Self-balanced Hoisting Apparatus with Six Degrees of Freedom Actuation
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Solution Overview
Problem
Existing load hoisting systems in the aeronautical industry face challenges in stabilizing and positioning large aircraft parts with unknown center of gravity, requiring dedicated and costly lifting equipment for each part.
Innovation Solution
A self-balanced hoisting apparatus with two superimposed platforms and six degrees of freedom actuated by variable length tendons, along with a configurable counterweight system, automatically adjusts to align the load's center of gravity with the suspension point, allowing for stable movement and reduced equipment needs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single lifting cable is used to hoist a load, then the apparatus is simple in structure, but the load becomes unstable and cannot be positioned in all six degrees of freedom
Solution Approach 1:
The single lifting cable is segmented into six independent cables, each capable of independent length adjustment. This segmentation allows the system to control the load's position and orientation in all six degrees of freedom while maintaining structural simplicity through modular cable units.
Solution Approach 2:
The system transitions from a static single-cable arrangement to a dynamic six-cable system where cable lengths can be actively adjusted. This dynamic capability enables real-time stabilization and positioning of the load, allowing the apparatus to adapt to varying load configurations and maintain stability throughout the hoisting process.
2Reliability
If dedicated lifting equipment is designed for each specific aircraft part, then the lifting operation is highly precise and secure, but the device complexity and cost increase significantly
Solution Approach 1:
The six-cable hoisting apparatus is designed as a universal system that can handle various aircraft parts with different geometries, weights, and center of gravity positions. By adjusting the cable lengths and attachment points, the same apparatus can securely lift diverse loads, eliminating the need for multiple dedicated lifting equipments while maintaining high reliability.
Solution Approach 2:
The system achieves adaptability to different aircraft parts by changing key parameters such as cable lengths, attachment point positions, and tension distribution. This parametric adjustment capability allows a single apparatus to be reconfigured for different loading scenarios, providing reliable and secure lifting without requiring specialized equipment for each part type.
3Adaptability or versatility
If the center of gravity of the load is not vertically aligned with the hoisting point, then the apparatus can handle asymmetric loads, but the load becomes unbalanced and may rock or swing causing damage or injury
Solution Approach 1:
The system incorporates feedback mechanisms through load sensors and control systems that continuously monitor the load's position and cable tensions. When asymmetry is detected, the control system automatically adjusts individual cable lengths and tensions to counterbalance the load, preventing oscillations and swinging while maintaining the ability to handle asymmetric configurations.
Solution Approach 2:
The six-cable arrangement provides inherent counterbalancing capability by distributing tensions across multiple cables. The system can generate counteracting forces through differential cable tensioning, effectively creating virtual counterweights that balance asymmetric loads and eliminate harmful oscillations without requiring physical counterweight structures.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables secure, auto-balanced hoisting and positioning of loads with minimal manpower, reducing the need for multiple lifting equipment and preventing unwanted oscillations, facilitating efficient transport and handling of heavy items.
Implementation Method 1
six variable length tendons (5a, 5b, 5c, 5d, 5e, 5f), each having one end connected to a vertex of the lower triangular platform (7) and the other end connected to a winch mechanism (10a, 10b, 10c, 10d, 10e, 10f) for extending and retracting the tendons (5a, 5b, 5c, 5d, 5e, 5f)
Implementation Method 2
a winch mechanism (10a, 10b, 10c, 10d, 10e, 10f) for extending and retracting the tendons (5a, 5b, 5c, 5d, 5e, 5f)
Implementation Method 3
a configurable counterweight system (13) supported by the upper triangular platform (6), for compensating imbalances of the load (P)
Implementation Method 4
load sensors (18a, 18b, 18c, 18d, 18e, 18f) for measuring the axial forces transmitted by the tendons (5a, 5b, 5c, 5d, 5e, 5f)
Data Source
Figure 1A
Figure 1B
Figure 2A
AI summary
The invention refers to an apparatus for hoisting and positioning a load in an self-balanced manner regardless of the position of its center of gravity. The apparatus comprises an upper platform adapted for being hoisted from a general hoisting point, a lower platform adapted the attachment of a load to be hoisted and positioned, and a six degrees of freedom actuator comprising six variable length tendons, adapted for moving the lower frame with respect the upper frame in the three directions of the space and tilted around the three axis of the space. A configurable counterweight system supported by the upper platform, is arranged for modifying the center of mass of the apparatus over an horizontal plane, and processing means are configured for dynamically calculating a desired position of the counterweight system, for balancing the apparatus with the respect to a general hoisting point.