CN111186758B - Self-balancing lifting device and control method thereof - Google Patents
Self-balancing lifting device and control method thereof Download PDFInfo
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- CN111186758B CN111186758B CN202010143731.7A CN202010143731A CN111186758B CN 111186758 B CN111186758 B CN 111186758B CN 202010143731 A CN202010143731 A CN 202010143731A CN 111186758 B CN111186758 B CN 111186758B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B17/00—Hoistway equipment
- B66B17/12—Counterpoises
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Abstract
The invention belongs to the technical field of lifting equipment, and relates to a self-balancing lifting device and a control method thereof, wherein the self-balancing lifting device comprises a balancing weight, a load box body and a rotary traction mechanism between the balancing weight and the load box body, the rotary traction mechanism comprises a rotary shaft and a traction mechanism rotating along the rotary shaft, and the traction mechanism comprises a rotary disk, a telescopic device and a traction rope at the outer side of the rotary disk; the rotating disc is fixedly connected with the rotating shaft, the telescopic devices are circumferentially distributed on the rotating disc, and two ends of the traction rope are respectively connected with the balancing weights and the load box body; the top end of the telescopic device is provided with a clamping groove, and the traction rope passes through the clamping groove; the rotating shaft is connected with the motor or the hydraulic motor, the connecting part of the traction rope and the balancing weight as well as the load box body is provided with a gravity sensor, the signal output end of the gravity sensor is connected with the controller, the controller calculates in real time, the dynamic balance of the moment of the balancing weight and the load box body to the rotating shaft is realized by controlling the extending length of the telescopic device, the power requirement on the motor or the hydraulic motor is greatly reduced, and the risk of serious accidents caused by overload is reduced.
Description
Technical Field
The invention belongs to the technical field of lifting equipment, relates to a self-balancing lifting device, and particularly relates to a self-balancing lifting device and a control method thereof.
Background
In lifting devices such as elevators, freight lifts, and linear pumping units, counterweights are used to balance the load and thereby reduce the power output by the motor or hydraulic motor. The counterweight arm, the load arm and the counterweight weight of the existing lifting device are often unchanged, the load balanced by the counterweight is limited, and the power requirement on a motor or a hydraulic motor is high. In addition, when the equipment starts or brakes, the phenomenon of overweight or weightlessness of the counterweight and the load can occur, and at the moment, the rotating shaft can bear a great starting or braking torque effect, and meanwhile, impact is caused on the motor or the hydraulic motor, so that the torque of the rotating shaft, the motor or the hydraulic motor is overloaded, and even serious safety accidents are caused.
The intelligent elevator balancing weight system is provided in CN 105645242A, a set of balancing weights is added outside the main balancing weights, the weight of the load is balanced by increasing or reducing the number of the balancing weights loaded on the steel wire rope, but the weight of the balancing weights is fixed and can only be loaded and unloaded in a whole, the accuracy and flexibility of the balancing weight of the system are limited, and the real moment balance cannot be realized between the load and the loaded balancing weights; in addition, this elevator intelligence balancing weight system needs to add an solitary balancing weight elevating channel, and occupation space is big, therefore technical scheme practicality, feasibility are lower.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a self-balancing lifting device and a control method thereof, wherein a counterweight force arm and a load force arm are variable, so that the power requirements on a motor and a hydraulic motor are reduced, the moment of a counterweight and a load on a rotating shaft is always kept in dynamic balance, the load of the motor or the hydraulic motor during starting and braking is reduced, and the risk of serious accidents caused by overload of the torque of the rotating shaft or the motor and the hydraulic motor is further reduced; in addition, the self-balancing lifting device occupies small space, so that the technical scheme is high in practicality and feasibility.
In order to solve the problems, the invention adopts the following technical scheme:
The self-balancing lifting device comprises a balancing weight, a load box body and a rotary traction mechanism between the balancing weight and the load box body, wherein the rotary traction mechanism comprises a rotary shaft and a traction mechanism rotating along the rotary shaft; the rotating disc is fixedly connected with the rotating shaft, the telescopic devices are circumferentially distributed on the rotating disc, and two ends of the traction rope are respectively connected with the balancing weights and the load box body; the top end of the telescopic device is provided with a clamping groove, and the traction rope passes through the clamping groove;
The rotary shaft is connected with a motor or a hydraulic motor, a gravity sensor is arranged at the joint of the traction rope and the balancing weight as well as the load box body, the signal output end of the gravity sensor is connected with a controller, and the controller controls the telescopic length of the telescopic device.
The clamping groove is a V-shaped groove.
The telescopic device is a hydraulic cylinder or an air cylinder.
The traction rope is a steel wire rope.
The balancing weight and the load box body are respectively provided with a guide mechanism.
The key point of the control method of the self-balancing lifting device is that the control method comprises the following steps:
Step A, the gravity sensor collects the value of the gravity G 1 of the balancing weight and the value of the gravity G 2 of the load box body, and the length value of a force arm L 1 of the balancing weight acting on the rotating shaft in the horizontal direction and the length value of a force arm L 2 of the load box body acting on the rotating shaft are collected through the telescopic device;
step B, based on the G 1、G2 acquired in the step A, the controller resets a group of L 1、L2 meeting the moment balance relation G 1*L1＝G2*L2, takes the top end of the telescopic device corresponding to the L 1、L2 as an end point, and constructs a smooth curve passing through the two end points;
and C, driving each telescopic device through a controller so that the top end of each telescopic device is positioned on the smooth curve in the step B.
The control method of the self-balancing lifting device comprises the steps of establishing a coordinate system, taking the center of a rotating shaft as an origin O, taking the vertical direction as a Y axis, taking the horizontal direction as an X axis, and taking the side of a load box body as the positive direction of the X axis;
In the case of G 1＝G2, L 1＝L2 is known from the equilibrium relation G 1*L1＝G2*L2, and the constructed curve equation is The top track of all the telescopic devices is a circle taking the origin as the center of a circle and L 1 (or L 2) as the radius, and the extension lengths of all the telescopic devices are the same;
When G 1＞G2, from the equilibrium relation G 1*L1＝G2*L2, L 1＜L2 is known, and the constructed smooth curve equation is as follows:
a. counterweight block side
The equation of the constructed smooth curve isThe top track of the balancing weight side expansion device is a circle taking the origin as the circle center and L1 as the radius, and the extension lengths of the balancing weight side expansion devices are the same and are all 0mm;
b. Load box side
The equation of the constructed smooth curve isThe top track of the load box body side telescopic device is an ellipse with L 2 as a long axis and L1 as a short axis, and the distance from any point on the ellipse to the original point O is/>The extension length of the telescopic device is: /(I)If the included angle between the axis of the telescopic device and the X axis is theta, the coordinate of the top end point of the telescopic device meets Y=tan theta X (-90 degrees < theta < 90 degrees), and according to the balance relation, L 2＝L1*G1/G2 is known, the expression of the extension length of the telescopic device relative to the axis and the X axis included angle theta is:
When G 1＜G2, from the equilibrium relation G 1*L1＝G2*L2, L 1＞L2 is known, and the constructed smooth curve equation is as follows:
a. Load box side
The equation of the constructed smooth curve isThe top track of the load box body side telescopic device is a circle taking the origin as the center of a circle and L 2 as the radius, and the extension lengths of the load box body side telescopic devices are the same and are all 0mm;
b. Counterweight block side
The equation of the constructed smooth curve isThe locus of the top end of the balancing weight side telescopic device is an ellipse with L 1 as a long axis and L 2 as a short axis, and the distance from any point on the ellipse to the origin O is/>The extension length of the telescopic device is: /(I)If the included angle between the axis of the telescopic device and the X axis is theta, the coordinates of the top end point of the telescopic device meet Y=tan theta X (90 degrees < theta < 270 degrees), and according to the balance relation, L 1＝L2*G2/G1 is known, the expression of the extension length of the telescopic device related to the axis and the X axis included angle theta is:
The force arms L 1 and L2 meet the requirement that L 1≤720mm,420mm≤L2 is less than or equal to 420mm and less than or equal to 720mm.
The beneficial effects of the invention are as follows: the controller controls the extending length of each telescopic device, the clamping groove at the top end of each telescopic device forms a track similar to a smooth curve, the traction rope is arranged in the slideway, the gravity sensor measures the gravity at the joint of the traction rope, the load box body and the counterweight body, the measured gravity data is sent to the controller, the controller calculates the extending length of each telescopic device in real time, the dynamic balance of the moment of the counterweight block and the load box body on the rotating shaft is realized, the power requirement on the motor or the hydraulic motor is low, and the motor or the hydraulic motor with smaller specification can be used for driving equipment to operate; the load of the motor or the hydraulic motor during starting and braking can be reduced, so that the risk of serious accidents caused by overload of the torque of the rotating shaft or the motor or the hydraulic motor is reduced; in addition, the self-balancing lifting device occupies small space and is high in practicality and feasibility.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is an enlarged partial view of part A of the present invention;
FIG. 3 is a schematic diagram of a card slot according to the present invention;
FIG. 4 is a schematic diagram of the moment arm at G 1＝G2 in the present embodiment;
FIG. 5 is a schematic diagram of the moment arm at G 1＞G2 in the present embodiment;
FIG. 6 is a schematic diagram of the moment arm at G 1＜G2 in the present embodiment;
In the drawing, 1, balancing weight, 2, load box, 3, rotation axis, 4, rotary disk, 5, telescoping device, 6, haulage rope, 7, draw-in groove, 8, gravity sensor.
Detailed Description
The invention relates to a self-balancing lifting device and a control method thereof, wherein the self-balancing lifting device comprises a balancing weight 1, a load box 2 and a rotary traction mechanism between the balancing weight and the load box, the rotary traction mechanism comprises a rotary shaft 3 and a traction mechanism rotating along the rotary shaft, and the traction mechanism comprises a rotary disk 4, a telescopic device 5 and a traction rope 6 at the outer side of the telescopic device; the rotating disc 4 is fixedly connected with the rotating shaft 4, the telescopic devices 5 are circumferentially distributed on the rotating disc 4, and two ends of the traction rope 6 are respectively connected with the balancing weight 1 and the load box body 2; the top end of the telescopic device is provided with a clamping groove 7, and the traction rope 4 passes through the clamping groove 7; the rotating shaft 3 is connected with a motor or a hydraulic motor, a gravity sensor 8 is arranged at the joint of the haulage rope 6, the balancing weight 1 and the load box 2, the signal output end of the gravity sensor 8 is connected with a controller, and the controller controls the telescopic length of the telescopic device 5; the control method of the self-balancing lifting device based on the structure comprises the following steps:
Step A, the gravity sensor 8 collects the value of the gravity G 1 of the balancing weight 1 and the value of the gravity G 2 of the load box 2, and the length value of the force arm L 1 of the balancing weight 1 acting on the rotating shaft 3 in the horizontal direction and the length value of the force arm L 2 of the load box 2 acting on the rotating shaft 3 are collected through the telescopic device 5;
Step B, based on the G 1、G2 collected in the step A, the controller resets a group of L 1、L2 meeting the moment balance relation G 1*L1＝G2*L2, takes the top end of the telescopic device 5 corresponding to the L 1、L2 as an end point, and constructs a smooth curve passing through the two end points;
Step C, driving each telescopic device 5 by the controller so that the top end of each telescopic device 5 is positioned on the smooth curve described in step B.
1-4, A rotating disc 4 is fixed on a rotating shaft 3, a telescopic device 5 is fixedly connected to the rotating disc 4, firstly, the installation space on the rotating shaft 3 is small, and the rotating disc 4 can provide enough installation space for the telescopic device 5; secondly, the rotating disc 4 can protect the telescopic device 5, the diameter of the rotating disc 4 is larger than the length of the telescopic device 5 after the telescopic device 5 is completely extended, and damage caused by collision after the telescopic device 5 is extended is avoided;
The controller independently controls the extension length of each telescopic device 5 in real time, so that the track at the top end of one group of telescopic devices 5 is approximately a smooth transitional closed curve, and the abrasion of the traction rope 6 is reduced.
As shown in fig. 2, the clamping groove 7 is a V-shaped groove, and the V-shaped clamping groove 7 can prevent the traction rope 6 from slipping, so as to avoid accidents caused by slipping.
As shown in fig. 1, the telescopic device 5 is a hydraulic cylinder or an air cylinder, and the hydraulic cylinder has the advantages of accurate control and long service life, and the air cylinder is quick to start and easy to control.
As shown in fig. 1, the traction rope 4 is a steel wire rope, and the steel wire rope or the steel cable can bear large tension, has small deformation and is not easy to wear and break.
The balancing weight 1 and the load box body 2 are respectively provided with a guide mechanism, the guide mechanisms are guide rails fixed on a wall body in the vertical direction, the balancing weight 1 is provided with guide grooves matched with the guide rails, the balancing weight 1 can be lifted or lowered along the straight line in the vertical direction by means of the cooperation of the guide grooves and the guide rails, the shaking phenomenon of the balancing weight 1 is avoided, and further the phenomena that the traction rope 4 is broken due to overlarge stress and the gravity sensor 8 of the traction rope is influenced to feed back real parameters and the like are avoided; the guide mechanism of the load box body 2 and the guide mechanism of the balancing weight 1 work in the same principle.
As shown in fig. 4-6, a coordinate system is established, the center of a circle of the rotating shaft 3 is taken as an origin O, the vertical direction is taken as a Y axis, the horizontal direction is taken as an X axis, and the side of the load box body is taken as the positive direction of the X axis; the gravity of the balancing weight 1 is G 1, the moment arm of force acting on the rotating shaft 3 is L 1, preferably 420mm is less than or equal to L 1 and less than or equal to 720mm, and the minimum length of the telescopic device 5 when not extending is 420mm; the gravity of the load box body 2 is G 2, and the force arm acting on the rotating shaft is L 2, preferably 420mm or less and L 2 mm or less and 720mm or less;
In the case of G 1＝G2, L 1＝L2 is known from the equilibrium relation G 1*L1＝G2*L2, and the constructed curve equation is The top end tracks of all the telescopic devices are circles taking the origin as the circle center and L 1 (or L 2) as the radius, the extension lengths of all the telescopic devices are the same and are 0mm, L1=L2=420 mm;
When G 1＞G2, from the equilibrium relation G 1*L1＝G2*L2, L 1＜L2 is known, and the constructed smooth curve equation is as follows:
a. Counterweight 1 side
The equation of the constructed smooth curve isThe locus of the top end of the balancing weight 1 side expansion device 5 is a circle taking the origin as the center of a circle and L1 as the radius, the extension lengths of the balancing weight 1 side expansion devices 5 are the same and are 0mm, and L 1 =420 mm;
b. Load box 2 side
The equation of the constructed smooth curve isThe locus of the top end of the telescopic device 5 at the load box body 2 side is an ellipse with L 2 as the long axis and L 1 as the short axis, and the distance from any point on the ellipse to the origin O is/>The extension length of the telescopic device 5 is: /(I)I.e./>Assuming that the included angle between the axis of the telescopic device 5 and the X axis is θ, the coordinates of the end point at the top end of the telescopic device 5 satisfy y=tan θx (-90 ° < θ < 90 °), and according to the equilibrium relationship, L 2＝L1*G1/G2 is known, and the expression of the extension length of the telescopic device 5 related to the axis and the X axis included angle θ is:
The method comprises the following steps:
When G 1＜G2, from the equilibrium relation G 1*L1＝G2*L2, L 1＞L2 is known, and the constructed smooth curve equation is as follows:
a. Load box 2 side
The equation of the constructed smooth curve isThe top track of the load box body 2 side telescopic device 5 is a circle taking the origin as the center and L 2 as the radius, the extension lengths of the load box body 2 side telescopic device 5 are the same and are all 0mm, and L 2 =420 mm;
b. Counterweight 1 side
The equation of the constructed smooth curve isThe locus of the top end of the expansion device 5 at the side of the balancing weight 1 is an ellipse with L 1 as the long axis and L 2 as the short axis, and the distance from any point on the ellipse to the origin O is/>The extension length of the telescopic device 5 is: /(I)I.e./>Assuming that the included angle between the axis of the telescopic device 5 and the X axis is θ, the coordinates of the end point at the top end of the telescopic device 5 satisfy y=tan θx (90 ° < θ < 270 °), and according to the equilibrium relationship, L 1＝L2*G2/G1 is known, the expression of the extension length of the telescopic device 5 related to the axis and the X axis included angle θ is:
The method comprises the following steps:
The rotary hydraulic motor is adopted as a power mechanism, a rotary shaft 3 of the hydraulic motor is connected with a rotary disk 4 with the diameter of 1.5m, 16 hydraulic cylinders are uniformly fixed on the rotary disk 4, the hydraulic cylinders are servo cylinders, the extension length of a telescopic rod can be arbitrarily controlled, the effective stroke is 300mm, the working pressure is 12MPa, and the maximum jacking force is 3390kg; when the telescopic rod is completely retracted, the length of the arm of force of the steel cable to the rotating shaft 3 is 420mm, and when the telescopic rod is completely extended, the length of the arm of force of the steel cable to the rotating shaft 3 is 720mm; the gravity sensor 8 can detect the gravity of the balancing weight 1 and the load box 2 in real time and send the data to the controller.
The length value of a force arm L 1 of the balancing weight 1 acting on the rotating shaft 3 in the horizontal direction and the length value of a force arm L 2 of the load box 2 acting on the rotating shaft 3 are collected through the telescopic device 5; in the working process, the set weight of the balancing weight 1 is 800kg, the weight of the load box 2 is 500kg, a coordinate system is established by taking the center of a circle of the rotating shaft 3 as an origin O, the vertical direction is a Y axis, the horizontal direction is an X axis, the side of the load box is the positive direction of the X axis, and the dynamic working process of the embodiment is as follows:
When no load exists in the load box body 2, the controller reads the gravity data G 1＝800*9.8＝7840N、G2 = 500 x 9.8 = 4900N in the balancing weight 1 and the load box body 2, at the moment, G 1＞G2, and the controller controls the extension length of the hydraulic cylinder telescopic rod at one side of the balancing weight 1 to be 0mm, and then L 1 = 420mm; the balance relation G 1*L1＝G2*L2 is used for obtaining the L 2＝L1*G1/G2 =420×7840/4900=672 mm, the controller controls the extending length of the hydraulic cylinder telescopic rod of the horizontal direction on one side of the load box body 2 to be 672-420=252 mm according to the extending length of the hydraulic cylinder telescopic rod, and the extending lengths of the rest hydraulic cylinder telescopic rods are as follows: at this time, the balancing weight 1 and the load box 2 balance the moment of the rotating shaft 3.
When 300kg of load is added in the load box body 2, the controller reads gravity data G 1＝800*9.8＝7840N、G2 = (500+300) = 9.8=7840N in the load box body 2, at this time G 1＝G2, the controller controls the extending length of all hydraulic cylinder telescopic rods to be 0mm, L1＝L2＝420mm,G1*L1＝800*9.8*0.42＝3292.8N·m,G2*L2＝(500+300)*9.8*0.42＝3292.8N·m, meets a balance relation formula G 1*L1＝G2*L2, the moment of the balance weight 1 and the load box body 2 on the rotating shaft 3 is balanced, and L 1 and L 2 are both the shortest length of 420mm, so that the load of the hydraulic cylinder unit can be effectively reduced.
When 700kg of load is added in the load box body 2, the controller reads gravity data G 1＝800*9.8＝7840N、G2 = (500+700) = (9.8= 11760N) in the balance weight 1 and the load box body 2, and when G 1＜G2 is detected, the controller controls the extending length of the hydraulic cylinder telescopic rod on one side of the load box body 2 to be 0mm, and then L 2 =420 mm; the balance relation G 1*L1＝G2*L2 is used for obtaining the L 1＝L2*G2/G1 =420×11760/7840=630 mm, the controller controls the extending length of the hydraulic cylinder telescopic rod of one side of the balancing weight 1 to be 630-420=210 mm according to the extending length of the hydraulic cylinder telescopic rod in the horizontal direction, and the extending lengths of the rest hydraulic cylinder telescopic rods are as follows: at this time, the balancing weight 1 and the load box 2 balance the moment of the rotating shaft 3.
By utilizing the controller to calculate in time and controlling the extending length of the telescopic device, the dynamic balance of the balancing weight and the load box body to the moment of the rotating shaft is realized, the power requirement on the motor or the hydraulic motor is greatly reduced, and the risk of serious accidents caused by overload is reduced.
What has been described above is a preferred embodiment of the invention and is not an all-inclusive embodiment. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Claims (7)
1. The self-balancing lifting device comprises a balancing weight (1), a load box (2) and a rotary traction mechanism between the balancing weight and the load box, wherein the rotary traction mechanism comprises a rotary shaft (3) and a traction mechanism rotating along the rotary shaft, and is characterized in that the traction mechanism comprises a rotary disk (4), a telescopic device (5) and a traction rope (6) at the outer side of the rotary disk; the rotary disc (4) is fixedly connected with the rotary shaft (4), the telescopic devices (5) are circumferentially distributed on the rotary disc (4), at least six telescopic devices (5) are arranged, and two ends of the traction rope (6) are respectively connected with the balancing weight (1) and the load box body (2); the top end of the telescopic device (5) is provided with a clamping groove (7), and the traction rope (4) passes through the clamping groove (7);
the rotary shaft (3) is connected with a motor or a hydraulic motor, a gravity sensor (8) is arranged at the joint of the haulage rope (6) and the balancing weight (1) as well as the load box body (2), the signal output end of the gravity sensor (8) is connected with a controller, and the controller controls the telescopic length of the telescopic device (5);
the telescopic length is determined according to the following method:
Step A, the gravity sensor (8) collects the value of the gravity G 1 of the balancing weight (1) and the value of the gravity G 2 of the load box (2), and the length value of the force arm L 1 of the balancing weight (1) acting on the rotating shaft (3) in the horizontal direction and the length value of the force arm L 2 of the load box (2) acting on the rotating shaft (3) are collected through the telescopic device (5);
Step B, based on the G 1、G2 collected in the step A, the controller resets a group of G satisfying the torque balance relation 1 L1＝G2/>L 1、 L2 of L 2 takes the top end of the telescopic device (5) corresponding to L 1、L2 as an end point, and a smooth curve passing through the two end points is constructed;
and C, driving each telescopic device (5) through a controller, so that the top end of each telescopic device (5) is positioned on the smooth curve in the step B.
2. A self-balancing lifting device as claimed in claim 1, wherein: the clamping groove (7) is a V-shaped groove.
3. A self-balancing lifting device as claimed in claim 1, wherein: the telescopic device (5) is a hydraulic cylinder or an air cylinder.
4. A self-balancing lifting device as claimed in claim 1, wherein: the traction rope (4) is a steel wire rope.
5. A self-balancing lifting device as claimed in claim 1, wherein: the balancing weight (1) and the load box body (2) are respectively provided with a guide mechanism.
6. A self-balancing lifting device as claimed in claim 1, wherein: establishing a coordinate system, wherein the center of a circle of a rotating shaft (3) is used as an origin 0, the vertical direction is a Y axis, the horizontal direction is an X axis, and the side of a load box body (2) is the positive direction of the X axis;
When G 1＝G2, the equilibrium relation G 1 L1＝G2/>L 2 can be found to be L 1＝L2, and the constructed curve equation is/>The top track of all the telescopic devices (5) is a circle taking the origin as the center of a circle and L 1 (or L 2) as the radius, and the extension lengths of all the telescopic devices (5) are the same;
When G 1＞G2, the equilibrium relation G 1 L1＝G2/>L 2 is known as L 1＜L2, and the constructed smooth curve equation is as follows:
a, balancing weight (1) side
The equation of the constructed smooth curve isThe top track of the balancing weight (1) side expansion device (5) is a circle taking the origin as the center of a circle and L 1 as the radius, and the extension lengths of the balancing weight (1) side expansion devices (5) are the same and are all 0mm;
b, load box body (2) side
The equation of the constructed smooth curve isThe locus of the top end of the telescopic device (5) at the side of the load box body (2) is an ellipse with L 2 as a long axis and L 1 as a short axis, and the distance from any point on the ellipse to the origin 0 is/>The extension length of the telescopic device (5) is: /(I)If the included angle between the axis of the telescopic device (5) and the X axis is theta, the coordinate of the top end point of the telescopic device (5) meets Y=tan theta X (-90 degrees < theta < 90 degrees), and L 2＝L1/>, according to the balance relation, can be knownG 1/G2, the extension length of the telescopic device (5) is expressed as:
When G 1＜G2, the equilibrium relation G 1 L1＝G2/>L 2 is known as L 1＞L2, and the constructed smooth curve equation is as follows:
a, load box body (2) side
The equation of the constructed smooth curve isThe top track of the load box body (2) side expansion device (5) is a circle taking the origin as the center of a circle and L 2 as the radius, and the extension lengths of the load box body (2) side expansion devices (5) are the same and are all 0mm;
b, balancing weight (1) side
The equation of the constructed smooth curve isThe locus of the top end of the expansion device (5) at the side of the balancing weight (1) is an ellipse with L 1 as the long axis and L2 as the short axis, and the distance from any point on the ellipse to the origin 0 is/>The extension length of the telescopic device (5) is: /(I)If the included angle between the axis of the telescopic device (5) and the X axis is theta, the coordinate of the top end point of the telescopic device (5) meets Y=tan theta X (90 degrees < theta < 270 degrees), and L 1＝L2/>, according to the balance relation, can be knownG 2/G1, the extension length of the telescopic device (5) is expressed as:
7. The self-balancing lift device of claim 6, wherein: the force arm L 1、L2 is smaller than or equal to 420mm and smaller than or equal to L 1≤720mm,420mm≤L2 and smaller than or equal to 720mm.
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