CN110280029A - The quick compilation device and compilation method of a kind of 3d space demonstration flight track - Google Patents
The quick compilation device and compilation method of a kind of 3d space demonstration flight track Download PDFInfo
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- CN110280029A CN110280029A CN201910711017.0A CN201910711017A CN110280029A CN 110280029 A CN110280029 A CN 110280029A CN 201910711017 A CN201910711017 A CN 201910711017A CN 110280029 A CN110280029 A CN 110280029A
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- 230000015572 biosynthetic process Effects 0.000 claims 1
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- 230000000694 effects Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000009954 braiding Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 230000004888 barrier function Effects 0.000 description 1
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- 238000005553 drilling Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63J—DEVICES FOR THEATRES, CIRCUSES, OR THE LIKE; CONJURING APPLIANCES OR THE LIKE
- A63J5/00—Auxiliaries for producing special effects on stages, or in circuses or arenas
- A63J5/12—Apparatus for raising or lowering persons
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Abstract
The invention discloses the quick compilation devices and compilation method of a kind of 3d space demonstration flight track, including braced frame, dragging lifting the ball, draw wire encoder, pulley blocks and the drag rope in cuboid hollow out；The lower end of braced frame is provided at least four draw wire encoders, braced frame upper end corresponds to draw wire encoder and is provided at least four pulley blocks, a drag rope is connected on each draw wire encoder, the free end of each drag rope is each passed through the corresponding pulley blocks of coupled draw wire encoder and is connected together, and pulls lifting the ball and is fixed on the tie point of drag rope；Drag rope is in tensioning state when dragging lifting the ball is towed always.Advantage is: can be needed manually to pull to hold in the palm according to performance to pull ball, and the running track compilation of lifting the ball will be pulled into running track data file, the four-shaft numerically controlled demonstration flight device of 3D at performance scene presses the operation of running track data file, it enables performance equipment that can carry out evolution according to running track data file, completes performance.
Description
Technical field
The present invention relates to the quick compilation device of stage performance field more particularly to a kind of 3d space demonstration flight track and
Compilation method.
Background technique
3d space demonstration flight is more and more applied in performing art field, and the hanging equipment of mainstream is tetra- number of axle of 3D
Control demonstration flight device.Four sets of numerical control hoist engines of driving equipment of the four-shaft numerically controlled demonstration flight device of 3D are respectively provided at rectangle performance
Four angles in area are respectively equipped with four groups of horizontal adaptive 360 degree of rotations at the overhead of Performance Area four angles corresponding with hoist engine
Turn pulley, four lifting ropes of four sets of hoist engines winding form a suspension centre in Performance Area space by four groups of rotating pulleys, capable of hoisting
It hangs performer or dance & art device makees arbitrary trajectory demonstration flight in Performance Area X-Y-Z three-dimensional space.
Most important application is the compilation of 3d space flight path in the four-shaft numerically controlled demonstration flight device of 3D.3d space flight
The track compilation of performance generallys use the compilations mode such as geometric function compilation method and computer hand-drawing method, above-mentioned compilation mode be both needed to by
The art creation of professional technician's compilation, 3d space demonstration flight track must realize compilation via professional technician, because
This, the degree that is understood of art creation still has gap, can not fast and effeciently art of expression man intention design, it is especially double
There is presently no good solutions for the problem of layer 3d space demonstration flight track interferes.
In recent years, with the rapid development of performing career, especially it is in performances such as tourism performing art large size show field, acrobatic theatres
The performance (also referred to as 3D wire) of the four-shaft numerically controlled flight system of 3D creates more development spaces.Performers fly in 3d space
The intention for performing track must realize compilation via professional technician, and therefore, inconvenience of communicating with each other can not be fast and effeciently
The intention of art of expression man is conceived, and higher requirements are also raised for intention of the maestros of Show Biz to 3D flight path,
It is more convenient, quick, accurate, intuitive, follow one's bent, effect it is vertical it is existing, to exempt from training be the liter to 3D flight path creation of art means
China.
Summary of the invention
The purpose of the present invention is to provide the quick compilation device and compilation method of a kind of 3d space demonstration flight track, from
And solve foregoing problems existing in the prior art.
To achieve the goals above, The technical solution adopted by the invention is as follows:
The quick compilation device of a kind of 3d space demonstration flight track, including being in the braced frame of cuboid hollow out, dragging
Pull ball, draw wire encoder, pulley blocks and drag rope；The lower end of the braced frame is provided at least four bracing wires coding
Device, the braced frame upper end correspond to the draw wire encoder and are provided at least four pulley blocks, on each draw wire encoder
It is connected with a drag rope, the free end of each drag rope is each passed through the corresponding pulley of coupled draw wire encoder
Group is connected together, and the dragging lifting the ball is fixed on the tie point of the drag rope；The drag rope is pulling lifting the ball
Always tensioning state is in when towed.
Preferably, the lower end of the braced frame is provided with eight draw wire encoders, and the braced frame upper end corresponds to institute
It states draw wire encoder and is provided with eight pulley blocks, a drag rope, each traction rope are connected on each draw wire encoder
The free end of rope is each passed through the corresponding pulley blocks of coupled draw wire encoder and is connected together, and forms two in difference
The tie point of height is connected separately with a dragging lifting the ball on each tie point.
Preferably, the quick compilation device further includes programmable controller and console, the programmable controller with
Each draw wire encoder is connected, and the console is connected with the programmable controller；The console and performance scene
The four-shaft numerically controlled demonstration flight device of 3D is connected.
Preferably, the quick compilation device further includes warning device, and the warning device is in two dragging lifting the balls or leads
It is sounded an alarm when messenger rope interferes between each other.
Preferably, it is provided with inspection software in the console, when inspection software detects that event occurs for quick compilation device
When barrier causes to pull limitation range of the lifting the ball beyond braced frame, the inspection software will automatically control the quick compilation device
It shuts down, and controls the warning device and sound an alarm.
Preferably, speed adjusting knob is provided in the console, the speed adjusting knob can adjust described in real time
The running track speed of the four-shaft numerically controlled demonstration flight device of 3D.
It is described quick another object of the present invention is to provide a kind of quick compilation method of 3d space demonstration flight track
Compilation method realizes that the quick compilation method includes the following steps by any of the above-described quick compilation device,
S1, the changing coordinates for pulling lifting the ball are calculated；
S2, each drag rope is judged with the presence or absence of relaxation, if so, thening follow the steps S3；If it is not, thening follow the steps
S4；
S3, the elastic of drag rope is adjusted, and executes step S4；
S4, the position for pulling lifting the ball is modified, and boundary protection processing is carried out to it；
S5, the changing coordinates for pulling lifting the ball are calculated again；
S6, programmable controller is opened；
S7, the component velocity and acceleration for pulling lifting the ball, and calculating the X, Y, Z-direction that pull lifting the ball are manually pulled；
S8, the component velocity and acceleration obtained according to step S7 calculate the real-time coordinates that current period pulls lifting the ball；
S9, the real-time coordinates for pulling lifting the ball to the current period being calculated are filtered, and record pulls lifting the ball
Track data, to obtain running track data file.
Preferably, during pulling dragging lifting the ball, the console real-time display pulls the 3D running track of lifting the ball.
The beneficial effects of the present invention are: 1, quick compilation device is the scaled down of the four-shaft numerically controlled demonstration flight device of 3D
Product has the dragging lifting the ball that can arbitrarily pull, and pulling lifting the ball can arbitrarily pull in the useful space, exceeds restricted area
It domain can automatic alarm.2, lifting the ball is pulled when manually being pulled, and running track can be recorded in real time, and automatic compilation is at operation
Track data file inputs this document in the four-shaft numerically controlled demonstration flight device of 3D, and the four-shaft numerically controlled demonstration flight device of 3D will
It is run according to running track data file, realizes different demonstration flights.4, during pulling, operator can pass through control
Station changes the running speed of service of on-the-spot demonstration in real time.5, two different height positions can be arranged in the quick compilation device
The dragging lifting the ball set, realizes more complicated flight effect, and can be avoided mutual between two dragging lifting the balls and drag rope
Interference.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of quick compilation device described in the embodiment of the present invention；
Fig. 2 is the structural schematic diagram that two dragging lifting the balls are arranged in quick compilation device described in the embodiment of the present invention；
Fig. 3 is the control section schematic diagram of compilation device described in the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of the four-shaft numerically controlled demonstration flight device of 3D in the embodiment of the present invention；
Fig. 5 is the structural schematic diagram of the four-shaft numerically controlled demonstration flight device of bilayer 3D in the embodiment of the present invention；
Fig. 6 is the flow diagram that quick compilation method is used in the embodiment of the present invention.
In figure: 1, braced frame；2, lifting the ball is pulled；3, draw wire encoder；4, pulley blocks；5, drag rope；6, hoist engine.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing, to the present invention into
Row is further described.It should be appreciated that the specific embodiments described herein are only used to explain the present invention, it is not used to
Limit the present invention.
Embodiment one
As shown in Figures 1 to 5, a kind of quick compilation device of 3d space demonstration flight track is provided in the present embodiment,
Including braced frame 1, dragging lifting the ball 2, draw wire encoder 3, pulley blocks 4 and the drag rope 5 in cuboid hollow out；The branch
The lower end of support frame frame 1 is provided at least four draw wire encoders 3, and 1 upper end of braced frame corresponds to the draw wire encoder 3 and sets
Be equipped at least four pulley blocks 4, be connected with a drag rope 5 on each draw wire encoder 3, each drag rope 5 from
It is each passed through the coupled corresponding pulley blocks 4 of draw wire encoder 3 by end to be connected together, the dragging lifting the ball 2 is fixed on
On the tie point of the drag rope 5；The drag rope 5 is in tensioning state when dragging lifting the ball 2 is towed always.
In the present embodiment, the quick compilation device is the four-shaft numerically controlled demonstration flight device useful space of 3D in performance scene
Corresponding simulation device of the contracting than N times.The four-shaft numerically controlled demonstration flight device of 3D and quick compilation in performance scene fill
Setting different places is, places in braced frame 1 and hoist engine 6 is placed on the position of draw wire encoder 3, connect on hoist engine 6
Connect drag rope 5, drag rope 5 passes through corresponding pulley blocks 4 and links together, performing artist 7 or object U.S. the stage property then company of being suspended on
Junction.
In the present embodiment, the drag rope 5 has automatic rewinding torque (class under the action of 3 wind spring of draw wire encoder
Steely tape measure), when dragging lifting the ball 2 is dragged, drag rope 5 is tension always.
In the present embodiment, the lower end of the braced frame 1 is provided with eight draw wire encoders 3,1 upper end of braced frame
The corresponding draw wire encoder 3 is provided with eight pulley blocks 4, is connected with a drag rope 5 on each draw wire encoder 3, respectively
The free end of the drag rope 5 is each passed through the coupled corresponding pulley blocks 4 of draw wire encoder 3 and is connected together, shape
It is in the tie point of different height at two, is connected separately with a dragging lifting the ball 2 on each tie point.
In the present embodiment, double-deck dragging lifting the ball 2 can be set, that is to say, that in performance scene, in order to enrich performance
Content shows the diversity of performance, can be carried out in performance region by multiple performing artists 7 or dance & art stage property according to actual needs winged
Row performance is then then presented as the multiple dragging lifting the balls 2 of setting, accordingly according to the quantity for pulling lifting the ball 2 in quick compilation device
Increase draw wire encoder 3 and pulley blocks 4.
In the present embodiment, the quick compilation device further includes programmable controller and console, the PLC technology
Device is connected with each draw wire encoder 3, and the console is connected with the programmable controller；The console and the table
The four-shaft numerically controlled demonstration flight device of 3D at the scene of drilling is connected.
In the present embodiment, each acquisition of draw wire encoder 3 pulls the real-time coordinates of lifting the ball 2, and is transmitted to and can compile
Range controller, the coordinate that programmable controller will acquire carry out real-time compilation, and are transferred to console storage, form running track
Data file.The running track data file in console can be taken out later, and be conducted into tetra- number of axle of 3D at performance scene
It controls in demonstration flight device, then hoist engine 6 pulls performing artist 7 according to fortune according to running track data file by drag rope 5
Row track data file completes performance.
In the present embodiment, the quick compilation device further includes warning device, and the warning device is in two dragging lifting the balls 2
And drag rope 5 sounds an alarm when interfering between each other.When multiple dragging lifting the balls 2 are arranged, then meeting between lifting the ball 2 is pulled
Mutual interference is generated, warning device then interferes alarm in dragging lifting the ball 2, informs that operator makes accordingly in time
Measure avoids occurring to pull lifting the ball 2 and drag rope 5 interferes between each other, causes running track data file dry
Process is related to, so that reflection into the four-shaft numerically controlled demonstration flight device of 3D at performance scene, causes performing artist 7 injured or causes to perform
Accident.
In the present embodiment, it is provided with inspection software in the console, when inspection software detects quick compilation device hair
When raw failure causes to pull limitation range of the lifting the ball 2 beyond braced frame 1, the inspection software will automatically control the quick braiding
Device shutdown is drawn, and controls the warning device and sounds an alarm.The setting of inspection software can guarantee to pull the operation rail of lifting the ball 2
Mark is without departing from the effective coverage that braced frame 1 limits, to avoid the four-shaft numerically controlled demonstration flight device of 3D in performance scene
During normal performance, beyond performance region, performance accident is caused.
In the present embodiment, it is provided with speed adjusting knob in the console, the 3D tetra- at performance scene can be adjusted in real time
The speed of the data track of Shaft and NC Machining Test demonstration flight device operation.
In the present embodiment, its collected data is transferred to programmable controller and handled by the draw wire encoder 3,
The transmission of data uses EtherCAT bussing technique, and the collection period of data can be set as needed, generally arrive in several hundred microseconds
Between several milliseconds, collection period is shorter, and running track curve is more accurate, but data volume is bigger, but collection period is by equipment
And the limitation of network transmission speed, it can not be too short, therefore best value is to be advisable between 0.5 millisecond to 2 milliseconds.
In the present embodiment, the operation curve for pulling lifting the ball 2 is influenced by the speed and fluency that artificially pull, therefore can be with
The processing of smoothed curve is done to its operation curve.
In the present embodiment, quick compilation device is able to detect the elastic of drag rope 5, and when discovery, wherein one or more are led
Messenger rope 5 relaxation, then will adjust automatically drag rope 5 tightness.
Embodiment two
As shown in fig. 6, the present embodiment provides a kind of quick compilation method of 3d space demonstration flight track, the quick braiding
It draws method and realizes that the quick compilation method includes the following steps by quick compilation device described above,
S1, the changing coordinates for pulling lifting the ball 2 are calculated；
S2, each drag rope 5 is judged with the presence or absence of relaxation, if so, thening follow the steps S3；If it is not, then executing step
Rapid S4；
S3, the elastic of drag rope 5 is adjusted, and executes step S4；
S4, the position for pulling lifting the ball 2 is modified, and boundary protection processing is carried out to it；
S5, the changing coordinates for pulling lifting the ball 2 are calculated again；
S6, programmable controller is opened；
S7, the component velocity and acceleration for pulling lifting the ball 2, and calculating the X, Y, Z-direction that pull lifting the ball 2 are manually pulled；
S8, the component velocity and acceleration obtained according to step S7 calculate the real-time coordinates that current period pulls lifting the ball 2；
S9, the real-time coordinates for pulling lifting the ball 2 to the current period being calculated are filtered, and record pulls lifting the ball 2
Track data, to obtain running track data file.
In the present embodiment, during pulling dragging lifting the ball 2, the console real-time display pulls the 3D fortune of lifting the ball 2
Row track.
In the present embodiment, console fills the four-shaft numerically controlled demonstration flight of 3D that running track data file imports performance scene
In setting, then hoist engine 6 will be according to running track data file, the automatic velocity of rotation for planning hoist engine 6, to control traction rope
The length of rope 5, and then the change in location of performing artist 7 or dance & art stage property is controlled, to realize the table of performing artist 7 or dance & art stage property
It drills.
By using above-mentioned technical proposal disclosed by the invention, following beneficial effect has been obtained:
The present invention provides the quick compilation device and compilation method of a kind of 3d space demonstration flight track, quick compilation dress
Set be the four-shaft numerically controlled demonstration flight device of 3D scaled down product, there is the dragging lifting the ball that can arbitrarily pull, pull
Lifting the ball can arbitrarily pull in the useful space, can automatic alarm beyond restricted area；Lifting the ball is pulled when manually being pulled,
Operation, which collects, to be recorded in real time, and warp knit is drawn in running track data file, and this document is inputted the four-shaft numerically controlled flight table of 3D
It drills in device, the four-shaft numerically controlled demonstration flight device of 3D will be run according to running track data file, realize different flight tables
It drills；During dragging, operator can change in real time the real-time acquisition speed of programmable controller by station, can obtain
Take the running track of more accurate dragging lifting the ball；The dragging that two different height positions can be arranged in the quick compilation device is drawn
Ball realizes more complicated flight effect, and can be avoided two and pull interfering for lifting the balls and drag rope.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
Depending on protection scope of the present invention.
Claims (8)
1. a kind of quick compilation device of 3d space demonstration flight track, it is characterised in that: the branch including being in cuboid hollow out
Support frame frame pulls lifting the ball, draw wire encoder, pulley blocks and drag rope；The lower end of the braced frame is provided at least four
Draw wire encoder, the braced frame upper end correspond to the draw wire encoder and are provided at least four pulley blocks, each bracing wire
A drag rope is connected on encoder, the free end of each drag rope is each passed through coupled draw wire encoder pair
The pulley blocks answered are connected together, and the dragging lifting the ball is fixed on the tie point of the drag rope；The drag rope exists
Dragging lifting the ball is in tensioning state when towed always.
2. the device of quick compilation 3d space demonstration flight track according to claim 1, it is characterised in that: the support
The lower end of frame is provided with eight draw wire encoders, and the braced frame upper end corresponds to the draw wire encoder and is provided with eight cunnings
Wheel group is connected with a drag rope on each draw wire encoder, and the free end of each drag rope is each passed through and its phase
The corresponding pulley blocks of draw wire encoder even are connected together, two tie points in different height of formation, on each tie point
It is connected separately with a dragging lifting the ball.
3. the device of quick compilation 3d space demonstration flight track according to claim 1 or 2, it is characterised in that: described
Quick compilation device further includes programmable controller and console, the programmable controller and each draw wire encoder phase
Even, the console is connected with the programmable controller；The four-shaft numerically controlled demonstration flight of 3D of the console and performance scene
Device is connected.
4. the device of quick compilation 3d space demonstration flight track according to claim 2, it is characterised in that: described quick
Compilation device further includes warning device, and the warning device is when two dragging lifting the balls or drag rope interfere between each other
It sounds an alarm.
5. the device of quick compilation 3d space demonstration flight track according to claim 3, it is characterised in that: the control
It is provided with inspection software in platform, leads to pull lifting the ball beyond support frame when inspection software detects that quick compilation device breaks down
When the limitation range of frame, the inspection software will automatically control the quick compilation device and shut down, and control the warning device
It sounds an alarm.
6. the device of quick compilation 3d space demonstration flight track according to claim 3, it is characterised in that: the control
Speed adjusting knob is provided in platform, the speed adjusting knob can adjust the four-shaft numerically controlled demonstration flight device of the 3D in real time
Running track speed.
7. a kind of quick compilation method of 3d space demonstration flight track, it is characterised in that: the quick compilation method is by above-mentioned
Any quick compilation device of claim 1 to 6 realizes that the quick compilation method includes the following steps,
S1, the changing coordinates for pulling lifting the ball are calculated；
S2, each drag rope is judged with the presence or absence of relaxation, if so, thening follow the steps S3；If it is not, thening follow the steps S4；
S3, the elastic of drag rope is adjusted, and executes step S4；
S4, the position for pulling lifting the ball is modified, and boundary protection processing is carried out to it；
S5, the changing coordinates for pulling lifting the ball are calculated again；
S6, programmable controller is opened；
S7, the component velocity and acceleration for pulling lifting the ball, and calculating the X, Y, Z-direction that pull lifting the ball are manually pulled；
S8, the component velocity and acceleration obtained according to step S7 calculate the real-time coordinates that current period pulls lifting the ball；
S9, the real-time coordinates for pulling lifting the ball to the current period being calculated are filtered, and record pulls the track of lifting the ball
Data, to obtain running track data file.
8. the quick compilation method of 3d space demonstration flight according to claim 7 track, it is characterised in that: dragged in pulling
During pulling ball, the console real-time display pulls the 3D running track of lifting the ball.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112057883A (en) * | 2020-09-08 | 2020-12-11 | 北京北特圣迪科技发展有限公司 | Attitude control method for four-hoisting-point flexible cable performance suspension platform |
| CN112077836A (en) * | 2020-09-08 | 2020-12-15 | 北京北特圣迪科技发展有限公司 | Overhead suspender error correction method based on four-flexible-cable traction parallel actuator |
| CN114003054A (en) * | 2021-11-02 | 2022-02-01 | 浙江大丰实业股份有限公司 | Three-dimensional aircraft attitude control method and system and electronic equipment |
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