• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
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  • 优先权
    • 专利摘要:
    This anti-gyratory device (14) for suspending a load (12) under a machine (10) for lifting and moving this load (12) comprises a sling system (16A, 16B, 16C) equipped with an element (18) for attachment to the machine (10). It further comprises a spacer beam (20), having a main longitudinal axis (A1) and a transverse axis (A2) of yaw rotation, comprising: a system (22A, 22B) for securing upper than the sling system (16A, 16B, 16C), designed to allow it to be suspended in a substantially horizontal disposition of its main longitudinal axis (A1) and free around its transverse axis (A2) under the machine (10) using the sling system (16A, 16B, 16C); a lower load fastening system (24A, 24B, 26A, 26B) adapted to allow the load (12) to be driven by the spreading beam (20) about its transverse axis (A2). The spreading beam (20) comprises propulsion means (28) arranged to engage its rotation, selectively in one direction or the other, about its transverse axis (A2) when suspended from the gear (10) via the sling system (16A, 16B, 16C).
    公开号:FR3068023A1
    申请号:FR1755782
    申请日:2017-06-23
    公开日:2018-12-28
    发明作者:David Ohayon；Stephane Moreau
    申请人:RTE Reseau de Transport dElectricite SA；
    IPC主号:
    专利说明:

    The present invention relates to an anti-rotating device for suspending a load under a machine for lifting and moving this load. It also relates to a method for lifting and moving a load using such an anti-gyratory device.
    It applies in particular, but not only, to the field of construction and maintenance of high voltage electricity transmission lines in which cables for transporting electrical energy are mounted on successive pylons. Certain operations require for example the installation and assembly of these pylons. Given the total weight of a pylon and the limited lifting capacities of a machine generally used for this type of operation, the pylon to be installed is designed in several independent sections to be mounted, or even to fit, successively on each other. others at the installation site. To do this, once the various elements have been brought close to the location by road, it is generally carried out to assemble each section, then to lift and move each section using 'A lifting device such as a wide-body helicopter to which is suspended a sling at the free end of which is fixed the section considered. The first section of pylon is placed on the ground and each other section is fitted onto the previous one. One of the difficulties of this kind of operation is to control the orientation of each section of pylon when placing it on the ground or on the previous one, hence the need to provide an anti-gyratory device.
    The invention applies more generally to any field in which a heavy load must be lifted, moved and then deposited with good control of its orientation, whatever the lifting device used (helicopter, crane or other).
    A first solution generally recommended, in particular with regard to the installation of sections of pylons, consists in lifting the load using an electric sling allowing its release and in providing several guide ropes hooked in the lower part of the load, for example four ropes at the four corners of a rectangular section of lower section, held in tension at their free ends by operators on the ground when the load is about to be deposited. However, this solution, requiring the presence of people in the vicinity of the load and of the lifting and displacement machine, proves to be delicate and time-consuming. It is also potentially dangerous, in particular because, for safety reasons in the case of a pylon section, that must be able to be dropped at any time by the helicopter in the event of a problem encountered in the generally very restrictive phase. of deposit on the ground or on the previously laid section.
    A second solution specifically recommended in the installation of pylon sections consists of providing a helicopter designed for this task, then possibly including its own non-removable means for rotating the lifted load. Given the security constraints specific to helicopters, such a helicopter, generally qualified as a flying crane, must be very specific and is therefore very expensive. It is also used exclusively for lifting.
    Another solution could be to constrain the orientation of the load with respect to the lifting and moving device using a system of slings with several fixing points on the device itself. This is for example what is recommended in US patent 6,533,220 B2 for lifting and moving by helicopter. But if this may be suitable for certain loads that are not too heavy, for example an intervention basket in which an operator installs to intervene on a portion of high-voltage power line, beyond a certain weight such as that of 'a section of a pylon, this becomes dangerous given the inertial stress of the load exerted on the helicopter.
    It may thus be desired to provide an anti-rotating load suspension device which makes it possible to overcome at least some of the aforementioned problems and constraints.
    It is therefore proposed an anti-rotating device for suspending a load under a lifting and moving machine for this load, comprising a sling system provided with an element for fixing to the lifting and moving machine, further comprising a spacer beam, having a main longitudinal axis and a transverse yaw rotation axis, this spacer beam comprising:
    - a system for fixing above the sling system, designed to allow it to be suspended in an essentially horizontal arrangement of its main longitudinal axis and free around its transverse axis of rotation in yaw under the lifting and displacement machine at using the sling system,
    a fixing system lower than the load, designed to allow the load to be driven by the spacer beam around its transverse axis of rotation in yaw, the spacer beam further comprising propulsion means arranged so as to engage its rotation on command, selectively in one direction or the other, around its transverse axis of rotation in yaw when it is suspended from the lifting and displacement device via the sling system.
    Such an autonomous anti-revolving device has the advantage of securing the heavy load laying operation, in particular using a helicopter, by not requiring the presence of operators on the ground in a neighborhood too close to the place of installation. In particular, controlling the yaw rotation of the load by means of the spacer beam, the orientation of which is itself controllable, for example by remote control or by programming, ensures good control of the laying. . In addition, the freedom in rotation of the spacer beam around its transverse yaw rotation axis makes it possible to reduce the transmission to the lifting and displacement machine of the moments generated by the inertia of the load lifted and displaced. Finally, it is simple to configure such an anti-revolving device so that it complies with the safety standards of helicopters not specifically designed for moving sections of pylons.
    Optionally, the spacer beam is designed in three portions extending longitudinally:
    a central portion comprising means for supplying electric power to the propulsion means, and
    - two lateral portions, retractable against the central portion, comprising elements of propulsion by rotation in yaw electrically connected to the supply means of the central portion.
    Also optionally, the propulsion means comprise a system of motorized propellers arranged at the longitudinal ends of the spacer beam.
    Optionally also:
    - A first propeller of the propulsion means, disposed at a first end of the spacer beam, can be activated according to a first rotation, between 4000 and 6000 revolutions / min, allowing rotation of the spacer beam in a first direction yaw rotation, and
    - A second propeller of the propulsion means, disposed at a second end of the spacer beam, can be activated according to a second rotation, between 4000 and 6000 revolutions / min, allowing rotation of the spacer beam in a second direction of yaw rotation opposite to the first direction.
    Also optionally, each propeller of the propulsion means is arranged in a substantially cylindrical fairing duct around an axis orthogonal to the main longitudinal axis and to the transverse axis of rotation in yaw of the spacer beam.
    Also optionally, a protective grid is arranged at the inlet and outlet of each fairing duct.
    Also optionally, the spacer beam is provided with a visual indicator with at least three different visual states indicating an operating state of an angular yaw control of the spacer beam among at least three different operating states. possible:
    - a state in which the angular yaw control of the spacer beam is not activated,
    - a state in which the angular yaw control of the spreader beam is activated but awaiting an angular control command, and
    - a state in which the yaw angle servo of the spacer beam is activated and subject to an angular instruction received.
    Also optionally, a main sling of the sling system, intended to carry the transverse yaw rotation axis of the spacer beam, comprises a swivel for connection, to the lifting and displacement machine or to the spacer beam, at one of its ends.
    A method is also proposed for lifting and moving a load using an anti-revolving suspension device according to the invention, comprising the following steps:
    - attachment of the sling system of the anti-revolving suspension device to the lifting and displacement machine,
    - attachment of the anti-revolving suspension device to the load,
    - lifting and moving the load to a depot area using the lifting and moving gear, and
    - during the step of raising and moving the load, controlling the means of propelling the spacer beam so as to maintain it in a set direction defined around the transverse axis of rotation in yaw with respect to a referential linked either to the lifting and displacement machine or to the ground.
    Optionally, the load is a section of pylon for electric power transmission lines and the lifting and displacement machine is a helicopter carrying the sling system.
    The invention will be better understood with the aid of the description which follows, given solely by way of example and made with reference to the appended drawings in which:
    - Figure 1 schematically shows the general structure of an anti-rotating load suspension device, according to one embodiment of the invention,
    FIG. 2 schematically and in detail represents the functional electromechanical elements of the anti-revolving device of FIG. 1,
    - Figure 3 illustrates a disassembled arrangement of a spacer beam of the anti-revolving device of Figure 1,
    FIG. 4 illustrates the successive stages of a method of lifting and moving a load using the anti-gyratory device of FIG. 1,
    FIG. 5 illustrates the successive stages of a method of operating a remote control of the anti-revolving device of FIG. 1, and
    - Figure 6 illustrates the successive stages of a method of operating a microcontroller of the anti-gyratory device of Figure 1.
    The installation shown diagrammatically in FIG. 1 comprises a lifting and displacement machine 10, for example a helicopter, a load 12, for example a pylon section for high-voltage electricity transmission lines by cable, and a device anti-roundabout 14 for suspending this load 12 under the lifting and displacement machine 10.
    The anti-revolving device 14 comprises a sling system 16A, 16B, 16C provided with an element 18 for fixing to the helicopter 10, for example a swivel 18. It further comprises a spacer beam 20, having a main longitudinal axis A! and a transverse axis of rotation in yaw A 2 . The spacer beam 20 itself comprises a first system 22A, 22B for upper attachment to the sling system 16A, 16B, 16C and a second system 24A, 24B for lower attachment to the pylon section 12.
    The first upper fixing system 22A, 22B is more precisely designed to allow the spacer beam 20 to be suspended in an essentially horizontal arrangement of its main longitudinal axis A! and free around its vertical transverse axis of rotation in yaw A 2 under the helicopter 10 using the sling system 16A, 16B, 16C: it is thus for example a system with two fixing hooks 22A and 22B arranged in the upper part of the spacer beam 20 and equidistant from the transverse axis of rotation in lace A 2 on either side of the latter. They are respectively hooked to two ends of two slings 16A and 16B of the sling system, these slings 16A and 16B being of the same length and joining at one end of a third main sling 16C whose other end is fixed to the 'swivel 18 under the helicopter 10. The horizontality of the spacer beam 20 is thus ensured by the common length of the two slings 16A and 16B and by the equidistance of the two hooks 22A and 22B to the axis A 2 . The freedom to rotate around the axis A 2 is allowed thanks to the swivel 18. For safety reasons, the slings 16A, 16B and 16C are advantageously sized to ensure a height of at least 20 meters between the point of attachment to the helicopter 10 and the spacer beam 20, for example 30 meters + / 10%. But in general, the dimensioning of the slings 16A, 16B and 16C depends on the configuration of the terrain, therefore on each situation. Note that many configurations are possible for the sling system and the arrangement of the swivel 18. Thus, alternatively, the swivel 18 could be arranged at the junction of the three slings 16A, 16B, 16C. Alternatively also, only two slings could be used, 16A and 16B, joining directly under the helicopter 10 at the swivel 18.
    The second lower fixing system 24A, 24B is more specifically designed to allow hooking with drive of the pylon section 12 by the spacer beam 20 around its transverse axis of rotation in yaw A 2 : this is thus for example of a system with two remote hooks 24A and 24B, the opening and closing of which are electrically activatable for release of the load on command. They are for example arranged in the lower part of the spacer beam 20 and equidistant from the transverse axis of rotation in lace A 2 on either side of the latter, in particular to ensure a certain balance of the anti-assembly roundabout. As illustrated in FIG. 1, they can also be slung, for example over 10 meters +/- 10% in height using two slings 26A and 26B extending vertically parallel to the axis A 2 , to facilitate the attachment of the pylon section 12 when the environment does not allow the spacer beam 20 to descend completely to the ground. But here again, the dimensioning of the slings 26A and 26B depends on the configuration of the terrain, therefore on each situation. Electric cables can run along the slings 16C, 16A, 16B,
    26A, 26B from the helicopter 10 to the two electric hooks 24A and 24B to ensure the possibility of actuation in opening and closing of the latter by the pilot. They are even often essential for security reasons. Also for safety, these cables are integrated into sheaths inside the slings because it is very important to protect them from damage.
    In accordance with a general principle of the present invention, the spacer beam 20 further comprises propulsion means 28 arranged so as to initiate its rotation on command, using a remote command 30 or by programming, selectively in one way or the other, around its transverse yaw rotation axis A 2 when it is suspended from the helicopter 10 via the sling system 16A, 16B, 16C. They more precisely comprise motorized propellers arranged at the two longitudinal ends of the spacer beam 20. At least one first propeller 32A is thus disposed at a first end of the spacer beam 20, on the same side as the hooks 22A and 24A with respect to axis A 2 . It is more precisely arranged in a first fairing duct 34A of essentially cylindrical shape around an axis orthogonal to the axes A! and A 2 . It can be activated according to a first rotation allowing rotation of the spacer beam 20 in a first anti-clockwise direction of yaw rotation. At least a second propeller 32B is also disposed at a second end of the spacer beam 20, on the same side as the hooks 22B and 24B relative to the axis A 2 . It is more precisely arranged in a second fairing duct 34B of essentially cylindrical shape around an axis orthogonal to the axes A! and A 2 . It can be activated according to a second rotation allowing rotation of the spacer beam 20 in a second clockwise direction of yaw rotation. The fairing conduits 34A, 34B fulfill a first function of guiding and optimizing the propulsion by increasing its energy efficiency. They also fulfill a protective function for the propellers 32A, 32B or operators on the ground, this second function can be advantageously reinforced by the presence of grids at the inputs and outputs of these conduits: this reduces the risk of collisions between foreign bodies and propellers or injuries to operators who may approach rotating propellers.
    Finally, the spacer beam 20 is provided with a visual indicator 36 with several different visual states, for example several different colors, indicating an operating state of an angular yaw control of the spacer beam 20 among several states. different operating modes possible.
    Optionally but advantageously, at least three operating states are provided:
    - a state in which the angular yaw control of the spreader beam 20 is not activated: the visual indicator 36 can indicate this state by the color red,
    a state in which the angular yaw control of the spreader beam 20 is activated but awaiting an angular control command: the visual indicator 36 can indicate this state by the orange color, and
    - A state in which the yaw angle servo of the spacer beam 20 is activated and subject to an angular instruction received: the visual indicator 36 can indicate this state by the color green.
    The propulsion means 28 of the spacer beam 20 as well as the remote control 30 will now be detailed with reference to FIG. 2.
    According to a first possible embodiment, the remote control 30 comprises:
    a switch 40 for energizing,
    an indicator 42 for the level of charge of a battery for supplying electrical energy (for example in the form of a bar graph),
    a mode selector 44, between a first mode of control of the orientation of the beam 20 in yaw with respect to an angular frame of reference linked to the helicopter 10 and a second mode of control of the orientation of the beam 20 in yaw with respect to an angular reference frame linked to the ground,
    a screen 46 for displaying a setpoint angle a c ,
    a dial 48 for adjusting the setpoint angle a c displayed on the screen 46, and
    - A servo control switch 50, to activate or deactivate an angular yaw servo of the spacer beam 20 relative to the set angle a c displayed.
    Such a command 30 can be made available to the pilot or a co-pilot of the helicopter 10, who has the choice between the first and second control modes depending on whether he loads, transports or deposits the pylon section 12 , or even transports the spacer beam 20 empty.
    According to a simplified variant, the control 30 may not include a mode selector 44 and operate only according to the second control mode. Such a simplified command can be made available to an operator on the ground.
    The propulsion means 28 functionally illustrated in FIG. 2 are integrated in the spacer beam 20. They comprise the first propeller 32A integrated in its fairing duct 34A, a first motor 52A for driving the first propeller 32A and a first variator 54A controlling the power of the first motor 52A. They also include the second propeller 32B integrated in its fairing duct 34B, a second motor 52B for driving the second propeller 32B and a second variator 54B controlling the power of the second motor 52B. Finally, they include an electronic control unit 56 designed to control the first and second variators 54A, 54B. The electronic control unit 56, the variators 54A, 54B and the motors 52A, 52B are supplied with electrical energy by one or more batteries 58 which are also integrated in the spacer beam 20.
    The electronic control unit 56 more precisely comprises a microcontroller 60 programmed to control the first and second variators 54A, 54B. It further comprises a receiver 62 of radio signals emitted by the remote control 30, this receiver 62 being connected to the microcontroller 60 to supply it with a servo signal, the set angle a c and, if necessary, the orientation in yaw of the longitudinal axis of the helicopter 10 relative to a reference frame linked to the ground. This orientation will be noted α Η . It also includes an electronic compass 64 allowing to know at all times the yaw orientation of the longitudinal axis A! of the spacer beam 20 relative to a reference frame linked to the ground. This orientation will be noted α Ρ . It further comprises an indicator 66 of charge level of the battery or batteries 58. Finally, it comprises a switch 68 for energizing.
    As illustrated in Figure 3, the spacer beam 20 is advantageously designed in three portions intended to extend longitudinally along the main axis A! when mounted and operational. A central portion 70 comprises the means for supplying electrical energy to the propulsion means 28, that is to say the battery or batteries 58. Two batteries 58 are illustrated in FIG. 3 and are for example mounted on guide rails , with access hatches and locking devices in position, in the central portion 70 for simplified installation or replacement manipulation. They are also thus protected against impact and the environment. The central portion 70 may also include the electronic control unit 56, the charge level indicator 66 of which may remain visible on the surface. A first lateral portion 72 is for example fixed by pivot link with the central portion 70 using a hinge, so that it can be retracted against the latter in the storage configuration. It includes for example the first variator 54A, the first motor 52A and the first propeller 32A in its fairing duct 34A. As a variant, the first lateral portion could be designed to be completely detachable from the central portion 70. A second lateral portion 74 is also for example fixed by pivot connection with the central portion 70 by means of a hinge, so as to be able to be retracted against the latter in storage configuration. It comprises for example the second variator 54B, the second motor 52B and the second propeller 32B in its fairing duct 34B. As a variant, the second lateral portion could also be designed to be completely separable from the central portion 70.
    As clearly shown in Figure 3, this configuration of the spacer beam 20 allows it to be stored in a very compact volume V, for example in the helicopter 10, before being mounted on the ground for later use. Given the optimal length of such a spacer beam 20 in use for mounting pylons carrying power lines, of the order of several meters, for example about 5 meters, this configuration in three retractable portions is really advantageous.
    FIG. 4 illustrates the successive stages of a process for lifting and moving a load, for example the pylon section 12, using the anti-gyratory device 14 described above.
    During a preliminary step 100, the spacer beam 20 is brought, for example by helicopter 10, and mounted on the place of lifting of the pylon section
    12. It is energized by actuation of its switch 68 and its battery charge level visible on the indicator 66 can then be checked. The sling system 16A, 16B, 16C is fixed to the spacer beam 20 by means of the hooks 22A and 22B to form the anti-revolving device 14.
    During a step 102, the sling system 16A, 16B, 16C is fixed to the helicopter 10, for example using the swivel 18.
    During a step 104, the anti-revolving device 14 is fixed to the pylon section 12 by means of the electric hooks 24A and 24B possibly slinged.
    Then, during a step 106 of lifting and moving the load, the helicopter 10 transports the pylon section 12 to a deposition area to place it on the ground or on another pylon section in this area. During this step, the propulsion means 28 of the spacer beam 20 can be controlled (step 108), using the remote control 30 or by programming, to maintain the spacer beam 20 in a set direction. defined around the transverse yaw rotation axis with respect to a frame of reference linked either to the helicopter 10 or to the ground. For example, during the lifting phase of the pylon section, the propulsion means 28 can be controlled to maintain the spacer beam 20 in the direction it presented on the ground, so as to prevent the pylon section 12 from turning on itself around the axis A 2 ; in the transport phase of the pylon section 12, or in the transport phase of the spacer beam 20 when empty, if necessary, the propulsion means 28 can be controlled to maintain the spacer beam 20 in the longitudinal axis of the helicopter 10 and thus reduce its lift; during the removal phase of the pylon section 12 on the ground or on another pylon section, the propulsion means 28 can be controlled to orient the spacer beam 20 and the pylon section 12 in the correct laying direction.
    Finally, during a last step 110, the pylon section 12 is deposited in the desired orientation by dropping by activating the opening of the electrical hooks 24A and 24B from a distance.
    Steps 104 to 110 which have just been described can be repeated for the complete assembly of a pylon made up of several sections. They are advantageously part of a conventional pylon mounting procedure, carried out from an assembly platform for mounting on a drop-off area.
    Given the loads to be carried and the safety requirements for any lifting and moving by helicopter in this type of procedure, the following constraints can advantageously be respected:
    - choice of carbon fiber composite materials for the reinforcement of the spacer beam 20 and its fairing conduits 34A, 34B, possibly even also for the propellers 32A, 32B, for an anti-gyratory assembly not exceeding 5 meters long, 150 kg and capable of carrying up to 4.5 tonnes of static load and 19 tonnes of dynamic load,
    - choice of motors 52A, 52B of power close to 15 kW or more, for a weight less than 2 kg each, allowing a thrust of more than 400 Newton in coupling with the propellers 32A, 32B,
    - choice of propellers 32A, 32B which can rotate from 4000 to 6000 revolutions / min, in which case the direction of rotation of such propellers cannot be reversed: this is not a problem provided that the propellers are operated alternately and never together ,
    - choice of batteries presenting at least 5 hours of autonomy in slaving, supporting a total voltage of 48 V and a charging capacity of 100 Ah: two batteries of 24 V each, of Li-Fe-Po type and whose total weight is about 50 kg, mounted in series, may be suitable.
    The operation of the remote control 30, in its variant including the mode selector 44, will now be detailed with reference to the flow diagram of FIG. 5.
    During a first step 200, this remote command 30 is entrusted to the pilot or to a co-pilot of the helicopter 10. It has a main indicator light indicating that it has been powered up and a control indicator light indicating activation or disabling the angular servo. These lights are currently off.
    The next step 202 is a step of waiting for the remote control 30 to be powered up using the switch 40. As long as it remains de-energized, the main indicator remains off and the general power supply is cut (step 204). As soon as the pilot or co-pilot acts on the switch 40, the remote control 30 is powered up, its main indicator lights up, the charge level indicator 42 is activated and a power-up information signal is transmitted to the receiver 62 of the electronic control unit (step 206).
    After power-up, the state of the mode selector 44 is tested during a step 208. If the mode selector 44 is in the first mode of control of the beam 20 in yaw with respect to a linked angular frame of reference in the helicopter 10, we pass to a series of steps 210 to 220. If the mode selector 44 is in the second mode of servo-control of the beam 20 in yaw with respect to an angular reference frame linked to the ground, we pass to a series of steps 222 to 232.
    Step 210 is a step of indicating that the remote control 30 is awaiting an angular servo setpoint. This can be done using a predetermined message, for example "STBY", on the display screen 46.
    Step 212 is a step of action on the indicator light so that it indicates the deactivation of the angular servo. The control light is thus for example red in color.
    The next step 214 is a step of waiting for action on the control control switch 50. As long as the pilot or co-pilot does not act on this switch 50, we remain on steps 210 and 212. As soon as the angular control is activated by action on the switch 50, we pass to a step 216 of action on the control light so that it indicates the activation of the angular servo. The control lamp thus changes for example to the color green and the setpoint angle a c displayed on the screen 46 is initialized to zero. An angular servo activation information signal is also transmitted to the receiver 62 of the electronic control unit 56.
    The following step 218 is a possible action step on the dial 48 to set a desired setpoint angle value a c , for example between -180 and +180 degrees relative to the zero angle initialized in step 216. As long as the servo is activated (green control lamp), the setpoint angle value a c chosen is regularly transmitted to the receiver 62 of the electronic control unit with the angular orientation a H of the helicopter 10 by compared to an angular frame of reference linked to the ground. It is thus possible to change the setpoint angle a c as often as desired. Note that this step requests an electronic compass on board the helicopter 10 to know its orientation at H.
    Finally, step 220 is a step of waiting for action on the servo control switch 50. As long as the pilot or co-pilot does not act again on this switch 50, we remain on step 218: for example during the whole course of a stage of transport and installation of a section of pylon. As soon as the angular servo-control is deactivated by action on the switch 50, for example once the pylon section 12 is deposited as desired, we return to step 210: the display on the screen 46 thus returns to the indication "STBY" and the control light changes to red.
    Steps 222 to 232 are respectively identical to steps 210 to 220 with the exception of step 230 which does not involve the transmission of the angular orientation a H of the helicopter 10 with respect to an angular reference frame linked to the ground.
    Obviously, the operation of the remote control 30 can be easily simplified on the basis of what has been detailed above if it does not include a mode selector for use by an operator on the ground.
    The operation of the microcontroller 60 of the control unit 56 of the anti-revolving device 14 will now be detailed with reference to the flow diagram of FIG. 6. This operation allows the use of several remote commands 30, with or without mode selector.
    During a first step 300, the electronic control unit 56 is powered up by action on the switch 68. This action triggers the visual indicator 36 to change to red (step 302) and the level indication charging the batteries 58 on the indicator 66.
    Then, during a test step 304, the microcontroller 60 performs a search to check whether at least one remote control 30 is powered up. If not, go back to step 302.
    If at least one remote control 30 is energized, we pass to another test step 306 during which the microcontroller 60 performs a search to check whether at least two remote controls 30 are energized. If this is the case, we return to step 302, the microcontroller 60 not accepting the simultaneous use of two or more activated remote commands.
    If one and only one remote control 30 is energized, we go to a step 308 for switching the visual indicator 36 to orange.
    The following step 310 is a step of waiting for reception of an angular control command. As long as the angular servo of the spacer beam 20 is not activated by action on the switch 50 of a remote control 30, the microcontroller 60 loops in steps 308 and 310.
    When the receiver 62 receives an information signal indicating the activation of the angular servo, the visual indicator 36 changes to green and a new test step 312 is passed.
    During this step 312, the microcontroller 60 checks whether the receiver 62 receives the set angle value a c alone or accompanied by the angular orientation a H from the helicopter 10.
    If the receiver 62 receives the two angular values a c and a H , then this means that the only remote control 30 activated is in the first mode of servo-control of the beam 20 in yaw with respect to an angular frame of reference linked to the helicopter 10 and the microcontroller 60 passes to the execution of a series of steps 314 to 320. If the receiver 62 receives only the setpoint angle value a c , then this means that the only remote control 30 activated is on the second mode of servo-control of the beam 20 in lace with respect to an angular reference frame linked to the ground and the microcontroller 60 proceeds to the execution of a series of steps 322 to 328.
    During step 314, the microcontroller 60 also passes into the first mode of servo-control of the beam 20 in yaw with respect to an angular frame of reference linked to the helicopter 10.
    As a result, it performs the following calculation during step 316:
    Δ = α Ρ - (a H - a c ), with a P the angular value provided by the electronic compass 64.
    Then, during the test step 318, the microcontroller 60 compares the result of its calculation Δ with a predetermined threshold value of angular tolerance, for example 5 degrees. As long as Δ remains below this threshold value, we return to step 316.
    As soon as Δ exceeds the threshold value, the microcontroller 60 goes to step 320 of actuation of one of the two propellers 32A and 32B for replacement of the spacer beam 20 in an orientation a P as close as possible to a H - a c .
    During step 322, the microcontroller 60 goes into the second control mode of the beam 20 in yaw with respect to an angular reference frame linked to the ground.
    As a result, it performs the following calculation in step 324:
    Δ = a P - a c , with a P the angular value provided by the electronic compass 64.
    Then, during the test step 326, the microcontroller 60 compares the result of its calculation Δ with the predetermined threshold value for angular tolerance. As long as Δ remains below this threshold value, we return to step 324.
    As soon as Δ exceeds the threshold value, the microcontroller 60 goes to step 328 of actuation of one of the two propellers 32A and 32B for replacing the spacer beam 20 in an orientation a P as close as possible to a c .
    Steps 320 and 328 can be followed by a respective return to steps 316 and 324, knowing in addition that at any time, the pilot, the co-pilot or the operator on the ground can change the setpoint angle a c to l using the wheel 48.
    Furthermore, at any time between steps 312 to 320 or 328, any action on the switch 50 of the activated remote control 30 causes the microcontroller 60 to return to step 308. Similarly, any action on the switch 40 of any of the remote commands 30 between steps 308 and 320 or 328 causes a return of the microcontroller 60 to step 302.
    It clearly appears that an anti-revolving device such as that described above makes it possible to control the yaw rotation on itself of a load from a single point of attachment to a machine for lifting and moving this load, without transmission of the moments generated by the load. The device is also simple to design, adjust, use and maintain. It also allows, thanks to the electric hooks 24A, 24B, an automatic release in emergency for more security. It is also relatively light, autonomous in electrical energy consumption and can be operated remotely from the lifting and moving machine or from the ground. No human presence is therefore necessary near the load. Finally, it is easy to design so as not to disturb the electrical devices of a carrier vehicle such as a helicopter.
    It should also be noted that the invention is not limited to the embodiment and to the variants described above.
    In particular, an embodiment has been detailed according to which the propulsion means 28 are actuated using one or more remote controls 30. But another embodiment could provide for a prior recording of one or more angles setpoint a c , for example in the form of GPS coordinates (from the English “Global Positioning System”), directly in the microcontroller 60. In this case, the control of the propulsion means 28 can be envisaged at least in part by programming.
    It will more generally appear to those skilled in the art that various modifications can be made to the embodiments described above, in the light of the teaching which has just been disclosed to him. In the claims which follow, the terms used should not be interpreted as limiting the claims to the embodiments set out in the present description, but should be interpreted to include all the equivalents which the claims aim to cover by virtue of their formulation and whose forecasting is within the reach of those skilled in the art by applying his general knowledge to the implementation of the teaching which has just been disclosed to him.
    权利要求:
    Claims (10)
    [1" id="c-fr-0001]
    1. Anti-revolving device (14) for suspending a load (12) under a machine (10) for lifting and moving this load (12), comprising a sling system (16A, 16B, 16C) provided an element (18) for fixing to the lifting and displacement machine (10), characterized in that it further comprises a spacer beam (20), having a main longitudinal axis (Afl and an axis transverse (A 2 ) of yaw rotation, comprising:
    a system (22A, 22B) for upper attachment to the sling system (16A, 16B, 16C), designed to allow it to be suspended in an essentially horizontal arrangement from its main longitudinal axis (Afl and free around its transverse axis ( A 2 ) yaw rotation under the lifting and displacement machine (10) using the sling system (16A, 16B, 16C), a lower fixing system (24A, 24B, 26A, 26B) to the load (12), designed to allow the load (12) to be driven by the spacer beam (20) around its transverse axis (A 2 ) of yaw rotation, and in that the spacer beam (20) comprises propulsion means (28) arranged so as to engage its rotation on command, selectively in one direction or the other, around its transverse axis (A 2 ) of rotation in yaw when it is suspended at the lifting and displacement machine (10) via the sling system (16A, 16B, 16C).
    [2" id="c-fr-0002]
    2. Anti-revolving suspension device (14) according to claim 1, in which the spacer beam (20) is designed in three portions (70, 72, 74) extending longitudinally:
    a central portion (70) comprising means (58) for supplying electrical energy to the propulsion means (28), and two lateral portions (72, 74), retractable against the central portion (70), comprising elements (32A , 52A, 54A, 32B, 52B, 54B) of yaw rotation propulsion electrically connected to the means (58) for supplying the central portion (70).
    [3" id="c-fr-0003]
    3. Anti-revolving suspension device (14) according to claim 1 or 2, in which the propulsion means (28) comprise a system of motorized propellers (32A, 52A, 32B, 52B) arranged at the longitudinal ends of the beam spacer (20).
    [4" id="c-fr-0004]
    4. Anti-revolving suspension device (14) according to claim 3, in which:
    a first propeller (32A) of the propulsion means (28), disposed at a first end of the spacer beam (20), can be activated according to a first rotation, between 4000 and 6000 rpm, allowing rotation of the spacer beam (20) in a first direction of yaw rotation, and a second propeller (32B) of the propulsion means (28), arranged at a second end of the spacer beam (20), can be activated according to a second rotation, between 4000 and 6000 revolutions / min, allowing rotation of the spacer beam (20) according to a second direction of rotation in yaw opposite to the first direction.
    [5" id="c-fr-0005]
    5. Anti-revolving suspension device (14) according to claim 3 or 4, in which each propeller (32A, 32B) of the propulsion means (28) is arranged in a fairing duct (34A, 34B) essentially cylindrical around 'an axis orthogonal to the main longitudinal axis (Afi and to the transverse axis (A 2 ) of yaw rotation of the spacer beam (20).
    [6" id="c-fr-0006]
    6. Anti-revolving suspension device (14) according to claim 5, in which a protective grid is arranged at the inlet and outlet of each fairing duct (34A, 34B).
    [7" id="c-fr-0007]
    7. Anti-revolving suspension device (14) according to any one of claims 1 to 6, in which the spacer beam (20) is provided with a visual indicator (36) with at least three different visual states indicating an operating state of an angular yaw control of the spacer beam (20) among at least three different possible operating states:
    a state in which the angular yaw control of the spacer beam (20) is not activated, a state in which the angular yaw control of the spacer beam (20) is activated but awaiting d 'An angular servo setpoint, and a state in which the angular yaw servo of the spacer beam (20) is activated and subjected to an angular setpoint received.
    [8" id="c-fr-0008]
    8. Anti-gyratory suspension device (14) according to any one of claims 1 to 7, in which a main sling (16C) of the sling system (16A, 16B, 16C), intended to carry the transverse axis (A 2 ) for rotation in yaw of the spacer beam (20), comprises a swivel (18) for connection, to the lifting and displacement device (10) or to the spacer beam (20), at one of its ends.
    [9" id="c-fr-0009]
    9. A method of lifting and moving a load (12) using an anti-revolving suspension device (14) according to any one of claims 1 to 8, comprising the following steps:
    fixing (102) of the sling system (16A, 16B, 16C) of the anti-rotation device (14) of suspension to the lifting and displacement device (10), fixing (104) of the anti-rotation device (14) of suspension from the load (12), lifting and moving (106) of the load (12) to a deposition area using the lifting and moving device (10), and during step (106) lifting and moving the load (12), control (108) of the propulsion means (28) of the spacer beam (20) so as to maintain it in a set direction defined around the transverse axis (A 2 ) of yaw rotation with respect to a frame of reference linked either to the lifting and displacement machine (10), or to the ground.
    [10" id="c-fr-0010]
    10. A method of lifting and moving a load (12) according to claim 9, wherein the load (12) is a pylon section for power lines by cable and the lifting and moving machine. (10) is a helicopter carrying the sling system (16A, 16B, 16C).
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    同族专利:
    公开号 | 公开日
    CN110785372A|2020-02-11|
    EP3642149A1|2020-04-29|
    CN110785372B|2021-01-01|
    WO2018234670A1|2018-12-27|
    CN112744358A|2021-05-04|
    FR3068023B1|2020-05-15|
    CA3064480A1|2018-12-27|
    US20200087121A1|2020-03-19|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE2356504A1|1973-11-13|1975-05-15|Krupp Gmbh|Crane load handling tackle - has fans at ends of span to counteract any tendency to swing by generating thrust|
    JPH04256686A|1991-02-06|1992-09-11|Ishikawajima Harima Heavy Ind Co Ltd|Suspending device|
    EP0825106A1|1996-03-15|1998-02-25|Aktsionernoe Obschestvo Zakrytogo Tipa " Aerinn"|Device for hauling felled trees by helicopter|
    JPH10305989A|1997-03-07|1998-11-17|Daisue Kensetsu Kk|Directional control lifting sling|FR3106572A1|2020-01-24|2021-07-30|Cedric Barnier|NON-CONTACT FLOOR LIFTING DEVICE|JPH04256656A|1991-02-07|1992-09-11|Victor Co Of Japan Ltd|Thermal transfer recording device and method for supplying and discharging sheet to/from the device|
    DE19950405C2|1999-10-20|2001-11-22|Ecms Aviat Systems Gmbh|Device for attaching a load to a helicopter|US10906783B2|2017-08-25|2021-02-02|Columbia Helicopters, Inc.|Load placement system|
    US20200407061A1|2019-06-28|2020-12-31|The Boeing Company|Deployable clasping systems and methods|
    法律状态:
    2018-12-28| PLSC| Publication of the preliminary search report|Effective date: 20181228 |
    2019-06-19| PLFP| Fee payment|Year of fee payment: 3 |
    2020-06-11| PLFP| Fee payment|Year of fee payment: 4 |
    2021-04-16| CA| Change of address|Effective date: 20210311 |
    2021-06-10| PLFP| Fee payment|Year of fee payment: 5 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1755782|2017-06-23|
    FR1755782A|FR3068023B1|2017-06-23|2017-06-23|ANTI-GIRATORY DEVICE AND LIFTING, SUSPENSION AND MOVEMENT OF A LOAD|FR1755782A| FR3068023B1|2017-06-23|2017-06-23|ANTI-GIRATORY DEVICE AND LIFTING, SUSPENSION AND MOVEMENT OF A LOAD|
    PCT/FR2018/051441| WO2018234670A1|2017-06-23|2018-06-18|Anti-rotation device and method for lifting, suspending and moving a load|
    EP18737676.9A| EP3642149A1|2017-06-23|2018-06-18|Anti-rotation device and method for lifting, suspending and moving a load|
    US16/616,039| US20200087121A1|2017-06-23|2018-06-18|Anti-rotation device and method for lifting, suspending and moving a load|
    CA3064480A| CA3064480A1|2017-06-23|2018-06-18|Anti-rotation device and method for lifting, suspending and moving a load|
    CN201880040223.7A| CN110785372B|2017-06-23|2018-06-18|Anti-slewing device and method for lifting, suspending and moving loads|
    CN202011588114.4A| CN112744358A|2017-06-23|2018-06-18|Anti-slewing device and method for lifting, suspending and moving loads|
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