CN102039055B - Three-degree-of-freedom program control wire machinery - Google Patents
Three-degree-of-freedom program control wire machinery Download PDFInfo
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- CN102039055B CN102039055B CN2010106098999A CN201010609899A CN102039055B CN 102039055 B CN102039055 B CN 102039055B CN 2010106098999 A CN2010106098999 A CN 2010106098999A CN 201010609899 A CN201010609899 A CN 201010609899A CN 102039055 B CN102039055 B CN 102039055B
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Abstract
The invention relates to three-degree-of-freedom program control wire machinery, which comprises a basic upright post, a Y direction basic beam, a Y direction guide rail, an X direction beam, a Y direction moving vehicle, an X direction moving vehicle, an X direction tractor, a Z direction vertical elevating pulley hanger and a Z direction vertical elevating tractor, wherein the Y direction basic beam is arranged on the basic upright post; the Y direction guide rail is arranged on the Y direction basic beam; the Y direction moving vehicle is arranged on a Y direction track; the X direction beam is erected on the Y direction moving vehicle; the X direction moving vehicle is arranged on the X direction beam; the X direction tractor drives the X direction moving vehicle through an X direction hauling rope; the Z direction vertical elevating pulley hanger is arranged on the X direction moving vehicle; and the Z direction vertical elevating tractor is arranged on the X direction beam. The three-degree-of-freedom program control wire machinery can move in the X, Y and Z directions, has the advantages of high moving speed, quick response, thrill of danger and the like and enriches performance and film trick shooting elements.
Description
Technical field
The present invention relates to the inferior machinery of the program control prestige of a kind of Three Degree Of Freedom.
Background technology
The airflight performance extensively applies to fields such as stage performance, stadiums performance, the shooting of video display stunt; Be commonly called as " Wei Ya " stunt; The method that is adopted at present is: travelling car is hung on main cable or guide rail, rotates the elevating movement with the performer of moving that realizes dolly through steel wire rope and assembly pulley by the driven by motor reel, only possesses two degrees of freedom; Promptly can only about, move on two directions up and down, therefore performance receives certain restriction with video display stunt shooting element.
Summary of the invention
The technical problem that the present invention mainly solves provides the inferior machinery of the program control prestige of a kind of Three Degree Of Freedom, through programme-control, about can realizing, front and back, moving on three directions up and down.
For solving the problems of the technologies described above; The technical scheme that the present invention adopts is: provide the program control prestige of a kind of Three Degree Of Freedom inferior machinery; Comprise basic column, Y to basic crossbeam, Y to guide rail, X to crossbeam, Y to sport(s) car, X to sport(s) car, X to hauling machine, Z to vertical lift pulley suspender and Z to the vertical lift hauling machine, said Y is arranged on the basic column to basic crossbeam, said Y is arranged on Y on basic crossbeam to guide rail; Said Y is arranged on Y on track to sport(s) car; Said X is located at Y on sport(s) car to cross beam frame, and said X is arranged on X on crossbeam to sport(s) car, and said X drives X to sport(s) car through X to pull rope to hauling machine; Said Z is arranged on X on sport(s) car to vertical lift pulley suspender, and said Z is arranged on X on crossbeam to the vertical lift hauling machine.
Wherein, said Y is two guide rail structures to guide rail, comprises track, pressing plate and beam, and said beam is arranged on track and Y between basic crossbeam, and said pressing plate is pushed down the lower end of track.
Wherein, said basic column or Y also are provided with stopping means on basic crossbeam, and said stopping means is provided with buffer and buffering stop, and said Y is provided with to basic crossbeam and is used to detect the sensor tooth bar of displacement and the power taking trolley of whole machinery.
Wherein, said X adopts H shaped steel to process to crossbeam, and the bottom of said H shaped steel is a guide rail, and the following side of H shaped steel is a spigot surface.
Wherein, Said X to sport(s) car comprise vehicle frame, main wheel, side directive wheel, anti-jumply take turns, draw bar and fixed pulley; Said draw bar and fixed pulley all are arranged on the vehicle frame; Said Z is arranged on the fixed pulley to the up-down pull rope, and said X is fixed on the draw bar to pull rope, and said draw bar is provided with the pull rope tensioning apparatus.
Wherein, Said Y comprises vehicle frame, driving wheel, motor and driving shaft to sport(s) car; Said driving wheel is arranged on the driving shaft, the said driving shaft of said motor-driven, and every Y adopts two motors to sport(s) car; Each motor drives one or one group of driving wheel respectively, and said driving wheel is placed on Y on the working face of guide rail.
Wherein, Said Z comprises that to vertical lift pulley suspender suspension bracket, Z are to up-down pull rope, movable pulley and performer's lifting rope; Said movable pulley is arranged on the suspension bracket, and said Z hangs on the movable pulley to the up-down pull rope, and Z fixes to up-down pull rope one end; The other end is connected to the vertical lift hauling machine with Z, and said performer's lifting rope also is arranged on the suspension bracket.
Wherein, said X comprises support, motor, reel and range limiter to hauling machine.
Wherein, said Z comprises support, motor, reel and range limiter to the vertical lift hauling machine.
Wherein, said motor is two braking motors, and the rotary encoder that is used for the acquisition controlling data is housed in the motor.
The invention has the beneficial effects as follows: the Y of the inferior machinery of the program control prestige of Three Degree Of Freedom of the present invention drives X to sport(s) car and on guide rail, moves at Y to crossbeam, realize Y to move; X drives X to hauling machine and on crossbeam, moves at X to sport(s) car, realize X to move; Z drives Z to vertical lift pulley suspender vertical lift to the vertical lift hauling machine, realize Z to move.Because the inferior machinery of the program control prestige of Three Degree Of Freedom of the present invention can move on X, Y, three directions of Z; Has Three Degree Of Freedom; The track that aloft flies through the programme-control performer; Have advantages such as movement velocity height, response time be fast, fabulous, thereby enriched performance more and the video display stunt is taken element.
Description of drawings
Fig. 1 is the overall structure sketch map of the inferior machinery of the program control prestige of Three Degree Of Freedom of the present invention;
Fig. 2 is an A place enlarged drawing among Fig. 1;
Fig. 3 is the structural representation of Y according to the invention to guide rail;
Fig. 4 is that X according to the invention is to crossbeam cross-sectional structure sketch map;
Fig. 5 is that Y according to the invention is to the sport(s) car structural representation;
Fig. 6 is that Z according to the invention is to vertical lift pulley hanger structure sketch map;
Fig. 7 is that X according to the invention cooperates sketch map to crossbeam and X to sport(s) car;
Fig. 8 is a B place enlarged drawing among Fig. 7;
Fig. 9 is the structural representation of X according to the invention to hauling machine.
Wherein, 1, basic column; 2, Y is to basic crossbeam; 3, Y is to guide rail; 4, X to crossbeam 5, Y to sport(s) car; 51, vehicle frame; 52, driving wheel; 53, motor; 54, driving shaft; 6, X is to sport(s) car; 61, vehicle frame; 62, main wheel; 63, side directive wheel; 64, the anti-jump wheel; 65, draw bar; 66, fixed pulley; 7, X is to hauling machine; 71, support; 72, motor; 73, reel; 74, range limiter; 8, Z is to vertical lift pulley suspender; 81, suspension bracket; 82, Z is to the up-down pull rope; 83, movable pulley; 84 performer's lifting ropes; 9, Z is to the vertical lift hauling machine; 10, X is to pull rope; 11, stopping means; 12, buffer; 13, buffer limiter; 14, pressing plate; 15, beam.
The specific embodiment
By specifying technology contents of the present invention, structural feature, realized purpose and effect, give explanation below in conjunction with embodiment and conjunction with figs. are detailed.
Embodiment as the inferior machinery of the program control prestige of Three Degree Of Freedom of the present invention; See also Fig. 1 to Fig. 9; Comprise basic column 1, Y to basic crossbeam 2, Y to guide rail 3, X to crossbeam 4, Y to sport(s) car 5, X to sport(s) car 6, X to hauling machine 7, Z to vertical lift pulley suspender 8 and Z to vertical lift hauling machine 9, said Y is arranged on the basic column 1 to basic crossbeam 2, said Y is arranged on Y on basic crossbeam 2 to guide rail 3; Said Y is arranged on Y on track 3 to sport(s) car 5; Said X is erected at Y on sport(s) car 5 to crossbeam 4, and said X is arranged on X on crossbeam 4 to sport(s) car 6, and said X drives X to sport(s) car 6 through X to pull rope 10 to hauling machine 7; Said Z is arranged on X on sport(s) car 6 to vertical lift pulley suspender 8, and said Z is arranged on X on crossbeam 4 to vertical lift hauling machine 9.
In the present embodiment, said basic column 1 is the support component of the inferior machinery of whole program control prestige, and its height, distance, quantity can be set according to planning in early stage, and basic column 1 can be poured into a mould with concrete, or uses structure steel fabrication.
The Y of the inferior machinery of the program control prestige of Three Degree Of Freedom of the present invention drives X to sport(s) car 5 and on guide rail 3, moves at Y to crossbeam 4, realize Y to move; X drives X to hauling machine 7 and on crossbeam 4, moves at X to sport(s) car 6, realize X to move; Z drives Z to vertical lift pulley suspender 8 vertical lifts to vertical lift hauling machine 9, realize Z to move.Because the inferior machinery of the program control prestige of Three Degree Of Freedom of the present invention can move on X, Y, three directions of Z; Has Three Degree Of Freedom; The track that aloft flies through the programme-control performer; Have advantages such as movement velocity height, response time be fast, fabulous, thereby enriched performance more and the video display stunt is taken element.
As shown in Figure 3, in the present embodiment, said Y is two guide rail structures to guide rail 3, comprises track, pressing plate 14 and beam 15, and said beam 15 is arranged on track and Y between basic crossbeam 2, and said pressing plate 14 is pushed down the lower end of track.Said beam 15 has cushioning effect, can reduce Y to sport(s) car 5 operating vibrations and noises; Two guide rail structures help Y to sport(s) car 5 traveling comforts, increase Y " grabbing rail " ability to sport(s) car 5 driving wheels 52, prevent that Y from skidding to the driving wheel 52 of sport(s) car 5.
As shown in Figure 2; In the present embodiment; Said basic column 1 or Y also are provided with stopping means 11 on basic crossbeam 2; Said stopping means 11 is provided with buffer 12 and buffering stop 13, and said Y is provided with to basic crossbeam 2 and is used to detect the sensor tooth bar of displacement and the power taking trolley of whole machinery.Stopping means 11, buffer 12 and buffering stop 13 can during to sport(s) car 5 uncontrolled movements, play safeguard protection and position-limiting action at Y, improve security.
As shown in Figure 4, in the present embodiment, said X adopts H shaped steel to process to crossbeam 4; The bottom of said H shaped steel is a guide rail, and promptly surperficial I is as guide pass, and the following side of H shaped steel is a spigot surface; Be that surperficial II is that side is a spigot surface, the surperficial III of H shaped steel is spigot surface and the anti-face of beating.X to crossbeam 4 as X to sport(s) car 6, Z supporting body to vertical lift pulley suspender 8, adopt integrated design, need not to lay in addition guide rail, alleviated construction weight, simplified making, mounting process.
As shown in Figure 7; In the present embodiment; Said X to sport(s) car 6 comprise vehicle frame 61, main wheel 62, side directive wheel 63, anti-jumply take turns 64, draw bar 65 and fixed pulley 66, said draw bar 65 all is arranged on the vehicle frame 61 with fixed pulley 66, said Z is arranged on the fixed pulley 66 to up-down pull rope 82; Said X is fixed on the draw bar 65 to pull rope 10, also is provided with the pull rope tensioning apparatus on the said draw bar 65.
As shown in Figure 5, in the present embodiment, said Y comprises vehicle frame 51, driving wheel 52, motor 53 and driving shaft 54 to sport(s) car 5; Said driving wheel 52 is arranged on the driving shaft 54; Said motor 53 drives said driving shaft 54, and every Y adopts two motors 53 to sport(s) car 5, and each motor 53 drives one or one group of driving wheel 52 respectively; Said driving wheel 52 is placed on Y on the working face of guide rail 3; Have power distribution evenly, anti-advantage such as skid, said motor 53 be pair braking motors, and the rotary encoder that is used for the acquisition controlling data is housed in the motor 53.
As shown in Figure 6; In the present embodiment, said Z comprises suspension bracket 81, Z to up-down pull rope 82, movable pulley 83 and performer's lifting rope 84 to vertical lift pulley suspender 8, and said movable pulley 83 is arranged on the suspension bracket 81; Said Z hangs on the movable pulley 83 to up-down pull rope 82; Z fixes to up-down pull rope 82 1 ends, and the other end is connected to vertical lift hauling machine 9 with Z, and said performer's lifting rope 84 also is arranged on the suspension bracket 81.Performer's lifting rope 84 links to each other with the performing artist; And with Y to sport(s) car 5, X to sport(s) car 6 motions; Simultaneously; Z is driven to vertical lift hauling machine 9 by Z to vertical lift pulley suspender 8, because the effect of movable pulley 83, Z can not change to the motion of sport(s) car 6 because of X to the immediate movement of vertical displacement movement.
As shown in Figure 9; In the present embodiment; Said X comprises support 71, motor 72, reel 73 and range limiter 74 to hauling machine 7; Said motor 72 is two braking motors, and the rotary encoder that is used for the acquisition controlling data is housed in the motor, and said range limiter 74 can play the effect of detectable limit position.
In the present embodiment; Said Z comprises support, motor, reel and range limiter to vertical lift hauling machine 9; Said motor is two braking motors, and the rotary encoder that is used for the acquisition controlling data is housed in the motor, and said range limiter can play the effect of detectable limit position.
The above is merely embodiments of the invention; Be not so limit claim of the present invention; Every equivalent structure or equivalent flow process conversion that utilizes specification of the present invention and accompanying drawing content to be done; Or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.
Claims (8)
1. the program control prestige of Three Degree Of Freedom is inferior mechanical; It is characterized in that: comprise basic column, Y to basic crossbeam, Y to guide rail, X to crossbeam, Y to sport(s) car, X to sport(s) car, X to hauling machine, Z to vertical lift pulley suspender and Z to the vertical lift hauling machine; Said Y is arranged on the basic column to basic crossbeam; Said Y is arranged on Y on basic crossbeam to guide rail, and said Y is arranged on Y on guide rail to sport(s) car, and said X is located at Y on sport(s) car to cross beam frame; Said X is arranged on X on crossbeam to sport(s) car; Said X drives X to sport(s) car through X to pull rope to hauling machine, and said Z is arranged on X on sport(s) car to vertical lift pulley suspender, and said Z is arranged on X on crossbeam to the vertical lift hauling machine; Said X adopts H shaped steel to process to crossbeam, and the bottom of said H shaped steel is a guide rail, and the following side of H shaped steel is a spigot surface; Said X to sport(s) car comprise vehicle frame, main wheel, side directive wheel, anti-jumply take turns, draw bar and fixed pulley; Said draw bar and fixed pulley all are arranged on the vehicle frame; Said Z comprises that to vertical lift pulley suspender Z is to the up-down pull rope; Z is arranged on the fixed pulley to the up-down pull rope, and said X is fixed on the draw bar to pull rope, and said draw bar is provided with the pull rope tensioning apparatus.
2. according to the inferior machinery of the program control prestige of the said Three Degree Of Freedom of claim 1; It is characterized in that: said Y is two guide rail structures to guide rail; Comprise track, pressing plate and beam, said beam is arranged on track and Y between basic crossbeam, and said pressing plate is pushed down the lower end of track.
3. according to the inferior machinery of the program control prestige of the said Three Degree Of Freedom of claim 1; It is characterized in that: said basic column or Y also are provided with stopping means on basic crossbeam; Said stopping means is provided with buffer and buffering stop, and said Y is provided with to basic crossbeam and is used to detect the sensor tooth bar of displacement and the power taking trolley of whole machinery.
4. according to the inferior machinery of the program control prestige of the said Three Degree Of Freedom of claim 1; It is characterized in that: said Y comprises vehicle frame, driving wheel, motor and driving shaft to sport(s) car; Said driving wheel is arranged on the driving shaft, the said driving shaft of said motor-driven, and every Y adopts two motors to sport(s) car; Each motor drives one or one group of driving wheel respectively, and said driving wheel is placed on Y on the working face of guide rail.
5. according to the inferior machinery of the program control prestige of the said Three Degree Of Freedom of claim 1; It is characterized in that: said Z comprises that to vertical lift pulley suspender suspension bracket, Z are to up-down pull rope, movable pulley and performer's lifting rope; Said movable pulley is arranged on the suspension bracket, and said Z hangs on the movable pulley to the up-down pull rope, and Z fixes to up-down pull rope one end; The other end is connected to the vertical lift hauling machine with Z, and said performer's lifting rope also is arranged on the suspension bracket.
6. according to the inferior machinery of the program control prestige of the said Three Degree Of Freedom of claim 1, it is characterized in that: said X comprises support, motor, reel and range limiter to hauling machine.
7. according to the inferior machinery of the program control prestige of the said Three Degree Of Freedom of claim 1, it is characterized in that: said Z comprises support, motor, reel and range limiter to the vertical lift hauling machine.
8. according to claim 6 or the inferior machinery of the program control prestige of 7 said Three Degree Of Freedoms, it is characterized in that: said motor is equipped with the rotary encoder that is used for the acquisition controlling data for two braking motors in the motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010106098999A CN102039055B (en) | 2010-12-28 | 2010-12-28 | Three-degree-of-freedom program control wire machinery |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010106098999A CN102039055B (en) | 2010-12-28 | 2010-12-28 | Three-degree-of-freedom program control wire machinery |
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| CN102039055A CN102039055A (en) | 2011-05-04 |
| CN102039055B true CN102039055B (en) | 2012-11-14 |
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| CN2010106098999A Active CN102039055B (en) | 2010-12-28 | 2010-12-28 | Three-degree-of-freedom program control wire machinery |
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| CN104274985B (en) * | 2013-07-11 | 2016-08-24 | 北京时代秀域文化科技有限公司 | The flight instruments of three-dimensional space motion can be realized |
| CN104274986B (en) * | 2013-07-11 | 2016-06-08 | 北京时代秀域文化科技有限公司 | The flight device of three-dimensional space motion can be realized |
| CN103496448B (en) * | 2013-09-04 | 2016-04-27 | 北京摩诘创新科技股份有限公司 | A kind of orbit movable airstair |
| CN103556845B (en) * | 2013-11-01 | 2015-11-25 | 杭州佳合舞台设备有限公司 | Transparent suspension stage |
| CN103738882B (en) * | 2014-01-24 | 2016-01-06 | 长安大学 | A kind of space orientation platform |
| CN204601635U (en) * | 2015-02-04 | 2015-09-02 | 万达文化旅游规划研究院有限公司 | Demonstration flight device |
| CN106693405B (en) * | 2016-12-04 | 2020-02-18 | 华强方特（芜湖）文化科技有限公司 | Weiya biasing frame |
| CN107875655B (en) * | 2017-11-28 | 2020-10-30 | 华强方特（芜湖）文化科技有限公司 | Aerial annular wiya system |
| CN107943212B (en) * | 2017-12-01 | 2020-06-30 | 河南省健琪医疗器械有限公司 | Internet telemedicine training or conference system |
| CN107930156B (en) * | 2017-12-12 | 2019-07-16 | 河南职业技术学院 | A kind of rotary multiple degrees of freedom wire hanger |
| CN109335512A (en) * | 2018-11-23 | 2019-02-15 | 中建材凯盛机器人（上海）有限公司 | Keel transport device |
| CN113739618A (en) * | 2021-08-05 | 2021-12-03 | 中石化宁波工程有限公司 | Quick moving device for overhauling vertical heat exchanger tube bundle |
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| CN1683040A (en) * | 2004-11-16 | 2005-10-19 | 兰州理工大学 | Lift tanslation driving system of stage manned frame |
| EP1724229A1 (en) * | 2004-03-01 | 2006-11-22 | Mitsubishi Denki Kabushiki Kaisha | Elevator apparatus |
| CN101121075A (en) * | 2006-08-11 | 2008-02-13 | 李明 | Action simulating equipment, system and method for entertainment |
| CN101444672A (en) * | 2008-12-26 | 2009-06-03 | 倪湘凝 | Flier device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1724229A1 (en) * | 2004-03-01 | 2006-11-22 | Mitsubishi Denki Kabushiki Kaisha | Elevator apparatus |
| CN1683040A (en) * | 2004-11-16 | 2005-10-19 | 兰州理工大学 | Lift tanslation driving system of stage manned frame |
| CN101121075A (en) * | 2006-08-11 | 2008-02-13 | 李明 | Action simulating equipment, system and method for entertainment |
| CN101444672A (en) * | 2008-12-26 | 2009-06-03 | 倪湘凝 | Flier device |
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Address after: The development of high-tech building a road in Shenzhen City Huaqiang Nanshan District science and technology of Guangdong province 518057 14 floor Patentee after: Huaqiang infante (Shenzhen) Film Co. Ltd. Address before: The development of high-tech building a road in Shenzhen City Huaqiang Nanshan District science and technology of Guangdong province 518057 14 floor Patentee before: Shenzhen Hyvision Digital Film Inc. |