CN106227243B - Motion control system and control method for flying cinema - Google Patents
Motion control system and control method for flying cinema Download PDFInfo
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- CN106227243B CN106227243B CN201610792558.7A CN201610792558A CN106227243B CN 106227243 B CN106227243 B CN 106227243B CN 201610792558 A CN201610792558 A CN 201610792558A CN 106227243 B CN106227243 B CN 106227243B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63J—DEVICES FOR THEATRES, CIRCUSES, OR THE LIKE; CONJURING APPLIANCES OR THE LIKE
- A63J25/00—Equipment specially adapted for cinemas
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention provides a motion control system and a control method of a flying cinema, wherein the control system comprises a controller, a cabin linear movement device, a protection system, a cabin slewing mechanism and a cabin safety system; the controller comprises a main control unit, a cabin linear movement control unit, a protection turning plate rotation control unit, a cabin rotation control unit and a movable connecting rod control unit, wherein the cabin linear movement control unit, the protection turning plate rotation control unit, the cabin rotation control unit and the movable connecting rod control unit are respectively connected with the main control unit; the cabin linear movement control unit is connected with the cabin linear movement device, the protection turning plate rotation control unit is connected with the protection system, the cabin rotation control unit is connected with the cabin rotation mechanism, and the movable connecting rod control unit is connected with the cabin safety system. The invention controls the reciprocating linear motion of the cabin linear motion device, the front-back and left-right rotation of the cabin, the overturning of the protection turning plate and the opening and closing of the electromagnetic valve through the controller, has high safety, high automation degree and simple operation, and is provided with the emergency stop button in the controller to brake in time under emergency.
Description
Technical Field
The invention belongs to the technical field of flying cinema, and particularly relates to a motion control system and a motion control method of a flying cinema.
Background
The flying cinema is an emerging special effect entertainment cinema, a spectator takes a lifting seat controlled by a large mechanical system to the cinema center in mid-air, a high-definition digital projector projects pictures to a huge hemisphere screen through a special fish-eye lens, a sight area from the top of the spectator to the bottom of the spectator is completely surrounded by the spectator pictures, and the spectator film content with strong shock force can be fully experienced, and meanwhile, the spectator film content with the spectator film content can also be experienced in-person with the stimulation feeling of flying in suspension. Besides the effects of 4D cinema and huge curtain cinema, super-induction interaction equipment such as a simulated flight mechanism can be added on the basis, so that the audience can experience the effects of flying, interactive entertainment and the like in a safe environment.
The flying cinema is mainly divided into a screen system and a cabin system, the safety of the cabin system is the key for designing the whole flying cinema, the existing flying cinema control system is separate from the motion control of the cabin and the safety system control of the whole flying cinema, the operation is complex, the structure is complex, and the manufacturing cost is high.
Disclosure of Invention
The invention aims to provide a motion control system and a motion control method for a flying cinema, wherein the motion system of a cabin and a safety system of the whole flying cinema are controlled through a set of control system, the automation degree is high, the operation is simple, and better 4D film watching experience can be brought to audiences.
The invention adopts the technical scheme that:
the motion control system of the flying cinema comprises a controller, a cabin linear moving device, a protection system, a cabin slewing mechanism and a cabin safety system;
the controller comprises a main control unit, a cabin linear movement control unit, a protection turning plate rotation control unit, a cabin rotation control unit and a movable connecting rod control unit, wherein the cabin linear movement control unit, the protection turning plate rotation control unit, the cabin rotation control unit and the movable connecting rod control unit are respectively connected with the main control unit;
the cabin linear movement control unit is connected with the cabin linear movement device, the protection turning plate rotation control unit is connected with the protection system, the cabin rotation control unit is connected with the cabin rotation mechanism, and the movable connecting rod control unit is connected with the cabin safety system.
The cabin linear movement device comprises a cabin hanging bracket, two supporting plates and a first rotating shaft; the first rotating shaft is arranged at the top of the cabin hanging bracket, the two ends of the first rotating shaft are respectively provided with a first gear, the first rotating shaft is provided with a speed reducer, and the speed reducer is fixed on the cabin hanging bracket; the speed reducer is provided with a first power input shaft and a second power input shaft; the first power input shaft is connected with the first motor, and the second power input shaft is suspended; two supporting plates are respectively positioned at two sides of the cabin hanger, and racks are fixed on each supporting plate; the first gears at the two ends of the first rotating shaft are respectively meshed with racks on the two supporting plates; the cabin linear movement control unit is electrically connected with the first motor.
The protection system comprises a cabin platform and a protection turning plate, and the protection turning plate is movably connected with the front end of the cabin platform; the back of the protective turning plate is provided with a pushing mechanism and a supporting frame, and a guide rail is fixed on the supporting frame; the pushing mechanism is movably connected with the guide rail; the pushing mechanism comprises a bracket, a second motor, a transmission shaft and rollers arranged at two ends of the transmission shaft; the second motor is fixedly arranged on the bracket, the bracket is fixed on the upper part of the back surface of the protective turning plate, a second gear is sleeved on the output shaft of the second motor, the transmission shaft is arranged on the bracket in a penetrating way, a third gear is sleeved on the transmission shaft, the second gear is meshed with the third gear, and the idler wheels are positioned in the guide rail; the protection turning plate rotation control unit is connected with the second motor. In addition, the included angle between the guide rail and the supporting frame is 30 degrees to 45 degrees.
The cabin slewing mechanism comprises a back plate, a second rotating shaft, a third rotating shaft, a first electric cylinder and a second electric cylinder; the backboard is arranged between the cabin and the cabin hanging bracket, the backboard is movably connected with the cabin hanging bracket through a second rotating shaft, and the cabin is movably connected with the backboard through a third rotating shaft; the second rotating shaft is arranged in parallel with the backboard, and the third rotating shaft is arranged vertically with the backboard; the outer sleeve of the first electric cylinder is arranged on the first support, the outer sleeve of the first electric cylinder is movably connected with the first support, the first support is fixed on the back plate, and the extending end of the first electric cylinder is movably connected with the cabin; the second electric cylinder is arranged on the second support, the second electric cylinder is movably connected with the second support, the second support is fixed on the cabin hanging bracket, and the extending end of the second electric cylinder is movably connected with the backboard; the cabin rotation control unit is electrically connected with the first electric cylinder and the second electric cylinder respectively.
The cabin safety system comprises a cabin, and a safety pressing bar and an electromagnetic safety belt which are arranged on the cabin, wherein the safety pressing bar is movably connected with the cabin through a movable connecting rod; the safety pressure bar and the electromagnetic safety belt are respectively provided with an electromagnetic valve; a contact sensor arranged on the electromagnetic valve; the movable connecting rod control unit is respectively and electrically connected with the electromagnetic valve and the contact sensor.
In addition, the controller also comprises a scram control unit, and the scram control unit is electrically connected with the scram button; the emergency stop control unit is a relay.
The cabin linear movement control unit, the protection turning plate rotation control unit, the cabin rotation control unit and the movable connecting rod control unit are all relays.
The method for controlling the motion of the whole flying cinema by utilizing the device comprises the following steps:
and 11. Finally, the controller controls the movable connecting rod control unit to be powered off, the electromagnetic valves on the safety pressing bar and the electromagnetic safety belt are opened, the audience lifts the safety pressing bar, opens the electromagnetic safety belt by himself, leaves the seat and reaches the ground through the cabin platform and the stairs.
The beneficial effects of the invention are as follows: the controller is used for controlling the reciprocating linear motion of the cabin linear motion device, the front-back and left-right rotation of the cabin, the overturning of the protection turning plate and the opening and closing of the electromagnetic valve, so that the safety is high, the automation degree is high, the operation is simple, and the emergency stop button is arranged in the controller to brake in time in emergency, so that accidents are prevented.
Drawings
FIG. 1 is a schematic view of a flight cinema cabin system arranged on a steel structure;
fig. 2 is an enlarged view of a portion a of fig. 1;
FIG. 3 is a schematic view of the structure of the cabin linear motion device, cabin hanger and cabin;
FIG. 4 is a schematic diagram of the structure of the speed reducer, the first motor and the manual crank;
fig. 5 is an enlarged view of a portion B of fig. 4;
FIG. 6 is a schematic view of the structure of the guard flap and cabin platform on a steel structure;
fig. 7 is a schematic structural view of the protection flap, the support frame and the propulsion mechanism;
FIG. 8 is a schematic structural view of the pushing mechanism;
FIG. 9 is a schematic view of the structure of the cabin swing mechanism, cabin hanger and cabin;
FIG. 10 is a schematic view of the configuration of the back panel on the cabin hanger;
fig. 11 is a schematic diagram of the cabin movement control system architecture.
In the figure: 1-cabin hanging bracket, 2-supporting plate, 3-first rotating shaft, 4-first gear, 5-speed reducer, 6-rack, 7-protection rod, 8-installation seat, 9-walking supporting wheel, 10-bearing seat, 11-cabin, 12-steel structure, 13-back plate, 14-second rotating shaft, 15-third rotating shaft, 16-first electric cylinder, 17-second electric cylinder, 18-first supporting seat, 19-second supporting seat, 20-first motor, 21-manual crank, 22-1 protection turning plate, 22-2 supporting frame, 22-3 guiding rail, 22-4 driving shaft, 22-5 roller, 22-6 second motor, 22-7 supporting frame, 22-8 second gear, 22-9 third gear, 22-10 connecting shaft hole, 21-1, handle, 21-2, crank, 21-3, manual shaft, 21-4, mounting base, 21-5, sleeve, 23-cabin platform, 25, second power input shaft, 26, recess, 27, tab, 28, connecting rod, 29, kidney hole, 30, first screw, 31, arcuate limit slot, 32, second screw, 33, safety pressure lever, 34, movable link, 35, controller, 36, scram button, 50, main control unit, 51, cabin linear motion control unit, 52, guard flap rotation control unit, 53, cabin slewing control unit, 54, scram control unit, 55, movable link control unit, 56, touch sensor, 57, solenoid valve, 58, cushioning assembly.
Detailed Description
As shown in fig. 1 to 5, a film watching system of a flying cinema comprises a steel structure 12, a cabin 11, a cabin platform 23, a cabin hanger 1, a cabin linear movement device, a cabin slewing mechanism and a controller 35; the cabin hanging bracket 1 is movably connected with the steel structure 12 through a cabin linear movement device, and the cabin linear movement device is arranged at the top of the cabin hanging bracket 1; the cabin hanger 1 is connected with the cabin 11 through a cabin rotating mechanism, and the cabin rotating mechanism can enable the cabin 11 to rotate in the front-back direction and the left-right direction on the cabin hanger 1; in addition, a cabin platform 23 is arranged in the middle of the steel structure 12, the cabin platform 23 is positioned below the cabin 11, and the front end of the cabin platform 23 is movably connected with the protection turning plate 22-1.
As shown in fig. 1 and 2, the cabin linear movement device comprises a cabin hanger 1, two support plates 2 and a first rotation shaft 3; the top of the cabin hanging bracket 1 is provided with a first rotating shaft 3, two ends of the first rotating shaft 3 are respectively provided with a first gear 4, the first rotating shaft 3 is arranged on a speed reducer 5, a driving device drives the first rotating shaft 3 to rotate through the speed reducer 5, the driving device comprises a first motor 20 and a manual crank 21, and the speed reducer 5, the first motor 20 and the manual crank 21 are fixed at the top of the cabin hanging bracket 1; two support plates 2 are respectively positioned at two sides of the cabin hanger 1, and a rack 6 is fixed on each support plate 2; the first gears 4 at the two ends of the first rotating shaft 3 are respectively meshed with racks 6 on the two supporting plates 2. The first rotation shaft 3 is attached to a bearing housing 10 at both ends, and the bearing housing 10 is fixed to the cabin hanger 1.
The top surface of the cabin hanger 1 is provided with four end parts, and each end part is provided with a protection rod 7 and a limiting device; one end of the guard bar 7 is fixed on the cabin hanger 1 and the other end is pressed on the rack 6. The limiting device comprises a mounting seat 8 and two walking support wheels 9, wherein the two walking support wheels 9 are arranged on the mounting seat 8 up and down, and the support plate 2 is clamped between the upper and lower walking support wheels 9; the mounting seat 8 is fixed on the cabin hanger 1.
As shown in fig. 1 and 3, the cabin 11 is suspended below the cabin hanger 1, the two support plates 2 are fixed to the steel structure 12 of the flying theatre, and the cabin 11 is suspended in the air.
The cabin linear movement device has the working principle that: the driving device drives the first rotating shaft 3 to rotate through the speed reducer 5, the first gears 4 at two ends of the first rotating shaft 3 also rotate, so that the first gears 4 linearly move on the racks 6, and the first rotating shaft 3 and the first gears 4 also drive the whole cabin hanger 1 and the cabin 11 to linearly move back and forth between the two support plates 2. Four guard bars 7 are arranged at four end parts of the top surface of the cabin hanging frame 1, the guard bars 7 are pressed on the racks 6, the guard bars 7 also rotate in the moving process of the cabin hanging frame 1, the guard bars 7 are used for supporting the whole cabin hanging frame 1 and the cabin 11, so that the cabin hanging frame 1 is uniformly stressed between two supporting plates, and the cabin hanging frame 1 is prevented from moving up and down in the moving process. The four ends of the top surface of the cabin hanger 1 are also provided with limiting devices, the supporting plate 2 is clamped between the upper walking supporting wheel 9 and the lower walking supporting wheel 9, all the walking supporting wheels 9 also rotate in the moving process of the cabin hanger 1, one of the walking supporting wheels 9 plays a supporting role, the other one of the walking supporting wheels 9 prevents the first gear 4 from being separated from the track of the rack 6 in the rotating process, and the other one of the walking supporting wheels can also prevent the cabin hanger 1 from moving up and down in the moving process.
In addition, in order to limit the forward and backward movement position of the cabin linear movement device, the danger caused by the fact that the cabin linear movement device is separated from the track of the rack 6 when the controller 35 fails is avoided, four buffer assemblies 58 are respectively arranged at proper positions at two ends of the two support plates 2, and when the cabin linear movement device moves to the limit position, the buffer assemblies 58 can prevent the walking support wheels 9 from continuing to advance, so that the cabin 11 is prevented from being separated from the running linear track, and the safety of a video viewer is ensured. Meanwhile, even if the walking support wheel 9 fails in this case, the buffer assembly 58 will touch the protection rod 7 behind the walking support wheel 9, and the limiting of the forward and backward movement position of the cabin 11 is also achieved, so that the double safety function is achieved. The buffer assembly 58 can be made of rubber rods with elasticity or metal rods with springs at the back, and can play a role of buffering once the supporting wheel 9 or the protection rod 7 touches, so as to avoid sudden stop of the cabin.
In addition, the driving device for driving the first rotating shaft 3 to rotate is a first motor 20 and a manual crank 21, and the first rotating shaft 3 is driven to rotate in an electric mode and a manual mode, so that the cabin hanger 1 and the cabin 11 linearly move on the steel structure 12; when electricity is supplied, the first motor 20 works to drive the first rotating shaft 3 to rotate through the speed reducer 5, and if power fails, the first motor 20 cannot be started, and the manual crank 21 is rocked, so that the speed reducer 5 drives the first rotating shaft 3 to rotate. The specific structure is that the speed reducer 5 adopts worm and gear transmission, two end shafts of the worm extend out of the case, namely a first power input shaft and a second power input shaft 25; the first motor 20 is connected to the first power input shaft, and the second power input shaft 25 is idle at ordinary times and rotates synchronously with the worm. As shown in fig. 4, the manual crank 21 includes a handle 21-1, a crank 21-2, and a manual shaft 21-3; one end of the manual shaft 21-3 is fixedly connected with one end of the crank 21-2, and the other end of the crank 21-2 is fixedly connected with the handle 21-1; the handle 21-1 is arranged in parallel with the manual shaft 21-3, and the crank 21-2 is arranged perpendicular to the manual shaft 21-3. A fixed seat 21-4 is also fixed on the top of the cabin hanging bracket 1, and a hole is arranged on the fixed seat 21-4; the manual shaft 21-3 passes through a hole in the fixed seat 21-4, and the manual shaft 21-3 is in clearance fit with the hole. As shown in fig. 5, a groove 26 is provided on the second power input shaft 25 located outside the speed reducer 5, a sleeve 21-5 is provided at the other end of the manual shaft 21-3, an opening of the sleeve 21-5 faces the second power input shaft 25, and a projection 27 matching with the groove 26 is provided on the inner wall of the sleeve 21-5.
When electricity exists, the first motor 20 works to drive the first power input shaft to rotate, the first power input shaft drives the worm of the speed reducer 5 to rotate, the worm wheel is driven to realize speed reduction motion, the second power input shaft 25 is idle and synchronously rotates along with the worm, the speed reducer 5 drives the first rotating shaft 3 to rotate, the first gears 4 at two ends of the first rotating shaft 3 also rotate along with the rotation, the first gears 4 linearly move on the racks 6, and the first rotating shaft 3 and the first gears 4 drive the whole cabin hanger 1 and the cabin 11 to linearly move back and forth between the two supporting plates 2. If the power fails, the first motor 20 cannot be started, the handle 21-1 is held to push the manual shaft 21-3 inward, so that the sleeve 21-5 is sleeved on the second power input shaft 25, and the lug 27 is embedded in the corresponding groove 26, thus connecting the manual crank 21 to the second power input shaft 25; after connection, the manual crank 21 is rocked, the second power input shaft 25 rotates to drive the worm of the speed reducer 5 to rotate, then the worm wheel is driven to realize speed reduction motion, the speed reducer 5 drives the first rotating shaft 3 to rotate, the first gears 4 at two ends of the first rotating shaft 3 also rotate, the first gears 4 linearly move on the racks 6, and then the first rotating shaft 3 and the first gears 4 drive the whole cabin hanger 1 and the cabin 11 to linearly move back and forth between the two support plates 2. By the arrangement of the double-power input shaft of the speed reducer 5, the rotation of the first rotating shaft 3 realizes two driving modes of electric and manual operation, and even if power is cut off, the cabin hanger 1 and the cabin 11 can be moved between the two supporting plates 2 by manual driving. When power is applied, the manual shaft 21-3 is not connected to the second power input shaft 25, and the sleeve 21-5 is separated from the second power input shaft 25.
As shown in fig. 6, a cabin platform 23 is arranged in the middle of the steel structure 12, the cabin platform 23 is positioned below the cabin 11, and the front end of the cabin platform 23 is movably connected with the protection turning plate 22-1. The protection turning plate 22-1 mainly plays a protection role. As shown in fig. 7, the back of the protective turning plate 22-1 is provided with a pushing mechanism; a supporting frame 22-2 is fixed on the steel structure 12, and a guide rail 22-3 is fixed on the supporting frame 22-2; the pushing mechanism is movably connected with the guide rail 22-3, and the pushing mechanism reciprocates up and down on the guide rail 22-3 and drives the movable end of the protective turning plate 22-1 to turn up and down; specifically, the two ends of the pushing mechanism move along the guide rail 22-3 in the pushing process, the protective turning plate 22-1 is lapped on the top end of the guide rail 22-3 in the state that the pushing mechanism does not work, when the pushing mechanism moves upwards, the protective turning plate 22-1 leaves the top end of the guide rail 22-3, the protective turning plate 22-1 turns upwards under the pushing of the pushing mechanism, and an included angle is formed between the protective turning plate 22-1 and the cabin platform 23 after the protective turning plate is turned. Before the audience watches the film, the protective turning plate 22-1 turns forward to the vertical position, the audience climbs on the cabin platform 23 through the steps on the steel structure 12, then sits on the seat of the cabin 11 to prepare for watching the film, and the protective turning plate 22-1 protects the audience, which can prevent the audience walking on the cabin platform 23 from falling down the cabin platform 23; after the spectators have all sat on the seat, the movie starts to play, and the protective flap 22-1 is turned backwards, resting on top of the guide rail 22-3.
As shown in fig. 8, the pushing mechanism comprises a bracket 22-7, a second motor 22-6, a transmission shaft 22-4, and rollers 22-5 arranged at two ends of the transmission shaft 22-4; the second motor 22-6 is fixedly arranged on the support 22-7, the support 22-7 is fixed on the upper part of the back surface of the protective turning plate 22-1, a second gear 22-8 is sleeved on an output shaft of the second motor 22-6, a transmission shaft 22-4 is arranged on the support 22-7 in a penetrating mode, a third gear 22-9 is sleeved on the transmission shaft 22-4, the second gear 22-8 is meshed with the third gear 22-9, and the idler wheels 22-5 are located in the guide rails 22-3 and reciprocate in the guide rails 22-3. The support 22-7 is used for pushing the protective turning plate 22-1 to turn over, the roller 22-5 is provided with uneven rubber protrusions, and the main function is to increase friction force with the guide rail 22-3 when the guide rail 22-3 moves, so that slipping can not occur. In a specific process, when the second motor 22-6 works, the output shaft of the second motor 22-6 starts to drive the second gear 22-8 to rotate, and as the second gear 22-8 is meshed with the third gear 22-9, the third gear 22-9 is also rotated, the third gear 22-9 is sleeved on the transmission shaft 22-4 to drive the transmission shaft 22-4 to rotate, the transmission shaft 22-4 drives the roller 22-5 to move upwards in the guide rail 22-3, and further the movable end of the protective turning plate 22-1 is pushed to move upwards, so that the upward turning of the protective turning plate 22-1 is realized; when the second motor 22-6 is reversed, the roller 22-5 moves downwards on the guide rail 22-3, so that the reset of the protective turning plate 22-1 is realized. Further, in order to minimize friction between the shaft 22-4 and the bracket 22-7, the shaft 22-4 and the bracket 22-7 are connected by bearings fitted over the shaft 22-4. In addition, the included angle between the guide rail 22-3 and the support frame 22-2 is 30 degrees to 45 degrees, so that the acute angle of the initial angle between the protective turning plate 22-1 and the front end of the cabin platform 23 is 30 degrees to 45 degrees, and the preferred angle is 40 degrees, so that the thrust used when the protective turning plate 22-1 turns is smaller, and the output power of the second motor 22-6 is reduced.
As shown in fig. 9 and 10, the cabin swivel mechanism includes a back plate 13, a second rotation shaft 14, a third rotation shaft 15, a first electric cylinder 16, and a second electric cylinder 17; the backboard 13 is arranged between the cabin 11 and the cabin hanger 1, the backboard 13 is movably connected with the cabin hanger 1 through a second rotating shaft 14, and the cabin 11 is movably connected with the backboard 13 through a third rotating shaft 15; wherein the second rotation shaft 14 is parallel to the back plate 13, and the third rotation shaft 15 is perpendicular to the back plate 13; the outer sleeve of the first electric cylinder 16 is arranged on the first support 18, the outer sleeve of the first electric cylinder 16 is movably connected with the first support 18, the first support 18 is fixed on the back plate 13, and the extending end of the first electric cylinder 16 is movably connected with the cabin 11; the second electric cylinder 17 is arranged on the second support 19, the second electric cylinder 17 is movably connected with the second support 19, the second support 19 is fixed on the cabin hanging bracket 1, and the extending end of the second electric cylinder 17 is movably connected with the backboard 13.
As shown in fig. 9, a connecting rod 28 is disposed between the cabin hanging bracket 1 and the back plate 13, one end of the connecting rod 28 is movably connected with the back plate 13, a kidney-shaped hole 29 is disposed at the other end of the connecting rod 28, a first screw 30 is fixed on the cabin hanging bracket 1, and the first screw 30 is located in the kidney-shaped hole 29. As shown in fig. 10, a plurality of arc-shaped limiting grooves 31 are formed in the back plate 13, a plurality of second screws 32 are fixed to the back surface of the cabin 11, one second screw 32 corresponds to one arc-shaped limiting groove 31, and one second screw 32 is located in one arc-shaped limiting groove 31.
The working principle of the cabin slewing mechanism is as follows: the second electric cylinder 17 stretches and contracts, so that the backboard 13 rotates around the second rotating shaft 14 back and forth, the backboard 13 drives the cabin 11 to rotate back and forth, and in the rotating process, the first screw 30 and the kidney-shaped hole 29 play a limiting role on the back and forth rotation of the backboard 13; the first electric cylinder 16 stretches and contracts to enable the cabin 11 to rotate left and right around the third rotating shaft 15, and in the rotating process, the second screw 32 and the arc-shaped limiting groove 31 play a limiting role in the left and right rotation of the cabin 11.
In addition, the cabin 11 is also provided with a safety pressing bar 33 and an electromagnetic safety belt, and the safety pressing bar 33 is movably connected with the cabin 11 through a movable connecting rod 34; the safety pressing bar 33 and the electromagnetic safety belt are respectively provided with an electromagnetic valve 57 for controlling the opening and closing states, and according to the state of a video watching system of the flying cinema, the electromagnetic valve 57 is controlled to be opened or closed in an electrified/powered-off mode, so that automatic control is realized, meanwhile, the opening and closing states of the electromagnetic valve 57 are judged through the contact sensor 56, so that a protection effect is achieved, and the safety of video watching personnel is ensured. The solenoid valve 57 is an electromagnetic latch or electromagnetic lock.
All the structures are arranged on the steel structure 12, the steel structure 12 comprises a plurality of vertical supporting rods, a plurality of transverse supporting rods and connecting angle irons, two ends of the transverse supporting rods are fixedly connected with two ends of the vertical supporting rods through the connecting angle irons, a plurality of vertical supporting rods are also arranged in the middle of the transverse supporting rods, and stability is further improved, so that the steel structure 12 is more stable. The side of the steel structure 12 is provided with a swivel step for the audience to go up and down and has the function of stable support.
In flying cinema, when spectators sit in the cabin 11 and watch the film, because spectators hang in the air and put in spherical screen, in order to let spectators have the feeling of being personally on the scene, the cabin system can make cabin 11 and cabin gallows 1 make a round trip rectilinear movement on steel construction 12 under the drive of cabin rectilinear movement device, can make cabin 11 rotate back and forth and turn left and right on cabin gallows 1 again, let spectators experience the stimulus impression of unsettled flight in person when fully feeling the spherical screen movie content that has the power of jolting, bring better 4D and watch the shadow experience. The linear movement of the cabin linear movement means, the rotation of the cabin 11 and the overturning of the protection flap 22-1 are controlled by the controller 35.
As shown in fig. 11, the controller 35 includes a main control unit 50 and a cabin linear movement control unit 51, a protection flap rotation control unit 52, a cabin turning rotation control unit 53, an scram control unit 54 and a movable link control unit 55, which are respectively connected with the main control unit; the cabin linear movement control unit 51 is electrically connected to the first motor 20, and controls the cabin linear movement device to linearly move the cabin forward and backward; the protection turning plate rotation control unit 52 is electrically connected with the second motor 22-6 and controls the protection turning plate 22-1 to turn up and down; the cabin rotation control unit 53 is electrically connected with the first electric cylinder 16 and the second electric cylinder 17, respectively, and controls the cabin rotation mechanism to rotate the cabin 11 back and forth and left and right; the emergency stop control unit 54 is electrically connected to the emergency stop button 36, and is pressed in case of emergency to prevent accidents; the movable link control unit 55 controls the opening and closing of the solenoid valve 57 according to the state of the viewing system and the output signal of the touch sensor 56. The main control unit 50 is implemented by a programmable logic array PLC, and the other control units are implemented by conventional driving modules. For example, the cabin linear movement control unit 51, the protection flap rotation control unit 52, the cabin rotation control unit 53, the scram control unit 54 and the movable link control unit 55 are all relays. Taking the cabin linear movement control unit 51 as an example, the PLC sends out a linear movement control pulse to drive the corresponding relay to be closed, so that the first motor 20 is electrified to control the cabin linear movement device to move, and the cabin is linearly moved back and forth.
The workflow of the controller 35 is:
1. the controller 35 controls the second motor 22-6 to rotate through the guard flap rotation control unit 52, so that the guard flap 22-1 is turned forward to the vertical position, and the spectator climbs the cabin platform 23 through the steps on the steel structure 12.
2. When the spectator sits in the seat of the cabin 11, the controller 35 controls the movable connecting rod 34 to put down through the movable connecting rod control unit 55, the safety pressing bar 33 keeps off in front of the spectator to protect the spectator, the electromagnetic valve 57 on the safety pressing bar 33 is closed, the spectator buckles the electromagnetic safety belt, and the electromagnetic valve 57 on the electromagnetic safety belt is closed; the contact sensor 56 provided on the safety lever 33 and the electromagnetic belt then sends a signal to the controller 35.
3. After the controller 35 receives the signal from the contact sensor 56, the controller 35 controls the second electric cylinder 17 to operate through the cabin turning and rotating control unit 53, so that the cabin 11 is lifted.
4. The controller 35 controls the second motor 22-6 to rotate through the protection turning plate rotation control unit 52, so that the protection turning plate 22-1 turns back to the initial position, that is, the protection turning plate 22-1 leans against the top end of the guide rail 22-3;
5. the controller 35 controls the first motor 20 to rotate through the cabin linear movement control unit 51 so that the first rotating shaft 3 rotates, and the whole cabin hanger 1 drives the cabin 11 to move forward in the direction of the movie screen until stopping;
6. the movie starts, and the controller 35 controls the first electric cylinder 16 and the second electric cylinder 17 to act through the cabin gyration rotation control unit 53 according to the program content and sound effect, so that the cabin 11 rotates back and forth and left and right;
7. after the movie is watched, the controller 35 controls the first electric cylinder 16 and the second electric cylinder 17 to act through the cabin rotation control unit 53, so that the cabin 11 is reset to the initial position;
8. the controller 35 controls the first motor 20 to reversely rotate through the cabin linear movement control unit 51 so that the first rotating shaft 3 reversely rotates, and the whole cabin hanger 1 drives the cabin 11 to retreat to the initial position;
9. the controller 35 controls the second motor 22-6 to reversely rotate through the protection turning plate rotation control unit 52, so that the protection turning plate 22-1 turns forward to a vertical position and forms an included angle of 90 degrees with the cabin platform 23;
10. the controller 35 controls the action of the second electric cylinder 17 through the cabin slewing rotation control unit 53 so that the cabin 11 is put down;
11. finally, the controller 35 controls the movable link control unit 55 to be powered off, the solenoid valves 57 on the safety bar 33 and the electromagnetic belt are opened, the spectator lifts the safety bar 33 up, and the spectator opens the electromagnetic belt by himself, leaves the seat, and reaches the ground through the cabin platform 23 and the stairs.
In the event of an unexpected event, the emergency stop button 36 is pressed, and the controller 35 controls the movable link 34, the first motor 20, the first cylinder 16, the second cylinder 17, and the second motor 22-6 to stop.
Claims (9)
1. Motion control system of flying cinema, its characterized in that: comprises a controller (35), a cabin linear movement device, a protection system, a cabin slewing mechanism and a cabin safety system;
the controller (35) comprises a main control unit (50), and a cabin linear movement control unit (51), a protection turning plate rotation control unit (52), a cabin rotation control unit (53) and a movable connecting rod control unit (55) which are respectively connected with the main control unit (50);
the cabin linear movement control unit (51) is connected with the cabin linear movement device, the protection turning plate rotation control unit (52) is connected with the protection system, the cabin rotation control unit (53) is connected with the cabin rotation mechanism, and the movable connecting rod control unit (55) is connected with the cabin safety system;
the protection system comprises a cabin platform (23) and a protection turning plate (22-1), and the protection turning plate (22-1) is movably connected with the front end of the cabin platform (23); the back of the protective turning plate (22-1) is provided with a pushing mechanism and a supporting frame (22-2), and a guide rail (22-3) is fixed on the supporting frame (22-2); the pushing mechanism is movably connected with the guide rail (22-3);
the pushing mechanism comprises a bracket (22-7), a second motor (22-6), a transmission shaft (22-4) and rollers (22-5) arranged at two ends of the transmission shaft (22-4); the second motor (22-6) is fixedly arranged on the support (22-7), the support (22-7) is fixed on the upper part of the back surface of the protective turning plate (22-1), a second gear (22-8) is sleeved on an output shaft of the second motor (22-6), the transmission shaft (22-4) is arranged on the support (22-7) in a penetrating way, a third gear (22-9) is sleeved on the transmission shaft (22-4), the second gear (22-8) is meshed with the third gear (22-9), and the idler wheels (22-5) are positioned in the guide rail (22-3);
the protection turning plate rotation control unit (52) is connected with the second motor (22-6).
2. The motion control system of a flying cinema of claim 1 wherein: the cabin linear movement device comprises a cabin hanging bracket (1), two supporting plates (2) and a first rotating shaft (3); the first rotating shaft (3) is arranged at the top of the cabin hanging bracket (1), first gears (4) are respectively arranged at two ends of the first rotating shaft (3), a speed reducer (5) is arranged on the first rotating shaft (3), and the speed reducer (5) is fixed on the cabin hanging bracket (1); the speed reducer (5) is provided with a first power input shaft and a second power input shaft (25); the first power input shaft is connected with the first motor (20), and the second power input shaft (25) is suspended; the two support plates (2) are respectively positioned at two sides of the cabin hanger (1), and a rack (6) is fixed on each support plate (2); the first gears (4) at two ends of the first rotating shaft (3) are respectively meshed with racks (6) on the two supporting plates (2); the cabin linear movement control unit (51) is electrically connected with the first motor (20).
3. The motion control system of a flying cinema of claim 1 wherein: the included angle between the guide rail (22-3) and the supporting frame (22-2) is 30-45 degrees.
4. The motion control system of a flying cinema of claim 1 wherein: the cabin slewing mechanism comprises a back plate (13), a second rotating shaft (14), a third rotating shaft (15), a first electric cylinder (16) and a second electric cylinder (17); the backboard (13) is arranged between the cabin (11) and the cabin hanging bracket (1), the backboard (13) is movably connected with the cabin hanging bracket (1) through a second rotating shaft (14), and the cabin (11) is movably connected with the backboard (13) through a third rotating shaft (15); the second rotating shaft (14) is arranged in parallel with the back plate (13), and the third rotating shaft (15) is arranged vertically with the back plate (13); the outer sleeve of the first electric cylinder (16) is arranged on the first support (18), the outer sleeve of the first electric cylinder (16) is movably connected with the first support (18), the first support (18) is fixed on the back plate (13), and the extending end of the first electric cylinder (16) is movably connected with the cabin (11); the second electric cylinder (17) is arranged on the second support (19), the second electric cylinder (17) is movably connected with the second support (19), the second support (19) is fixed on the cabin hanging bracket (1), and the extending end of the second electric cylinder (17) is movably connected with the backboard (13); the cabin rotation control unit (53) is electrically connected with the first electric cylinder (16) and the second electric cylinder (17) respectively.
5. The motion control system of a flying cinema of claim 1 wherein: the cabin safety system comprises a cabin (11), and a safety pressing bar (33) and an electromagnetic safety belt which are arranged on the cabin (11), wherein the safety pressing bar (33) is movably connected with the cabin (11) through a movable connecting rod (34); the safety pressure bar (33) and the electromagnetic safety belt are respectively provided with an electromagnetic valve (57); a contact sensor (56) provided on the electromagnetic valve (57); the movable connecting rod control unit (55) is electrically connected with the electromagnetic valve (57) and the contact sensor (56) respectively.
6. The motion control system of a flying cinema of claim 1 wherein: the controller (35) further comprises a scram control unit (54), and the scram control unit (54) is electrically connected with the scram button (36).
7. The motion control system of a flying cinema of claim 6 wherein: the emergency stop control unit (54) is a relay.
8. The motion control system of a flying cinema of claim 1 wherein: the cabin linear movement control unit (51), the protection turning plate rotation control unit (52), the cabin rotation control unit (53) and the movable connecting rod control unit (55) are all relays.
9. A motion control method of a flying cinema is characterized in that: the method utilizes the following devices, and the structure of the device comprises a controller (35), a cabin linear movement device, a protection system, a cabin slewing mechanism and a cabin safety system;
the controller (35) comprises a main control unit (50), and a cabin linear movement control unit (51), a protection turning plate rotation control unit (52), a cabin rotation control unit (53) and a movable connecting rod control unit (55) which are respectively connected with the main control unit (50);
the cabin linear movement device comprises a cabin hanging bracket (1), two supporting plates (2) and a first rotating shaft (3); the first rotating shaft (3) is arranged at the top of the cabin hanging bracket (1), first gears (4) are respectively arranged at two ends of the first rotating shaft (3), a speed reducer (5) is arranged on the first rotating shaft (3), and the speed reducer (5) is fixed on the cabin hanging bracket (1); the speed reducer (5) is provided with a first power input shaft and a second power input shaft (25); the first power input shaft is connected with the first motor (20), and the second power input shaft (25) is suspended; the two support plates (2) are respectively positioned at two sides of the cabin hanger (1), and a rack (6) is fixed on each support plate (2); the first gears (4) at two ends of the first rotating shaft (3) are respectively meshed with racks (6) on the two supporting plates (2); the cabin linear movement control unit (51) is electrically connected with the first motor (20);
the protection system comprises a cabin platform (23) and a protection turning plate (22-1), and the protection turning plate (22-1) is movably connected with the front end of the cabin platform (23); the back of the protective turning plate (22-1) is provided with a pushing mechanism and a supporting frame (22-2), a guide rail (22-3) is fixed on the supporting frame (22-2), and an included angle between the guide rail (22-3) and the supporting frame (22-2) is 30-45 degrees; the pushing mechanism is movably connected with the guide rail (22-3); the pushing mechanism comprises a bracket (22-7), a second motor (22-6), a transmission shaft (22-4) and rollers (22-5) arranged at two ends of the transmission shaft (22-4); the second motor (22-6) is fixedly arranged on the support (22-7), the support (22-7) is fixed on the upper part of the back surface of the protective turning plate (22-1), a second gear (22-8) is sleeved on an output shaft of the second motor (22-6), the transmission shaft (22-4) is arranged on the support (22-7) in a penetrating way, a third gear (22-9) is sleeved on the transmission shaft (22-4), the second gear (22-8) is meshed with the third gear (22-9), and the idler wheels (22-5) are positioned in the guide rail (22-3); the protection turning plate rotation control unit (52) is connected with the second motor (22-6);
the cabin slewing mechanism comprises a back plate (13), a second rotating shaft (14), a third rotating shaft (15), a first electric cylinder (16) and a second electric cylinder (17); the backboard (13) is arranged between the cabin (11) and the cabin hanging bracket (1), the backboard (13) is movably connected with the cabin hanging bracket (1) through a second rotating shaft (14), and the cabin (11) is movably connected with the backboard (13) through a third rotating shaft (15); the second rotating shaft (14) is arranged in parallel with the back plate (13), and the third rotating shaft (15) is arranged vertically with the back plate (13); the outer sleeve of the first electric cylinder (16) is arranged on the first support (18), the outer sleeve of the first electric cylinder (16) is movably connected with the first support (18), the first support (18) is fixed on the back plate (13), and the extending end of the first electric cylinder (16) is movably connected with the cabin (11); the second electric cylinder (17) is arranged on the second support (19), the second electric cylinder (17) is movably connected with the second support (19), the second support (19) is fixed on the cabin hanging bracket (1), and the extending end of the second electric cylinder (17) is movably connected with the backboard (13); the cabin rotation control unit (53) is electrically connected with the first electric cylinder (16) and the second electric cylinder (17) respectively;
the cabin safety system comprises a cabin (11), and a safety pressing bar (33) and an electromagnetic safety belt which are arranged on the cabin (11), wherein the safety pressing bar (33) is movably connected with the cabin (11) through a movable connecting rod (34); the safety pressure bar (33) and the electromagnetic safety belt are respectively provided with an electromagnetic valve (57); a contact sensor (56) provided on the electromagnetic valve (57); the movable connecting rod control unit (55) is electrically connected with the electromagnetic valve (57) and the contact sensor (56) respectively;
the method for controlling the motion of the whole flying cinema by utilizing the device comprises the following steps:
step 1, a controller (35) controls a second motor (22-6) to rotate through a protection turning plate rotating control unit (52) so that the protection turning plate (22-1) turns forwards to a vertical position, and a spectator climbs on a cabin platform (23) through a step on a steel structure (12);
step 2, when a spectator sits in a seat of the cabin (11), the controller (35) controls the movable connecting rod (34) to put down through the movable connecting rod control unit (55), the safety pressing bar (33) is blocked in front of the spectator, the electromagnetic valve (57) on the safety pressing bar (33) is closed, the spectator buckles the electromagnetic safety belt by himself, and the electromagnetic valve (57) on the electromagnetic safety belt is closed; then, a contact sensor (56) arranged on the safety pressure bar (33) and the electromagnetic safety belt sends a signal to the controller (35);
step 3, after the controller (35) receives the signal of the contact sensor (56), the controller (35) controls the second electric cylinder (17) to act through the cabin rotation control unit (53) so as to lift the cabin (11);
step 4, the controller (35) controls the second motor (22-6) to rotate through the protection turning plate rotation control unit (52) so that the protection turning plate (22-1) turns backwards to an initial position;
step 5, the controller (35) controls the first motor (20) to rotate through the cabin linear movement control unit (51) so that the first rotating shaft (3) rotates, and the whole cabin hanging bracket (1) drives the cabin (11) to move forward in the direction of the film screen until stopping;
step 6, starting a movie, wherein a controller (35) controls a first electric cylinder (16) and a second electric cylinder (17) to act through a cabin rotation control unit (53) according to program content and sound effect, so that the cabin (11) rotates forwards and backwards and leftwards and rightwards;
step 7, after the movie is watched, the controller (35) controls the first electric cylinder (16) and the second electric cylinder (17) to act through the cabin rotation control unit (53) so that the cabin (11) is reset to the initial position;
step 8, the controller (35) controls the first motor (20) to reversely rotate through the cabin linear movement control unit (51) so that the first rotating shaft (3) reversely rotates, and the whole cabin hanging bracket (1) drives the cabin (11) to retreat to an initial position;
step 9, the controller (35) controls the second motor (22-6) to reversely rotate through the protection turning plate rotation control unit (52) so that the protection turning plate (22-1) turns forwards to a vertical position;
step 10, the controller (35) controls the second electric cylinder (17) to act through the cabin rotation control unit (53) so that the cabin (11) is put down;
and 11. Finally, the controller (35) controls the movable connecting rod control unit (55) to be powered off, the safety pressing bar (33) and the electromagnetic valve (57) on the electromagnetic safety belt are opened, the audience lifts the safety pressing bar (33), and the audience opens the electromagnetic safety belt to leave the seat and reach the ground through the cabin platform (23) and the stairs.
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| CN201610792558.7A CN106227243B (en) | 2016-08-31 | 2016-08-31 | Motion control system and control method for flying cinema |
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| US5829201A (en) * | 1997-04-15 | 1998-11-03 | Universal City Studios, Inc. | Theater with seat and wheelchair platform movement |
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| CN106227243A (en) | 2016-12-14 |
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