Anti-slewing device and method for lifting, suspending and moving loads
阅读说明:本技术 提升、吊挂和移动载荷的防回转装置和方法 (Anti-slewing device and method for lifting, suspending and moving loads ) 是由 D·瓦永 S·莫罗 于 2018-06-18 设计创作,主要内容包括:在提升和移动载荷(12)的提升和移动机械(10)之下吊挂该载荷(12)的这个吊挂防转动装置(14),具有吊索系统(16A,16B,16C),吊索系统配有固定于提升和移动机械(10)的固定件(18)。吊挂防转动装置还具有分距梁(20),分距梁具有主纵向轴线(A<Sub>1</Sub>)和偏转转动横向轴线(A<Sub>2</Sub>),分距梁具有;固定于吊索系统(16A,16B,16C)的上部固定系统(22A,22B),设计为允许上部固定系统借助吊索系统(16A,16B,16C)在提升和移动机械(10)之下悬吊布置成其主纵向轴线(A<Sub>1</Sub>)基本水平和围绕其偏转转动横向轴线(A<Sub>2</Sub>)是自由的;固定于载荷(12)的下部固定系统(24A,24B,26A,26B),设计成允许通过分距梁(20)围绕其偏转转动横向轴线(A<Sub>2</Sub>)驱动载荷(12)。分距梁(20)具有推进装置(28),推进装置布置成当分距梁通过吊索系统(16A,16B,16C)悬挂于提升和移动机械(10)时,有选择地沿一个方向或者另一个方向,围绕分距梁的偏转转动横向轴线(A<Sub>2</Sub>)转动分距梁。(The suspension anti-rotation device (14) for suspending a load (12) under a lifting and moving machine (10) for lifting and moving the load (12) has a suspension cable system (16A, 16B, 16C) provided with a fixing element (18) for fixing to the lifting and moving machine (10). The suspension anti-rotation device also has a pitch beam (20) having a main longitudinal axis (A) 1 ) And deflecting the transverse axis of rotation (A) 2 ) The pitch beam is provided with; an upper fixing system (22A, 22B) fixed to the sling system (16A, 16B, 16C), designed to allow the upper fixing system to be suspended by means of the sling system (16A, 16B, 16C) below the lifting and moving machine (10) in an arrangement with its main longitudinal axis (A) 1 ) Substantially horizontal and surrounding itDeflecting the transverse axis of rotation (A) 2 ) Is free; a lower fixing system (24A, 24B, 26A, 26B) fixed to the load (12) and designed to allow the rotation of the transverse axis (A) about its deflection by the distancing beam (20) 2 ) A driving load (12). The pitch beam (20) has a propulsion device (28) arranged to rotate a transverse axis (A) about the pitch beam's deflection, selectively in one direction or the other, when the pitch beam is suspended from the lifting and moving machine (10) by a sling system (16A, 16B, 16C) 2 ) The pitch beam is rotated.)
1. Suspension anti-rotation device (14) for suspending a load (12) under a lifting and moving machine (10) for lifting and moving the load (12), the suspension anti-rotation device having a system of slings (16A, 16B, 16C) provided with a fixing (18) for fixing to the lifting and moving machine (10), characterized in that the suspension anti-rotation device also has a graduated beam (20) having a main longitudinal axis (A) 1) And deflecting the transverse axis of rotation (A) 2) The pitch beam has:
-an upper fixing system (22A, 22B) fixed to the sling system (16A, 16B, 16C), designed to allow the distancing beam to be suspended by means of the sling system (16A, 16B, 16C) below the lifting and moving machine (10) in arrangement with its main longitudinal axis (a) 1) Substantially horizontal and about which the transverse axis of rotation (A) is deflected 2) Is free to be used in the process of making,
-a lower fixing system (24A, 24B, 26A, 26B) fixed to the load (12) designed to allow rotation of the transverse axis (a) about its deflection by the distancing beam (20) 2) A driving load (12);
and the pitch beam (20) having a propulsion device (28) arranged to rotate on command, selectively in one direction or the other, about a yaw rotation transversal axis (A) of the pitch beam, when the pitch beam is suspended from the lifting and moving machine (10) by means of a sling system (16A, 16B, 16C) 2) The pitch beam is rotated.
2. Hanging anti-rotation device (14) according to claim 1, characterized in that the pitch beam (20) is designed in three parts (70, 72, 74) extending longitudinally:
-a central portion (70) having supply means (58) for supplying power to the propulsion means (28), and
-two side portions (72, 74) which can be retracted against the central portion (70), having an impelling member (32A, 52A, 54A, 32B, 52B, 54B) which impels by deflecting rotation, the impelling member being electrically connected to the supply means (58) of the central portion (70).
3. Hanging anti-rotation device (14) according to claim 1 or 2, characterized in that the propulsion device (28) has an electric screw system (32A, 52A, 32B, 52B) arranged at the longitudinal ends of the pitch beam (20).
4. The hanging anti-rotation device (14) of claim 3, wherein:
-a first auger (32A) of the propulsion device (28) is arranged at a first end of the pitch beam (20) and can be activated according to a first rotation comprised between 4000 and 6000 revolutions per minute, so as to enable a rotation of the pitch beam (20) in a first deflection rotation direction, and
-a second auger (32B) of the propulsion device (28), arranged at a second end of the pitch beam (20), able to be activated according to a second rotation comprised between 4000 and 6000 revolutions per minute, so as to enable the pitch beam (20) to be activated along a second deflection rotation direction opposite to the first deflection rotation direction.
5. Hanging anti-rotation device (14) according to claim 3 or 4, characterized in that each screw (32A, 32B) of the propulsion device (28) surrounds a main longitudinal axis (A) 1) And a yaw rotation transverse axis (A) with the pitch beam (20) 2) Are arranged in a substantially cylindrical streamlined conduit (34A, 34B).
6. The hanging anti-rotation device (14) of claim 5, wherein a protective grid is disposed at the inlet and outlet of each streamlined conduit (34A, 34B).
7. Hanging anti-rotation device (14) according to any of the claims 1 to 6, characterized in that the pitch beam (20) has a visual indicator (36) with at least three different visual states, indicating one operating state of the yaw angle control of the pitch beam (20) from at least three possible different operating states:
-a state in which the deflection angle control of the pitch beam (20) is not activated,
-a state in which the deflection angle control of the pitch beam (20) is activated, but awaiting the setting of the angle control, and
-state of set angle activated and received by the deflection angle control of the pitch beam (20).
8. Hanging anti-rotation device (14) according to any of claims 1 to 7, characterized in that the main sling (16C) of the sling system (16A, 16B, 16C) is intended to carry the yaw rotation transverse axis (A) of the spreader beam (20) 2) The main sling has a swivel (18) at one of its ends, which is connected to the lifting and moving machine (10) or to the spreader beam (20).
9. Method for lifting and moving a load (12) by means of a hanging anti-rotation device (14) according to any of claims 1 to 8, characterized in that it comprises the following steps:
-a fixing step (102) of the sling system (16A, 16B, 16C) of the suspension anti-rotation device (14) to the lifting and moving machine (10),
-a fixing step (104) of the suspension anti-rotation device (14) to the load (12),
-a lifting and moving step (106) of lifting and moving the load (12) towards the placement area by means of the lifting and moving machine (10), and
-a control step (108) of controlling the thrust means (28) of the spreader beam (20) to maintain it in a set direction of rotation about the yaw transversal axis (a) with respect to a reference frame associated with the lifting and moving machine (10) or with the ground, during the lifting and moving step (106) of the load (12) 2) And (4) limiting.
10. A method of lifting and moving a load (12) according to claim 9, characterised in that the load (12) is a pylon part of a cable transmission line and the lifting and moving machine (10) is a helicopter carrying a sling system (16A, 16B, 16C).
Technical Field
The present invention relates to a lifting and moving machine for lifting and moving a load, and to a swing preventing device for suspending the load. The invention also relates to a method for lifting and moving a load using such an anti-slewing device.
Background
The invention is particularly, but not exclusively, applicable to the field of high voltage line maintenance where buildings and cables are installed on continuous towers. Some jobs, for example, require the setting and installation of these towers. In view of the total weight of the pylon and the limited lifting capacity of the machines generally used for such operations, the pylon to be installed is designed as a plurality of individual parts to be installed, even to be fitted together, which are installed in succession in abutment with one another at the installation site. To this end, once the various components have been brought by road to the vicinity of the site, each section is assembled and then, typically using a crane such as a crane helicopter, a sling is suspended with its free end holding the section and lifting and moving each section. The first part of the pylon is positioned on the ground and each of the other parts is fitted to the previous one. One of the difficulties with this type of operation is controlling the orientation of each pylon portion when the first pylon portion is positioned above ground or one pylon portion is fitted to a previous pylon portion, which requires the provision of an anti-slewing device.
In general, the invention is applicable to any field where heavy loads must be lifted, moved and then placed with good directional control, whatever hoisting machine (helicopter, crane or other) is used.
A first solution, generally recommended, is the arrangement of the various parts of the tower, which involves lifting the load with a single electric sling, releasing it, providing a plurality of guide ropes fixed to the lower part of the load, for example four ropes fixed to the four corners of a rectangular part of the lower part, and the operator on the ground tightens the free ends of the ropes when the load is about to be placed. However, this solution requires the load and the presence of people in the vicinity of the lifting and moving machine, and is therefore difficult and time consuming to do. Furthermore, this is potentially dangerous, especially because, for safety reasons, in the case of a pylon section, if problems are encountered at a generally very restrictive stage of placement on the ground or on a previously arranged section, the load must be released by the helicopter at any time.
A second solution, particularly recommended in the arrangement of the pylon sections, involves providing a helicopter to accomplish this task, optionally with its own immovable device to rotate the hoisting load. In view of the safety constraints peculiar to helicopters, such helicopters, generally known as flying cranes, must be very specific and therefore very expensive. In addition, it is dedicated for lifting.
Another solution may involve the use of a sling system having a plurality of fixed points on the machine itself to limit the orientation of the load relative to the lifting and moving machine. For example, US6533220B2 recommends helicopters using such a sling system to lift and move loads. However, when it is possible to adapt to some not very heavy loads, such as a working basket, the operator takes with him the handling of the high voltage line section over a certain weight, such as the weight of a pylon section, which can be dangerous in view of the inertial stress of the load applied to the helicopter.
It would therefore be desirable to provide a load-suspending anti-slewing device that eliminates at least some of the problems and limitations described above.
Disclosure of Invention
Therefore, a hanging anti-rotation device is proposed for hanging a load under a lifting and moving machine for lifting and moving the load, having a sling system equipped with a fixing fixed to the lifting and moving machine, and also having a distancing beam having a main longitudinal axis and a yaw rotation transverse axis, the distancing beam having:
an upper fixing system fixed to the suspension cable system, designed to allow the distancing beam to be suspended by means of the suspension cable system under the lifting and moving machine with its main longitudinal axis substantially horizontal and with its transverse axis of rotation free about its deflection,
a lower fixing system fixed to the load, designed to allow driving the load by pivoting the transverse axis about its deflection by the distancing beam,
the spreader beam also has a propulsion device arranged to rotate the spreader beam on command, selectively in one direction or the other, about a yaw rotation transverse axis of the spreader beam when suspended from the lifting and moving machine by the hoist system.
The advantage of such an autonomously actuated anti-slewing device is that the operation, in particular the deployment of heavy loads using a helicopter, is safe and reliable without the need for an operator on the ground to come too close to the deployment site. In particular, the control of the yaw swivel of the load through the pitch beam, which itself is controllable in orientation, for example in accordance with remote control commands or in accordance with program control, ensures good control of the arrangement. Furthermore, the rotational freedom of the pitch beam about its yaw swivel transverse axis reduces the transmission of moments generated by the lifted and displaced loads to the lifting and displacing machine. Finally, it is simple to configure such anti-rotation devices, as long as the safety regulations of the helicopter are complied with, which are not specific to the mobile pylon segment.
Optionally, the pitch beam is designed as three sections extending longitudinally:
-a central portion having supply means for supplying power to the propulsion means, and
two side portions, which can be retracted against the central portion, have a propulsion member which propels by deflecting rotation, the propulsion member being electrically connected to the supply means of the central portion.
Also optionally, the propulsion device has an electric screw propulsion system arranged at a longitudinal end of the pitch beam.
It is also optional:
-a first auger of the propulsion device is arranged at a first end of the pitch beam, able to be activated according to a first rotation comprised between 4000 and 6000 revolutions per minute, rotating the pitch beam in a first deflection rotation direction, and
-a second auger of the propulsion device, arranged at a second end of the pitch beam, capable of being activated according to a second rotation comprised between 4000 and 6000 revolutions per minute, so that the pitch beam is activated in a second yaw rotation direction opposite to the first yaw rotation direction.
It is also optional that each auger of the propulsion device is arranged in a substantially cylindrical streamlined conduit about an axis orthogonal to both the main longitudinal axis and to the yaw rotation transverse axis of the distancing beam.
Optionally also, a guard grating is arranged at the inlet and outlet of each streamlined conduit.
Also optionally, the pitch beam has a visual indicator having at least three different visual states, indicating one operating state of the yaw angle control of the pitch beam from among at least three possible different operating states:
-a state in which the yaw angle control of the pitch beam is not activated,
-state of the yaw angle control of the spreader beam starting, but waiting for the angle control setting, and
-a state in which the deflection angle control of the pitch beam is activated according to the received set angle.
It is also optional that the main sling of the sling system is used to carry a deflecting swivel transverse axis of the pitch beam, the main sling having a swivel at one of its ends, the swivel being connected to the lifting and moving machine or to the pitch beam.
The invention also provides a method of lifting and moving a load using a hanging anti-rotation device, comprising the steps of:
-a fixing step of fixing the sling system of the suspension anti-rotation device to the lifting and moving machine,
-a fixing step of fixing the suspension anti-rotation device to the load,
-a lifting and moving step of lifting and moving the load towards the placement area by means of a lifting and moving machine, and
-a control step of controlling the thrust means of the spreader beam to maintain it in a set direction defined about the yaw rotation transverse axis with respect to a reference frame associated with the lifting and moving machine or with the ground during the lifting and moving steps of the load.
Alternatively, the load is a pylon portion of a cable transmission line and the lifting and moving machine is a helicopter carrying a sling system.
Drawings
The invention will be better understood from the following description, given purely by way of non-limiting example, with reference to the accompanying drawings, in which:
figure 1 schematically shows the general structure of an anti-rotation device for hanging loads according to one embodiment of the invention;
figure 2 schematically shows in detail the functional electromechanical components of the anti-rotation device shown in figure 1;
fig. 3 shows an exploded arrangement of the pitch beams of the anti-rotation device shown in fig. 1;
FIG. 4 shows successive steps of a method for lifting and moving a load using the anti-rotation device shown in FIG. 1;
figure 5 shows the successive steps of the operating method of the teleisolator of the anti-rotation device shown in figure 1; and
FIG. 6 shows the successive steps of the method of operation of the microcontroller of the anti-rotation device shown in FIG. 1.
Detailed Description
The apparatus shown schematically in figure 1 has a lifting and moving machine 10 such as a helicopter, a load 12 such as a pylon section of a high voltage cable transmission line, and an anti-rotation device 14 for suspending the load 12 beneath the lifting and moving machine 10.
The anti-rotation device 14 has a
More specifically, using the
More precisely, the second
In accordance with the general principles of the present invention, the
Finally, the
state in which the deflection angle controller of the
state in which the yaw angle control of the
The state in which the deflection angle controller of the
Now, the
According to a first possible embodiment, the
-a
a power supply battery charge level indicator 42 (for example in the form of a bar graph),
a
display setting angle α CThe screen (46) of the mobile terminal,
adjusting the set angle α displayed on the
-follow-
Such a
According to a simplified embodiment, the
The
More specifically, the
As shown in FIG. 3It is shown that the
As is evident from fig. 3, this configuration of the
Fig. 4 shows the successive steps of a method of lifting and moving a load, such as a pylon portion 12, using the anti-rotation device 14 described above.
During a
During
During
Then, during a
Finally, during a
In view of the loads carried and the safety requirements of any lifting and movement performed by the helicopter in such a procedure, it is preferable to follow the following control conditions:
selecting carbon fiber composite material for the construction of the
selecting
selecting an
-selecting a battery having a battery life of at least 5 hours during the control, maintaining a total voltage of 48 volts and a charge capacity of 100 ampere-hours: two lithium-iron-polonium batteries, each at 24 volts and having a total weight of about 50 kg, mounted in series are suitable.
Now, the operation of the
During a
The
After activation, the state of
Step 210 is an instruction step for the
Step 212 is a step of acting on the control indicator to instruct the angular control to stop starting. Thus, the control indicator is, for example, red.
The
The
Finally,
Of course, operation of the
Now, the operation of the
During a
Then, during a
If at least one of the
If only one of the
The
When the receiver 62 receives the information signal indicating the activation of the angle controller, the
During this
If the receiver 62 receives two angular values α
CAnd α
HThat means then that at the
During
It therefore performs the following calculations during step 316:
Δ=α P–(α H–α C) Wherein, α PIs the angular value provided by the electronic compass 64.
The
Once Δ exceeds the threshold, the
During
It therefore performs the following calculations during step 324:
Δ=α P–α Cwherein, α PIs the angular value provided by the electronic compass 64.
Thus, during a
Once Δ exceeds the threshold,
In addition, at any time between
It is clear that an anti-rotation device as described above allows the load to perform its own yaw rotation from a single fixed point fixed to the machine that lifts and moves it, without transmitting the moment generated by the load. In addition, the device is simple to design, adjust, use and maintain. It can also be more safely automatically placed in emergency by means of the
Furthermore, it should be noted that the present invention is not limited to the specific devices and embodiments described above.
In particular, one embodiment has been described in which
In general, it will be apparent to those skilled in the art that various changes can be made to the embodiments described above in accordance with the features described therein. In the following claims, the terms used should not be construed to be limited to the embodiments described in the specification, but should be construed to include all equivalent embodiments that the claims are intended to cover, within the scope of the description, those skilled in the art and having the benefit of the teachings of the present invention.
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