the inertia of the spinning flywheel 11 also resists movement of the housing as a result of external forces such as wind. This ensures that the crane cable the flywheel and its housing and the load remain in vertical alignment throughout manoeuvres.
  • the stability and orientating ability of the device means that it will not be necessary for a load to be guided and stabilised by men holding guide ropes as is the present technique.
  • the device 10 resists movement of the flywheel out of its plane of spinning.
  • FIG 3 there is shown a submersible vehicle 30 or ROV having a hull 31 and a propulsion means 32.
  • Such vehicles are used to observe and film the ocean or structures located underwater such as oil platforms and pipelines or even the undersides of ships.
  • Normally such vehicles have a number of directional drive means or boosters for altering the orientation of the vehicle.
  • boosters tend to disturb the ocean floor or cause excessive turbulence.
  • the flywheel 11 is rotated at high speed and the hull 31 can be orientated by selective rotation of the turntable motor 24.
  • the flywheel 11 remains in the same plane while the hull 31 of the vehicle is rotated so as to face in a different direction.
  • a second device 10 could also be mounted in the vehicle such that the turntable axle 18 is also attached to the hull 31 but is perpendicular to the axle 18 of the first device. In this way the second device 10 could be used to control the pitch and yaw of the vehicle 30.
  • flywheel shape, size and speed of the flywheel are a matter of design choice depending on the future purposes of the device. Although a worm-driven turntable has been described, other suitable drive means are possible both for the turntable and also the flywheel itself.

Abstract

There is provided a device (10) for orientating a load to be suspended and moved by a crane. The device (10) comprises a flywheel (11) mounted for rotation in a housing (14). A turntable (17) is pivotally connected to the housing (14) and is drivable relative to the housing using a driven worm gear (23) meshing with an annular set of teeth (22) on the turntable (17). The turntable has an axle (18) to which loads can be attached. When the flywheel (11) is spinning at high speed it resists movement out of its plane of rotation so as to stabilise the cable in winds, etc. The flywheel (11) also allows the worm gear to react against it so as to turn the load relative to the flywheel (11). Maneuvering of the load is therefore made easier.

Description

A LOAD ORIENTATING DEVICE
This invention relates to a load orientating device.
According to the present invention there is provided a load orientating device comprising a flywheel mounted in a flywheel housing for rotation therein about an axis such that, in use, the flywheel is able to rotate only in a single plane, drive means for rotating the flywheel, turntable means pivotally connected to said housing for selective rotation about a second axis and adapted to be secured to said load and second drive means fixed relative to the housing for rotating said turntable means.
Preferably said plane of rotation of the flywheel is substantially vertical, said first axis is substantially horizontal, and said second axis is substantially vertical and perpendicular to said first axis.
In one embodiment said flywheel housing is adapted to be suspended on the lifting cable means of a crane such that the second axis is coaxial relative to the general lengthwise axis of the cable means. Conveniently said second drive means comprises a motor and gear means, the turntable means also being provided with corresponding means for meshing with said gear means, preferably in the form of an annular array of teeth. In one embodiment the gear means comprises a worm gear.
In another embodiment of the present invention the turntable means is attached to the hull of a vessel such that rotation of the turntable means changes the orientation of the hull about the second axis of the turntable means.
In a preferred embodiment the vessel is a submersible vessel and said hull encloses the load orientating device. It is a further preferred feature that a further load orientating device is attached to the hull with said second axis perpendicular to the second axis of the first device so as to move selectively the hull in a perpendicular plane. Embodiments of the present invention will now be described in more detail. The description makes reference to the accompanying drawings in which:
Figure 1 is a schematic part-sectional side view of a load orientating device according to the present invention,
Figure 2 is a schematic part-sectional front view of the device of figure 1, and
Figure 3 is a schematic sectional view through a vessel incorporating a load orientating device according to the present invention.
Figures 1 and 2 show a load orientating device
10 for use with a crane or even with a load suspended from any suitable height such as a building or an aircraft. The following discussion will, however, only mention the crane application.
The device 10 comprises a flywheel 11 secured on a shaft 12 mounted in bearings 13 in a flywheel housing 14 which in this embodiment is fully enclosed for safety purposes. The shaft 12 is adapted to be driven in rotation by motor means (not shown) at high speed. The housing 14 incorporated a hole 15 by which the device 10 can be secured to the lifting cable or cables of the crane.
Disposed in the base 16 of the housing 14 is a turntable 17 having an axle 18. The turntable 17 is able to rotate relative to the housing 14, which rotation is facilitated by the provision of annular bearings 20. The free end 21 of the axle 18 is adapted to have a load secured to it by any suitable means. The turntable 17 is generally circular and is formed with teeth 22 around its periphery.
The teeth 22 of the turntable 17 mesh with a worm gear 2.3 which is mounted for rotation in the base 16 of the housing 14. The worm gear 23 is driven by a second motor 24 which is secured relative to the housing 14 and which can be selectively actuated to move the worm gear 23 in either rotational direction thereby moving the turntable 17 in either direction relative to the housing 14. When the device 10 is to be used it is attached to the cable means of the crane. The flywheel motor is actuated and the flywheel 11 is caused to rotate at high speed. The precise speed will of course depend on the loads which are to be moved and also on the geometry of the flywheel 11 itself. The high speed rotation of the flywheel 11 results in the flywheel 11 having a strong tendency to remain in a single plane by virtue of the gyroscopic effect. Thus the arc-like movement of the jib of the crane results in the flywheel remaining in parallel planes when the jib is moved. If a load is attached to the end 21 of the turntable axle and the jib is moved then the load retains its orientation relative to the housing 14. The inertia of the spinning flywheel 11 is sufficient for the worm gear 23 to react against such that when the worm gear is turned, the load is able to rotate relative to the flywheel 11 and its housing 14. This relative rotation of the load does not affect the orientation of flywheel 11 to a material extent.
It will be appreciated also that the inertia of the spinning flywheel 11 also resists movement of the housing as a result of external forces such as wind. This ensures that the crane cable the flywheel and its housing and the load remain in vertical alignment throughout manoeuvres.
The stability and orientating ability of the device means that it will not be necessary for a load to be guided and stabilised by men holding guide ropes as is the present technique. The device 10 resists movement of the flywheel out of its plane of spinning.
In figure 3 there is shown a submersible vehicle 30 or ROV having a hull 31 and a propulsion means 32. Such vehicles are used to observe and film the ocean or structures located underwater such as oil platforms and pipelines or even the undersides of ships. Normally such vehicles have a number of directional drive means or boosters for altering the orientation of the vehicle. However, such boosters tend to disturb the ocean floor or cause excessive turbulence.
The vehicle 30, therefore, incorporates a load orientating device 10, the load being the hull 31 which is attached to the free end 21 of the turntable axle 18. In use the flywheel 11 is rotated at high speed and the hull 31 can be orientated by selective rotation of the turntable motor 24. The flywheel 11 remains in the same plane while the hull 31 of the vehicle is rotated so as to face in a different direction.
A second device 10 could also be mounted in the vehicle such that the turntable axle 18 is also attached to the hull 31 but is perpendicular to the axle 18 of the first device. In this way the second device 10 could be used to control the pitch and yaw of the vehicle 30.
It will be appreciated that the shape, size and speed of the flywheel are a matter of design choice depending on the future purposes of the device. Although a worm-driven turntable has been described, other suitable drive means are possible both for the turntable and also the flywheel itself.

Claims

A load orientating device comprising a flywheel mounted in a flywheel housing for rotation therein about an axis such that, in use, the flywheel is able to rotate only in a single plane, drive means for rotating the flywheel, turntable means pivotally connected to said housing for selective rotation about a second axis and adapted to be secured to said load and second drive means fixed relative to the housing for rotating said turntable means.
2. A load orientating device as claimed in claim 1 wherein said plane of rotation of the flywheel is substantially vertical, said first axis is substantially horizontal, and said second axis is substantially vertical and perpendicular to said first axis.
A load orientating device as claimed in claim 2 wherein said flywheel housing is adapted to be suspended on the lifting cable means of a crane such that the second axis is coaxial relative to the general lengthwise axis of the cable means.
4. A load orientating device as claimed in claim 3 wherein said second drive means comprises a motor and gear means, the turntable means also being provided with corresponding means for meshing with said gear means.
5. A load orientating device as claimed in claim 4 wherein said corresponding means is in the form of an annular array of teeth.
6. A load orientating device as claimed in claim 4 or claim 5 wherein the gear means comprises a worm gear.
7. A load orientating device as claimed in claim 1 -> wherein the turntable means is attached to the hull of a vessel such that rotation of the turntable means changes the orientation of the hull about the second axis of the turntable means. 10
8. A load orientating device as claimed in claim 7 wherein the vessel is a submersible vessel and said hull encloses the load orientating device.
"5 9. A load orientating device as claimed in claim 8 wherein a further load orientating device is attached to the hull with said second axis perpendicular to the second axis of the first device so as to move selectively the hull in a 0 perpendicular plane.
5
0
5
PCT/GB1993/002277 1992-11-07 1993-11-04 A load orientating device WO1994011294A1 (en)

Priority Applications (10)

Application Number Priority Date Filing Date Title
JP51182694A JP3241730B2 (en) 1992-11-07 1993-11-04 Load directing device
CA002148832A CA2148832C (en) 1992-11-07 1993-11-04 A load orientating device
DE69311128T DE69311128T2 (en) 1992-11-07 1993-11-04 ORIENTATION DEVICE FOR A LOAD
BR9307404A BR9307404A (en) 1992-11-07 1993-11-04 Load guiding device
US08/433,342 US5632222A (en) 1992-11-07 1993-11-04 Load orientating device
EP93924702A EP0667833B1 (en) 1992-11-07 1993-11-04 A load orientating device
AU54266/94A AU669245B2 (en) 1992-11-07 1993-11-04 A load orientating device
FI952209A FI111244B (en) 1992-11-07 1995-05-08 Load Orientation Device
NO951789A NO309713B1 (en) 1992-11-07 1995-05-08 Download Device Device
GR970402179T GR3024539T3 (en) 1992-11-07 1997-08-26 A load orientating device.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB9223399.8 1992-11-07
GB929223399A GB9223399D0 (en) 1992-11-07 1992-11-07 Using the principle of a gyroscope to stabilise/orientate an object

Publications (1)

Publication Number Publication Date
WO1994011294A1 true WO1994011294A1 (en) 1994-05-26

Family

ID=10724730

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB1993/002277 WO1994011294A1 (en) 1992-11-07 1993-11-04 A load orientating device

Country Status (16)

Country Link
US (1) US5632222A (en)
EP (1) EP0667833B1 (en)
JP (1) JP3241730B2 (en)
AT (1) ATE153633T1 (en)
AU (1) AU669245B2 (en)
BR (1) BR9307404A (en)
CA (1) CA2148832C (en)
DE (1) DE69311128T2 (en)
DK (1) DK0667833T3 (en)
ES (1) ES2105345T3 (en)
FI (1) FI111244B (en)
GB (1) GB9223399D0 (en)
GR (1) GR3024539T3 (en)
NO (1) NO309713B1 (en)
NZ (1) NZ257594A (en)
WO (1) WO1994011294A1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2796917A1 (en) * 1999-07-29 2001-02-02 Andre Schaer REMOTE MOBILE PLATFORM FOR EVOLUTION IN A MEDIUM SUCH AS WATER OR AIR
US8555734B2 (en) 2005-08-22 2013-10-15 Technology Investment Company Pty Ltd Stabilising means
DE102012220975A1 (en) 2012-11-16 2014-05-22 MCI Management Center Innsbruck - Internationale Hoschule GmbH 1Lastdrehkreisel

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5816098A (en) * 1996-06-21 1998-10-06 Mitsubishi Jukogyo Kabushiki Kaisha Method and system for controlling attitude of lifting load utilizing gyro effect
US6973847B2 (en) 2003-06-04 2005-12-13 Gearloose Engineering, Inc. Gyroscopic roll stabilizer for boats
EP3541736B1 (en) 2016-11-21 2024-04-17 Roborigger Pty Ltd Apparatus for controlling orientation of suspended loads
US10994816B2 (en) * 2019-03-04 2021-05-04 United States Of America As Represented By The Secretary Of The Navy Floating device having active stabilization and method for active stabilization
KR102344668B1 (en) * 2021-05-26 2022-01-11 케이.엘.이.에스 주식회사 Lifting apparatus for thermal power plant

Citations (8)

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Publication number Priority date Publication date Assignee Title
DE289492C (en) *
FR474880A (en) * 1914-03-27 1915-03-22 Nicholas Wladimir Akimoff System intended for obtaining torque, particularly applicable to ships
DE434716C (en) * 1924-12-28 1926-09-29 Ludwig Haenert Dr Device for damping the rolling motion of a ship
US3210114A (en) * 1963-11-21 1965-10-05 Lawton Lawrence Apparatus for orienting a suspended load
DE1940375A1 (en) * 1969-01-03 1970-07-23 Skagit Corp Device for setting a freely rotatably supported load in a certain rotational position
DE2009847A1 (en) * 1970-03-03 1971-09-16 Blohm Voss Ag Device for rotating a hanging load around its vertical axis
DE2035367A1 (en) * 1970-07-16 1972-01-20 Tax H Gyro system for the orientation of hanging loads
GB2106245A (en) * 1981-09-18 1983-04-07 Sagem Improvements to gyroscopic navigational installations

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US769693A (en) * 1903-01-08 1904-09-13 Thomas C Forbes Device for steadying ships.
US3203644A (en) * 1961-01-05 1965-08-31 Jr Hosford Dudley Kellogg Gyroscopic inertial space drive
US3356055A (en) * 1966-04-15 1967-12-05 Ocean Systems Self-propelled diving chamber
FI46833C (en) * 1966-06-21 1973-07-10 Anderson Byggnads Ab Device for rotating a rotatably suspended object, in particular a load suspended from a crane.
DE2509644B2 (en) * 1975-03-05 1977-02-10 Peiner Maschinen- und Schraubenwerke AG, 315OPeine;Ziehl-AbeggKG, 7118 Künzelsau DRIVE FOR A ROTATING DEVICE
NL7905858A (en) * 1979-07-30 1981-02-03 Nagron Aerolift DEVICE FOR DIRECTING A LOAD SUSPENDED ON A LIFTING ROPE.

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE289492C (en) *
FR474880A (en) * 1914-03-27 1915-03-22 Nicholas Wladimir Akimoff System intended for obtaining torque, particularly applicable to ships
DE434716C (en) * 1924-12-28 1926-09-29 Ludwig Haenert Dr Device for damping the rolling motion of a ship
US3210114A (en) * 1963-11-21 1965-10-05 Lawton Lawrence Apparatus for orienting a suspended load
DE1940375A1 (en) * 1969-01-03 1970-07-23 Skagit Corp Device for setting a freely rotatably supported load in a certain rotational position
DE2009847A1 (en) * 1970-03-03 1971-09-16 Blohm Voss Ag Device for rotating a hanging load around its vertical axis
DE2035367A1 (en) * 1970-07-16 1972-01-20 Tax H Gyro system for the orientation of hanging loads
GB2106245A (en) * 1981-09-18 1983-04-07 Sagem Improvements to gyroscopic navigational installations

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2796917A1 (en) * 1999-07-29 2001-02-02 Andre Schaer REMOTE MOBILE PLATFORM FOR EVOLUTION IN A MEDIUM SUCH AS WATER OR AIR
WO2001008969A1 (en) * 1999-07-29 2001-02-08 Schaer Andre Remote-controlled mobile platform capable of operating in water or air environment
US8555734B2 (en) 2005-08-22 2013-10-15 Technology Investment Company Pty Ltd Stabilising means
DE102012220975A1 (en) 2012-11-16 2014-05-22 MCI Management Center Innsbruck - Internationale Hoschule GmbH 1Lastdrehkreisel
WO2014076189A1 (en) 2012-11-16 2014-05-22 Mci Management Center Innsbruck Load-rotating spinner

Also Published As

Publication number Publication date
NO951789D0 (en) 1995-05-08
DE69311128D1 (en) 1997-07-03
US5632222A (en) 1997-05-27
NZ257594A (en) 1997-02-24
FI952209A0 (en) 1995-05-08
FI952209A (en) 1995-07-05
CA2148832A1 (en) 1994-05-26
GR3024539T3 (en) 1997-12-31
NO951789L (en) 1995-06-19
NO309713B1 (en) 2001-03-19
DK0667833T3 (en) 1997-12-22
ATE153633T1 (en) 1997-06-15
JP3241730B2 (en) 2001-12-25
AU5426694A (en) 1994-06-08
JPH08506077A (en) 1996-07-02
GB9223399D0 (en) 1992-12-23
AU669245B2 (en) 1996-05-30
CA2148832C (en) 2005-02-01
EP0667833A1 (en) 1995-08-23
BR9307404A (en) 1999-08-24
ES2105345T3 (en) 1997-10-16
FI111244B (en) 2003-06-30
EP0667833B1 (en) 1997-05-28
DE69311128T2 (en) 1998-01-02

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