EP2920102B1 - Load-rotating spinner - Google Patents

Description

The present invention relates to a rotary device and a method for rotating an article suspended on a suspension, in particular a load suspended from a crane. The rotating device is equipped with a motor for rotating the suspended object, the electrical energy for operating the motor being stored in the rotating device itself, preferably in accumulators, thereby providing an easy-to-use rotating device.

BACKGROUND OF THE INVENTION

Loads suspended on a rope change their orientation due to minute disturbances, e.g. by air movements, twisting of the rope, contact with other objects or momentum exchange inside the load. Especially during weaning or picking up, an unpredictably rotating load can cause considerable damage. To avoid this in the operation of cranes, more ropes are often attached to the load on which people must pull by using their physical strength to orient the load. This tedious and dangerous step is not only costly, but also error prone. The time required for this is also hardly reducible, since human factors such as height and communication are decisive for this.

It is already known to use rotary gyros with a flywheel to influence the orientation of rotatable loads targeted. Such rotary gyros have a motor mounted such that a torque produced by the motor rotates the load in a direction of rotation opposite to the direction of rotation of the flywheel driven by the motor, whereby the load can be turned in the desired orientation in the foreseeable future. By slowing down the relative rotation of load and flywheel both bodies come almost to a standstill again.

In the present case, however, the following problems have been identified which preclude a practical feasibility of the above-mentioned principle. If the acceleration energy is supplied by cables leading from the crane to the load, there is a risk of twisting of the cable and / or rope, which may result in their mutual damage. The weight of the flywheel and the components required to drive it reduce by their own weight the usable carrying capacity of the crane. Furthermore, the lifting and accelerating of these masses consumes additional investment and energy costs. Due to small disturbances, the load does not come to a complete standstill when the flywheel is completely decelerated. The other types of movement of a crane, however, are designed so that stopping their drive reliably stops the movement. The load orientation by flywheels thus requires a more intensive training and greater attention of the crane operator to ensure safe crane operation.

A flywheel used on the principle of angular momentum conservation for orientation of crane loads was already proposed in 1963 by L. Lawton (see for example US 3,210,114 ). In it, the rotational energy is supplied via cable from the crane. The flywheel is designed as a disc-shaped solid. The drive motor is housed in a frame which is attached to the load.

The patent US 3,498,476 Introduces brakes and a second flywheel to increase the torque that rotates the load.

In the patent US 5,871,249 a double flywheel in each of the three main axis directions is proposed to orient loads in all three rotational degrees of freedom. The proposed scope of the invention is in stabilizing loads on rescue helicopters.

The under WO 94/11294 This invention uses gyro effects instead of the acceleration torque to generate torques on suspended loads.

In the patent application GB 2 467 149 An arrangement is described which includes a flywheel for orientation of loads about the vertical axis.

In addition, the pamphlets DE 25 15 178 A1 . DE 32 34 395 A1 . GB 993,269 A and US 4,612,494 A known, which deal with turning devices for cranes.

It is therefore an object of the present invention to overcome the above-mentioned disadvantages of the prior art and to provide an alternative or improved rotary device with a corresponding method.

The object of the present invention is solved by the independent device or method claims and the aspects discussed below. The dependent claims describe further preferred embodiments and modifications of the invention.

SUMMARY OF THE INVENTION

The invention generally relates to a device and a method for orienting rotatable, in particular hanging on a rope crane loads by means of the conservation law for the angular momentum. Preferably, the device according to the invention, hereinafter also referred to as a rotary device or load rotary gyroscope, comprises an energy store, preferably a regenerable energy store, a motor, and preferably a purely mechanical connection to the load. The invention is advantageous in that therefore preferably one, two or all of the three problems mentioned above, namely (i) power cables; (ii) increase in the burden and (iii) lack of controllability can be overcome.

By the use of mobile energy storage attached to the device itself, for example by the use of batteries for energy supply to the flywheel drive, the first problem is solved; no external power cables are needed. However, the use of heavy accumulators can aggravate the second problem as the accumulator mass further reduces the carrying capacity of the crane. The decisive progress arises when the engine and accumulators are mounted in or on the rotating flywheel. The accumulators are preferably placed on the outer edge of the flywheel to provide with their mass preferably the largest possible contribution to the moment of inertia of the flywheel. The motor housing or a flange of the motor housing is advantageously also attached to the flywheel. In other words, according to the invention, a part of the engine, for example, the motor housing and / or a flange of the motor housing is fixedly connected to the flywheel, so that the motor housing and / or the flange form part of the flywheel. With this arrangement, it can be achieved, for example, that parts of the engine, preferably high-mass parts of the engine, contribute to the mass moment of inertia of the flywheel.

According to the invention, only the motor shaft is in a rotationally fixed connection with the load and has no contribution to the mass moment of inertia of the flywheel.

The inventive arrangement of accumulators and motor creates an active flywheel, which can be configured so that the stored energy is sufficient for a desired number of load orientations by the operator of the device. The skilled person will quickly realize that the spin of the flywheel Energy required when decelerating to a great extent as braking energy accumulates. If the motor is operated as a generator, this energy can be partially converted back into electrical energy and optionally stored.

It is also familiar to the person skilled in the art that the energy required for the rotational acceleration depends on the square of the rotational speed. To reduce the energy converted in each acceleration and deceleration cycle, therefore, the mass moment of inertia of the flywheel should be as large as possible relative to that of the load, but the mass of the flywheel should be as small as possible with respect to the load. On the one hand, mechanical friction, wind and shocks change the total angular momentum of load and flywheel. On the other hand, the rotation of the flywheel itself causes torques due to air friction. In addition, if the mass moment of inertia of the load increases, the achievable load rotation rate decreases with the same flywheel rotation rate. However, the moment of inertia of a load is often not experienced by the crane operator, e.g. when containers are handled with changing loads.

All this means for the crane operator that he has to continuously observe the rate of rotation of the load in order to readjust the flywheel rotation rate required for the desired orientation movement. The present invention solves this problem, for example, by the use of at least one sensor, which detects the rate of rotation of the load relative to the fixed environment. According to the invention, an operating element is provided for operating the load rotary gyroscope, wherein the operating element is preferably realized in such a way that a rotational rate for the load can be predetermined. Preferably, the control element for controlling the load rotary gyroscope includes a rotation rate controller, which controls the torque of the load rotary gyro drive so that the deviation between the rotation rate specification of the crane operator and the absolute rotation rate of the load is minimal. The rate of rotation default preferably covers a range of values from negative to positive, where the rate of rotation equals zero to a load that does not rotate relative to its environment.

To ensure a safe and functional state, the controller preferably monitors at least one of the following components or states and initiates - if necessary - securing or extending the operating time measures: 1. integrity of the energy storage, the motor, the controller, the electronics , the software, the Control element and the data connection; 2. Mechanical integrity and residual imbalance of the load rotary gyroscope.

In particular, unbalance is present when the mechanical axis of rotation of the load rotary gyroscope does not pass through the center of gravity and not through one of the main axes of inertia of the flywheel. Imbalances arise in particular when parts of the flywheel mass are changed in their position. These can be internal displacements, e.g. of cables, or changes in shape due to external influences. The occurrence of impermissible imbalances is not visible to the observer from the outside, but leads to mechanical stresses that can endanger the integrity of the flywheel. To avoid the dangers caused by imbalances, they should preferably be continuously measured and preferably monitored. Additional, motor-driven masses within the load rotary gyroscope can also make it possible to reduce imbalances. A corresponding controller in the control panel can be provided, whereupon the position of the additional masses is changed with knowledge of the flywheel speed, the motor rotation angle and the height of the measured imbalance, so that the residual imbalance is minimal.

The essential features of the invention will be discussed again generally in the following aspects.

Provided is a rotating device for rotating a load suspended on a suspension, wherein the rotating device is attachable to the suspension. This preferably includes at least one motor, preferably an electric motor, the motor shaft in the suspended state is substantially vertical (vertical) aligned and rotatably connected to the load, wherein the motor housing with a rotatable rotary body (flywheel) is fixedly connected, preferably non-rotatably with the Rotary body or the flywheel is connected. According to the invention, the rotational body is fixedly connected to an energy store, and the axis of the motor shaft substantially coincides with a main axis of inertia of the rotational body / flywheel, whereby a rotational movement of the rotational body / flywheel is achieved without imbalance. In principle, the rotational body can be subdivided into an inner area and an outer area with respect to its radial extent R, wherein according to the invention the outer area is defined with respect to the axis of rotation as the sum of all volume elements which have at least a distance 2/3 R to the axis, preferably at least 3 / 4R. According to the invention preferably at least 60% of the mass of the energy storage and / or the total mass of the flywheel are housed in this outdoor area. Preferably, at least 70%, preferably at least 80%, preferably at least 90% of the mass of the energy store is mounted in the outer area.

Preferably, the at least one energy store is at least one element from the group consisting of battery, accumulator and capacitor. Preferably, this energy store is used to operate the at least one motor.

According to the invention the motor shaft with the object / load, preferably via a connecting element, rotatably connected and / or the motor housing rotatably connected to the rotating body.

According to a further preferred embodiment, the motor can also be operated as a generator, wherein a relative movement between the motor housing and motor shaft then generates electricity. This generated current can be stored at least partially in the at least one energy store.

The load rotary gyroscope according to the invention may also preferably with at least one sensor for detecting a rate of rotation / rotational speed of the rotary body and / or for detecting a rate of rotation / rotational speed of the load rotary gyro itself or for detecting a rate of rotation / rotational speed of the motor housing and / or the suspended load relative to the environment be provided.

The load rotary gyroscope according to the invention can also have at least one movable additional mass whose position relative to the flywheel is variable in order to change the moment of inertia of the flywheel or the main axis of inertia of the flywheel. This can be done either manually or with the help of an actuator. The at least one movable additional mass may be movable, for example, on a circular path about the axis of the flywheel / body of revolution, and / or be movable radially to the axis of the body of revolution.

Also, the load rotary gyroscope according to the invention can be provided with at least one additional sensor for detecting and / or measuring an imbalance of the rotary body. Preferably, the load rotating gyroscope according to the invention also has a compensation device, with at least one movable additional mass, wherein a Movement of this additional mass (37) can compensate for an imbalance. According to a preferred embodiment, the at least one movable additional mass can be movable as a function of the rotational rate of the rotational body. This can be done via a direct control of a user or automatically as a function of at least one sensor signal.

In addition to the load rotary gyroscope according to the invention, a system with an operating element for controlling the load rotary gyroscope is also provided according to the invention. For example, with the aid of the operating element, a rate of rotation of the suspended load can be regulated. Preferably, the operating element is adapted to inform a user of the operating element about the current rate of rotation of the article / load and / or the rotational body. Accordingly, the motor can be controlled manually or automatically so as to compensate for this detected rate of rotation of the object in relation to the environment. Accordingly, a circuit in the control element by driving the motor may be present to automatically compensate for the detected rotation rate.

Finally, the present invention also relates to a method for rotating a suspended object (a load) by means of a device according to the invention comprising the steps of: i) driving the motor by energy from the at least one energy store and / or braking a self-rotating movement of the suspended object with the aid of Motors, wherein the self-rotating motion induces a voltage in the motor, ie the engine is used as a generator.

BRIEF DESCRIPTION OF THE DRAWINGS

Fig. 1

eine typische Kranlast, die um einen Lastdrehkreisel zum Orientieren der Last ergänzt wurde;

Fig. 2

ein erfindungsgemäßes Bedienelement zur Steuerung eines erfindungsgemäßen Lastdrehkreisels;

Fig. 3

den schematischen Aufbau des Lastdrehkreisels im Schnitt; und

Fig. 4

eine erfindungsgemäße Ausführungsform eines hängenden Lastdrehkreisels, welche für Hebegeschirre ohne feste Verbindung mit der Nutzlast geeignet ist.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. Show it:

Fig. 1

a typical crane load supplemented by a load rotation gyroscope to orient the load;

Fig. 2

an inventive control element for controlling a load rotary gyroscope according to the invention;

Fig. 3

the schematic structure of the load rotary gyroscope in section; and

Fig. 4

an inventive embodiment of a suspended load rotary gyro, which is suitable for lifting harnesses without a firm connection with the payload.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

FIG. 1 shows a first embodiment of the invention. A hanging on a rope hook hook 11 11 is equipped with a thrust bearing 12 for receiving a crane hook 13, which allows the crane hook an unlimited number of rotations about the vertical / vertical hook axis 14 at a comparatively low torque. According to the invention, the direction indication is used vertically or vertically with respect to the gravitational force of the earth. About more slings 15 such as chains, ropes or straps is an object, here a load 16, 17 attached to the crane hook 13 hanging. The load may, for example, the load-receiving means 16 and the payload 17 have. In the illustrated preferred embodiment of the invention, a load rotary gyro 21 is attached to the load receiving means 16.

FIG. 2 schematically shows an inventive control element 18 for controlling the rotating device according to the invention. Preferably, the control element 18 comprises a rotary knob, with which the crane operator can specify a rate of rotation of the load with respect to the fixed environment.

The operating principle of the rotary device 1 according to the invention is based on the set of angular momentum conservation, which in the Fig. 1 can be applied to the totality of all components, which are mounted on the thrust bearing 12 (the pivot bearing of the crane) hanging and have moments of inertia with respect to its axis of rotation (dash-dotted lines shown as axis 14). The angular momentum conservation law states that the total angular momentum of these components remains constant as long as no external moments are applied. If the load rotary gyroscope 21 (more precisely: the rotary body or the flywheel) is rotated by internal energy sources and drives (see arrow 22), then due to the set of angular momentum conservation, all other components hanging from the axial bearing 12 must be in the opposite direction 23 set in rotation. The plane of rotation of the flywheel is preferably oriented substantially horizontally.

FIG. 3 shows a further preferred embodiment of a rotating device according to the invention (in the application also referred to as load rotary gyroscope) in a cross-sectional view. The rotating device comprises a first connecting element for fixed connection to the load. In the illustrated embodiment, this first connecting element is a foot 31, which on the one hand with the load, on the other hand with the one Rotary bearing 32 is mechanically connected. Attached thereto is a preferably disk-shaped girder 33. An electric motor 34 is installed so that the motor shaft coupled to the foot 31 and the motor housing on the gyro (flywheel / body of revolution) is attached. The energy stores 35 are arranged essentially at the periphery (outer area A) of the gyro carrier. As in Fig. 3 2, the body of revolution can be logically divided into two separate (disjoint) regions with respect to its radial extent R, an inner region I and an outer region A (see FIG Fig. 3 ). According to the invention, the outer area A is defined as the sum of all volume elements which have at least a distance 2/3 R to the axis 46. Accordingly, the interior region I is defined as the region comprising volume elements which have a distance smaller than 2 / 3R to the axis. According to a further preferred embodiment, the outer region A is the region in which all volume elements are contained, which have at least the distance 3/4 R to the axis. The area not referred to as the exterior is called the interior area. According to the invention preferably at least 60% of the mass of the energy storage and / or the total mass of the flywheel are housed in this outdoor area. Preferably, at least 70%, preferably at least 80%, preferably at least 90% of the mass of the energy store is mounted in the outer area.

The centrifugal forces generated during rotation are preferably absorbed by an outer ring 36. This ring also contributes advantageously to increase the mass moment of inertia of the load rotary gyroscope. Movable additional masses 37 can optionally be moved by the controller for reducing imbalances.

A power electronics 41 transmits electrical energy in two directions: from the energy storage 35 to the electric motor 34 on the one hand and on the other hand from the electric motor 34, which is operated as a generator, back to the energy storage 35. A controller 42 controls, controls and monitors these and all other processes in Last spinning top.

Along the axis of symmetry on the motor axis and / or on the flywheel sensors 43, 44 can optionally be attached in order to record position and / or acceleration values and transmit them to the controller. A housing 45 protects the components of the gyro against external influences such as moisture or mechanical damage. An antenna 46 preferably carries out a wireless data exchange with the operating element.

FIG. 4 shows a further preferred embodiment of the rotating device according to the invention, wherein like reference numerals describe like parts. In this embodiment, the load bearing is designed as lifting harness 51, which is connected via stop means 52 (ropes, chains) with the payload 53 in connection, and the load rotation gyro can advantageously also be suspended suspended below the lifting harness.

The invention also includes the exact or exact terms, features, numerical values or ranges, etc. when, above or below, these terms, features, numerical values or ranges are used in conjunction with terms such as, for example. "about, about, essentially, in general, at least, at least", etc., were called (ie, "about 3" should also "3" or "substantially radially" should also include "radial"). The expression "or" means moreover "and / or".

Claims (15)

1. A rotating device (1) for rotating a load (17) suspended at a suspension, wherein the rotating device is attachable at the suspension and the rotating device comprises:

   a motor (34) whose motor shaft is basically vertically oriented in its suspended state and is connectable to the load (17) in a torque-proof manner, wherein the motor housing is fixedly connected to a rotatable rotation body (21; 33);

   characterized in that

   the rotation body (21; 33) is fixedly connected to an energy storage (35) and the axis (46) of the motor shaft basically overlaps with a main axis of inertia of the rotation body.
2. The rotating device according to claim 1, wherein the rotation body exhibits a radial expansion R with regard to the axis (46), wherein at least 60% of the mass of the energy storage (35) is applied in an outer area with regard to the radial expansion R.
3. The rotating device according to any one of the preceding claims, wherein the at least one energy storage (35) comprises at least one element of the group consisting of batteries (35), accumulators (35) and capacitors.
4. The rotating device according to any one of the preceding claims, wherein the motor (34) is operable with energy from the at least one energy storage (35).
5. The rotating device according to any one of the preceding claims, wherein the motor shaft is connectable to an object in a torque-proof manner, preferably via a connecting element (31) and/or the motor housing is connected to the rotation body (21; 33) in a torque-proof manner.
6. The rotating device according to any one of the preceding claims, wherein the motor (34) is operable as generator and a relative movement between motor housing and motor shaft generates electricity which is at least partly storable in the at least one energy storage (35).
7. The rotating device according to any one of the preceding claims, wherein the outer area is defined in that it has at least the distance of 2/3 R with regard to the axis (46), preferably at least ¾ R and/or at least 70%, and preferably at least 80%, preferably at least 90% of the mass of the energy storage (35) is applied in the outer area.
8. The rotating device according to any one of the preceding claims, in addition with at least one sensor (43, 44) for detecting a rotation rate/rotation speed of the rotation body (21; 33) and/or the rotation rate/rotation speed of the suspended load (17) relative to the surroundings.
9. The rotating device according to any one of the preceding claims, wherein the rotating device additionally comprises at least one movable additional mass (37), which is preferably rotatable with at least one actuator relative to the rotation body (21; 33).
10. The rotating device according to claim 9, wherein the at least one movable additional mass (37) is movable

    (i) on a circular path around the axis of the rotation body (21; 33), and/or

    (ii) radially to the axis of the rotation body (21),

    in order to change the moment of inertia and/or a main axis of inertia of the rotation body (21; 33).
11. The rotating device according to any one of the preceding claims, comprising additional sensors for detecting and/or measuring an imbalance of the rotation body (21) and a compensation device with at least one movable additional mass (37), wherein a movement of said additional mass (37) compensates for the imbalance.
12. The rotating device according to claim 10 or 11, wherein the at least one movable additional mass (17) is movable depending on the rotation rate of the rotation body (21).
13. A system for rotating a suspended object comprising a rotating device according to any one of the preceding claims and an operating element (18) with which a rotation rate of the suspended load (17) is adjustable.
14. The system according to claim 13, wherein the operating element (18) is adapted that

    (i) a user of the operating element (18) is informed about the current rotation rate of the object (17) and/or the rotation body (21) so that the motor (34) can be controlled in order to compensate for this detected rotation rate of the object (17) and/or

    (ii) the detected rotation rate is automatically compensated for via a circuit in the operating element by controlling the motor.
15. A method for rotating a suspended object with a rotating device according to any one of claims 1 to 12 and a system according to claim 14, comprising the steps of

    (i) operating the motor (34) with energy from the at least one energy storage in order to compensate for an individual rotating movement of the suspended object and/or

    (ii) slowing down an individual rotating movement of the suspended object by means of the motor, wherein the individual rotating movement in the motor induces a voltage which is preferably stored in the at least one energy storage.

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