CN102627227B - 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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- CN102627227B CN102627227B CN201210073818.7A CN201210073818A CN102627227B CN 102627227 B CN102627227 B CN 102627227B CN 201210073818 A CN201210073818 A CN 201210073818A CN 102627227 B CN102627227 B CN 102627227B
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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 object moves in three dimensional space that can make to suspend in midair.
The invention still further relates to a kind of for realizing the device of said method, the working space capable of dynamic adjustment that this device takies.
Background technology
Competitive sports, film and television acute take or the activity such as performance in, often need to pass through rope (for example steel rope, static(al) rope ... etc.) object (hereinafter to be referred as suspention object) such as the people that slings, stage property or pick up camera moves in the three dimensional space of a certain scope.The motion of suspention object not only needs smoothly, steadily, in real time, and also should be able to dynamically adjust fast at the working space that much 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 in three dimensional space that suspends in midair, suspention object is connected with suspention object platform by rope, when traction suspention object platform movement, platform drags suspention object by the rope being connected with suspention object and follows movement.The major defect of this technology is, when the rope lengths between suspention object platform and suspention object is longer, suspends object in midair and has larger inertia, and the quick start-stop operation in any direction all can make to suspend in midair object and swing.This not only means that delay of control is larger, and the stability of this device also can be poor, is difficult to reach accurately and the requirement of location in real time.
US3065861 discloses a kind of device that object moves in three dimensional space that suspends in midair, it is mainly by the coaster that can slide on two main skids, by rope, to drag suspention object to move, its weak point is, because suspention object can be free to slide on the rope of both sides, therefore when coaster rises the stopping time fast along main skid, suspention object may upwards swing back and forth the party, presents a reforming phenomena.Cause the delay of control of this device larger, stability is also poor, is difficult to reach accurately and the requirement of location in real time.
US7088071B2 discloses a kind of device that object moves in three dimensional space that suspends in midair, and it mainly contains four fixedly corner and the suspention objects that are connected by rope with four corners, by regulating rope lengths to control suspention object, in three dimensional space, moves.This technology main limitation be, be difficult to size or the position of the working space that high-speed adjustment device takies as required.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 probably become other dynamically or the obstacle of stationary body, this brings at least two problems: even if 1 this device is under off working state, if there are other suspention objects also need to move in this space, " X " so above-mentioned shape intersection rope affects the movement 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 is also difficult to adjust easily fast.For example this " X " shape is intersected rope and is dragged the work in a certain space on the scenely of suspention object, and other suspension body devices are worked in another space in place, are at this moment just difficult to the quick working space that exchanges two covering devices.In addition, by control system or other similar means, be not difficult to know that moving suspention object, to the real-time distance of a certain fixed position, is therefore difficult to set up separately rope between moving suspention object platform and certain fixed position.While carrying out high definition relay etc. such as suspention pick up camera, the mass data that need to suspention object be produced by optical fiber be passed ground in real time back, but the deployment of optical fiber may just need to be introduced control system, will be more loaded down with trivial details otherwise debug.
US3043444 discloses a kind of device that object moves in three dimensional space that suspends in midair, it comprises two slide rails and a shelf that can move along slide rail, at least three cylinders are installed on shelf, at least three ropes, the two ends of rope are separately fixed on cylinder and suspention object.Position by adjustment shelf on slide rail and suspention object are realized the location of suspention 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 more difficult not only to dispose, and also means that to suspend the weight of object in midair limited simultaneously.2, operator is difficult to the action of four cylinders of judgement fast and does corresponding control, when especially needing to make to suspend in midair object and moving on three-dimensional simultaneously.
Summary of the invention
The object of the present invention is to provide a kind of method that object moves in three dimensional space of suspending in midair.
It is a kind of for realizing the device of said method that another object of the present invention is to provide, and the working space capable of dynamic adjustment that device takies, 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 again the stability of suspention object, making to suspend in midair the control of object can be accurately and real-time.
For achieving the above object, 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 skyborne attachment point, suspention object is suspended in the air, and controls respectively by the following method the x-axis, y-axis and z-axis location of suspention object; Wherein:
By increase, suspend the wherein length of a side rope and attachment point of object in midair, reduce to suspend in midair the length of object opposite side rope and attachment point simultaneously, to control the x axle location of suspention object;
By adjustment, suspend the attachment point position of the corresponding both sides of object rope in midair, or suspend by increase the rope of any side and the length of attachment point that object is different from x axle location in midair, reduce to suspend in midair the length of rope and the attachment point of the corresponding opposite side of object, to control the y axle location of suspention object simultaneously;
By adjust suspention object rope to the length between attachment point simultaneously, to control the z axle location of suspention object.
Described method, aerial attachment point is supported on by the beam structure in bracing frame or building in the air.
Provided by the invention for realizing the device of said method, mainly comprise:
Article two, slideway, has a coaster at least on every slideway;
One suspention object, is connected respectively to the coaster on two side slideways by rope by its relative both sides;
By increase, suspend object in midair and reduce to suspend in midair object to the length of the supratrochlear rope of opposite side slideway to the length of the supratrochlear rope of a side slideway wherein simultaneously, to control the x axle location of suspention object;
By adjusting the position of coaster on slideway, or by increase, suspend any side that object is different from x axle location in midair and reduce to suspend in midair another respective side of object to two supratrochlear rope lengths of homonymy to two supratrochlear rope lengths of homonymy simultaneously, to control the y axle of suspention object, locate;
By adjustment, suspend object in midair to the rope lengths between coaster, to control the z axle location of suspention object.
In described device, the slideway of described both sides is arranged on bracing frame respectively, or is arranged on the beam structure in building.
In described device, described coaster is connected with cylinder by rope, thereby control coaster by motor head roll, on slideway, moves; The movement of coaster on slideway or move for controlling the y axle of suspention object, or for adjusting the working space of described device.
In described device, pulley or sheave that cabling is used are installed on described coaster, it controlling the x axle location of suspention object, and the rope of z axle location passes pulley or sheave is connected to cylinder with z to cylinder with x simultaneously, thereby x drives the x axle of controlling suspention object to locate by x to motor to cylinder, z is located to the z axle of drive and control of electric machine suspention object by z to cylinder.
In described device, motor is received on power supply.
Effect of the present invention is:
Therefore 1) the present invention can realize and by rope, control suspention object and in a certain three dimensional space, smoothly move to optional position, is particularly suitable for the occasions such as film shooting, competitive sports, performance.
2) the present invention's working space that dynamically modifier takies, both can avoid suspending in midair rope and other conflicts dynamic or stationary body of object to a great extent, had greatly improved again the stability of suspention object.
Accompanying drawing explanation
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 schematic diagrams that the suspention object of Fig. 1 embodiment moves along y, x, z direction of principal axis.
Fig. 2 d has provided the control schematic diagram that suspends object in the not parallel situation of slideway in midair.
Fig. 2 e has provided in the parallel situation of slideway, if coaster speed is unequal or coaster moving process in suspend object in midair and can not remain to the length of two sections of ropes on certain slideway the control schematic diagram that suspends object while equating in midair.
Fig. 2 f is the embodiment schematic diagram of slideway a kind of basic equivalence of Fig. 1 device when parallel.
Fig. 3 a, 3b are the schematic diagrams of the another two kinds of embodiments of the present invention.
Fig. 4 dynamically adjusts the schematic diagram of two coaster spacings on same slideway.
Fig. 5 has provided a kind of rope through the optimization schematic diagram of movable pulley.
Fig. 6 a, b, c have provided the coaster scheme of installation in several the present invention.
Fig. 7 a, b, c have provided several difform suspention object platform schematic diagrams.
The specific embodiment
Device of the present invention is mainly included in two slideways setting up both sides, required three dimensional space top (for example cable cableway, i-beam track, groove steel rail, etc.), the coaster that has at least an energy to slide along slideway on every slideway (can be equipped with pulley, sheave or wheel etc. on coaster, with the friction force that reduces to slide on slideway), and the suspention object being connected by rope with coaster or suspention object platform (this platform as a kind of mobile vehicle can carry pick up camera, geological exploration device, well logging hook, people or stage property etc., for various occasions.Simple for describing, after unless stated otherwise, the present invention be referred to as later make suspention object).By adjustment, suspend object in midair to rope lengths and the position of coaster on slideway of coaster, control the motion of suspention object in three dimensional space; The adjustment of coaster position also can be used for the shared working space of modifier.
For suspending the end of rope of object in midair, can be fixed on cylinder and (be also reel, winch, reel etc., the present invention is all called cylinder), cylinder is driven and can be rolled rope or emit rope by motor (electrical motor, winch etc., the present invention is all called motor); Also the centre of a rope can be wrapped on cylinder, two ends are fixed on other objects, rotary drum can increase cylinder to rope wherein the rope lengths of an end reduce cylinder to the rope lengths of another end of rope (require rope non-slip on cylinder) simultaneously.Because suspention object is realized by rope adjustment mode independent of each other respectively along axial the moving of x, y, z, so this device does not need to adopt complicated control system can realize the location of suspention object in three dimensional space.In addition, all ropes also can be from local a control, so motor and power cable do not need to zoom out placement.Some essential annexes also can be placed on suspention object platform, such as power supply, wireless receiver etc.Wherein, the pulley adopting in device of the present invention, coaster, cylinder etc. have been known by people, and relevant some prevent that the little skills such as rope wear and derailing also can be with in the present invention.
Below in conjunction with accompanying drawing, be described in detail:
Fig. 1 is the integral structure schematic perspective view of one embodiment of the present invention.For the motion of convenient understanding suspention object in three dimensional space, Fig. 1 has provided a reference frame, wherein 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 the simultaneously vertical x axle of z axle and y axle point to aerial from ground.Other figure and related description are all as the criterion with this system of axes below.
As Fig. 1, slideway 31 is erected on bracing frame 70,71 (at building inner slide, also can be arranged on crossbeam, wall first-class), has two coasters that can slide by cable traction 510,520 above; Slideway 32 is erected on bracing frame 72,73, has two coasters that can slide by cable traction 530,540 above.70,71,72,73 and two slideways of bracing frame surround the space that suspention object will move.(or sheave etc., to reduce the friction force between rope and coaster on each coaster, to have a pulley for rope cabling at least.The present invention all claims pulley).One side of suspention object 007 is fixed with two rope 21a, 21b, another opposite side is fixed at least one pulley for the cabling of rope 22, rope 21a, 21b, 22 respectively through on other objects such as the cabling pulley on coaster 510,520,530,540 and bracing frame for the pulley of cabling, and with ground control point for example cylinder be connected, cylinder should fix on the ground to avoid arbitrarily to shift one's position because suspension body weight drags cylinder.For clarity, Fig. 1 does not draw on the objects such as bracing frame the pulley for cabling.The rope of suspention object to four coaster suspention object of can slinging.By rotating some cylinder, can change the length of four sections of ropes of suspention object to four coaster simultaneously, thereby can control the lifting (also suspend the z axle location of object in midair, or claim suspention object to move along z is axial) of suspension body; By rotating some cylinder, to increase suspention object, to two supratrochlear two sections of rope lengths of certain slideway, reduce to suspend in midair object to the length of two supratrochlear two sections of ropes of another slideway simultaneously, thereby can control the x axle location of suspension body; By rotating some cylinder, to draw four coasters, along two slideways, slide, thereby can drag suspention object by rope 21,22, along y axle, move, reach the object of controlling suspention object y axle location.Electrical generator 80 is all motor power supplies.It should be noted that, for clarity, the connection mode of rope shown in this figure and cylinder does not represent actual connection mode, and the schematic diagram of its amplification is provided by exploded drawings below.
Fig. 2 a, 2b, 2c are respectively the control schematic diagrams that the suspention object of Fig. 1 embodiment moves along y, x, z direction of principal axis.For clarity, in institute's drawings attached, on suspention object, coaster or cross bar 203,204,302,113,123, fixing circle can regard movable pulley that (these pulleys are followed in real time all the time and suspended object, coaster or beam movement in midair as.With reference to figure 5 and explanation), the fixed pulley that other circles of not being used as to number are all confession under directions rope cablings (be fixed on a certain actionless object, but can freely change direction by universal change).Rope is guided on other bracing frames by each pulley.In addition for the ease of understanding, each root rope adopts an independent numbering, for centre on certain cylinder and two ends are fixed on same rope on other objects, this rope be take to cylinder and as boundary, be divided into two sections, by this rope numbering, add suffix a, b and distinguish, rotary drum can increase the length that the length of a certain section reduces another section simultaneously.
Fig. 2 a has provided the control schematic diagram that suspention object moves along y direction of principal axis.Thereby this is moved and drags suspention object mobile realization together along slideway by cable traction coaster.As shown in the figure, two ends of rope 21 are all fixed on suspention object 007, two ends of rope 22 are fixed on cylinder 300a, 300b, on two ends difference fixed blocks 510,520 of rope 11, two ends of rope 12 are separately fixed on coaster 530,540, coaster 510,520 connects (41 two ends are separately fixed on coaster 510,520) by cross bar or rope 41, and coaster 530,540 connects (42 two ends are separately fixed on coaster 530,540) by cross bar or rope 42.When cylinder 110,120 all clockwise rotates, (cw, conter clockwise are all to see and to be as the criterion from drawing, lower same), 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.When coaster moves, suspending object in midair can be free to slide on rope 22, but can not on rope 21, slide, so in order to make to suspend in midair x shaft position and the z shaft position that does not affect suspention object 007 when object moves along y axle as far as possible, the length of rope 21a, 21b should be adjusted accordingly, (in the present invention, a plurality of cylinder Complete Synchronizations rotations refer to that turning to of these cylinders is identical for example to make cylinder 110b should follow synchronous rotation of cylinder 110 works completely, the linear velocity that cylinder rotates is also identical, is also identical by the rope variable quantity of these these cylinders adjustment in the same time period.These cylinders can be with a motor by gear or the driving such as coaxially.Lower with), thereby make to suspend in midair object, to the length of the rope of coaster 510,520, because coaster moves, do not change.Clearly, the in the situation that at two slideways, parallel and cylinder 110,110b, 120 Complete Synchronizations rotating, if other cylinders do not turn, suspend so the path of motion of object in midair by strict parallel y axle, and the x shaft position and the z shaft position that in motion process, suspend object in midair all remain unchanged; 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 may not be strict parallel y axle, be that x, the z shaft position that suspends object in motion process in midair also may be followed change (Fig. 2 d, 2e will explain this situation), even so, this embodiment of the present invention stands good in most occasions, simple in order to describe, the sense of motion that the present invention will move the suspention object of controlling by coaster is called y direction of principal axis.In addition because the movable stroke ratio slideway of suspention object on y axle is short, so in this embodiment and Fig. 3 a illustrated embodiment, the space that bracing frame and slideway enclose also should be more slightly larger than the motion space of desired suspention object.Obviously, extension pulley moves and also means and changed the position that device takies working space along slideway, and for example, under device off working state, a certain end that suspention object can be placed on to slideway is to avoid in rope and place other dynamically or conflicts of stationary body.It should be noted that, the rope connection mode in institute of the present invention drawings attached is not unique, and 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.For example, when two slideways are parallel, rope 22 also can all be fixed on suspention object by two ends as 21, and this will be done to explain in detail by Fig. 2 e; For example two of rope 11 ends can be separately fixed on coaster 510,530 again, and two ends of rope 12 can be separately fixed on coaster 520,540, as long as can adjust rope, can make four coasters move by desired orientation.
Fig. 2 b has provided the control schematic diagram that suspention object moves along x direction of principal axis.In principle, this is by increase, to suspend object in midair to the supratrochlear rope lengths of certain slideway, to reduce to suspend in midair object simultaneously and realize to the length of the supratrochlear rope of another slideway.As shown in the figure, when cylinder 200a rotates counterclockwise while rolling rope 201, will pull cross bar 203 to move to the direction that approaches cylinder 200a, be equivalent to roll rope 21, thereby make to suspend in midair object, to the length of two sections of ropes of coaster 510,520, reduce; Otherwise when clockwise rotating, cylinder 200a will make to suspend in midair object to the length increase of two sections of ropes of coaster 510,520.It should be noted that two sections of rope 21a, 21b all can pass freely through two pulleys fixing on cross bar 203, Fig. 5 will be further explained.Equally, cylinder 200b also can increase or reduce to suspend in midair object to the length of two sections of ropes between coaster 530,540 by cross bar 204.When cylinder 200a and 200b all clockwise rotate, suspention object reduces to the length of two sections of ropes on coaster 530,540, and suspention object, to the length increase of two sections of ropes of coaster 510,520, moves to x axle forward thereby make to suspend in midair object; Otherwise when cylinder 200a and 200b all rotate counterclockwise, suspention object will move to x axle negative sense.In actual device, 200a and 200b also can realize with a cylinder 200, and at this moment 201 and 202 can regard two sections that same rope divided with cylinder 200Wei circle as.In the situation that two slideways are parallel, if only rotary drum 200a, 200b and while keeping suspention object to take office two sections of ropes on what slideway equal in length, suspention object will remain unchanged along its y shaft position in x direction of principal axis motion process, and its track will be an elliptic arc (according to ellipse definition) that is parallel to XOZ plane.Less apart from the total length of four sections of ropes of timing suspension body to four coaster at slideway, elliptic segment trajectory is more flat, and the total length of four sections of ropes is larger, and track more approaches circular shape.Because the peripheries such as most sports grounds, stadium have grandstand, generally suspend in midair and when object moves to border, all require slightly highlyer to avoid touching grandstand than the position of center court, so the present invention can be for most of occasions, in the situation that two slideways are not parallel or suspention object to the length of two sections of ropes on certain slideway coaster not etc., by above-mentioned rotary drum 200a, when the method for 200b is controlled suspention object, its sense of motion may not be strict parallel x axle, be that the y shaft position that suspends object in x axle position fixing process in midair also may change (with reference to figure 2d, 2e), this may make to suspend in midair object to coaster 530, although the total length of two sections of ropes of 540 is to increase (or reducing), but wherein the length of one section of rope may remain unchanged and even reduce (or increasing), even so, this embodiment of the present invention stands good in most occasions, certainly this also can be by changing slideway installation site, the initial installation site of coaster, dynamically adjust the methods such as coaster position and make to suspend in midair object to coaster 530, the length of two sections of ropes of 540 all increases or all reduces.Equally, while controlling suspention object when doing z axle location by Fig. 2 c method or by Fig. 3 b embodiment, also may exist suspention object to reduce and another section of phenomenon that rope lengths increases to one section of rope lengths of certain slideway, this also can solve by similar way.Simple in order to describe, the present invention will adopt the sense of motion of the suspention object that Fig. 2 b method causes to be still called x direction of principal axis.If realize the path of motion of the strict parallel x axle of suspention object 007, can adjust by index drum 300a, 300b, 300c, 110,120 height and the y shaft position of suspention object, the control of these cylinders can be by manually realizing, also control system be can introduce, according to the parameters such as distance of suspention object to four coaster, the turning to of each cylinder, speed etc. calculated in real time.
Fig. 2 c has provided the control schematic diagram that suspention object moves along z direction of principal axis.This is to control to the length of four sections of ropes of all coasters by adjust suspention object simultaneously.As shown in the figure, when cylinder 300c, 300a, 300b all clockwise rotate, suspention object 007 all reduces to the length of four sections of ropes on coaster 510,520,530,540, thereby cause suspending in midair object, rises; Otherwise, when cylinder 300c, 300a, 300b all rotate counterclockwise, owing to suspending the weight of object in midair, will cause suspending in midair object decline.For the variable quantity of four sections of rope lengths is equated, the linear velocity of cylinder 300c should be half of 300a, 300b.It should be noted that while only having suspention object all to equate to four sections of rope lengths of two side slideways, the lifting direction of the suspention object that only rotary drum 300a, 300b, 300c control is strict parallel z axle; Otherwise the lifting of suspention object and z axle have a small deviation.Even so, the present invention also can meet great majority application.Easy for narrating, the present invention still represents to suspend in midair the lifting direction of object with z axle.If make to suspend in midair the strict parallel z axle in z axle location of object, can locate by the manual x of adjustment, y direction of principal axis the cylinder of use, or introduce control system, according to dynamic state of parameters such as the distances between slideway, calculate the speed of each cylinder etc.
Clearly, in Fig. 1 embodiment, if in the time of need to setting up in addition a rope between suspention object and ground point and make other purposes, the mode of this rope need to be in full accord with 21a or 21b.For example, when the data real time communication that fiber plant gathers suspention object arrives ground, can on coaster 510, add again a cabling pulley, optical fiber two ends are separately fixed on certain cylinder (being designated as 105) and suspention object, in the adjustment mode of fiber lengths and Fig. 2 a, 2b, 2c, the length adjustment mode of 21a or 21b section rope is in full accord, except cylinder 105 is followed 110 rotations completely, 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 21a, 21b can be replaced with two ropes, and optical fiber is placed in to 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 schematic diagram that suspends object in the not parallel situation of slideway in midair.This still can control the movement of suspention object according to the method shown in Fig. 2 a, 2b, 2c, the connection mode of rope and cylinder is still consistent with Fig. 2 a, 2b, 2c, for clarity, and these connections not shown in FIG..It should be noted that now suspending object in midair is not completely orthogonal along the sense of motion of three axles of x, y, z.For example in Fig. 2 d, press Fig. 2 a method extension pulley above drawing or in moving process below drawing, can there is the height reduction of suspention object or situation about raising, x shaft position also may change, it should be noted that, even non-straight in the situation that at slideway, also may there is above-mentioned this situation, at this moment can by rotating corresponding cylinder, make to suspend in midair object and by desired orientation, change on x, z axle by method shown in Fig. 2 b, 2c.While for example moving between two slideways by Fig. 2 b method traction suspention object again, y, the z shaft position of suspention object also may and then change, and at this moment can by rotating corresponding cylinder, make to suspend in midair object and by desired orientation, move on y, z axle by method shown in Fig. 2 a, 2c.Same when controlling suspention object and only doing z axle location by Fig. 2 c method, x, the y shaft position that also may cause suspending in midair object change, and this can make to suspend in midair object and by desired orientation, move on x, y axle by rotating corresponding cylinder by method shown in Fig. 2 a, 2b.Even so, thereby control the motion of suspention object in three dimensional space by the length that method described in Fig. 2 a, 2b, 2c is adjusted corresponding rope in this device, its effect still can meet a lot of occasion requirements.If suspension physical efficiency is strictly moved along a direction, can introduce control system according to spacing of slipway from etc. parameter calculate in real time turning to of each cylinder and rotating speed.
Fig. 2 e has provided in the parallel situation of slideway, if coaster speed is unequal or coaster moving process in suspend object in midair and can not remain to the length of two sections of ropes on certain slideway the control schematic diagram that suspends object while equating in midair.Though as equal in length in two slideways of figure from drawing see one top, one is on the lower, or two slideway length not etc. coaster all need move to other end from of slideway.Although under this environment still can by method shown in Fig. 2 a, 2b, 2c control suspention object movement (in Fig. 2 e, the connection of rope and cylinder and Fig. 2 a, 2b, 2c are consistent, for clarity, not shown in FIG.), but with Fig. 2 d is similar, suspention object is not completely orthogonal along the sense of motion of three axles of x, y, z.Even so, thereby the rope lengths of adjusting in this device by method described in Fig. 2 a, 2b, 2c is controlled the motion of suspention object in three dimensional space, and its effect still can meet a lot of occasion requirements.If suspension physical efficiency is strictly moved along a direction, can introduce control system according to spacing of slipway from etc. parameter calculate in real time turning to of each cylinder and rotating speed.
From described above, while moving by the control of method shown in Fig. 2 a, 2b, 2c suspention object respectively, its direction may not be strict orthogonality relation, in order to make these directions quadrature of trying one's best, two slideways that set up should be as far as possible parallel, spacing between coaster 510,520 as far as possible with coaster 530,540 between spacing equate, and in motion process, should make to suspend in midair object by some well-known process and remain equal to the length of two supratrochlear two sections of ropes of arbitrary slideway.
Fig. 2 f is the schematic diagram of slideway embodiment of a kind of basic equivalence of Fig. 1 device when parallel.Can be so that suspension body remains equal to the length of two supratrochlear two sections of ropes of arbitrary slideway in the parallel situation of slideway as long as while moving along slideway by Fig. 2 a method extension pulley, rope 22 just can all be fixed on suspention object by two end as rope 21, only drawn for clarity the connection diagram of rope 22, at this moment cylinder 120b follows Fig. 2 a intermediate roll 120 completely and synchronously rotates, to realize the y axle location of suspention object; Cylinder 200b replaces the cylinder 200b in Fig. 2 b, and rotates together with coordinating with Fig. 2 b intermediate roll 200a, realizes the x axle of suspention object locate with the method described in Fig. 2 b of press; Cylinder 300a, 300b replace 300a and the 300b in Fig. 2 c, two circles that are connected respectively with cylinder 300a, 300b are also movable pulleys, thereby two cylinders pull movable pulley to roll rope 22a and 22b while all clockwise rotating, making to suspend in midair object all reduces to two sections of rope lengths of coaster 530,540, otherwise when cylinder 300a, 300b all rotate counterclockwise, because will making to suspend in midair object, the weight of suspention object all increases to two sections of rope lengths of coaster 530,540.Cylinder 300a, 300b and Fig. 2 c intermediate roll 300c rotate together with coordinating, and realize the z axle of suspention object locate with the method described in Fig. 2 c of press.
Fig. 3 a is a kind of schematic diagram that adopts three ropes to control suspention object of the present invention.As figure, to compare with Fig. 2 a, a rope 22 is fixed on suspention object right side, and the other end of rope and ground control point are connected as cylinder.Adopt three ropes can reduce the working space of device on the one hand, also relatively simplified in a way on the other hand rope connection mode.302,304,124,204 is all movable pulleys.In this embodiment, suspend object in midair similar along the axial motion control of y and Fig. 2 a, thereby all by rotary drum 110,120 extension pulleys, along slideway, move to realize, while cylinder 110b follows 110 completely, and synchronously rotation, cylinder 120b follow 120 synchronously rotations completely.For clarity, in figure, do not draw and be fixed on supratrochlear rope.Suspention object along x axial move to remain by increase, suspend object in midair and to the length of the rope on certain slideway, reduce to suspend in midair object simultaneously and realize to the length of the rope on another slideway.As figure, cylinder 200a rotates can increase or reduce to suspend in midair object to the length of two sections of ropes of slideway 31 by cross bar 202, and cylinder 200b rotates can increase or reduce to suspend in midair object to the length of the rope of slideway 32 by movable pulley 204.When cylinder 200a, 200b all clockwise rotate, suspention object reduces to the rope lengths of slideway 32, and to the rope lengths increase of slideway 31, suspention object moves to slideway 32 directions; When otherwise cylinder 200a, 200b all rotate counterclockwise, suspention object moves to slideway 31 directions.In like manner, suspention object can be realized by cylinder 300a, 300b, 300c along axial the moving of z, and when they clockwise rotate, suspention object all reduces to all supratrochlear rope lengths, and suspention object rises; Otherwise when cylinder 300a, 300b, 300c all rotate counterclockwise, suspention object declines.It should be noted that, the rope of suspention object to two slideway is asymmetric, therefore not by control system in the situation that, the positioning precision of this embodiment may not have Fig. 2 embodiment desirable, for example controlling the y axle of the suspention object that suspention object brings when z axle moves, x axle variable quantity is compared Fig. 2 embodiment may be larger, but this embodiment still can meet the application requirements of most occasions.
Fig. 3 b is the schematic diagram of another embodiment of the present invention.As figure, four sides of suspention object are fixed four pulleys, and rope 26a, 26b, 27a, 27b are suspended in suspention object through four pulleys respectively in the air.Dotted line frame 91,92 can be fixed on wall or the first-class maintenance transfixion of bracing frame, also can as 550,560, make coaster, each with a cable traction to slide along slideway.This figure is not used as coaster by 91,92 and does not draw for clarity, but will 91,92 be called coaster in order to describe simple the present invention.In this device, suspend the motion of object in three dimensional space in midair and be and by adjustment, suspend object in midair and realize to the rope lengths of coaster 550,560,91,92.Cylinder 201 is controlled the x axle location of suspention object, when cylinder 201 clockwise rotates, suspention object all reduces to the total length of four sections of ropes on coaster 560,92, to the total length of four sections of ropes of coaster 550,91, all increases, thereby cause suspending in midair object, to x axle forward, moves; Otherwise when cylinder 201 rotates counterclockwise, suspention object all reduces to the total length of four sections of ropes on coaster 550,91, to the total length of four sections of ropes on coaster 560,92, all increase, thereby cause suspending in midair object, to x axle negative sense, move.Cylinder 101 is controlled the y axle location of suspention object, when cylinder 101 clockwise rotates, suspention object all reduces to the total length of four sections of ropes of coaster 550,560, to the total length of four sections of ropes of coaster 91,92, all increases, thereby cause suspending in midair object, to y axle negative sense, moves; Otherwise when cylinder 101 rotates counterclockwise, suspention object all increases to the total length of four sections of ropes of coaster 550,560, to the total length of four sections of ropes of coaster 91,92, all reduce, thereby cause suspending in midair object, to y axle forward, move.The rotation Complete Synchronization of cylinder 300a and 300b, the lifting of controlling by folding and unfolding rope 26,27 (being z axle location), when cylinder 300a, 300b clockwise rotate, rope 26,27 is rolled-up, causes suspending in midair object and rises; Otherwise when cylinder 300a, 300b rotate counterclockwise, rope 26,27 is lengthened, cause suspending in midair object and decline.It should be noted that similar Fig. 2 d or 2e, above-mentioned suspention object may not be complete quadrature along the sense of motion of three axles of x, y, z, but described device still can meet the application of most of occasions.In the pinpoint scene of needs, can according to dynamic state of parameters such as places, calculate by introducing control system the speed etc. of each cylinder.Cylinder 130,140 is controlled respectively coaster 550,560 and is moved along slideway direction.At device during abnormal operating state, can by 130,140 and the possible dynamic modifier of coaster 91,92 take position or the size of working space, Fig. 4 will do explanation in detail to this situation.The y shaft position that also can cause accordingly suspention object when obviously, extension pulley moves along slideway changes.It should be noted that in travelling block process, suspention object changes to two sections of rope lengths of every nook and cranny may be inconsistent, and this needs suitable index drum 101,201 and 300a, 300b, to avoid, to contact to earth or excessively high.Compare with embodiment described in Fig. 2, embodiment mainly contains two deficiencies described in Fig. 3 b: when 1) suspention object is done y axle location, also can cause the variation of z shaft position; 2) while adjusting working space, operate more complicated, not only need index drum 300, must carefully coordinate the rotation of cylinder 101 and 201.
Fig. 4 has provided the schematic diagram of two coaster spacings on the same slideway of a kind of dynamic adjustment.When the rope of connection suspention object and slideway becomes a kind of obstacle, probably need to reduce the working space that device takies.While noting realizing this function, in other accompanying drawings, connecting the numbering 41 of two coasters and the rope of 42 representatives or cross bar can remove.As figure, it is upper that rope 16 one end are fixed on cylinder 111c, and one end is fixed on coaster 510; It is upper that rope 17 one end are fixed on cylinder 111b, and one end is fixed on coaster 520; It is upper that rope 18 one end are fixed on cylinder 121b, and one end is fixed on coaster 530; It is upper that rope 19 one end are fixed on cylinder 121c, and one end is fixed on coaster 540.The linear velocity of cylinder 111a should be half of cylinder 111b, and the linear velocity of cylinder 121a should be half of cylinder 121b.Under device normal working, it is motionless that cylinder 111a and 121a keep, and cylinder 111b, 111c follow cylinder 110 completely and synchronously rotate, and cylinder 121b, 121c follow cylinder 120 completely and synchronously rotate.When needs reduce coaster 510 and 520 spacing and coaster 530 and 540 spacing, cylinder 111b and 111c roll respectively rope 17 and 16, the cylinder 111a rope 112 that lengthens, and two ends that are equivalent to rope 11 are more approaching, thereby shorten coaster 510,520 spacing; Same 121b and 121c roll respectively rope 18 and 19, the 121a rope 12 that lengthens, and two ends that are equivalent to rope 12 are more approaching, thereby shorten coaster 530,540 spacing.While increasing coaster spacing, rotate backward cylinder 111a, 111b, 111c and 121a, 121b, 121c.It should be noted that the height in dynamic adjustment process can change, at this moment can manually control that the cylinder of being responsible for suspention object z axle location is avoided contacting to earth or too high, also can automatically realize by 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 move by desired orientation, those skilled in the art can be easy to realize this point.
Fig. 5 has provided a kind of rope through the optimization schematic diagram of movable pulley on cross bar.Conventionally the diameter of pulley is smaller, if through two sections of ropes of same movable pulley when too near, be easily wound around mutually, at this moment can, by pull open the distance of two ropes with two pulleys, to avoid rope winding to affect device, normally work.As figure, it is upper that rope 21a is connected to cylinder 110b through fixing pulley 213,214 on cross bar 203, and rope 21b is also connected with cylinder 110b through fixing pulley 215,216 on cross bar 203.
Fig. 6 a, Fig. 6 b, Fig. 6 c are respectively the coaster scheme of installations in the present invention.Fig. 6 a is single coaster schematic diagram.Fig. 6 b is that two coasters are by cross bar or the connected schematic diagram of rope 41.Two coasters in Fig. 6 b also can be merged into a coaster in Fig. 6 c, for example, in the situation that two coaster distances are closer.Coaster on slideway 32 is installed similarly.
Fig. 7 a, Fig. 7 b and Fig. 7 c have provided the schematic diagram of realizing of several suspention object platforms.Fig. 7 c has provided a kind of schematic diagram that hangs the suspention object platform that pick up camera isoequilibrium has relatively high expectations, and counterweight 801, inner and outer ring framework and connecting rod etc., consists of.While so no matter moving, how outer shroud tilts, and middle connecting rod almost can keep vertical with ground at any time, thereby makes the platform connecting and the pick up camera of installing thereof almost remain level below above.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 accurately to suspend the location of object in three dimensional space in midair with realizing in real time, rope and other collision problems dynamic or stationary body of suspention object have not only effectively been avoided to a great extent simultaneously, also greatly improved the stability of suspention object, thereby reached perfect performance or take texts.
Claims (5)
1. realize the device that suspention object moves in three dimensional space, mainly comprise:
Article two, slideway, has a coaster at least on every slideway;
One suspention object, is connected respectively to the coaster on two side slideways by rope by its relative both sides;
By increase, suspend object in midair and reduce to suspend in midair object to the length of the supratrochlear rope of opposite side slideway to the length of the supratrochlear rope of a side slideway wherein simultaneously, to control the x axle location of suspention object;
By adjusting the position of coaster on slideway, or by increase, suspend any side that object is different from x axle location in midair and reduce to suspend in midair another respective side of object to two supratrochlear rope lengths of homonymy to two supratrochlear rope lengths of homonymy simultaneously, to control the y axle of suspention object, locate;
By adjustment, suspend object in midair to the rope lengths between coaster, to control the z axle location of suspention object;
Coaster is connected with cylinder by rope, thereby control coaster by motor head roll, on slideway, moves; The movement of coaster on slideway or move for controlling the y axle of suspention object, or for adjusting the working space of described device;
Pulley or sheave that cabling is used are installed on coaster, it controlling the x axle location of suspention object, and the rope of z axle location passes pulley or sheave is connected to cylinder with z to cylinder with x simultaneously, thereby x drives the x axle of controlling suspention object to locate by x to motor to cylinder, z is located to the z axle of drive and control of electric machine suspention object by z to cylinder.
2. device according to claim 1, wherein, the slideway of described both sides is arranged on bracing frame respectively, or is arranged on the beam structure in building.
3. device according to claim 1, wherein, described motor is received on power supply.
4. utilize device described in claim 1 to realize the method that suspention object moves in three dimensional space, mainly comprise:
One end of each connecting rope of corresponding both sides of suspention object, the other end of rope connects on skyborne attachment point, suspention object is suspended in the air, it controlling the x axle location of suspention object, and the rope of z axle location passes pulley or sheave is connected to cylinder with z to cylinder with x simultaneously, thereby x drives the x axle of controlling suspention object to locate by x to motor to cylinder, z is located to the z axle of drive and control of electric machine suspention object by z to cylinder; And the x-axis, y-axis and z-axis of controlling respectively by the following method suspention object are located; Wherein:
By increase, suspend the wherein length of a side rope and attachment point of object in midair, reduce to suspend in midair the length of object opposite side rope and attachment point simultaneously, to control the x axle location of suspention object;
By adjustment, suspend the attachment point position of the corresponding both sides of object rope in midair, or suspend by increase the rope of any side and the length of attachment point that object is different from x axle location in midair, reduce to suspend in midair the length of rope and the attachment point of the corresponding opposite side of object, to control the y axle location of suspention object simultaneously;
By adjust suspention object rope to the length between attachment point simultaneously, to control the z axle location of suspention object;
In said method, it controlling the x axle location of suspention object, and the rope of z axle location passes pulley or sheave is connected to cylinder with z to cylinder with x simultaneously, thereby x drives the x axle of controlling suspention object to locate by x to motor to cylinder, z is located to the z axle of drive and control of electric machine suspention object by z to cylinder; Thereby by motor head roll, control coaster moves on slideway; The movement of coaster on slideway or move for controlling the y axle of suspention object, or for adjusting the working space of described device.
5. method according to claim 4, wherein, described aerial attachment point is supported on by the beam structure in bracing frame or building in the air.
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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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| Publication number | Priority date | Publication date | Assignee | Title |
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| FI127606B (en) * | 2015-04-01 | 2018-10-15 | Konecranes Oyj | Method, load handling device, computer program and computer program product for positioning gripping means |
| CN107666892B (en) * | 2015-07-03 | 2020-09-18 | 洛桑联邦理工学院 | Apparatus for applying force in three-dimensional space |
| CN107098276A (en) * | 2017-05-12 | 2017-08-29 | 江苏信息职业技术学院 | A kind of rope suspension crane |
| TWI673220B (en) * | 2019-04-12 | 2019-10-01 | 唐光輝 | Hanging-type movement device for crop loading |
| CN110727292B (en) * | 2019-10-10 | 2020-11-06 | 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 |
| CN111377371B (en) * | 2020-04-28 | 2021-08-13 | 中国一冶集团有限公司 | System and method for mounting travelling beam by means of factory building column in closed factory building |
| CN113716453B (en) * | 2021-08-16 | 2023-07-25 | 海门市帕源路桥建设有限公司 | Intelligent automatic lifting system and method |
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| US3065861A (en) * | 1960-08-25 | 1962-11-27 | Centine & Blondins Cruciani S | Rope crane |
| CN101837931A (en) * | 2009-03-20 | 2010-09-22 | 郭鹏飞 | Tripod head tractor |
| CN102117075A (en) * | 2011-01-28 | 2011-07-06 | 西安电子科技大学 | Control method for position of photograph camera hauled by suspension cable |
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| US7088071B2 (en) * | 2003-07-28 | 2006-08-08 | Cablecam International Inc. | Cabling system and method for facilitating fluid three-dimensional movement of a suspended camera |
| US20040206715A1 (en) * | 2003-08-08 | 2004-10-21 | Cablecam International Inc. | Dual highline system and method |
| US20060275030A1 (en) * | 2005-06-03 | 2006-12-07 | Jim Rodnunsky | Multi-environment object movement system and method |
| JP5305936B2 (en) * | 2009-01-16 | 2013-10-02 | 中国電力株式会社 | Boiler in-furnace inspection equipment |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3065861A (en) * | 1960-08-25 | 1962-11-27 | Centine & Blondins Cruciani S | Rope crane |
| CN101837931A (en) * | 2009-03-20 | 2010-09-22 | 郭鹏飞 | Tripod head tractor |
| CN102117075A (en) * | 2011-01-28 | 2011-07-06 | 西安电子科技大学 | Control method for position of photograph camera hauled by suspension cable |
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| JP特开2010-164264A 2010.07.29 |
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