[go: up one dir, main page]

WO2014076189A1 - Dispositif de rotation de charge - Google Patents

Dispositif de rotation de charge Download PDF

Info

Publication number
WO2014076189A1
WO2014076189A1 PCT/EP2013/073846 EP2013073846W WO2014076189A1 WO 2014076189 A1 WO2014076189 A1 WO 2014076189A1 EP 2013073846 W EP2013073846 W EP 2013073846W WO 2014076189 A1 WO2014076189 A1 WO 2014076189A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
load
rotating
rotating body
suspended
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2013/073846
Other languages
German (de)
English (en)
Inventor
Sebastian Repetzki
Christian FÖGER
Ronald Stärz
Peter Wimmer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MCI MANAGEMENT CENTER INNSBRUCK
Original Assignee
MCI MANAGEMENT CENTER INNSBRUCK
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 MCI MANAGEMENT CENTER INNSBRUCK filed Critical MCI MANAGEMENT CENTER INNSBRUCK
Priority to EP13802899.8A priority Critical patent/EP2920102B1/fr
Publication of WO2014076189A1 publication Critical patent/WO2014076189A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • 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
    • B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical

Definitions

  • 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.
  • 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.
  • a flywheel used for the orientation of crane loads according to the principle of angular momentum conservation was already proposed by L. Lawton in 1963 (see, for example, US 3,210,114), in which the rotational energy is supplied by cable from the crane
  • the flywheel is designed as a disc-shaped solid Drive motor is housed in a frame which is attached to the load.
  • 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.
  • the device according to the invention hereinafter also referred to as a rotary device or load 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.
  • the first problem is solved; no external power cables are needed.
  • the use of heavy accumulators can aggravate the second problem as the accumulator mass further reduces the carrying capacity of the crane.
  • 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.
  • a part of the motor for example the motor housing and / or a flange of the motor housing is fixedly connected to the flywheel, that the motor housing and / or the flange form part of the flywheel.
  • parts of the engine preferably high-mass parts of the engine, contribute to the mass moment of inertia of the flywheel.
  • only the motor shaft is in firm or 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 for a desired by the operator of the device number .Lastorienttechniken sufficient.
  • 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.
  • 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.
  • mechanical friction, wind and shocks change the total angular momentum of load and flywheel.
  • the rotation of the flywheel itself causes torques due to air friction.
  • the moment of inertia of a load is often not experienced by the crane operator, e.g. when containers are handled with changing loads.
  • 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.
  • 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.
  • 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.
  • 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. Kabein, 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.
  • a rotating device for rotating a load suspended on a suspension, wherein the rotating device is attachable to the suspension.
  • The preferably includes at least one motor, preferably an electric motor, the motor shaft in the suspended state is substantially vertically aligned (vertical) and is connected to the load, preferably rotatably connected, wherein the motor housing is connected to a rotatable rotary body (flywheel), preferably rotatably connected to the rotary body or the flywheel.
  • the rotary body is connected to an energy store, preferably firmly connected thereto.
  • the axis of the motor shaft coincides substantially with a main axis of inertia of the rotating body / flywheel, whereby rotational movement of the rotating body / flywheel is achieved without imbalance.
  • the rotational body can be divided into an inner region and an outer region with respect to its radial expansion.
  • at least 60% of the mass of the energy storage and / or the total mass of the flywheel are housed in this outdoor area.
  • 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 at least one energy storage is at least one element of the
  • the motor shaft is connected to the object / load, preferably via a
  • Rotation body is connected Wheellest.
  • the engine may also be considered
  • This generated stream may be in the at least one
  • Energy storage are stored at least partially.
  • the inventive load gyro may also preferably with at least one
  • the inventive load gyro can also at least one movable
  • the at least one movable additional mass can, for example, on a circular path about the axis of the
  • Flywheel / rotational body be movable, and / or radial to the axis of the
  • the load gyroscope according to the invention can also be provided with at least one additional sensor for detecting and / or measuring an imbalance of the rotary body.
  • the load gyro according to the invention also has a
  • 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.
  • a system with an operating element for controlling the load rotary gyroscope is also provided according to the invention.
  • a rate of rotation of the suspended load can be regulated.
  • the operating element is adapted to informing a user of the operating element of the current rate of rotation of the article / load and / or the rotational body.
  • 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.
  • a circuit in the control element by driving the motor may be present to automatically compensate for the detected rotation rate.
  • 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.
  • Fig. 1 shows a typical crane load, which is about a load rotary gyroscope for orienting
  • FIG. 2 shows an operating element according to the invention for controlling a load-rotation gyroscope according to the invention
  • Fig. 4 shows an embodiment according to the invention of a suspended load rotary gyro which is suitable for lifting harnesses without a fixed connection with the payload.
  • FIG. 1 shows a first embodiment according to 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.
  • 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.
  • a load rotary gyro 21 is attached to the load receiving means 16.
  • Figure 2 shows schematically an inventive control element 18 for controlling the rotating device according to the invention.
  • 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 principle of operation of the rotary device 1 according to the invention is based on the set of angular momentum conservation, which can be applied to the entirety of all components in FIG 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 rotary device according to the invention (also referred to in the application as a load rotary gyroscope) in a cross-sectional view.
  • the rotating device comprises a first connecting element for fixed connection to the load.
  • this first connecting element is a foot 3 1. which on the one hand with the load, on the other hand 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.
  • the rotational body 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. 3).
  • 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.
  • the interior area I is defined as the area comprising volume elements which have a distance smaller than 2 / 3R to the axis.
  • 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.
  • At least 60% of the mass of the energy storage and / or the total mass of the flywheel are housed in this outdoor area.
  • at least 70%, preferably at least 80%), preferably at least 90% of the mass of the energy store are mounted outdoors.
  • centrifugal forces generated during rotation are preferably absorbed by an outer ring 36.
  • This ring also contributes and 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, regulates and monitors these and all other processes in Last spinning top.
  • FIG. 4 shows a further preferred embodiment of the rotating device according to the invention, wherein like reference numerals describe like parts.
  • the load bearing is designed as lifting harness 51, which is connected via stop means 52 (ropes, chains) with the payload 53 in connection, the load rotary gyro can be advantageously also attached hanging 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

La présente invention concerne un dispositif de rotation ainsi qu'un procédé de rotation d'un objet suspendu à un système de suspension. Le dispositif de rotation peut être fixé au système de suspension, par exemple à un crochet de grue, et comprend au moins un moteur (34) dont l'arbre de moteur, dans l'état suspendu, est orienté sensiblement à la verticale et peut être relié à l'objet suspendu, tandis que le boîtier du moteur est relié à un corps de rotation qui peut tourner. Le corps de rotation (21) est solidaire d'un accumulateur d'énergie (35) et l'axe (46) de l'arbre de moteur coïncide sensiblement avec un axe d'inertie principal du corps de rotation. Pour obtenir un moment d'inertie du corps de rotation le plus grand possible, la partie principale de la masse de l'accumulateur d'énergie (35) est logée dans le corps de rotation dans une zone extérieure par rapport à l'extension radiale R.
PCT/EP2013/073846 2012-11-16 2013-11-14 Dispositif de rotation de charge Ceased WO2014076189A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP13802899.8A EP2920102B1 (fr) 2012-11-16 2013-11-14 Dispositif de rotation de charge

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012220975.1A DE102012220975A1 (de) 2012-11-16 2012-11-16 1Lastdrehkreisel
DE102012220975.1 2012-11-16

Publications (1)

Publication Number Publication Date
WO2014076189A1 true WO2014076189A1 (fr) 2014-05-22

Family

ID=49759260

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2013/073846 Ceased WO2014076189A1 (fr) 2012-11-16 2013-11-14 Dispositif de rotation de charge

Country Status (3)

Country Link
EP (1) EP2920102B1 (fr)
DE (1) DE102012220975A1 (fr)
WO (1) WO2014076189A1 (fr)

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10207903B2 (en) * 2013-10-24 2019-02-19 Torquer Limited Apparatus and method for controlling the orientation of a suspended load
CN110920897A (zh) * 2019-12-14 2020-03-27 赵海荣 一种飞行器救援吊舱及控制方法
CN114229693A (zh) * 2021-11-05 2022-03-25 三峡大学 自稳定装置、带有自稳定装置的吊罐及吊罐自稳定方法
US11535496B2 (en) * 2018-05-28 2022-12-27 Vita Inclinata Technologies, Inc. Device for stabilizing a hoisted object
US11620597B1 (en) 2022-04-29 2023-04-04 Vita Inclinata Technologies, Inc. Machine learning real property object detection and analysis apparatus, system, and method
US11746951B2 (en) 2019-02-26 2023-09-05 Vita Inclinata Ip Holdings Llc Cable deployment apparatus, system, and methods for suspended load control equipment
US11834305B1 (en) 2019-04-12 2023-12-05 Vita Inclinata Ip Holdings Llc Apparatus, system, and method to control torque or lateral thrust applied to a load suspended on a suspension cable
US11834174B2 (en) 2018-02-08 2023-12-05 Vita Inclinata Ip Holdings Llc Control of drone-load system method, system, and apparatus
US11926415B2 (en) 2018-02-08 2024-03-12 Vita Inclinata Ip Holdings Llc Long line loiter apparatus, system, and method
US11932402B2 (en) 2019-04-12 2024-03-19 Vita Inclinata Ip Holdings Llc State information and telemetry for suspended load control equipment apparatus, system, and method
US11992444B1 (en) 2023-12-04 2024-05-28 Vita Inclinata Ip Holdings Llc Apparatus, system, and method to control torque or lateral thrust applied to a load suspended on a suspension cable
US12145822B2 (en) 2018-02-08 2024-11-19 Vita Inclinata Ip Holdings Llc Integrated and modular suspended load control apparatuses, systems, and methods
US12246952B2 (en) 2018-02-08 2025-03-11 Vita Inclintata IP Holdings LLC Hoist and deployable equipment apparatus, system, and method
US12258145B2 (en) 2018-02-08 2025-03-25 Vita Inclinata Ip Holdings Llc Suspended load stability systems and methods
US12434813B2 (en) 2018-02-08 2025-10-07 Vita Inclinata Ip Holdings Llc Bidirectional thrust apparatus, system and method
US12459789B2 (en) 2019-11-25 2025-11-04 Vita Inclinata Ip Holdings Llc Coupling for suspended load control apparatus, system, and method

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NL2014838B1 (en) * 2015-05-21 2017-01-31 Kalkman Ip B V Rotator with crane hook for mounting to a crane.
SE541791C2 (en) * 2015-12-22 2019-12-17 Indexator Rotator Sys Ab Device for a jib-carried tool and a system thereof
US11603293B2 (en) 2016-12-22 2023-03-14 Vestas Wind Systems A/S Assembly for rotating a suspended load
DE102021124757A1 (de) 2021-09-24 2023-03-30 Liebherr-Werk Biberach Gmbh Kran

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3046046A (en) * 1958-12-22 1962-07-24 Mansaver Ind Inc Motor actuated rotary crane hook
GB993269A (en) 1962-04-27 1965-05-26 D & J Tullis Ltd Orientation means
US3210114A (en) 1963-11-21 1965-10-05 Lawton Lawrence Apparatus for orienting a suspended load
US3498476A (en) 1966-06-21 1970-03-03 Anderson Byggnads Ab Device for adjusting the position of a rotatably suspended object,especially a load suspended in a crane
DE2515178A1 (de) 1974-04-12 1975-10-23 Wawner Biro Ag Lastdreheinrichtung fuer krane
DE3234395A1 (de) 1982-09-16 1984-03-22 F.T. Industries Co., Ltd., Fukuyama, Hiroshima Funkgesteuerte, schwenkbare lasthakenanordnung
US4612494A (en) 1984-01-18 1986-09-16 Mitsubishi Denki Kabushiki Kaisha Flywheel energy storage system
US5071184A (en) * 1989-07-18 1991-12-10 Potain Motorized load rotation device with autonomous power supply for cable lifting mechanisms
WO1994011294A1 (fr) 1992-11-07 1994-05-26 Peter Mark Fido Dispositif pour orienter les charges
FR2719033A1 (fr) * 1994-04-26 1995-10-27 Symoens Georges Dispositif stabilisateur d'un crochet de suspension d'une charge d'un appareil de levage.
US5871249A (en) 1996-11-12 1999-02-16 Williams; John H. Stable positioning system for suspended loads
GB2467149A (en) 2009-01-23 2010-07-28 Engineering Agency Ltd Load Orientation Device

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3046046A (en) * 1958-12-22 1962-07-24 Mansaver Ind Inc Motor actuated rotary crane hook
GB993269A (en) 1962-04-27 1965-05-26 D & J Tullis Ltd Orientation means
US3210114A (en) 1963-11-21 1965-10-05 Lawton Lawrence Apparatus for orienting a suspended load
US3498476A (en) 1966-06-21 1970-03-03 Anderson Byggnads Ab Device for adjusting the position of a rotatably suspended object,especially a load suspended in a crane
DE2515178A1 (de) 1974-04-12 1975-10-23 Wawner Biro Ag Lastdreheinrichtung fuer krane
DE3234395A1 (de) 1982-09-16 1984-03-22 F.T. Industries Co., Ltd., Fukuyama, Hiroshima Funkgesteuerte, schwenkbare lasthakenanordnung
US4612494A (en) 1984-01-18 1986-09-16 Mitsubishi Denki Kabushiki Kaisha Flywheel energy storage system
US5071184A (en) * 1989-07-18 1991-12-10 Potain Motorized load rotation device with autonomous power supply for cable lifting mechanisms
WO1994011294A1 (fr) 1992-11-07 1994-05-26 Peter Mark Fido Dispositif pour orienter les charges
FR2719033A1 (fr) * 1994-04-26 1995-10-27 Symoens Georges Dispositif stabilisateur d'un crochet de suspension d'une charge d'un appareil de levage.
US5871249A (en) 1996-11-12 1999-02-16 Williams; John H. Stable positioning system for suspended loads
GB2467149A (en) 2009-01-23 2010-07-28 Engineering Agency Ltd Load Orientation Device

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10207903B2 (en) * 2013-10-24 2019-02-19 Torquer Limited Apparatus and method for controlling the orientation of a suspended load
US12145822B2 (en) 2018-02-08 2024-11-19 Vita Inclinata Ip Holdings Llc Integrated and modular suspended load control apparatuses, systems, and methods
US12434813B2 (en) 2018-02-08 2025-10-07 Vita Inclinata Ip Holdings Llc Bidirectional thrust apparatus, system and method
US12304779B2 (en) 2018-02-08 2025-05-20 Vita Inclinata Ip Holdings Llc On-board power and remote power for suspended load control apparatuses, systems, and methods
US12296952B2 (en) 2018-02-08 2025-05-13 Vita Inclinata Ip Holdings Llc Long line loiter apparatus, system, and method
US12258145B2 (en) 2018-02-08 2025-03-25 Vita Inclinata Ip Holdings Llc Suspended load stability systems and methods
US12246952B2 (en) 2018-02-08 2025-03-11 Vita Inclintata IP Holdings LLC Hoist and deployable equipment apparatus, system, and method
US11834174B2 (en) 2018-02-08 2023-12-05 Vita Inclinata Ip Holdings Llc Control of drone-load system method, system, and apparatus
US11926415B2 (en) 2018-02-08 2024-03-12 Vita Inclinata Ip Holdings Llc Long line loiter apparatus, system, and method
US12172752B2 (en) 2018-02-08 2024-12-24 Vita Inclinata Ip Holdings Llc Control of drone-load system method, system, and apparatus
US11535496B2 (en) * 2018-05-28 2022-12-27 Vita Inclinata Technologies, Inc. Device for stabilizing a hoisted object
US11746951B2 (en) 2019-02-26 2023-09-05 Vita Inclinata Ip Holdings Llc Cable deployment apparatus, system, and methods for suspended load control equipment
US11932402B2 (en) 2019-04-12 2024-03-19 Vita Inclinata Ip Holdings Llc State information and telemetry for suspended load control equipment apparatus, system, and method
US11834305B1 (en) 2019-04-12 2023-12-05 Vita Inclinata Ip Holdings Llc Apparatus, system, and method to control torque or lateral thrust applied to a load suspended on a suspension cable
US12371306B2 (en) 2019-04-12 2025-07-29 Vita Inclinata Ip Holdings Llc Apparatus, system, and method to control torque or lateral thrust applied to a load suspended on a suspension cable
US12459789B2 (en) 2019-11-25 2025-11-04 Vita Inclinata Ip Holdings Llc Coupling for suspended load control apparatus, system, and method
CN110920897B (zh) * 2019-12-14 2021-09-03 赵海荣 一种飞行器救援吊舱及控制方法
CN110920897A (zh) * 2019-12-14 2020-03-27 赵海荣 一种飞行器救援吊舱及控制方法
CN114229693A (zh) * 2021-11-05 2022-03-25 三峡大学 自稳定装置、带有自稳定装置的吊罐及吊罐自稳定方法
US11620597B1 (en) 2022-04-29 2023-04-04 Vita Inclinata Technologies, Inc. Machine learning real property object detection and analysis apparatus, system, and method
US11992444B1 (en) 2023-12-04 2024-05-28 Vita Inclinata Ip Holdings Llc Apparatus, system, and method to control torque or lateral thrust applied to a load suspended on a suspension cable

Also Published As

Publication number Publication date
EP2920102B1 (fr) 2018-01-03
EP2920102A1 (fr) 2015-09-23
DE102012220975A1 (de) 2014-05-22

Similar Documents

Publication Publication Date Title
EP2920102B1 (fr) Dispositif de rotation de charge
DE69000566T2 (de) Motorisierte vorrichtung zum umdrehen von lasten mit energie-selbstversorgung fuer kabel-hebegeraete.
EP2035276B1 (fr) Aéronef
EP3765396B1 (fr) Grue
EP2295209B1 (fr) Elément de levage pour la manipulation manuelle d'une charge
DE102011118548B4 (de) Gepäckbehälter für ein Flugzeug und Flugzeug mit dem Gepäckbehälter
DE3390346T1 (de) Verbessertes Schwebesystem zum Stützen und Transportieren von Geräten, etwa einer Kamera
DE2506160B2 (de) Windkraftwerk
DE102011088567A1 (de) Vorrichtung zur Erfassung der Bewegung einer Verdichterwalze eines Bodenverdichters
EP3061552B1 (fr) Dispositif de scie
DE60208929T2 (de) Propeller, propellerstabilisatoren und propeller verwendende fahrzeuge
CN110091984B (zh) 一种同轴双旋多翼的数字化可折叠旋翼传动机构
DE1940375C3 (de) Vorrichtung zum Drehen eines horizontalen, vertikal frei drehbar aufgehängten Lasttragrahmens um seine vertikale Achse
DE102011118550A1 (de) Gepäckablagefach für ein Flugzeug und Flugzeug mit dem Gepäckablagefach
EP3538785A1 (fr) Coupelle de support servant à un disque de frein, système de disque de frein
DE102017119355A1 (de) Selbständiges Aufrichten eines selbstbalancierenden Fahrzeuges
EP3953287B1 (fr) Dispositif pour la commande d'une charge suspendue à une corde
DE102020214021A1 (de) Verfahren zum Betrieb eines Kransystems und Kransystem
DE202016003232U1 (de) Mobiles Manipulatorsystem mit Kipppstabiliesierung
DE102013219279A1 (de) Lastbewegungsdämpfer und Hebevorrichtung für hängende Lasten
DE102013005509A1 (de) Unbemanntes Luftfahrzeug
DE102017114478A1 (de) Automatisches Lastpositionierungssystem für einen Hubschrauber mit einer Außenwinde
DE102017119354A1 (de) Selbständiges Aufrichten eines selbstbalancierenden Fahrzeuges
CN223479378U (zh) 一种森林火灾巡检无人机挂载结构
EP3795469A1 (fr) Aéronef et unité d'entrainement

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 13802899

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2013802899

Country of ref document: EP