# US 2019/0375615 A1 · Apparatus for controlling orientation of suspended loads > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0375615 A1 - Document ID: US20190375615A1 - Status: Published application - Kind: A1 - Application number: 16/462,813 - Filed: 2017-11-21 - Published: 2019-12-12 - Earliest claimed: 2016-11-21 - Assignees: Roborigger Pty Ltd - Applicants: Tensa Equipment Pty Ltd - Inventors: Derick Markwell - Web page: https://patentgrep.com/patent/US20190375615A1 ## CPC - B66C 13/08: for depositing loads in desired attitudes or positions - B66C 1/10: by mechanical means - B66C 1/34: Crane hooks - B66C 13/04: Auxiliary devices for controlling movements of suspended loads, or preventing cable slack - B66C 13/06: for minimising or preventing longitudinal or transverse swinging of loads - B66C 13/16: Applications of indicating, registering, or weighing devices (in crane hooks B66C1/40; in safety gear B66C15/00; weighing-apparatus G01G; remote indicating in general G08) - B66C 13/40: Applications of devices for transmitting control pulses; Applications of remote control devices (control in general G05) - B66C 13/46: Position indicators for suspended loads or for crane elements - B66C: CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES ({specially adapted for lifting invalids A61G7/10;} rope, cable, or chain winding mechanisms, braking or detent devices therefor B66D; specially adapted for nuclear reactors G21) ## Abstract A rotator apparatus (10, 100, 200) for rotationally positioning a suspended load (16). A flywheel (44, 144) can be directly or indirectly driven by a motor (40, 140). Vanes (50, 150) on a fan (45) or on the flywheel can be used to provide additional rotational control through air resistance/braking. A controller (20, 24, 120, 124) can provide wired or wireless control. Thrusters (52) can provide additional rotational impetus or resistance. One or more load cells (54, 232, 234) can provide load sensing. Cameras (28) can be used to visualise the load and can record load moving operations and details of the load for logistics tracking and safety. The attachment part (202) and/or the load support (216) can be connected to the body via a respective pivot (204, 214). The apparatus can include replaceable or rechargeable batteries (206, 210), such as within in a removable container (230), preferably supported by at least one drawer (231), which drawer may be mounted on telescopic drawer slides (212). The replaceable or rechargeable batteries (206, 210) can be provided as a cassette arrangement whereby the batteries plug in and are removable as a unit. At least one hook (157) for suspending a load from the rotator can include a groove or recess (158) to restrict or prevent load rotation. ## Claims ### Claim 1 A rotational orientation control apparatus for controlling rotational orientation of a load suspended from the apparatus, the apparatus including a rotator having at least one flywheel, at least one respective flywheel drive means, and a control means, control of the at least one flywheel providing a respective proportion of reaction torque for controlling rotational orientation of the suspended load. ### Claim 2 (depends on 1) The apparatus according to claim 1, further including at least one fan. ### Claim 3 (depends on 2) The apparatus according to claim 2, wherein each said fan is attached to or forms part of a respective said flywheel. ### Claim 4 (depends on 1) The apparatus according to claim 1, further including at least one gyroscope. ### Claim 5 (depends on 1) The apparatus according to claim 1, including a controller connected by a data cable or wirelessly to communicate with the control means. ### Claim 6 (depends on 1) The apparatus according to claim 1, including at least one camera for monitoring the suspended load and/or the physical space around the load or location below the load and/or for collecting one or more images and/or data relating to the apparatus or the load. ### Claim 7 (depends on 1) The apparatus according to claim 1, including a remotely actuated load release mechanism. ### Claim 8 (depends on 7) The apparatus according to claim 7, the remotely operated release mechanism including at least one hook or retractable pin. ### Claim 9 (depends on 2) The apparatus according to claim 2, wherein the at least one fan includes vanes creating a reaction torque. ### Claim 10 (depends on 1) The apparatus according to claim 1, including at least one moveable vane to modify/control airflow from the respective fan(s). ### Claim 11 (depends on 1) The apparatus according to claim 1, further including at least one thruster. ### Claim 12 (depends on 11) The apparatus according to claim 11, the at least one thruster mounted external of a housing of the rotator or mounted independently on a lifting device attached to the rotator or attached to the suspended load. ### Claim 13 (depends on 11) The apparatus according to claim 11, operation of the at least one thruster being controlled by a remote controller. ### Claim 14 (depends on 11) The apparatus according to claim 11, wherein the at least one thruster includes one or more of a propeller, a turbo fan, a shrouded fan or compressed gas jet thruster, or combinations of two or more thereof. ### Claim 15 (depends on 1) The apparatus according to claim 1, including at least one gyroscope providing torque about a vertical axis by tilting their respective gyroscope axis of spin. ### Claim 16 (depends on 1) The apparatus according to claim 1, including at least one load cell. ### Claim 17 (canceled) ### Claim 18 (depends on 1) The apparatus according to claim 1, including a control system, the control system including one or more of a) a microcomputer; b) a 9 axis inertial sensor containing accelerometers, gyros and magnetometers for each of the 3 principal axes x,y,z; c) an encoder input that senses the flywheel speed; d) interface to a motor variable speed controller; e) wireless interface; f) interface to load cell; g) interface to remote release; h) interface to thrusters; i) interface to centrifugal fan air guide vanes, and j) one or more GPS receivers. ### Claim 19 (depends on 1) The apparatus according to claim 1, including adaptive control logic allowing the suspended load to be rotated to an orientation defined by the operator and to maintain the load in that orientation. ### Claim 20 (depends on 19) The apparatus of claim 19, wherein the adaptive control logic enables the suspended load to be rotated to a yaw orientation defined by an operator and to maintain the load in that yaw orientation. ### Claim 21 (depends on 19) The apparatus of claim 19, wherein a rotational speed of the apparatus, or an applied torque according to the inertia of the load, or a desired speed or rate of rotation, or combination of two or more thereof, is controlled by the adaptive control logic. ### Claim 22 (depends on 19) The apparatus of claim 19, including the adaptive control logic utilising at least one input from at least one sensor and/or integrating with at least one control means implementing the control logic. ### Claim 23 (depends on 1) The apparatus according to claim 1, wherein the at least one flywheel includes an annular or ring type flywheel. ### Claim 24 (depends on 23) The apparatus according to claim 23, wherein the annular or ring type flywheel is driven through an internal or external ring gear of the flywheel. ### Claim 25 (canceled) ### Claim 26 (depends on 1) The apparatus according to claim 1, including or in control communication with an adaptive control system arranged and configured to respond to or react to increasing rotational stiffness of the support system as rotational torque increases. ### Claim 27 (depends on 1) The apparatus according to claim 1, wherein the at least one flywheel includes an annular or ring type flywheel driven through an internal or external ring gear of the flywheel or driven using a belt or chain connected to the flywheel. ### Claim 28 (canceled) ### Claim 29 (depends on 27) The apparatus according to claim 27, wherein the annular or ring type flywheel is driven by a motor with a hollow centre, and wherein the annular or ring type flywheel allows the main load carrying element connecting the load and the lift line to pass through the hollow centre. ### Claim 30 (depends on 27) The apparatus according to claim 27, including at least one bearing supporting the annular or ring type flywheel on an inside of the annulus or adjacent to the inside of the annulus by attaching to the main load carrying element that supports the load and transmits torsional forces to the load. ### Claim 31 (depends on 1) The apparatus according to claim 1, including a single point attachment that connects multiple lifting points whereby the projection of the axis of a rotational swivel passes through this single point. ### Claim 32 (depends on 1) The apparatus according to claim 1, including a swivel supporting the apparatus, and the swivel is tiltable such that the axis of the swivel passes through a centre of gravity of a mass supported by the swivel. ### Claim 33 (canceled) ### Claim 34 (depends on 1) The apparatus according to claim 1, including at least one pivot, each said pivot having a pivot axis, and wherein the at least one pivot is connected between the rotator and a suspension line from which the rotator is suspended and/or at least one said pivot connected between the rotator and a load suspended from the rotator. ### Claim 35 (depends on 34) The apparatus of claim 34, wherein the at least one pivot allows the rotator to tilt about the respective pivot axis relative to the load suspended from the rotator and there is no moment on the rotator about at least one axis perpendicular to a rotation axis of the rotator. ### Claim 36 (depends on 34) The apparatus according to claim 34, wherein the pivot axis of at least one said pivot connected between the rotator of the apparatus and a suspension line from which the rotator is suspended and a pivot axis of the at least one said pivot connected between the rotator and a load suspended from the rotator are parallel to one another. ### Claim 37 (canceled) ### Claim 38 (depends on 1) The apparatus according to claim 1, including a control system using or in communication with a load cell, the control system using at least one signal from the load cell to determine whether to prevent the load from being disconnected if a load greater than a preset load is being supported by the apparatus. ### Claim 39 (canceled) ### Claim 40 (depends on 1) The apparatus according to claim 1, further including at least plug in or slide in cassette for supporting connection of at least one component of the apparatus. ### Claim 41 (depends on 40) The apparatus of claim 40, including at least on said plug in cassette or slide in cassette for mounting at least one battery or a combination of a plug in or slide in cassette contained in a removable container. ### Claim 42 (canceled) ### Claim 43 (depends on 1) The apparatus according to claim 1, including image and/or data capture means, wherein the captured image(s) and/or data relate to a lifted load. ### Claim 44 (depends on 43) The apparatus of claim 43, wherein the captured image(s) and/or data is/are stored on-board the apparatus or on a remote computer. ### Claim 45 (depends on 1) The apparatus according to claim 1, including at least one hook including a groove or recess to receive and restrict rotation of a shackle or link that is supported by the respective hook. ### Claim 46 (canceled) ### Claim 47 (depends on 45) The apparatus according to claim 45, wherein the groove or recess is provided at a widened/thickened portion of the bend of the hook, and wherein the bend of the hook has a portion that widens/flares outwards such that a base of the recess or groove is wider than portions of the hook immediately prior to and/or after the flared portion. ### Claim 48 (depends on 1) The apparatus according to claim 1, including a control system that utilises measured load to adapt parameters for determining torque to be applied to the load.