Anti-rotation device and method for lifting, suspending and moving a load

Description

[0001] The present invention relates to an anti-rotation device for suspending a load under a lifting and moving device. It also relates to a method for lifting and moving a load using such an anti-rotation device.

[0002] It applies particularly, but not exclusively, to the field of construction and maintenance of high-voltage power transmission lines in which electrical power cables are mounted on successive pylons. Certain operations, for example, require the installation and erection of these pylons. Given the total weight of a pylon and the limited lifting capacity of the equipment generally used for this type of operation, the pylon to be installed is designed in several independent sections to be assembled, or even joined together, successively on the installation site.To accomplish this, once the various components have been transported by road to the vicinity of the installation site, each section is typically assembled, then lifted and moved using a lifting device such as a large-lift helicopter. A sling is suspended from the sling, and the section in question is attached to its free end. The first pylon section is lowered to the ground, and each subsequent section is then fitted onto the previous one. One of the challenges of this type of operation is ensuring the correct orientation of each pylon section when it is lowered to the ground or placed on top of the previous one, hence the need for an anti-rotation device.

[0003] The invention applies more generally to any field in which a heavy load must be lifted, moved and then placed with good control of its orientation, regardless of the lifting equipment used (helicopter, crane or others).

[0004] A common first solution, particularly for installing pylon sections, involves lifting the load using an electric sling that allows for its release. Several guide ropes are attached to the underside of the load, for example, four ropes at the four corners of a rectangular section of the lower part of the pylon, held under tension at their free ends by operators on the ground when the load is about to be lowered. However, this solution, requiring personnel to be near both the load and the lifting and moving equipment, is delicate and time-consuming. Furthermore, it is potentially dangerous, especially because, for safety reasons in the case of a pylon section, it must be able to be released at any time by the helicopter should a problem arise during the generally very demanding grounding phase or on the previously installed section.

[0005] A second solution specifically recommended for installing pylon sections involves using a helicopter designed for this task, possibly equipped with its own fixed means for rotating the lifted load. Given the inherent safety constraints of helicopters, such a helicopter, generally referred to as a flying crane, must be highly specialized and is therefore very expensive. Furthermore, it is used exclusively for lifting.

[0006] Another solution could be to constrain the load's orientation relative to the lifting and moving equipment using a sling system with multiple attachment points on the equipment itself. This is, for example, what is recommended in US patent 6,533,220 B2 for lifting and moving by helicopter. However, while this may be suitable for some relatively light loads, such as an access basket in which an operator sits to work on a section of high-voltage power line, beyond a certain weight, such as that of a section of pylon, it becomes dangerous due to the inertial stress exerted by the load on the helicopter.

[0007] An anti-rotation device according to the preamble of claim 1 is known from document JP H10 305989 A.

[0008] It may therefore be desirable to provide an anti-rotation load suspension device which makes it possible to overcome at least some of the aforementioned problems and constraints.

[0009] Therefore, an anti-rotation device is proposed for suspending a load under a lifting and moving device for that load, comprising a sling system with a fastening element for the lifting and moving device, further comprising a spreader beam, having a main longitudinal axis and a transverse axis of yaw rotation, this spreader beam comprising: a fastening system 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 yaw rotation under the lifting and moving equipment using the sling system, a fastening system below the load, designed to allow the load to be driven by the spreader beam around its transverse axis of yaw rotation, the spreader 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 moving equipment via the sling system.

[0010] According to the invention, the spreader beam is provided with a visual indicator with at least three different visual states indicating an operating state of a yaw angular control of the spreader beam among at least three different possible operating states: a state in which the yaw angular control of the spread beam is not activated, a state in which the yaw angular control of the spread beam is activated but waiting for an angular control command, and a state in which the yaw angular control of the spread beam is activated and subject to a received angular command.

[0011] Such an autonomous anti-spin device offers the advantage of securing heavy load placement operations, particularly when using a helicopter, by eliminating the need for ground operators in close proximity to the placement site. Specifically, controlling the load's yaw rotation via the spreader beam, whose orientation can itself be controlled, for example, remotely or through programming, ensures precise placement control. Furthermore, the spreader beam's freedom of rotation around its transverse yaw axis reduces the transmission of moments generated by the inertia of the lifted and moved load to the lifting and moving equipment. Finally, it is easy to configure such an anti-spin device to comply with the safety standards for helicopters not specifically designed for moving pylon sections.

[0012] Optionally, the spreader beam is designed in three longitudinally extending sections: a central portion comprising means for supplying electrical energy to the propulsion means, and two lateral portions, retractable against the central portion, comprising yaw-rotation propulsion elements electrically connected to the power supply means of the central portion.

[0013] Optionally, the propulsion system also includes a system of motorized propellers arranged at the longitudinal ends of the spreader beam.

[0014] Also optional: a first propeller of the propulsion means, disposed at a first end of the spread beam, is activable according to a first rotation, between 4000 and 6000 rpm, allowing a rotation of the spread beam in a first direction of rotation in yaw, and a second propeller of the propulsion means, disposed at a second end of the spread beam, is activable according to a second rotation, between 4000 and 6000 rpm, allowing a rotation of the spread beam in a second direction of rotation in yaw opposite to the first direction.

[0015] Optionally, each propeller of the propulsion means is also arranged in a fairing duct essentially cylindrical around an axis orthogonal to the main longitudinal axis and to the transverse axis of yaw rotation of the spreader beam.

[0016] Optionally, a protective grille is also placed at the inlet and outlet of each fairing duct.

[0017] Optionally, a main sling of the sling system, intended to carry the transverse axis of yaw rotation of the spreader beam, includes a swivel for connecting to the lifting and moving equipment or to the spreader beam at one of its ends.

[0018] A method for lifting and moving a load using an anti-rotation suspension device according to the invention is also proposed, comprising the following steps: attachment of the sling system of the anti-rotation suspension device to the lifting and moving equipment, attachment of the anti-rotation suspension device to the load, lifting and moving of the load to a storage area using the lifting and moving equipment, and during the lifting and moving of the load stage, control of the propulsion means of the spreader beam so as to maintain it in a defined set direction around the transverse axis of yaw rotation relative to a reference frame linked either to the lifting and moving equipment or to the ground.

[0019] Optionally, the load is a section of pylon for cable power lines and the lifting and moving device is a helicopter carrying the sling system.

[0020] The invention will be better understood with the aid of the following description, given solely by way of example and made with reference to the accompanying drawings in which: there figure 1 schematically represents the general structure of an anti-rotation load suspension device, according to one embodiment of the invention, the figure 2 schematically and in detail represents the functional electromechanical elements of the anti-rotation device of the figure 1 , there figure 3 illustrates a disassembled arrangement of a spreader beam from the anti-rotation device of the figure 1 , there figure 4 illustrates the successive stages of a lifting and moving process for a load using the anti-rotation device of the figure 1 , there figure 5 illustrates the successive steps in the operating procedure of a remote control of the anti-rotation device of the figure 1 , and the figure 6 illustrates the successive stages of a microcontroller's operating process for the anti-rotation device. figure 1 .

[0021] The installation is shown schematically on the figure 1 includes a lifting and moving device 10, for example a helicopter, a load 12, for example a section of pylon for high voltage power cable transmission lines, and an anti-rotation device 14 for suspending this load 12 under the lifting and moving device 10.

[0022] The anti-rotation device 14 includes a sling system 16A, 16B, 16C equipped with a helicopter attachment element 18, for example a swivel 18. It further includes a spreader beam 20, having a main longitudinal axis A1 and a transverse yaw rotation axis A2. The spreader beam 20 itself includes a first attachment system 22A, 22B above the sling system 16A, 16B, 16C and a second attachment system 24A, 24B below the pylon section 12.

[0023] The first upper fixing system 22A, 22B is more specifically designed to allow the spreader beam 20 to be suspended in an essentially horizontal arrangement from its main longitudinal axis A 1 and free around its vertical transverse yaw axis 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 spreader beam 20 and equidistant from the transverse yaw axis A 2 on either side of the latter. They are respectively attached 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 the other end of which is fixed to the swivel 18 under the helicopter 10.The horizontality of the spreader beam 20 is ensured by the common length of the two slings 16A and 16B and by the equidistance of the two hooks 22A and 22B from axis A2. Freedom of rotation around axis A2 is permitted by 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 attachment point to the helicopter 10 and the spreader beam 20, for example, 30 meters + / -10%. However, in general, the sizing of the slings 16A, 16B, and 16C depends on the terrain configuration, and therefore on each specific situation. It should be noted that many configurations are possible for the sling system and the arrangement of the swivel 18. Thus, as an alternative, the swivel 18 could be arranged at the junction of the three slings 16A, 16B, 16C.Alternatively, only two slings could be used, 16A and 16B, joining directly under the helicopter 10 at the swivel 18.

[0024] The second lower attachment system 24A, 24B is specifically designed to allow the pylon section 12 to be hooked and driven by the spreader beam 20 around its transverse yaw axis A2. For example, it is a system with two spaced hooks 24A and 24B whose opening and closing can be electrically activated for load release on command. These hooks are, for example, positioned on the lower part of the spreader beam 20 and equidistant from the transverse yaw axis A2 on either side of it, notably to ensure a certain balance of the anti-rotation assembly. As illustrated in the figure 1 They can also be slung, for example over a height of 10 meters + / - 10%, using two slings 26A and 26B extending vertically parallel to axis A2, to facilitate the attachment of the pylon section 12 when the environment does not allow the spreader beam 20 to be fully lowered to the ground. However, the dimensions of slings 26A and 26B depend on the terrain configuration, and therefore on each specific situation. Electrical cables can run along slings 16C, 16A, 16B, 26A, and 26B from the helicopter 10 to the two electrical hooks 24A and 24B to allow the pilot to open and close them. These cables are often essential for safety reasons. For safety reasons, these cables are integrated into sheaths inside the slings because it is very important to protect them from any damage.

[0025] In accordance with a general principle of the present invention, the spreader beam 20 further comprises propulsion means 28 arranged to initiate rotation on command, using a remote control 30 or by programming, selectively in one direction or the other, around its transverse yaw axis A2 when suspended from the helicopter 10 via the sling system 16A, 16B, 16C. More specifically, they comprise motorized propellers arranged at the two longitudinal ends of the spreader beam 20. At least one first propeller 32A is thus arranged at a first end of the spreader beam 20, on the same side as the hooks 22A and 24A with respect to the axis A2. More precisely, it is arranged in a first fairing duct 34A, essentially cylindrical in shape, around an axis orthogonal to the axes A1 and A2.It can be activated by a first rotation allowing the spreader beam 20 to rotate in a first counterclockwise direction of yaw. At least one second propeller 32B is also located at a second end of the spreader beam 20, on the same side as the hooks 22B and 24B with respect to axis A2. More precisely, it is located in a second fairing duct 34B, essentially cylindrical in shape, around an axis orthogonal to axes A1 and A2. It can be activated by a second rotation allowing the spreader beam 20 to rotate in a second clockwise direction of yaw. The fairing ducts 34A and 34B perform a primary function of guiding and optimizing propulsion by increasing its energy efficiency.They also serve a protective function for propellers 32A, 32B or ground operators, this second function being advantageously reinforced by the presence of grids at the inlets and outlets of these conduits: this reduces the risk of collisions between foreign bodies and propellers or of injury to operators likely to approach rotating propellers.

[0026] Finally, the spreader beam 20 is equipped with a visual indicator 36 with several different visual states, for example, several different colors, indicating one of the operating states of the yaw control system of the spreader beam 20 among several possible operating states. Optionally, but advantageously, at least three operating states are provided: a state in which the yaw angular control of the spacing beam 20 is not activated: the visual indicator 36 can indicate this state by the color red, a state in which the yaw angular control of the spacing beam 20 is activated but waiting for an angular control command: the visual indicator 36 can indicate this state by the color orange, and a state in which the yaw angular control of the spacing beam 20 is activated and subject to a received angular command: the visual indicator 36 can indicate this state by the color green.

[0027] The propulsion means 28 of the spreader beam 20 and the remote control 30 will now be detailed with reference to the figure 2 .

[0028] According to a first possible embodiment, the remote control 30 comprises: a power switch 40, a charge level indicator 42 for an electrical power supply battery (for example in the form of a bar graph), a mode selector 44, between a first mode of yaw control of the beam 20 orientation relative to an angular reference linked to the helicopter 10 and a second mode of yaw control of the beam 20 orientation relative to an angular reference linked to the ground, a display screen 46 for a setpoint angle α C, a dial 48 for adjusting the setpoint angle α C displayed on the screen 46, and a control switch 50, to activate or deactivate angular yaw control of the spread beam 20 relative to the displayed setpoint angle α C.

[0029] Such a control 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 is loading, transporting or dropping off the pylon section 12, or even transporting the spreader beam 20 empty.

[0030] According to a simplified variant, control 30 may not include a mode selector 44 and may operate only in the second control mode. Such a simplified control may be made available to a ground operator.

[0031] The means of propulsion 28 are functionally illustrated on the figure 2 are integrated into the spreader beam 20. They include the first propeller 32A integrated into its fairing duct 34A, a first motor 52A for driving the first propeller 32A, and a first variable speed drive 54A controlling the power of the first motor 52A. They also include the second propeller 32B integrated into its fairing duct 34B, a second motor 52B for driving the second propeller 32B, and a second variable speed drive 54B controlling the power of the second motor 52B. Finally, they include an electronic control unit 56 designed to control the first and second variable speed drives 54A and 54B. The electronic control unit 56, the variable speed drives 54A and 54B, and the motors 52A and 52B are powered by one or more batteries 58, also integrated into the spreader beam 20.

[0032] The electronic control unit 56 specifically includes a microcontroller 60 programmed to control the first and second drives 54A, 54B. It also includes a radio signal receiver 62 for signals transmitted by the remote control 30. This receiver 62 is connected to the microcontroller 60 to provide it with a control signal, the setpoint angle αC, and, if applicable, the yaw direction of the longitudinal axis of the helicopter 10 relative to a ground-based reference frame. This direction will be denoted αH. Furthermore, it includes an electronic compass 64 that allows the yaw direction of the longitudinal axis A1 of the spreader beam 20 relative to a ground-based reference frame to be determined at any given time. This direction will be denoted αP. It also includes a charge level indicator 66 for the battery(ies) 58. Finally, it includes a power switch 68.

[0033] As illustrated on the figure 3 The spreader beam 20 is advantageously designed in three sections intended to extend longitudinally along the main axis A1 when assembled and operational. A central section 70 contains the electrical power supply for the propulsion means 28, i.e., the battery or batteries 58. Two batteries 58 are illustrated on the figure 3 and are, for example, mounted on guide rails, with access hatches and locking devices in position, in the central section 70 for simplified handling during installation or replacement. They are also thus protected against impacts and the environment. The central section 70 can also include the electronic control unit 56, whose charge level indicator 66 can remain visible on the surface. A first lateral section 72 is, for example, attached to the central section 70 by a pivot joint using a hinge, so that it can be folded against the latter in the storage configuration. It includes, for example, the first drive 54A, the first motor 52A, and the first propeller 32A in its fairing duct 34A. Alternatively, the first lateral section could be designed to be completely detachable from the central section 70.A second lateral section 74 is also, for example, attached to the central section 70 by means of a hinge via a pivot joint, so that it can be folded against the latter in storage configuration. It includes, for example, the second speed controller 54B, the second motor 52B, and the second propeller 32B in its fairing duct 34B. Alternatively, the second lateral section could also be designed to be completely detachable from the central section 70.

[0034] As clearly shown by figure 3 This configuration of the 20mm spreader beam allows it to be stored in a very compact volume V, for example in the helicopter 10, before being assembled on the ground for subsequent use. Given the optimal length of such a 20mm spreader beam for use in erecting pylons supporting power lines, on the order of several meters, for example approximately 5 meters, this three-section retractable configuration is truly advantageous.

[0035] There figure 4 illustrates the successive stages of a process for lifting and moving a load, for example the pylon section 12, using the anti-rotation device 14 described previously.

[0036] In a preliminary step 100, the spreader beam 20 is brought in, for example by helicopter 10, and assembled at the lifting point of the pylon section 12. It is energized by activating its switch 68, and its battery charge level, visible on the indicator 66, can then be checked. The sling system 16A, 16B, 16C is attached to the spreader beam 20 using hooks 22A and 22B to form the anti-rotation device 14.

[0037] During step 102, the sling system 16A, 16B, 16C is attached to the helicopter 10, for example using the swivel 18.

[0038] During step 104, the anti-rotation device 14 is fixed to the pylon section 12 using the electrical hooks 24A and 24B, possibly sling-mounted.

[0039] Next, during a lifting and load-moving step 106, the helicopter 10 transports the pylon section 12 to a drop zone to place it on the ground or on another pylon section in that zone. During this step, the propulsion means 28 of the spreader beam 20 can be controlled (step 108), using the remote control 30 or by programming, to maintain the spreader beam 20 in a defined set direction around the transverse yaw axis of rotation relative to a reference frame 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 spreader beam 20 in the direction it presented on the ground, so as to prevent the pylon section 12 from rotating on itself around the axis A 2; during the transport phase of the pylon section 12, or during the transport phase of the empty spreader beam 20 if necessary, the propulsion means 28 can be controlled to maintain the spreader beam 20 in the longitudinal axis of the helicopter 10 and thus reduce its lift; during the placement phase of the pylon section 12 on the ground or on another pylon section, the propulsion means 28 can be controlled to orient the spreader beam 20 and the pylon section 12 in the correct direction of placement.

[0040] Finally, during a final step 110, the pylon section 12 is dropped in the desired orientation by releasing it by remotely activating the opening of the electrical hooks 24A and 24B.

[0041] 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 fit advantageously into a conventional pylon assembly procedure, carried out from an assembly platform for assembly in a dismantling area.

[0042] Given the loads to be carried and the safety requirements for any lifting and movement 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 spreader beam 20 and its fairing ducts 34A, 34B, possibly also for the propellers 32A, 32B, for an anti-rotation assembly not exceeding 5 meters in length, 150 kg, and capable of carrying up to 4.5 tonnes of static load and 19 tonnes dynamic load; choice of motors 52A, 52B with a power output close to or greater than 15 kW, weighing less than 2 kg each, providing a thrust of more than 400 Newtons when coupled with the propellers 32A, 32B; choice of propellers 32A, 32B capable of rotating from 4000 to 6000 rpm, in which case the direction of rotation of such propellers cannot be reversed: this does not pose a problem provided that the propellers are operated alternately and never simultaneously; choice of batteries with at least 5 hours of autonomy in servo mode, supporting a total voltage of 48 V and a load capacity of 100 A.h: Two 24V Li-Fe-Po batteries, with a total weight of approximately 50 kg, connected in series, may be suitable.

[0043] The operation of remote control 30, in its variant including mode selector 44, will now be detailed with reference to the flowchart of the figure 5 .

[0044] During the first stage 200, this remote control 30 is entrusted to the pilot or a co-pilot of the helicopter 10. It has a main indicator light showing that it is powered on and a control light indicating the activation or deactivation of the angular control. These lights are currently off.

[0045] The next step, 202, is a waiting stage for the remote control 30 to be powered on using switch 40. As long as it remains off, the main indicator light remains off and the main power supply is cut off (step 204). As soon as the pilot or co-pilot operates switch 40, the remote control 30 powers on, its main indicator light illuminates, the charge level indicator 42 activates, and a power-on information signal is transmitted to the receiver 62 in the electronic control box (step 206).

[0046] 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 yaw control mode of the beam 20 relative to an angular reference frame linked to the helicopter 10, a series of steps 210 to 220 are performed. If the mode selector 44 is in the second yaw control mode of the beam 20 relative to an angular reference frame linked to the ground, a series of steps 222 to 232 are performed.

[0047] Step 210 is an indication step that the remote control 30 is awaiting an angular control command. This can be done using a predetermined message, for example "STBY", on the display screen 46.

[0048] Step 212 is an action step on the control indicator so that it signals the deactivation of the angular control. The control indicator is then, for example, red.

[0049] The next step, 214, is a waiting step for action on the servo control switch 50. As long as the pilot or co-pilot does not act on this switch 50, steps 210 and 212 remain. As soon as the angular control is activated by pressing switch 50, the process proceeds to step 216, which activates the control indicator to show that the angular control is enabled. The control indicator then changes, for example, to green, and the setpoint angle αC displayed on the screen 46 is initialized to zero. An activation signal for the angular control is also transmitted to the receiver 62 in the electronic control unit 56.

[0050] The following step, 218, involves using the dial 48 to set a desired setpoint angle αC, for example, between -180 and +180 degrees relative to the zero angle initialized in step 216. As long as the servo system is activated (green indicator light), the selected setpoint angle αC is regularly transmitted to the receiver 62 of the electronic control unit, along with the angular orientation αH of the helicopter 10 relative to a ground-fixed angular reference frame. This allows the setpoint angle αC to be changed as often as desired. Note that this step uses an electronic compass onboard the helicopter 10 to determine its orientation αH.

[0051] Finally, step 220 is a waiting phase for action on the servo control switch 50. As long as the pilot or co-pilot does not act on this switch 50 again, the system remains in step 218: for example, throughout the entire transport and installation phase of a pylon section. As soon as the angular servo control is deactivated by acting on switch 50, for example, once the pylon section 12 is deployed as intended, the system returns to step 210: the display on screen 46 then reverts to "STBY" and the control indicator returns to red.

[0052] Steps 222 to 232 are respectively identical to steps 210 to 220 except for step 230 which does not involve the transmission of the angular orientation α H of the helicopter 10 relative to a ground-linked angular reference frame.

[0053] Obviously, the operation of the remote control 30 can be easily simplified based on what has been detailed above if it does not include a mode selector for use by a ground operator.

[0054] The operation of the microcontroller 60 of the control box 56 of the anti-rotation device 14 will now be detailed with reference to the flowchart of the figure 6 This operation allows the use of several remote commands 30, with or without a mode selector.

[0055] In a first step 300, the electronic control unit 56 is switched on by action of the switch 68. This action triggers the visual indicator 36 to turn red (step 302) and the indication of the charge level of the batteries 58 on the indicator 66.

[0056] Next, during a test step 304, the microcontroller 60 performs a search to check if at least one remote control 30 is powered on. If not, it returns to step 302.

[0057] If at least one remote control 30 is powered on, the process proceeds to another test step 306, during which the microcontroller 60 performs a search to verify if at least two remote controls 30 are powered on. If so, the process returns to step 302, as the microcontroller 60 does not allow the simultaneous use of two or more activated remote controls.

[0058] If one and only one remote control 30 is powered on, we proceed to a step 308 of the visual indicator 36 turning orange.

[0059] The following step 310 is a waiting step for the reception of an angular control command. As long as the angular control of the spacing beam 20 is not activated by action on the switch 50 of a remote control 30, the microcontroller 60 loops through steps 308 and 310.

[0060] When receiver 62 receives an information signal indicating the activation of angular control, the visual indicator 36 turns green and a new test step 312 is initiated.

[0061] During this step 312, the microcontroller 60 checks whether the receiver 62 receives the setpoint angle value αC alone or accompanied by the angular orientation αH of the helicopter 10.

[0062] If the receiver 62 receives both angular values ​​αC and αH, then this means that the single activated remote control 30 is in the first yaw control mode of the beam 20 relative to an angular reference frame linked to the helicopter 10, and the microcontroller 60 proceeds to the execution of a series of steps 314 to 320. If the receiver 62 receives only the setpoint angle value αC, then this means that the single activated remote control 30 is in the second yaw control mode of the beam 20 relative 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.

[0063] During step 314, the microcontroller 60 also switches to the first control mode of the yaw beam 20 relative to an angular reference frame linked to the helicopter 10.

[0064] Consequently, it performs the following calculation during step 316: Δ = α P - (α H - α C ), with α P the angular value provided by the electronic compass 64.

[0065] Next, during test step 318, the microcontroller 60 compares the result of its calculation Δ to a predetermined threshold value for angular tolerance, for example 5 degrees. As long as Δ remains below this threshold value, the process returns to step 316.

[0066] As soon as Δ exceeds the threshold value, the microcontroller 60 moves to step 320 of actuation of one of the two helices 32A and 32B for a replacement of the spreader beam 20 in an orientation α P as close as possible to α H - α C.

[0067] During step 322, the microcontroller 60 switches to the second control mode of the yaw beam 20 relative to an angular reference frame linked to the ground.

[0068] Consequently, it performs the following calculation during step 324: Δ = α P - α C , with α P the angular value provided by the electronic compass 64.

[0069] Next, during test step 326, the microcontroller 60 compares the result of its calculation Δ to the predetermined threshold value of angular tolerance. As long as Δ remains below this threshold value, the process returns to step 324.

[0070] As soon as Δ exceeds the threshold value, the microcontroller 60 moves to step 328 of actuation of one of the two helices 32A and 32B for a replacement of the spreader beam 20 in an orientation α P as close as possible to α C.

[0071] Steps 320 and 328 can be followed by a return to steps 316 and 324 respectively, bearing in mind that at any time the pilot, co-pilot or ground operator can change the setpoint angle α C using the dial 48.

[0072] Furthermore, at any time between steps 312 to 320 or 328, any action on switch 50 of the activated remote control 30 causes the microcontroller 60 to return to step 308. Similarly, any action on switch 40 of any of the remote controls 30 between steps 308 and 320 or 328 causes the microcontroller 60 to return to step 302.

[0073] It is clear that an anti-rotation device such as the one described above allows for the control of a load's yaw rotation from a single attachment point on a lifting and moving machine, without transmitting the moments generated by the load. Furthermore, the device is simple to design, adjust, operate, and maintain. Thanks to the 24A and 24B electric hooks, it also allows for automatic emergency release for increased safety. It is also relatively lightweight, self-powered, and remotely operable from the lifting and moving machine or from the ground. Therefore, no human presence is required near the load. Finally, it is easy to design so as not to interfere with the electrical systems of a carrier aircraft such as a helicopter.

[0074] It should also be noted that the invention is not limited to the embodiment and variants described above.

[0075] In particular, an embodiment has been detailed in 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 setpoint angles α C, for example in the form of GPS (Global Positioning System) coordinates, directly in the microcontroller 60. In this case the control of the propulsion means 28 is conceivable at least in part by programming.

[0076] It will more generally be apparent to a person skilled in the art that various modifications can be made to the embodiments described above, in light of the instruction just disclosed to them. In the claims that follow, the terms used shall not be interpreted as limiting the claims to the embodiments set forth in this description, but shall be interpreted to include all equivalents that the claims aim to cover by virtue of their formulation and whose prediction is within the grasp of a person skilled in the art by applying their general knowledge to the implementation of the instruction just disclosed to them.

Claims

1. An anti-rotation 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 with an element (18) for fastening to the lifting and moving machine (10), as well as a spreader beam (20), having a main longitudinal axis (A1) and a yaw rotation transverse axis (A2), comprising: - a system (22A, 22B) for upper fastening to the sling system (16A, 16B, 16C), designed in order to allow it to be suspended in a substantially horizontal arrangement of its main longitudinal axis (A1) and free about its yaw rotation transverse axis (A2) beneath the lifting and moving machine (10) using the sling system (16A, 16B, 16C), - a system (24A, 24B, 26A, 26B) for lower fastening to the load (12), designed in order to allow driving of the load (12) by the spreader beam (20) around its yaw rotation transverse axis (A2), the spreader beam (20) comprising propulsion means (28) disposed in such a way as to engage its rotation on command, selectively in one direction or the other, about its yaw rotation transverse axis (A2) when it is suspended from the lifting and moving machine (10) via the sling system (16A, 16B, 16C), characterized in that the spreader beam (20) is provided with a visual indicator (36) with at least three different visual states indicating an operating state of a yaw angular control of the spreader beam (20) out of at least three possible different operating states: - a state in which the yaw angular control of the spreader beam (20) is not activated, - a state in which the yaw angular control of the spreader beam (20) is activated but waiting for an angular control setting, and - a state in which the yaw angular control of the spreader beam (20) is activated and subject to a received angular setting.

2. The suspension anti-rotation device (14) according to claim 1, wherein the propulsion means (28) comprise a system of motorized propellers (32A, 52A, 32B, 52B) disposed at the longitudinal ends of the spreader beam (20).

3. The suspension anti-rotation device (14) according to claim 2, wherein: - a first propeller (32A) of the propulsion means (28), disposed at a first end of the spreader beam (20), can be activated according to a first rotation, comprised between 4000 and 6000 rpm, allowing a rotation of the spreader beam (20) in a first direction of yaw rotation, and - a second propeller (32B) of the propulsion means (28), disposed at a second end of the spreader beam (20), can be activated according to a second rotation, comprised between 4000 and 6000 rpm, allowing a rotation of the spreader beam (20) in a second direction of yaw rotation opposite to the first direction.

4. The suspension anti-rotation device (14) according to claim 2 or 3, wherein each propeller (32A, 32B) of the propulsion means (28) is disposed in a substantially cylindrical fairing duct (34A, 34B) around an axis orthogonal to the main longitudinal axis (A1) and to the yaw rotation transverse axis (A2) of the spreader beam (20).

5. The suspension anti-rotation device (14) according to claim 4, wherein a protective grill is disposed at the inlet and at the outlet of each fairing duct (34A, 34B).

6. The suspension anti-rotation device (14) according to any one of claims 1 to 5, wherein a main sling (16C) of the sling system (16A, 16B, 16C), intended to carry the yaw rotation transverse axis (A2) of the spreader beam (20), comprises a swivel (18) for connection, to the lifting and moving machine (10) or to the spreader beam (20), at one of its ends.

7. A method for lifting and moving a load (12) using a suspension anti-rotation device (14) according to any of claims 1 to 6, comprising the following steps: - fastening (102) of the sling system (16A, 16B, 16C) of the suspension anti-rotation device (14) to the lifting and moving machine (10), - fastening (104) of the suspension anti-rotation device (14) to the load (12), - elevation and movement (106) of the load (12) towards a zone of deposition using the lifting and moving machine (10), and - during the step (106) of elevation and of movement of the load (12), control (108) of the propulsion means (28) of the spreader beam (20) in such a way as to maintain it in a defined setting direction about the yaw rotation transverse axis (A2) with respect to a reference frame linked either to the lifting and moving machine (10) or to the ground.

8. The method of lifting and moving a load (12) according to claim 7, wherein the load (12) is a section of pylon for lines for transporting electricity by cable and the lifting and moving machine (10) is a helicopter carrying the slinging system (16A, 16B, 16C).