CN102627227A - Method and device for movement of suspended object in three-dimensional space - Google Patents
Method and device for movement of suspended object in three-dimensional space Download PDFInfo
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- CN102627227A CN102627227A CN2012100738187A CN201210073818A CN102627227A CN 102627227 A CN102627227 A CN 102627227A CN 2012100738187 A CN2012100738187 A CN 2012100738187A CN 201210073818 A CN201210073818 A CN 201210073818A CN 102627227 A CN102627227 A CN 102627227A
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Abstract
A method for movement of a suspended object in a three-dimensional space is disclosed. The method comprises the following steps: connecting two corresponding sides of an object to be suspended to one end of a rope, connecting the other end of the rope to a fixed point in the air, suspending the object to be suspended in the air, and adjusting the length of the rope at the two corresponding sides of the suspended object or the position of the fixed point to respectively control the x-axial positioning, y-axial positioning and z-axial positioning of the suspended object. The invention also discloses a device used for realizing the method of the invention. According to the invention, an occupied working space can be dynamically adjusted, so conflicts of the rope of the suspended object and other dynamic or static objects can be avoided to a great extend, and the stability of the suspended object is greatly improved, so accurate and real time control of the suspended object can be realized.
Description
Technical field
The present invention relates to a kind of method that the suspention object is moved in three dimensional space.
The invention still further relates to a kind of device that is used to realize said method, the working space that this device takies can dynamically be adjusted.
Background technology
Competitive sports, film and television acute take or activity such as performance in, often need through rope (for example steel rope, static(al) rope ... Or the like) objects (hereinafter to be referred as the suspention object) such as the people that slings, stage property or pick up camera move in the three dimensional space of a certain scope.The motion of suspention object not only need be level and smooth, steady, real-time, and also should be able to dynamically adjust fast at the working space that a lot of its devices of occasion take.
The technology the most directly related with the present invention has:
US2004/0206715A1 discloses a kind of device that object moves that suspends in midair in three dimensional space; The suspention object is connected with suspention object platform through rope; When traction suspention object platform moved, platform was followed mobile through dragging the suspention object with suspention object bonded assembly rope.This technological major defect is that when the rope lengths between suspention object platform and the suspention object was longer, the suspention object had bigger inertia, and the quick start-stop operation on any direction all can make the swing of suspention object.This means that not only the control time delay is bigger, and the stability of this device also can be poor, is difficult to reach accurately and the requirement of real-time positioning.
US3065861 discloses a kind of device that object moves that suspends in midair in three dimensional space; It mainly is to drag the suspention movement of objects by the coaster that can slide on two main skids through rope; Its weak point is, because the suspention object can be free to slide on the rope of both sides, therefore works as coaster and rises the stopping time fast along main skid; The suspention object possibly swing back and forth on this direction, presents a reforming phenomena.Cause the control time delay of this device bigger, stability is also relatively poor, is difficult to reach accurately and the requirement of real-time positioning.
US7088071B2 discloses a kind of device that object moves that suspends in midair in three dimensional space, it mainly contain four fixedly the corner and with four corners through rope bonded assembly suspention object, control the suspention object and in three dimensional space, move through regulating rope lengths.This technology main limitation be, be difficult to the size or the position of the working space that high-speed adjustment device as required takies.This is because connect fixedly similar " X " shape of rope in corner of suspention object and four; How no matter suspend object in midair moves; These " X " shapes intersection ropes become other obstacles dynamic or stationary body probably; This brings at least two problems: even 1 this device is under off working state; If there are other suspention objects also need in this space, move, " X " so above-mentioned shape intersection rope influences moving of this suspention object possibly, causes other suspention object running gears to work; 2, again because " X " shape is intersected rope by four fixedly corner decisions, so its working space also is difficult to fast adjustment easily.For example this " X " shape intersection rope drags work in a certain on the scenely space of suspention object, and other suspension body devices are worked in another space in place, at this moment just is difficult to the working space of quick exchange two covering devices.In addition, be not difficult to know the real-time distance of moving suspention object, therefore be difficult between moving suspention object platform and certain fixed position and set up rope separately to a certain fixed position through control system or other similar means.For example suspend pick up camera in midair when carrying out high definition relay etc., need will suspend the mass data that object produces in midair by optical fiber and pass ground in real time back, but fiber optic deployment possibly just need to introduce control system, otherwise debugging get up will be more loaded down with trivial details.
US3043444 discloses a kind of device that object moves that suspends in midair in three dimensional space; It comprises the shelf that two slide rails and can move along slide rail; At least three cylinders are installed on the shelf, at least three ropes, the two ends of rope are separately fixed at cylinder and suspend in midair on the object.Through the adjustment shelf in the position on the slide rail and the suspention object realize suspending in midair the location of object in three dimensional space to the rope lengths of cylinder.Its main deficiency is: 1, because the weight of cylinder, motor self, the load of slide rail, rigidity etc. are required very high, it is difficult not only to dispose, and means that also the weight of suspending object in midair is limited simultaneously.2, the operator is difficult to judge the action of four cylinders fast and do corresponding control, when the suspention object is moved on three-dimensional simultaneously.
Summary of the invention
The object of the present invention is to provide a kind of method that object moves of suspending in midair in three dimensional space.
Another purpose of the present invention is to provide a kind of device that is used to realize said method; And the working space that device takies can dynamically be adjusted; This both can have been avoided suspending in midair rope and other conflicts dynamic or stationary body of object to a great extent; Greatly improved the stability of suspention object again, made the control of suspention object can be accurately with real-time.
For realizing above-mentioned purpose, the method that suspention object provided by the invention moves in three dimensional space mainly comprises:
One end of each connecting rope of corresponding both sides of suspention object, the other end of rope connects on the skyborne attachment point, will suspend object in midair and be suspended in the air, and control x axle, y axle and the z shaft alignment of suspention object respectively through following method; Wherein:
Through increasing the wherein length of a side rope and attachment point of suspention object, reduce to suspend in midair the length of object opposite side rope and attachment point simultaneously, to control the x shaft alignment that suspends object in midair;
Attachment point position through the corresponding both sides of adjustment suspention object rope; Or through increasing rope and the length of attachment point that the suspention object is different from any side of x shaft alignment; Reduce to suspend in midair the length of the rope and the attachment point of the corresponding opposite side of object simultaneously, with the y shaft alignment of control suspention object;
To the length between the attachment point, suspend the z shaft alignment of object through the object of adjustment suspention simultaneously rope in midair with control.
Described method, aerial attachment point is supported on by the beam structure in bracing frame or the building in the air.
The device that is used to realize said method provided by the invention mainly comprises:
Article two, slideway has a coaster at least on every slideway;
One suspention object, both sides it is relative through rope are connected respectively to the coaster on the slideway of both sides;
Reduce to suspend in midair the length of object through increasing the suspention object simultaneously to the length of the supratrochlear rope in a sideslip road wherein, to control the x shaft alignment that suspends object in midair to the supratrochlear rope of opposite side slideway;
Through the position of adjustment coaster on slideway; Or reduce to suspend in midair another respective side of object simultaneously to two supratrochlear rope lengths of homonymy to two supratrochlear rope lengths of homonymy through increasing any side that the suspention object is different from the x shaft alignment, suspend the y shaft alignment of object in midair with control;
To the rope lengths between the coaster, suspend the z shaft alignment of object through adjustment suspention object in midair with control.
In the described device, the slideway of said both sides is installed on the bracing frame respectively, or is installed on the beam structure in the building.
In the described device, said coaster is connected with cylinder through rope, thereby is moved on slideway by motor-driven cylinder control coaster; Coaster moving or being used to control the y axle that suspends object in midair on slideway moved, or is used to adjust the working space of said device.
In the described device; Pulley or sheave that cabling is used are installed on the said coaster; And the rope of z shaft alignment passes pulley to the x shaft alignment of control suspention object or sheave is connected to cylinder with z to cylinder with x simultaneously; Thereby by the x shaft alignment of x to motor-driven control suspention object, z is suspended in midair the z shaft alignment of object to x to motor-driven control by z to cylinder to cylinder.
In the described device, motor is received on the power supply.
Effect of the present invention is:
1) the present invention can realize in a certain three dimensional space, smoothly moving to the optional position through rope control suspention object, therefore is particularly suitable for occasions such as film shooting, competitive sports, performance.
2) the dynamic working space that takies of modifier of the present invention, the rope that both can avoid suspending in midair object to a great extent with other dynamically or the conflict of stationary body, greatly improved the stability of suspention object again.
Description of drawings
Fig. 1 is the integral structure schematic perspective view of one embodiment of the present invention.
Fig. 2 a, 2b, 2c are respectively the control scheme drawings that the suspention object of Fig. 1 embodiment moves along y, x, z direction of principal axis.
Fig. 2 d has provided the control scheme drawing of suspention object under the not parallel situation of slideway.
Fig. 2 e has provided under the parallel situation of slideway, if the length of the two section ropes of suspention object to certain slideway can not remain the control scheme drawing of suspention object when equating in the unequal or coaster moving process of coaster speed.
Fig. 2 f is the embodiment scheme drawing of slideway a kind of basic equivalence of Fig. 1 device when parallel.
Fig. 3 a, 3b are the present invention's scheme drawings of two kinds of embodiments in addition.
Fig. 4 is the dynamic scheme drawing of distance between two coasters on the same slideway of adjustment.
Fig. 5 has provided the optimization scheme drawing of a kind of rope through movable pulley.
Fig. 6 a, b, c have provided the coaster scheme of installation among several kinds of the present invention.
Fig. 7 a, b, c have provided several kinds of difform suspention object platform scheme drawings.
The specific embodiment
Device of the present invention mainly be included in two slideways setting up of both sides, the three dimensional space that requires top (for example cable cableway, i-beam track, groove steel rail; Or the like); The coaster that has at least an ability to slide along slideway on every slideway (can be equipped with pulley, sheave or wheel etc. on the coaster; With the friction force that reduces on slideway, to slide); And with coaster (but this platform is as a kind of mobile vehicle carry pick up camera, geological exploration device, well logging hook, people or stage property etc., to be used for various occasions through rope bonded assembly suspention object or suspention object platform.Simple for describing, at the back unless stated otherwise, the present invention is referred to as do suspention object later on).Through rope lengths and coaster the position on slideway of adjustment suspention object, control the motion of suspention object in three dimensional space to coaster; The adjustment of coaster position also can be used for the shared working space of modifier.
The end that is used to suspend in midair the rope of object can be fixed on cylinder (also be reel, winch, reel etc., the present invention all is called cylinder), and cylinder drives through motor (electrical motor, winch etc., the present invention all is called motor) and can roll rope or emit rope; Also can the centre of a rope be wrapped on the cylinder; Two ends are fixed on other objects, rotary drum can increase cylinder to rope wherein a terminal rope lengths reduce cylinder simultaneously to another terminal rope lengths of rope (require rope non-slip on cylinder).Because the suspention object is realized by rope adjustment mode independent of each other respectively along x, y, axial the moving of z, so this device need not adopt complicated control system can realize suspending in midair the location of object in three dimensional space.In addition, all ropes also can be from a local control, so motor and power cable need not zoom out placement.Some essential annexes also can be placed on the suspention object platform, for example power supply, wireless receiver etc.Wherein, the pulley that adopts in the device of the present invention, coaster, cylinder etc. have been known by people, and relevant some prevent that little skills such as rope wear and derailing from also can use in the present invention.
Describe in detail below in conjunction with accompanying drawing:
Fig. 1 is the integral structure schematic perspective view of one embodiment of the present invention.Understand the motion of suspention object in three dimensional space for ease; Fig. 1 has provided a reference frame; Wherein the y axle points to bracing frame 71 along slideway 31 directions and from bracing frame 70, and the vertical y axle of x axle points to slideway 32 from slideway 31, and simultaneously vertical x axle of z axle and y axle point to aerial from ground.Below other figure and related description all be as the criterion with this system of axes.
Like Fig. 1, slideway 31 is erected on the bracing frame 70,71 (also can be installed on the crossbeam at the building inner slide, wall first-class), and two coasters 510,520 that can slide through cable traction are arranged above; Slideway 32 is erected on the bracing frame 72,73, and two coasters 530,540 that can slide through cable traction are arranged above.70,71,72,73 and two slideways of bracing frame surround the suspention object the space that will move.(or sheave etc. is to reduce the friction force between rope and coaster to have a pulley that supplies the rope cabling to use on each coaster at least.The present invention all claims pulley).One side of suspention object 007 is fixed with two rope 21a, 21b; Fixing at least one pulley of another opposite side is used for the cabling of rope 22; Rope 21a, 21b, 22 pass the pulley that supplies cabling to use on other objects such as cabling pulley and the bracing frame on the coaster 510,520,530,540 respectively; And with ground control point for example cylinder be connected, cylinder should fix on the ground avoiding and arbitrarily shift one's position because of the suspension body weight drags cylinder.For clarity, Fig. 1 pulley of not drawing and supplying cabling to use on the object such as bracing frame.The rope of suspention object to four coaster suspention object of can slinging.Can change the length of four sections ropes of suspention object to four coaster simultaneously through rotating some cylinder, thus the up-down of may command suspention object (also promptly suspend the z shaft alignment of object in midair, or claim that the suspention object moves along z is axial); Simultaneously reduce suspend object length to another slideway two supratrochlear two section ropes to increase the suspention object to two supratrochlear two sections rope lengths of certain slideway through rotating some cylinder, thus the x shaft alignment of may command suspention object; Slide along two slideways to draw four coasters through rotating some cylinder, move along the y axle, reach the purpose of control suspention object y shaft alignment thereby can drag the suspention object through rope 21,22.Electrical generator 80 is all motor power supplies.Need to prove that for the purpose of clear, the connection mode of rope shown in this figure and cylinder is not represented actual connection mode, the scheme drawing of its amplification is provided by the exploded drawings of back.
Fig. 2 a, 2b, 2c are respectively the control scheme drawings that the suspention object of Fig. 1 embodiment moves along y, x, z direction of principal axis.For the purpose of clear, in institute's drawings attached on suspention object, coaster or cross bar 203,204,302,113,123 fixing circle can regard that (these pulleys are followed in real time all the time and suspended object, coaster or beam movement in midair movable pulley as.With reference to figure 5 and explanation), other circles of not doing to number all are the fixed pulley used of confession under directions rope cabling (are fixed on a certain actionless object, but can through the free change of direction of universal change).Rope is guided on other bracing frames through each pulley.In addition for the ease of understanding; Each root rope adopts an independent numbering; For the centre on certain cylinder and two ends are fixed on same rope on other objects; With this rope is that the boundary is divided into two sections with the cylinder, by this rope numbering add suffix a, b distinguishes, rotary drum can increase the length that a certain section length reduces another section simultaneously.
Fig. 2 a has provided the control scheme drawing that the suspention object moves along the y direction of principal axis.Thereby this moves along slideway through the cable traction coaster and drags the suspention object and move together and realize.As shown in the figure; Two ends of rope 21 all are fixed on the suspention object 007; Two ends of rope 22 are fixed on cylinder 300a, 300b is last; On two terminal fixed blocks 510,520 respectively of rope 11; Two ends of rope 12 are separately fixed on the coaster 530,540, and coaster 510,520 connects (41 two ends are separately fixed on the coaster 510,520) by cross bar or rope 41, and coaster 530,540 connects (42 two ends are separately fixed on the coaster 530,540) by cross bar or rope 42.(cw, conter clockwise all are to be as the criterion to see from drawing when cylinder 110,120 all clockwise rotates; Down together); Cause the length of 11a section rope and 12a section rope all to reduce, the length of 11b section rope and 12b section rope all increases, and rope 11 and 12 will move to y axle negative sense by extension pulley; Otherwise rope 11 and 12 will move to y axle forward by extension pulley when cylinder 110,120 all rotates counterclockwise.The suspention object can be free to slide on rope 22 when coaster moved; But can not on rope 21, slide; So in order to make the suspention object when the y axle moves, not influence the x shaft position and the z shaft position of suspention object 007 as far as possible; The length of rope 21a, 21b should be done corresponding adjustment; (rotation fully synchronously of a plurality of cylinders is meant that turning to of these cylinders is identical among the present invention, and the linear velocity that cylinder rotates is also identical, also is that interior rope variable quantity by these these cylinders adjustment of same time period is identical for example to make cylinder 110b should follow the rotation synchronously of cylinder 110 dos fully.These cylinders can use a motor through gear or driving such as coaxial.Together following), thus make the suspention object not change because of coaster moves to the length of the rope of coaster 510,520.Clearly; Under the situation that parallel and cylinder 110,110b, 120 rotate fully synchronously at two slideways; If other cylinders do not change, the path of motion of suspending object so in midair is with the parallel y axle of strictness, and the x shaft position and the z shaft position of suspention object all remains unchanged in the motion process; For example slideway is not parallel in other cases or cylinder 110 and 120 linear velocities when unequal; The sense of motion of suspention object possibly not be strict parallel y axle; The x, the z shaft position that are suspention object in the motion process also possibly followed change (Fig. 2 d, 2e will explain this situation), and even so, this embodiment of the present invention stands good in most occasions; Simple in order to describe, the present invention will be called the y direction of principal axis through the sense of motion that coaster moves the suspention object of controlling.In addition because suspending the movable stroke ratio slideway of object on the y axle in midair will lack, so in this embodiment and Fig. 3 a illustrated embodiment, the space that bracing frame and slideway enclosed also should be more slightly larger than the motion space of desired suspention object.Obviously, extension pulley moves along slideway and also means and changed the position that device takies working space, and for example under the device off working state, a certain end that can the suspention object be placed on slideway is to avoid other conflicts dynamic or stationary body in rope and the place.Need to prove that the rope connection mode in the institute of the present invention drawings attached is not unique, those skilled in the art can be easy to adopt other rope connection modes to realize the length adjustment mode of rope of the present invention.Rope 22 also can all be fixed on the suspention object as 21 two ends when for example two slideways were parallel, and this will make illustrated in detail by Fig. 2 e; For example two of rope 11 ends can be separately fixed on the coaster 510,530 again, and two ends of rope 12 can be separately fixed on the coaster 520,540, if can adjust rope can make four coasters as expected direction move.
Fig. 2 b has provided the control scheme drawing that the suspention object moves along the x direction of principal axis.This is to reduce to suspend in midair object simultaneously to the supratrochlear rope lengths of certain slideway and realize to the length of the supratrochlear rope of another slideway through increasing the suspention object on the principle.As shown in the figure, when cylinder 200a rotates counterclockwise when rolling rope 201, will spur cross bar 203 and move to direction near cylinder 200a, be equivalent to roll rope 21, thereby make the suspention object reduce to the length of two sections ropes of coaster 510,520; Otherwise, cylinder 200a will make the suspention object increase when clockwise rotating to the length of two sections ropes of coaster 510,520.Need to prove that two sections rope 21a, 21b all can pass freely through two fixing on the cross bar 203 pulleys, Fig. 5 will do further to explain.Equally, cylinder 200b also can increase or reduce to suspend in midair object to coaster 530, the length of two sections ropes between 540 through cross bar 204.When cylinder 200a and 200b all clockwise rotated, the length of the two section ropes of suspention object to the coaster 530,540 reduced, and the suspention object increases to the length of two sections ropes of coaster 510,520, thereby makes that suspending object in midair moves to x axle forward; Otherwise when cylinder 200a and 200b all rotated counterclockwise, the suspention object will move to x axle negative sense.200a and 200b also can use a cylinder 200 to realize in the actual device, and at this moment 201 and 202 can to regard same rope as be two sections that the boundary divides with cylinder 200.Under the parallel situation of two slideways; When if only rotary drum 200a, 200b and maintenance suspention object are taken office the equal in length of two sections ropes on what slideway; The suspention object will remain unchanged along its y shaft position in the x direction of principal axis motion process, and its track will be an elliptic arc (according to the ellipse definition) that is parallel to the XOZ plane.More little apart from the total length of four sections ropes of timing suspension body to four coaster at slideway, elliptic segment trajectory is flat more, and the total length of four sections ropes is big more, and track is more near circular shape.Because peripheries such as most sports grounds, stadium have grandstand, generally suspend in midair and all require highlyer slightly avoiding touching grandstand when object moves to the border than the position of center court, so the present invention can be used for most of occasions; At two slideways under the situation about being uneven in length of not parallel or suspention object two sections ropes to certain slideway coaster; Its sense of motion possibly not be strict parallel x axle when suspending object in midair through the method control of above-mentioned rotary drum 200a, 200b; It is the y shaft position also possibly change (with reference to figure 2d, 2e) of suspention object in the x shaft alignment process; Though this possibly make that the suspention object is to increase (or reducing) to the total length of two sections ropes of coaster 530,540; But wherein the length of one section rope possibly remain unchanged even reduce (or increasing); Even so; This embodiment of the present invention stands good in most occasions, and this also can be through changing slideway installation site, the initial installation site of coaster, dynamically adjusting method such as coaster position and make the suspention object all increase or all reduce to the length of two sections ropes of coaster 530,540 certainly.Equally, when when making the z shaft alignment by Fig. 2 c method or by the control of Fig. 3 b embodiment, suspending object in midair, also possibly exist the suspention object to reduce and the phenomenon of another section rope lengths increase to one section rope lengths of certain bar slideway, this also can use similar way to solve.Simple in order to describe, the present invention will adopt the sense of motion of the suspention object that Fig. 2 b method causes still to be called the x direction of principal axis.If realize the path of motion of suspention object 007 strict parallel x axle; Then can adjust the height and the y shaft position of suspention object through index drum 300a, 300b, 300c, 110,120; The control of these several cylinders can be through manually realizing; Also control system be can introduce, the turning to of each cylinder, speed etc. calculated in real time according to the parameters such as distance of suspention object to four coaster.
Fig. 2 c has provided the control scheme drawing that the suspention object moves along the z direction of principal axis.This is to control to the length of four sections ropes of all coasters through the object of adjustment suspention simultaneously.As shown in the figure, when cylinder 300c, 300a, 300b all clockwise rotated, the length of the four section ropes of suspention object 007 to the coaster 510,520,530,540 all reduced, and rises thereby cause suspending in midair object; Otherwise, when cylinder 300c, 300a, 300b all rotate counterclockwise, descend because the weight of suspention object will cause suspending in midair object.For the variable quantity that makes four sections rope lengths equates, the linear velocity of cylinder 300c should be the half the of 300a, 300b.It should be noted that when four sections rope lengths having only suspention object slideway to both sides all equate, only the strict parallel z axle of up-down direction ability of the suspention object controlled of rotary drum 300a, 300b, 300c; Otherwise the up-down and the z axle of suspention object have a small deviation.Even so, the present invention also can satisfy the great majority application.Easy for narrating, the present invention still representes to suspend in midair the up-down direction of object with the z axle.If make the strict parallel z axle of z shaft alignment of suspention object, can pass through the cylinder of hand adjustment x, y direction of principal axis location usefulness, or the introducing control system, according to the speed of each cylinders of parameter dynamic calculation such as the distance between the slideway etc.
Clearly, in Fig. 1 embodiment, when between suspention object and ground point, setting up other purposes of rope work if desired in addition, the mode of this rope need be in full accord with 21a or 21b.When for example the fiber plant data in real time that will suspend the object collection in midair propagates into ground; Can on coaster 510, add a cabling pulley again; Optical fiber two ends are separately fixed on certain cylinder (being designated as 105) and the suspention object; The length adjustment mode of 21a or 21b section rope is in full accord among the adjustment mode of fiber lengths and Fig. 2 a, 2b, the 2c; Promptly except that cylinder 105 was followed 110 rotations fully, cylinder 200a, 300c will be with identical all the time to the length adjustment of 21a or 21b section rope to the adjustment of fiber lengths; Certainly, also can 21a, 21b be replaced with two ropes, and optical fiber is placed rope 21a or 21b, as long as the length adjustment mode of these two ropes is still consistent with Fig. 2 a, 2b, 2c.
Fig. 2 d has provided the control scheme drawing of suspention object under the not parallel situation of slideway.This still can control moving of suspention object according to the method shown in Fig. 2 a, 2b, the 2c, and the connection mode of rope and cylinder still is consistent with Fig. 2 a, 2b, 2c, for the purpose of clear, and these connections of not drawing among the figure.It should be noted that suspending object this moment in midair is not completely orthogonal along the sense of motion of x, y, three axles of z.For example in Fig. 2 d, press Fig. 2 a method extension pulley to above the drawing or below drawing in the moving process; Can there be the height reduction of suspention object or situation about raising; The x shaft position also possibly change, and need to prove, even under the non-straight situation of slideway; Also possibly there is above-mentioned this situation, at this moment can be by method shown in Fig. 2 b, the 2c through rotating the direction variation as expected on x, z axle of the feasible suspention of corresponding cylinder object.When for example pressing Fig. 2 b method traction suspention object again and between two slideways, moving; Y, the z shaft position of suspention object also possibly and then change, at this moment can by method shown in Fig. 2 a, the 2c through rotate corresponding cylinder make the suspention object on y, z axle as expected direction move.When same control suspention object was only done the z shaft alignment by Fig. 2 c method, x, the y shaft position that also may cause suspending in midair object changed, this can by method shown in Fig. 2 a, the 2b through rotate corresponding cylinder make the suspention object on x, y axle as expected direction move.Even so, thus the motion of length control suspention object in three dimensional space of pressing corresponding rope in Fig. 2 a, 2b, this device of the said method adjustment of 2c, and its effect still can satisfy a lot of occasion requirements.The suspension physical efficiency is strict to be moved along a certain direction if make, and can introduce control system and calculate turning to of each cylinder and rotating speed in real time according to parameters such as spacing of slipway leave.
Fig. 2 e has provided under the parallel situation of slideway, if the length of the two section ropes of suspention object to certain slideway can not remain the control scheme drawing of suspention object when equating in the unequal or coaster moving process of coaster speed.Though like two slideway equal in length of figure but see that from drawing one is leaned on upward, one is leaned on down, or two slideways be uneven in length coaster all need move to the other end from of slideway.Though this environment down still can through method shown in Fig. 2 a, 2b, the 2c control the moving of suspention object (among Fig. 2 e rope and cylinder be connected and Fig. 2 a, 2b, 2c are consistent; For the purpose of clear; Do not draw among the figure); But similar with Fig. 2 d, the suspention object is not completely orthogonal along the sense of motion of x, y, three axles of z.Even so, thereby press the motion of rope lengths control suspention object in three dimensional space in Fig. 2 a, 2b, this device of the said method adjustment of 2c, its effect still can satisfy a lot of occasion requirements.The suspension physical efficiency is strict to be moved along a certain direction if make, and can introduce control system and calculate turning to of each cylinder and rotating speed in real time according to parameters such as spacing of slipway leave.
Saidly know by top; When pressing the control of method shown in Fig. 2 a, 2b, 2c suspention movement of objects respectively; Its direction possibly not be strict orthogonality relation, and in order to make these directions quadrature of trying one's best, two slideways that set up should be parallel as far as possible; Coaster 510, the spacing between 520 equate with coaster 530, spacing between 540 as far as possible, and should make through some well-known process in the motion process and suspend object in midair and remain equal to the length of two supratrochlear two sections ropes of arbitrary slideway.
Fig. 2 f is the scheme drawing of slideway embodiment of a kind of basic equivalence of Fig. 1 device when parallel.Under the parallel situation of slideway as long as can be when slideway moves so that the suspension body remains equal to the length of two supratrochlear two sections ropes of arbitrary slideway by Fig. 2 a method extension pulley; Rope 22 just can all be fixed on the suspention object as rope 21 its two ends; Connection scheme drawing for the rope 22 that only drawn for the purpose of clear; At this moment cylinder 120b follows Fig. 2 a intermediate roll 120 fully and rotates synchronously, to realize the y shaft alignment of suspention object; Cylinder 200b replaces the cylinder 200b among Fig. 2 b, and cooperates rotation with Fig. 2 b intermediate roll 200a, to press the x shaft alignment that the said method of Fig. 2 b realizes the suspention object; Cylinder 300a, 300b replace 300a and 300b among Fig. 2 c; With cylinder 300a, 300b respectively two circles of bonded assembly also be movable pulley; Thereby the pulling movable pulley was rolled rope 22a and 22b when two cylinders all clockwise rotated; Make the suspention object all reduce to two sections rope lengths of coaster 530,540, otherwise when cylinder 300a, 300b all rotate counterclockwise, because the weight of suspention object will make the suspention object all increase to two sections rope lengths of coaster 530,540. Cylinder 300a, 300b cooperate rotation with Fig. 2 c intermediate roll 300c, to press the z shaft alignment that the said method of Fig. 2 c realizes the suspention object.
Fig. 3 a is a kind of scheme drawing that adopts three rope control suspention objects of the present invention.Like figure, compare with Fig. 2 a, the fixing rope 22 in suspention object right side, the other end of rope is connected with ground control point such as cylinder.Adopt three ropes can reduce the working space of device on the one hand, also simplified the rope connection mode on the other hand in a way relatively.302,304,124,204 all is movable pulleys.The suspention object is similar along the axial motion control of y and Fig. 2 a in this embodiment; Realize that thereby all move along slideway while cylinder 110b follows 110 fully, and rotation, cylinder 120b follow 120 rotations synchronously fully synchronously through rotary drum 110,120 extension pulleys.For the purpose of clear, not drawing among the figure is fixed on supratrochlear rope.The suspention object remains the length that reduces to suspend in midair the rope of object to another slideway simultaneously through the length that increases the rope of suspention object to certain slideway and realizes along axial the moving of x.Like figure, cylinder 200a rotates can increase or reduce to suspend in midair the length of object to two sections ropes of slideway 31 through cross bar 202, and cylinder 200b rotates can increase or reduce to suspend in midair the length of object to the rope of slideway 32 through movable pulley 204.When cylinder 200a, 200b all clockwise rotated, the suspention object reduced to the rope lengths of slideway 32, and to the rope lengths increase of slideway 31, the suspention object moves to slideway 32 directions; When otherwise cylinder 200a, 200b all rotated counterclockwise, the suspention object moved to slideway 31 directions.In like manner, the suspention object can realize that along axial the moving of z when they clockwise rotated, the suspention object all reduced to all supratrochlear rope lengths through cylinder 300a, 300b, 300c, and the suspention object rises; Otherwise when cylinder 300a, 300b, 300c all rotated counterclockwise, the suspention object descended.Need to prove; The rope of suspention object to two slideway is asymmetric; Therefore under situation not by control system; The accuracy of positioning of this embodiment possibly not have Fig. 2 embodiment desirable, and the y axle of the suspention object that for example when the z axle moves, brings at control suspention object, x axle variable quantity is compared Fig. 2 embodiment maybe be bigger, but this embodiment still can satisfy the application requirements of most occasions.
Fig. 3 b is the scheme drawing of another embodiment of the present invention.Like figure, fixing four pulleys of four sides of suspention object, rope 26a, 26b, 27a, 27b pass four pulleys respectively and will suspend object in midair and be suspended in the air.Frame of broken lines 91,92 can be fixed on the wall or the first-class maintenance transfixion of bracing frame, also can make coaster as 550,560, promptly each with a cable traction to slide along slideway.Be not used as coaster for clear see this drawing and do not draw, but will 91,92 be called coaster in order to describe simple the present invention with 91,92.The motion of suspention object in three dimensional space is to realize through the rope lengths of adjustment suspention object to coaster 550,560,91,92 in this device.The x shaft alignment of cylinder 201 control suspention objects; When cylinder 201 clockwise rotates; The total length of the four section ropes of suspention object to the coaster 560,92 all reduces, and all increases to the total length of four sections ropes of coaster 550,91, moves to x axle forward thereby cause suspending in midair object; Otherwise when cylinder 201 rotated counterclockwise, the total length of the four section ropes of suspention object to the coaster 550,91 all reduced, and the total length of four sections ropes to the coaster 560,92 all increases, and moves to x axle negative sense thereby cause suspending in midair object.The y shaft alignment of cylinder 101 control suspention objects; When cylinder 101 clockwise rotates; The suspention object all reduces to the total length of four sections ropes of coaster 550,560, all increases to the total length of four sections ropes of coaster 91,92, moves to y axle negative sense thereby cause suspending in midair object; Otherwise when cylinder 101 rotated counterclockwise, the suspention object all increased to the total length of four sections ropes of coaster 550,560, all reduced to the total length of four sections ropes of coaster 91,92, moved to y axle forward thereby cause suspending in midair object.The rotation of cylinder 300a and 300b is synchronous fully, and through the up-down (being the z shaft alignment) that folding and unfolding rope 26,27 is controlled, as cylinder 300a, when 300b clockwise rotates, rope 26,27 is rolled-up, causes suspending in midair object and rises; Otherwise as cylinder 300a, when 300b rotates counterclockwise, rope 26,27 is lengthened, and causes suspending in midair object and descends.Need to prove similar Fig. 2 d or 2e, above-mentioned suspention object possibly not be complete quadrature along the sense of motion of x, y, three axles of z, but said device still can satisfy the application of most of occasions.In the pinpoint scene of needs, can be through introducing control system goes out each cylinder according to parameter dynamic calculation such as places speed etc.Cylinder 130,140 is controlled coaster 550,560 respectively and is moved along the slideway direction.At device during abnormal operating state, can through 130,140 and possible coaster 91,92 dynamic modifiers take the position or the size of working space, Fig. 4 will make illustrated in detail to this situation.Obviously, extension pulley can cause also accordingly that when slideway moves the y shaft position of suspention object changes.It should be noted that in the travelling block process that the suspention object changes to two sections rope lengths of every nook and cranny maybe be inconsistent, this needs suitable index drum 101,201 and 300a, 300b, to avoid, to contact to earth or high excessively.Compare with the said embodiment of Fig. 2, the said embodiment of Fig. 3 b mainly contains two deficiencies: also can cause the variation of z shaft position when 1) the suspention object is made the y shaft alignment; 2) time operation more complicated in adjusting work space not only needs index drum 300, must carefully coordinate the rotation of cylinder 101 and 201.
Fig. 4 has provided on the same slideway of a kind of dynamic adjustment the scheme drawing of distance between two coasters.When the rope that connects suspention object and slideway becomes a kind of obstacle, need reduce the working space that device takies probably.Connect the numbering 41 of two coasters in other accompanying drawings when note realizing this function and the rope or the cross bar of 42 representatives can remove.Like figure, rope 16 1 ends are fixed on the cylinder 111c, and an end is fixed on the coaster 510; Rope 17 1 ends are fixed on the cylinder 111b, and an end is fixed on the coaster 520; Rope 18 1 ends are fixed on the cylinder 121b, and an end is fixed on the coaster 530; Rope 19 1 ends are fixed on the cylinder 121c, and an end is fixed on the coaster 540.The linear velocity of cylinder 111a should be the half the of cylinder 111b, and the linear velocity of cylinder 121a should be the half the of cylinder 121b.Under the device normal working, it is motionless that cylinder 111a and 121a keep, and cylinder 111b, 111c follow cylinder 110 fully and rotate synchronously, and cylinder 121b, 121c follow cylinder 120 fully and rotate synchronously.When needs reduced coaster 510 and 520 spacings and coaster 530 and 540 spacings, cylinder 111b and 111c rolled rope 17 and 16 respectively, the cylinder 111a rope 112 that lengthens, and two ends that are equivalent to rope 11 are more approaching, thereby shorten coaster 510,520 spacings; Same 121b and 121c roll rope 18 and 19 respectively, the 121a rope 12 that lengthens, and two ends that are equivalent to rope 12 are more approaching, thus shortening coaster 530,540 spacings.Backward rotation cylinder 111a, 111b, 111c and 121a, 121b, 121c get final product when increasing the coaster spacing.It should be noted that the height in the dynamic adjustment process can change, can control manually at this moment that the cylinder of being responsible for suspention object z shaft alignment is avoided contacting to earth or too high, also can realize automatically through control system.Certainly, in actual device, to realize this function, rope 11,12, and cylinder 110,120,111a, 121a all can remove, as long as can make coaster as expected direction move, those skilled in the art can be easy to realize this point.
Fig. 5 has provided the optimization scheme drawing of a kind of rope through movable pulley on the cross bar.Usually the diameter of pulley is smaller, if two sections ropes that pass same movable pulley twine mutually when too near easily, at this moment can draw back the distance of two ropes through using two pulleys, influences the device normal operation to avoid rope to twine.Like figure, rope 21a passes pulley 213,214 fixing on the cross bar 203 and is connected on the cylinder 110b, and rope 21b passes pulley 215,216 fixing on the cross bar 203 and also is connected with cylinder 110b.
Fig. 6 a, Fig. 6 b, Fig. 6 c are respectively the coaster scheme of installations among the present invention.Fig. 6 a is single coaster scheme drawing.Fig. 6 b is the scheme drawing that two coasters link to each other through cross bar or rope 41.Two coasters among Fig. 6 b also can be merged into a coaster among Fig. 6 c, for example under two closer situation of coaster distance.Coaster on the slideway 32 is installed similarly.
Fig. 7 a, Fig. 7 b and Fig. 7 c have provided several kinds of suspention object flat-beds and have realized scheme drawing.Fig. 7 c has provided a kind of suspention object flat-bed scheme drawing that pick up camera isoequilibrium property is had relatively high expectations that hangs, and is made up of counterweight 801, inner and outer ring framework and connecting rod etc.How outer shroud tilts when so no matter moving, and middle connecting rod almost can keep vertical with ground at any time, thereby makes the pick up camera of following bonded assembly platform and top installation thereof almost remain level.In addition, suspention object platform can be other erose objects.
The present invention is simple and easy to implement; Do not need complicated control system can realize the location of suspention object in three dimensional space accurate and in real time; Rope and other collision problems dynamic or stationary body of suspention object have not only effectively been avoided simultaneously to a great extent; Also greatly improve the stability of suspention object, thereby reached effects such as perfect performance or shooting.
Claims (7)
1. one kind is suspended in midair the method that object moves in three dimensional space, mainly comprises:
One end of each connecting rope of corresponding both sides of suspention object, the other end of rope connects on the skyborne attachment point, will suspend object in midair and be suspended in the air, and control x axle, y axle and the z shaft alignment of suspention object respectively through following method; Wherein:
Through increasing the wherein length of a side rope and attachment point of suspention object, reduce to suspend in midair the length of object opposite side rope and attachment point simultaneously, to control the x shaft alignment that suspends object in midair;
Attachment point position through the corresponding both sides of adjustment suspention object rope; Or through increasing rope and the length of attachment point that the suspention object is different from any side of x shaft alignment; Reduce to suspend in midair the length of the rope and the attachment point of the corresponding opposite side of object simultaneously, with the y shaft alignment of control suspention object;
To the length between the attachment point, suspend the z shaft alignment of object through the object of adjustment suspention simultaneously rope in midair with control.
2. method according to claim 1, wherein, described aerial attachment point is supported on by the beam structure in bracing frame or the building in the air.
3. device of realizing the said method of claim 1 mainly comprises:
Article two, slideway has a coaster at least on every slideway;
One suspention object, both sides it is relative through rope are connected respectively to the coaster on the slideway of both sides;
Reduce to suspend in midair the length of object through increasing the suspention object simultaneously to the length of the supratrochlear rope in a sideslip road wherein, to control the x shaft alignment that suspends object in midair to the supratrochlear rope of opposite side slideway;
Through the position of adjustment coaster on slideway; Or reduce to suspend in midair another respective side of object simultaneously to two supratrochlear rope lengths of homonymy to two supratrochlear rope lengths of homonymy through increasing any side that the suspention object is different from the x shaft alignment, suspend the y shaft alignment of object in midair with control;
To the rope lengths between the coaster, suspend the z shaft alignment of object through adjustment suspention object in midair with control.
4. device according to claim 3, wherein, the slideway of said both sides is installed on the bracing frame respectively, or is installed on the beam structure in the building.
5. device according to claim 3, wherein, said coaster is connected with cylinder through rope, thereby is moved on slideway by motor-driven cylinder control coaster; Coaster moving or being used to control the y axle that suspends object in midair on slideway moved, or is used to adjust the working space of said device.
6. according to claim 3 or 5 described devices; Wherein, Pulley or sheave that cabling is used are installed on the said coaster; The x shaft alignment of control suspention object passes pulley with the rope of z shaft alignment or sheave is connected to cylinder with z to cylinder with x simultaneously, thus x to cylinder by the x shaft alignment of x to motor-driven control suspention object, z controls the z shaft alignment that suspends object in midair to cylinder by z to motor-driven.
7. according to claim 5 or 6 described devices, wherein, said motor is received on the power supply.
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| CN201210073818.7A CN102627227B (en) | 2012-03-20 | 2012-03-20 | Method and device for movement of suspended object in three-dimensional space |
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| CN201210073818.7A CN102627227B (en) | 2012-03-20 | 2012-03-20 | Method and device for movement of suspended object in three-dimensional space |
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| CN107428515A (en) * | 2015-04-01 | 2017-12-01 | 科尼全球公司 | Method, load manipulation device, computer program and computer program product for positioning clamping part |
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| CN110727292A (en) * | 2019-10-10 | 2020-01-24 | 北京北特圣迪科技发展有限公司 | Control method for motion of three-dimensional dynamic ring system of stage |
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| CN113716453A (en) * | 2021-08-16 | 2021-11-30 | 海门市帕源路桥建设有限公司 | Intelligent automatic lifting system and method |
| CN114880801A (en) * | 2022-05-11 | 2022-08-09 | 北京北特圣迪科技发展有限公司 | Sliding plate performance device attitude adjustment control compensation algorithm based on rope deformation analysis |
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| CN102627227B (en) | 2014-08-13 |
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