Device for controlling a load suspended from a rope

Description

[0001] The present invention relates to a device for controlling a load suspended from a rope.

[0002] Loads have always been moved by cranes. The load is usually suspended from at least one strand attached to the crane. The strand usually runs over pulleys on the crane, so that the length of the strand can be adjusted by a corresponding drive to move the load in a vertical direction. In the tangential direction, the load can usually be moved by rotating the crane. In the radial direction, the load is regularly moved by means of a trolley that can be moved horizontally or a luffing boom. In gantry and bridge cranes, movements take place in Cartesian spatial directions instead of radially and tangentially by moving a beam with a movable trolley on it. The strand usually has a hook at its free end, to which the load is usually detachably attached.

[0003] Typically, the aforementioned movements caused by the crane control system lead to spherical oscillations of the load, which can be dampened by an intelligent control system. Such intelligent control is referred to in technical jargon as "load sway damping."

[0004] Spherical pendulum oscillations of a load can also be caused by external disturbances, such as wind or shocks. This influence of external disturbances must also be considered for a crane and leads to spherical pendulum oscillations of the load occurring even with a fixed suspension point of the rope.

[0005] Conventional load sway damping focuses solely on the dynamics in the area between the hook and the suspension point of the rope. This ignores the fact that movement of the load, for example caused by wind or impacts on buildings, can also lead to a swaying motion of the load, which complicates load sway damping or reduces its effectiveness. The present invention aims to provide a holistic solution for stabilizing a load suspended from a rope, which also takes into account the interactions between the two aforementioned dynamics.

[0006] In addition, WO 2018 / 192675 A1 and US 2015 / 344271 A1 disclose devices for controlling a movable load suspended from a rope, in which the movable load has a compensation device that compensates for and prevents any unwanted movements of the load. The compensation device of US 2015 / 344271 A1 is also used to adjust the orientation of the load, with a control unit being provided that takes the control signals for aligning the load into account when compensating for unwanted movements.

[0007] Document WO 2018 / 192675 A1 discloses the features according to the preamble of claim 1.

[0008] An object of the present invention is therefore to improve the control over the position and movement of a load hanging on a strand in order to enable the controlled positioning and movement of an actuator.

[0009] To solve this problem, the present invention proposes a device having the features of claim 1.

[0010] The device according to the invention has a controllable actuator. This controllable actuator is an assembly robot. The device according to the invention has a control device which is intended to use control commands to control the actuator with regard to its movement, as well as to predict the resulting counterforces, moments and associated movements. This prediction is used to control a compensation device which is attached to the strand and can be regarded as part of the load. This compensation device compensates for or prevents the expected countermovement, usually at the same time as the actuator is actuated. The expected countermovement can be calculated or read from a memory which is also supplemented by artificial intelligence during operation, for example, and which determines actual countermovements when the actuator is actuated and incorporates them into the prediction of future countermovements.The balancing device can be any conceivable device, usually directly connected to the load, that can generate a balancing moment / force, usually several balancing moments acting orthogonally to each other. The balancing moment or force can be generated by a movable mass connected to the load, by an impulse, for example, a pulse generated by a fluid surge, by a robot connected to a balancing mass, or by a gyroscope. The aforementioned devices can also be connected to the load in combination. The corresponding balancing device is controlled via the control unit.Thus, the balancing device and the actuator are usually connected via a common control unit which, in the case of an assembly robot, controls its assembly movements and, in parallel and at the same time, causes the balancing device to hold the load in its position or to change it in space in a predetermined manner without being disturbed by the disturbances resulting from the assembly movements.

[0011] Due to this design, the device according to the invention completely or partially prevents the reaction movement of the load that would normally inevitably result when the actuator is actuated. This way, the load remains in its position, allowing the position of the load to be maintained accurately, even if at least one actuator is driven on the load.

[0012] The device according to the invention for controlling a load suspended from a strand preferably comprises a plurality of gyroscopes that can be coupled to the load to transmit a moment of force, wherein the moment of force can be generated by a rotation of a rotational axis of at least one of the gyroscopes, and a control unit connected to the gyroscopes for control purposes, by means of which the rotation of the rotational axis can be controlled such that a pendulum movement of the load can be compensated for and / or prevented and the load can be tilted and / or rotated about its suspension on the strand. The device can be integrated into a coupling element, for example a hook, for attaching the load to the strand. The device can thus be indirectly coupled to the load, for example by attaching the load to the coupling element with fastening elements, and the fastening elements transmitting the moment of force of the gyroscopes to the load.However, the device can also be coupled directly to the load, in particular connected to it in a rotationally fixed manner, so that the torque of the gyroscopes of the device is transferred directly to the load.

[0013] A strand within the meaning of the present invention is generally understood to be a rope, which is usually made of twisted or braided natural or synthetic fibers or wires. A rope is usually an elongated, tensile-resistant, elastic element. A strand within the meaning of the present invention can have a hook at its free end, to which the load is usually detachably attached. The hook can be connected to the strand in a torsion-resistant manner or via a pivot bearing. The hook can preferably be rotatable by at least 180°, very preferably by 360°, in the horizontal direction using the pivot bearing. A load within the meaning of the present invention can be a rigid component, for example a steel beam or a platform, a movable element, for example a living being or a robot, or a combination of a rigid component and a movable element.The present invention focuses in particular on freely hanging strands, so that a load attached to the strand is in principle capable of spherical pendulum movements.

[0014] Preferably, the device according to the invention is detachably connected to the load in a rotationally fixed manner. Further preferably, the device according to the invention is integrated into a platform, which can be attached, for example, to the hook of the rod by ropes, and wherein the platform supports the load or the load is attached to the platform.

[0015] A gyroscope according to the present invention comprises a rotor, a motor provided for rotating the rotor about a rotor axis, wherein the rotor axis is usually connected to the rotor in a rotationally fixed manner, a gyro frame, and a gyro frame rotation motor for rotating the gyro frame about a gyro frame axis, wherein the rotor is mechanically held in the gyro frame such that the rotor axis rotates upon rotation of the gyro frame. The gyro frame axis and the rotor axis are usually perpendicular to one another, such that rotation of the rotor axis of the rotating rotor generates a resultant torque in a third direction that is orthogonal to the gyro frame axis and the rotor axis. This resultant torque is usually transmitted to the device via the bearings rotating the gyro frame. The bearings can be held by a gyro frame support of the device, to which the load can be attached.A gyroscope according to the present invention can be designed as described in EP 0 675 824 B1. The fundamental relationship between the angular momentum of the rotor . h ⇀ , the angular velocity of the gyro frame ω ⇀ and the resulting torque τ ⇀ is given by the equation τ ⇀ = − ω ⇀ × h ⇀ If the angular momentum of the rotor h ⇀ orthogonal to the angular velocity of the gyro frame ω ⇀ is the resulting torque τ ⇀ In the third direction, it is proportional to the angular velocity of the gyro frame. The rotor's angular momentum is usually maintained at a constant value by the associated motor.

[0016] For example, "An attitude control and stabilization of an unstructured object using balancing beam, new construction machinery - 2001" describes a device equipped with a gyroscope for stabilizing the position of a load (steel girder) suspended from a rope. The gyroscope is oriented such that rotation of the gyroscope's axis of rotation exerts a vertical torque on the device, which is then transferred to the steel girder connected to the device. The rotation of the gyroscope's axis of rotation can be controlled via a remote control, allowing the steel girder to be rotated horizontally.

[0017] The device according to the present invention has a control unit that is control-linked to a plurality of gyroscopes. In particular, the control unit controls the resulting torque in the third direction by controlling the gyroscope frame rotation motor. The number of gyroscopes according to the present invention is at least two. One gyroscope can be arranged so that its resulting torque points in the vertical direction, and a second gyroscope can be arranged so that its resulting torque points in the horizontal direction. Thus, a load connected to the device can be tilted about a horizontal axis and the horizontal axis can be rotated about the vertical. This controlled change in position of the load can be controlled by the control unit such that a pendulum movement of the load can be compensated for and / or prevented.The control unit can communicate with an optical sensor and / or an acceleration sensor, whereby the sensor detects a pendulum movement of the load and / or receives information about an expected pendulum movement via an information interface. The control unit can communicate with a sensor for detecting wind conditions or a sensor or a camera for detecting the distance of the load from other objects, the signals from which can be evaluated by a logic unit of the control unit to predict an expected pendulum movement due to wind excitation or an impact. A sensor for detecting a change in the position of the center of gravity of the device and / or the load can also be provided and adapted to transmit signals to the control unit.

[0018] Since the control unit of the device according to the invention is designed to compensate for or prevent a pendulum movement of the load as well as to tilt and rotate the load about its suspension, the control over the position and movement of the load hanging on a strand can be improved compared to the prior art.

[0019] Preferably, the number of gyroscopes according to the present invention is at least three, with the resulting torques of a first, a second, and a third gyroscope typically pointing in mutually orthogonal spatial directions. Thus, a resulting total torque can be generated in any spatial direction at a given time. This allows for more efficient compensation or prevention of pendulum movements.

[0020] Particularly preferably, the number of gyroscopes according to the present invention is at least four. This makes it possible to avoid singularities. The sum of the angular momentum vectors of all gyroscopes can be changed in both orientation and magnitude by rotating their gyro frames. The change in the angular momentum vector generally corresponds to the resulting torque. The angular momentum of the gyroscopes and the arrangement of their gyro frame axes span a specific angular momentum space. Once the arrangement reaches the outer shell of the specific angular momentum space, the arrangement cannot develop any torque in certain directions. This is referred to as external singularities or saturation. Depending on the arrangement, further singularities arise within the specific angular momentum space, for example when several angular momentum vectors are parallel.

[0021] As long as the device has at least four gyroscopes arranged in a specific orientation relative to one another, the angular momentum of the gyroscopes can be modified such that no resulting total torque is generated. This opens up the possibility of setting the gyroscopes, in response to information about an expected pendulum motion, into a state in which the device according to the invention can compensate for or prevent the expected pendulum motion particularly efficiently. Preferably, four gyroscopes are arranged in a so-called pyramid configuration ("CMG pyramid array").

[0022] According to a preferred development of the present invention, the device is configured such that the load can be maintained in a position that does not correspond to the equilibrium position, in a force equilibrium. The equilibrium position is generally understood to be the position the load assumes when, apart from the weight force and the cable force compensating for the weight force, no other external forces act on the load. The equilibrium position is generally the position of the lowest possible potential energy, provided that the length of the strand is not changed. If the load is moved from this equilibrium position, a restoring force towards the equilibrium position is established. The rotors, the motors driving the rotors, the gyroscope frames, and the gyroscope frame rotation motors driving the gyroscope frames are preferably designed such that they can compensate for this restoring force.In this way, an equilibrium of forces can be established in a position of the load that does not correspond to the equilibrium position.

[0023] According to a further preferred development of the present invention, the load comprises a movable element, wherein the control unit is configured such that a countermovement of the load caused by a movement of the movable element can be compensated and / or prevented by controlling at least one of the gyroscopes. A movable element within the meaning of the application can be a living being, in particular a human, a robot, or another controllable actuator. As a rule, according to Newton's third law, every movement of the movable element results in a countermovement of the load. This countermovement can cause a pendulum oscillation of the load and must therefore be compensated or prevented in order to stabilize the position of the load.

[0024] The present development preferably focuses on persons to be lowered, who are to be protected against pendulum movements and whose range of action is to be increased, and particularly preferably on persons located on a platform and / or an actuator attached to the platform for carrying out a work step. The device can have a sensor that registers a movement of the movable element and sends its signals to the control unit, which evaluates these signals to compensate for and / or prevent a countermovement of the load by controlling at least one of the gyroscopes.

[0025] This allows the device to open up new possibilities for action and increase its radius of action after this further development.

[0026] The load preferably has a controllable actuator as a movable element, wherein the control unit is configured to use control commands from a control module for controlling the actuator to predict an expected countermovement of the load in order to compensate for and / or prevent the countermovement of the load by controlling at least one of the gyroscopes. The control module of the actuator can be designed as a separate module adapted for communication with the control unit or integrated into the control unit. As a rule, the control module is connected to at least one drive of the actuator for control purposes. The control module is usually designed to communicate with at least one sensor assigned to the actuator. A logic unit usually evaluates the control commands from the control module of the actuator.Preferably, the logic unit compares the control commands of the control module with a reaction plan stored in the control unit, from which the expected countermovement of the load can be derived. The reaction plan can be created in a secure environment by running through the possible control sequences of the actuator, by simulation in advance, by simulative prediction, and by detecting the respective countermovements of the load. Typically, the logic unit can predict or estimate the motor torques of at least one actuator drive and an associated expected countermovement based on the control commands of the control module and the reaction plan.

[0027] Further preferably, the movements of the controllable actuator are controllable in such a way that they supportively compensate for and / or prevent the pendulum movement of the load. This may be necessary if the pendulum movement of the load reaches a level that cannot be compensated for and / or prevented by the gyroscopes alone. Through communication between the control unit and the control module, the respective control commands for the control device are coordinated. The compensation device does not necessarily have to have a gyroscope.

[0028] According to a further preferred development of the present invention, the controllable actuator is designed such that a work step can be carried out by means of the actuator, the interaction moment of which on the load can be compensated by controlling at least one of the gyroscopes. A work step can in particular be considered to be the gripping, moving or fastening of objects or components, welding, pressing, spraying paint or the like. To carry out a work step, a force or a moment of force may be required. This force or moment of force can be generated by the drive of the actuator. According to Newton's third law, such a force or moment of force usually causes an interaction force moment, usually around the center of mass of the device, which can be compensated by controlling at least one of the gyroscopes.It is also conceivable that the moment of force or force required to execute the work step is generated by controlling at least one of the gyroscopes. Preferably, the forces or moments of force required for the work steps performed with the actuator are stored in the logic unit.

[0029] The device according to this embodiment thus enables automated work processes to be carried out in hard-to-reach locations. The device according to this preferred embodiment can be attached to a crane, for example, and is therefore particularly suitable for construction sites.

[0030] According to a further preferred development of the present invention, the device has a sensor for detecting an external disturbance, wherein the sensor signals can be transmitted to the control unit and evaluated by the control unit to compensate for and / or prevent the pendulum movement of the load by controlling at least one of the gyroscopes. An external disturbance within the meaning of the invention is generally an influence acting from outside on the system consisting of the device, string, load, and possibly crane. An external disturbance is, for example, wind, impacts with other items or objects, or manual pulling or pushing on the device.The control unit preferably communicates with a sensor for detecting wind conditions or a sensor for detecting the distance of the load from other objects. The signals from these sensors can be evaluated by a logic unit of the control unit to predict an expected pendulum motion due to wind excitation or an impact. The logic unit typically calculates a torque suitable for compensating for the expected pendulum motion, i.e., generally attenuating or preventing it. The control unit then preferably controls the gyroscopes at the time the pendulum motion is expected to begin.

[0031] According to a further preferred development of the present invention, the device comprises a sensor for detecting a pendulum movement of the load, wherein the signals can be transmitted to the control unit and evaluated by the control unit to compensate for and / or prevent the pendulum movement of the load by controlling at least one of the gyroscopes. The sensor according to this development can be an optical sensor or an acceleration sensor. Also conceivable is the inductive measurement of a strand deflection, the determination of a tensile direction on the strand using force sensors, and / or position determination using radar sensors.

[0032] According to a further preferred development of the present invention, the device comprises a sensor for detecting a position of the load relative to its suspension, wherein the signals can be transmitted to the control unit and evaluated by the latter. The sensor according to this development can be an optical sensor. Preferably, the device comprises a sensor gyroscope designed as a position sensor, wherein the gyro frame of the sensor gyroscope is generally connected to the load in a rotationally fixed manner, so that due to the conservation of angular momentum of the rotor of the sensor gyroscope, a change in the position of the load results in a change in the position of the rotor axis of the sensor gyroscope relative to the gyro frame.

[0033] According to a further preferred embodiment of the present invention, the device comprises a module for determining the inertia of the load based on a measured rotational speed of the load and a torque transmitted to the load by at least one of the gyroscopes. As is known, torque is the product of the moment of inertia and the angular acceleration. Typically, the device comprises a sensor for measuring the rotational speed. The inertia of the load determined by the module is generally transmitted to the control unit, which takes it into account when controlling the gyroscopes.

[0034] In a second aspect, the present invention provides a crane with a device according to the present invention, wherein the device can be designed as described above. According to this second aspect, the load is attached to the strand and the strand is attached to the crane. The crane is designed such that it can move the strand spatially. As a rule, the strand runs over a deflection pulley on the crane, so that the length of the strand can be adjusted by a corresponding drive in order to move the load in a vertical direction. In the tangential direction, the load can usually be moved by rotating a boom of the crane, which usually projects horizontally from a base of the crane, about a rotation axis of the crane. In the radial direction, the load can usually be moved by means of a trolley that can be moved in the horizontal direction or a luffing boom.In particular, the terms radial and tangential are to be understood with reference to a center point along a rotational axis of the crane. A crane according to the present invention can also be designed as a gantry or bridge crane, wherein the movements of the strand suspension take place Cartesian rather than cylindrical. Typically, the gantry or bridge crane for this purpose has a beam movable in a straight direction, which supports a trolley that is usually movable transversely to the direction of movement of the beam and along the beam. The strand usually has a hook at its free end, to which the load is usually releasably attached.

[0035] A load sway damping module of the crane according to the invention is configured to control a movement of the rope by means of control commands in such a way that a swaying movement of the load is compensated and / or prevented. The load sway damping of the load sway damping module can, in principle, be designed as known from the prior art. The load sway damping module of the crane is communicatively coupled to the control unit of the device, and the control commands of the load sway damping module for moving the rope are coordinated with the control unit's activation of at least one of the gyroscopes.

[0036] Preferably, a second trolley is provided on the boom or on the girder of the crane. At least one guide rope is usually attached to the second trolley, one end of which can be fastened to the device. The guide rope generally improves the stability of the device. In the case of a gantry or indoor crane, the second trolley can be provided on a second girder. Additionally or alternatively, one or more guide ropes can be stretched between a guide frame and the device, whereby the guide frame can usually be moved vertically along the crane tower by means of a cable pulley. The guide ropes are usually attached to the device platform. The length of the guide ropes can be changed via a deflection pulley on the trolley or the guide frame. A control system for the second trolley and / or the guide frame is generally integrated into the crane control system.

[0037] Further details and advantages of the present invention will become apparent from the following description of exemplary embodiments in conjunction with the drawings, in which: Figure 1 a)-d)side views of embodiments of a crane according to the invention, Figure 2a control flow diagram of the embodiment according to Figure 1 b) , c) or d) and Figure 3Side view of a crane with guide rope for stabilizing a freely suspended platform.

[0038] Fig. 1 a)depicts a bridge crane with an elongated beam 2, which is movable transversely to its longitudinal direction along a rail 4. The beam 2 carries on its underside a trolley 6, which is attached to the beam 2 so as to be movable along the longitudinal direction of the beam 2. The rail 4 is attached to a hall structure 8. A drive of the trolley and a drive of the beam are (not shown and) connected for control purposes to a crane control system (not shown).

[0039] One end of a steel cable 10 is attached to the trolley 6, and a device 12 is attached to the other end of the cable 10. The trolley 6 has a pulley 14 over which the cable 10 is guided and by means of which the length of the cable 10 can be varied below the trolley 6. The other end of the cable 10 has an eyelet 16, which forms a suspension point for the device 12 on the cable 10. The device 12 includes a platform 18 on which four gyroscopes are arranged as a "Single Gimbal Control Moment Gyroscope Roof Array." The gyroscopes each have a drive for their rotor and a drive for their gyro frame, which are arranged within a gyro frame support 20. The device 12 further includes a control unit (not shown) that is connected for control purposes to the drive of the gyro frames of the gyroscopes.If both the rotor and the gyroscope frame are driven, the gyroscopes generate a resulting torque, which is transmitted to the device via the gyroscope frame support 20, which is non-rotatably attached to a frame 22 of the platform. The frame 22 of the platform 18 is attached to the eyelet 16 by two steel cables 24, so that the device 12 can be rotated horizontally and pivoted relative to the horizontal using the resulting torque of the gyroscopes.

[0040] A load in the form of a steel beam 26 is rotationally fixedly coupled to the device 12. For this purpose, the device 12 has a holding frame 28 that clamps the steel beam 26 between them. The clamping is releasable after the steel beam has been moved to the desired location in the desired orientation.

[0041] The device 12 hangs together with the steel girder 26 and freely from the trolley 6 by means of the steel cable 10. Moving the girder 2 and the trolley 6 to bring the steel girder 26 to a specific location in the hall structure 8 therefore generally results in a pendulum movement of the device 12 together with the steel girder 26. The crane control system includes a load sway damping module that intelligently controls the travel movements of the girder 2 and the trolley 6 in order to dampen sway movements as much as possible. The load sway damping module of the crane control system communicates with the control unit of the device 12 so that the travel movements of the girder and the trolley and the control of the gyroscopes by the control unit are coordinated. The resulting torques of the gyroscopes support the load sway damping or, in conjunction with the crane control system, prevent sway movement.The communication between the crane control and the gyroscope control unit can be wired or wireless (e.g. via radio connection).

[0042] Fig. 1 b) represents a gantry crane, which basically works as in connection with Fig. 1 a) described. Identical components are provided with the same reference numerals. The difference to the gantry crane from Fig. 1 a) consists in the fact that the platform 18 has a movable robot arm 30 as a load on its underside instead of the holding frame 28 and the steel beam 26. The robot arm 30 is detachably attached to the platform 18 by means of a robot base with a flange 32. The robot arm 30 has several joints and, at its free end, has a tool 34 for machining a steel beam 26. A control module is connected for control purposes to a drive of the robot arm 30 and a drive of the tool 34.

[0043] Both movements of the robot arm 30 and the actions performed with the tool 34 typically result in the device 12 being moved out of equilibrium. This causes pendulum oscillations of the device 12 and the robot arm 30 attached to the device 12. The load sway damping module of the crane control communicates with the control unit of the device 12, which in turn communicates with the control module of the robot arm, so that the travel movements of the carrier and trolley, the control of the gyroscopes by the control unit, and the movements of the robot arm 30 are coordinated with one another. The resulting torques of the gyroscopes and the movements of the robot arm support the load sway damping or, in conjunction with the crane control, prevent a pendulum movement while the tool is performing an action.The communication between the gyroscope control unit, the crane control system, and the control module of the robot arm 30 can be wired or wireless (e.g., via a radio connection). Typically, the control unit of the device has a logic unit configured to predict or estimate the motor torques of the drive of the robot arm 30 and the drive of the tool 34, as well as the associated expected deviation of the device from the equilibrium position, based on the control commands of the control module and a reaction plan stored in the logic unit. Thus, the robot arm 30 with the tool 34 can perform manufacturing processes over a large workspace.

[0044] The Figure 1 c)depicts a top-slewing tower crane with a crane tower 38 and a boom 40 extending horizontally from the crane tower 38, with the supporting structure of the crane tower 38 and that of the boom 40 each being a lattice construction. A slewing gear 42 is located at the upper end of the crane tower 38, so that during rotational movements by the slewing gear 42, only the boom 40 and a counter-jib 44 opposite it are moved. The crane is controlled via a remote control (not shown) or from a crane cabin 46 located near the slewing gear 42.

[0045] A trolley 48 is movable along the boom 40. A steel cable 50 is attached to the trolley 48 and guided around a pulley of the trolley 48 in order to vary the length of the steel cable below the trolley 48. The lower end of the steel cable 50 has a hook 52 to which a device 12 is attached, which as in connection with Fig. 1b) described. Identical components are provided with the same reference numerals. Also on the device 12 according to Fig. 1 c) A robot arm 30 is attached, which can be moved under the control of a control module. A tool 54 is provided at the free end of the robot arm 30, which in this case is adapted to carry out work steps on an exterior wall 56 of a building 58.

[0046] Oscillations can be dampened, compensated for, or prevented as described above. The advantages of a top-slewing crane (large achievable radii and load capacities, minimal space requirements at the site, and large tower heights) can thus be combined with the benefits of industrial robots.

[0047] The Figure 1 d) represents a top-slewing tower crane, which, as in connection with Figure 1 c)described and to which a device 12 is attached, which is designed as described above. Identical components are provided with the same reference numerals. Attached to the underside of the platform 18 is a kinematic 60 controlled by a control module, which holds a glass plate 62 by applying a negative pressure to the glass plate 62 through suction cups 64. The robot 60 has a joint 66, by means of which the glass plate 62 can be pivoted. Thus, the glass plate 62 can be picked up from a storage location with the robot 60 attached to the device 12 and placed in Fig. 1 d) as indicated in a window of a building 58. Pendulum movements during transport or insertion of the glass plate can be dampened, compensated for, or prevented as described above.

[0048] The control unit of the device 12 according to the Figures 1 a) to d)is usually designed to communicate with sensors that detect deviations of the device from the equilibrium position or external disturbances, such as wind or collisions.

[0049] The Figure 2 The input variable referred to as crane path planning corresponds to the planned movement of the rope in space by means of the crane. This input variable is used by the load sway control module, referred to as the crane controller, to intelligently control the crane drives. The movement of the rope by means of the crane is recorded by crane sensors, whose signals are then input to the load sway control module.

[0050] The Figure 2The input variable referred to as target orientation corresponds to the desired position of the load at a specific location. This input variable is used by the control unit, known as the platform controller, to control the gyroscopes, known as CMGs, so that the load assumes the desired position at the specific location. The control unit takes the crane path planning into account. In this case, the gyroscopes are coupled to a platform to which a robot is attached. The platform with the robot forms the load.

[0051] The Figure 2The input variable referred to as process path planning corresponds to a desired movement or a desired action of the robot, which the robot executes under the control of a control module known as a kinematic controller. The control commands issued by the control module are taken into account as kinematic predictions by the control unit to control the gyroscopes. Platform sensors are assigned to the platform, and their signals are input into an inertia estimator and a motion model. The inertia estimator determines the inertia of the load based on the torque transferred to the load by the gyroscopes and a measured rotational speed of the load. The inertia of the load is in turn taken into account by the control unit to control the gyroscopes. The motion model, in turn, is input into the control module.

[0052] The control flow of the embodiment according to Figure 2illustrates the holistic solution for controlled movement and stabilization of a load. Since the dynamics of the crane, the dynamics of the rigid platform, and the dynamics of the moving robot influence each other, these are incorporated into the control unit's control of the gyroscopes. Thus, according to this exemplary embodiment, the crane compensates for or prevents a pendulum motion when transporting the load to a destination, when aligning the load at the destination, and during a controlled movement or action of the moving element of the load.

[0053] The Figure 3depicts a top-slewing crane with a crane tower 38, a slewing gear 42, a boom 40, a counter-jib 44 provided with weights, and a crane cabin 46. A trolley 68 is movably mounted along the boom 40. The trolley 68 has a hook 70 to which one end of a steel cable 72 is attached. The other end of the steel cable 72 is attached to a platform 18, which, as shown in the Figures 1 a) to d) In particular, the platform 18 can be part of a device 12 according to the invention, which in Fig. 3is not fully illustrated. Accordingly, the crane control system is usually communicatively connected to the control unit of the device 12. The control unit of the device 12 can in turn be communicatively connected to a control module of an actuator, which can preferably be attached to the underside of the platform 18. The crane tower 38 of the crane has a guide frame 74 that is movable along the crane tower 38 (see vertical double arrow) and to which a guide cable 76 is attached and guided over a deflection pulley 78 to change its length. The pulleys of a cable pull that changes the vertical position of the guide frame 74 are identified here by reference numeral 80. A control system for changing the length of the guide cable 76 and for changing the vertical position of the guide frame 74 is usually integrated into the crane control system. The guide cable 76 improves the positional stabilization of the platform 18. List of reference symbols 2 carrier 52 Hook 4 rail 54 Tool 6 trolley 56 exterior wall 8 Hall construction 58 Building 10 steel cable 60 kinematics 12 device 62 glass plate 14 pulley 64 suction cup 16 eyelet 66 joint 18 platform 68 trolley 20 Gyroscope frame 70 Hook 22 Frame 72 steel cable 24 steel cable 74 Guide frame 26 steel beams 76 guide rope 28 Holding frame 78 pulley 30 robot arm 80 cable pulley 32 Robot base with flange 34 Tool 38 crane tower 40 boom 42 Rotating gear 44 Counter jib 46 Crane bee 48 trolley 50 steel cable

Claims

1. Apparatus (12) for controlling a movable load suspended on a cord, characterized in that the movable load has a controllable actuator, which is an assembly robot, and a control unit is provided, which is configured to use control commands for controlling the actuator in order to predict a load countermovement to be expected, so as to compensate for and / or prevent the load countermovement by controlling at least one compensating device controlled by the control unit.

2. Apparatus (12) according to claim 1, characterized in that the compensating device comprises a plurality of gyroscopes, which are adapted to be coupled to the load in order to transmit a moment of force, the moment of force being generable by a rotation of an axis of rotation of at least one of the gyroscopes, and the control unit is connected in terms of control to the gyroscopes, so as to control the rotation of the axis of rotation in such a way that a pendulum movement of the load can be compensated for and / or prevented and the load can be tilted and / or rotated about its suspension.

3. Apparatus (12) according to claim 1 or 2, characterized in that the apparatus (12) is configured such that the load can be maintained in an equilibrium of forces at a position that does not correspond to the equilibrium position.

4. Apparatus (12) according to one of the preceding claims, characterized in that the movable element comprises a controllable actuator, the movements of which are controllable such that they supportively compensate for and / or prevent the pendulum movement of the load.

5. Apparatus (12) according to one of the preceding claims, characterized in that, by means of the actuator, a working step can be executed, whose moment of interaction on the load can be compensated for by controlling at least one of the gyroscopes.

6. Apparatus (12) according to one of the preceding claims, characterized by a sensor which is used for detecting an external disturbance variable and the signals of which can be transmitted to the control unit and can be evaluated by the latter for compensating for and / or preventing the pendulum movement of the load by controlling at least one of the gyroscopes.

7. Apparatus (12) according to one of the preceding claims, characterized by a sensor for detecting a pendulum movement of the load, the signals being adapted to be transmitted to the control unit and evaluated by the latter for compensating for and / or preventing the pendulum movement of the load by controlling at least one of the gyroscopes.

8. Apparatus (12) according to one of the preceding claims, characterized by a sensor for detecting a position of the load relative to its suspension, the signals being adapted to be transmitted to the control unit and evaluated by the latter.

9. A crane comprising an apparatus (12) according to one of the preceding claims, wherein the load is attached to the cord and the cord is attached to the crane and is movable in space by the crane.

10. The crane according to claim 9, characterized by a load-sway damping module configured for controlling a movement of the cord by means of positioning commands in such a way that a pendulum movement of the load is compensated for and / or prevented, and wherein the load-sway damping module of the crane is communicatively coupled to the control unit of the apparatus (12) and the positioning commands of the load-sway damping module for the movement of the rope can be coordinated with the controlling of the axis of rotation through the control unit.