CN111632393A

CN111632393A - Device for moving rope suspended object in air

Info

Publication number: CN111632393A
Application number: CN201910149857.2A
Authority: CN
Inventors: 方忠民
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-03-01
Filing date: 2019-03-01
Publication date: 2020-09-08

Abstract

A device for moving a suspended object in the air comprises the suspended object, at least one set of suspended supporting platform, at least one forward traction rope and at least one backward traction rope, a set of forward and backward movement control equipment, at least one lifting traction rope and a set of lifting movement control equipment; the lifting traction rope connects the lifting movement control equipment with the suspended object through a groove arranged on the suspended supporting platform; the lifting movement control equipment controls the lifting movement of the suspended object by retracting and releasing the lifting traction rope; the forward traction rope and the backward traction rope respectively connect the forward-backward movement control equipment with the suspension support platform; the forward-backward movement control device controls the suspension supporting platform to move forward and backward by retracting the forward traction rope and the backward traction rope so as to drive the suspended object to move forward and backward by lifting the traction rope. The device has lower installation and maintenance cost and small influence of obstacles, and is suitable for places such as stage performances and the like.

Description

Device for moving rope suspended object in air

Technical Field

The invention relates to a device for moving a suspended object in the air, which can be used for stage performance, movie special effects and the like by pulling a person, a prop and the like to move back and forth and lift in the air through a rope (such as a steel wire rope, a Dinima rope, a Kevlar rope and the like).

Background

In the event of a movie theatrical stage performance, a sports event, and the like, objects such as a person, a prop, and the like (herein, collectively referred to as suspended objects) are often required to be pulled by ropes to move forward and backward and to move up and down in the air, and installation and maintenance costs are required to be as low as possible, and the influence of obstacles (lamp poles, elevating stages, and the like) is small.

US7207277B2 discloses a method and apparatus for moving a suspended object in two dimensions, which is a so-called "V" shaped apparatus, wherein the suspended object is connected to a winch (or a cable-wound rotating disc) via a cable, and the length of the cable on both sides of the suspended object is varied to control the movement of the suspended object in two dimensions. The technology has the advantages that a main cable is not needed to be erected, the installation and maintenance difficulty is low, but the main defect is that the influence of obstacles is large, for example, for performance, low altitude is a performance space, but two ropes which are obliquely downward from a far place can be lapped on the obstacles in the low altitude, so that the areas near the obstacles cannot reach, and meanwhile, the upper penetrating effect is very obvious.

CN103248826A discloses a T-type cableway camera device, which has the advantages of less influence from obstacles, but has the disadvantages of needing to erect a main cableway and having higher installation and maintenance costs.

Disclosure of Invention

The invention aims to provide a method and a device for forward and backward movement and lifting movement of a suspended object in the air based on a rope, which do not need to erect a main cable way, have low installation and maintenance cost and are slightly influenced by obstacles.

In order to achieve the above object, the present invention provides a device for moving a rope-suspended object in the air, mainly comprising:

a suspended object;

at least one set of suspended support platforms having at least one channel mounted thereon;

the at least one forward traction rope and the at least one backward traction rope are connected with the suspended supporting platform and are respectively used for drawing the suspended supporting platform to move forwards and backwards;

the forward and backward movement control equipment controls the suspension support platform to move forward by retracting the forward traction rope and simultaneously releasing the backward traction rope, or controls the suspension support platform to move backward by retracting the backward traction rope and simultaneously releasing the forward traction rope;

at least one lifting traction rope is connected with the suspended object through a groove on the suspended support platform and is used for drawing the suspended object to move up and down;

a set of lifting movement control equipment for controlling the lifting or falling movement of the suspended object by retracting or releasing the lifting traction rope;

when the suspension supporting platform moves back and forth, the suspension object is driven to move back and forth by the lifting traction rope.

The apparatus, further comprising: at least two support structures.

The forward and backward pulling ropes are either two sections of the same rope or independent ropes.

The forward and backward movement control device and the lifting movement control device are either manpower for directly pulling the control rope or a winch constructed by manpower or a motor and a transmission mechanism. The winch, further comprising: a set of centralized motor motion control software and hardware system is used for realizing automation or semi-automation of the suspended object moving in the air.

The apparatus, further comprising: at least two sets of stop moving components are respectively matched with the front-back moving control equipment and the lifting moving control equipment to be used for the stop moving operation of the suspended object during still keeping or moving.

The invention has the following effects:

the invention can realize that the suspended object can be simply and stably controlled to move back and forth and lift and move in the air through the rope, has simple installation and maintenance and small influence by obstacles, and is particularly suitable for special effects, stage performances and other occasions.

Drawings

Fig. 1 is a schematic structural view of an exemplary embodiment of the present invention.

Fig. 2 is a schematic view of the rope connection proposed by the present invention to keep the suspended object from twisting.

Fig. 3 is a schematic diagram of a rope connection with decoupled fore-aft and aft-motion operation and lifting-motion operation of a suspended object according to the present invention.

Fig. 4 is a schematic structural diagram of an embodiment of the invention in which the forward-backward movement direction of a suspended object is not linear.

Fig. 5 presents a schematic structural view of an embodiment of the present invention for reducing the forward and backward traction rope tension for heavier suspended objects.

Fig. 6 is a schematic structural diagram of an embodiment of the invention for effectively avoiding obstacles when there is an obstacle in the sky.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and detailed description. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention.

Fig. 1 is a schematic structural view of an exemplary embodiment of the present invention. Firstly, a set of forward and backward movement control equipment 3 and a set of lifting and lowering movement control equipment 4 are installed on a supporting structure (such as a girder, a scaffold, a crane and the like of a building) on one side, and at least one groove 31 (or a pulley, a rotating disc, or even a part of the forward and backward movement control equipment 3, namely, the groove 31 is installed on an aerial support on the other side in a cooperative manner with the forward and backward movement control equipment 3 to realize traction power, regardless of the form of the groove, the groove is called as the groove 31 hereinafter unless otherwise stated. In this document, the direction away from the forward/backward movement control device 3 is referred to as the front, the direction close to the forward/backward movement control device 3 is referred to as the rear, the side of the groove 31 is referred to as the front, and the side of the forward/backward movement control device 3 is referred to as the rear. The forward pulling rope 6a connects the forward-backward movement control equipment 3 and the suspended support platform 2 through the groove 31, and the backward pulling rope 6b connects the forward-backward movement control equipment 3 and the suspended support platform 2. A groove 21 (or a pulley or the like) is installed below the suspended support platform 2, and the lifting/lowering traction rope 5 connects the suspended object 1 and the lifting/lowering movement control device 4 via the groove 21. Under the action of gravity, the suspended object 1 is suspended below the suspended support platform 2 through a lifting traction rope 5. The forward and backward movement control device 3, the lifting movement control device 4 and the groove 31 are relatively static.

The forward and backward

pulling ropes

6a, 6b and the hoisting pulling ropes 5 should have a sufficient safety factor and all the ropes should be under tension after installation. The connecting line of the front-back movement control device 3 and the groove 31 and the vertical surface space below the connecting line form a movable space for the suspended object 1. It is of course also possible to install guide grooves (or guide pulleys) or the like on the aerial supports on both sides, to place the forward-backward movement control device 3 and the lifting movement control device 4 on the ground, and then to guide the forward-direction traction ropes 6a and the backward-direction traction ropes 6b to the forward-backward movement control device 3 and the lifting traction ropes 5 to the lifting movement control device 4 through the guide grooves.

The lifting movement control device 4 is generally in the form of a winch (or called a winding drum, a winding engine, etc.), generally comprises a motor, a speed reducer, a rope arrangement device such as a lead screw, etc., and a roller, and can wind a certain number of turns of rope in sequence, the length of the rope capable of being wound is called a stroke, and the stroke needs to be longer than the distance needing to be moved. The lifting movement control device 4 can retract and release the rope (it can be considered that the drum on the winch rotates to retract and release the rope, and certainly, the winch torque should be large enough to make the pulling force of the lifting traction rope 5 overcome the gravity of the suspended object 1), that is, the lifting traction rope 5 is wound up or the lifting traction rope 5 is released, so that the length of the rope between the suspended object 1 and the suspended supporting platform 2 is shortened or lengthened, and the purpose of controlling the suspended object 1 to ascend or descend is achieved. The forward-backward movement control device 3 is similar to the lifting movement control device 4 except that the forward-backward movement control device 3 winds up one section of rope while paying out another section of rope (the power or torque thereof should be large enough to make the pulling force applied to the forward traction rope 6a or the backward traction rope 6b sufficient to overcome the component of the resultant force of gravity of the support platform 2 and the suspended object 1 at the forward traction rope 6a or the backward traction rope 6 b), or more specifically, the length of the rope between the groove 31 and the suspended support platform 2 is reduced while increasing the length of the rope between the forward-backward movement control device 3 and the suspended support platform 2, or the length of the rope between the groove 31 and the suspended support platform 2 is increased while decreasing the length of the rope between the forward-backward movement control device 3 and the suspended support platform 2 to pull the suspended support platform 2 to move forward or backward to drive the suspended object 1 to move forward by the rope between the suspended support platform 2 and the suspended object 1 Or the purpose of moving backwards. Further, the forward-backward movement control device 3 and the lifting movement control device 4 can be controlled by a set of upper computer 100 (a software and hardware system controlled by motor motion) simultaneously to realize a certain degree of automation. In general, the forward-backward movement control means 3 and the lifting movement control means 4 should be equipped with respective stop operation means (e.g., a sudden stop system composed of a sudden stop switch, a loss brake, and a power supply line) for holding the suspended object 1 while it is stationary, or for sudden or gradual stop operation during movement.

The person skilled in the art will readily understand that the forward traction ropes 6a and the backward traction ropes 6b can be either two sections of the same rope (bounded by the forward-backward movement control device 3) or independent ropes, depending on the form of the forward-backward movement control device 3. When the forward traction rope 6a and the backward traction rope 6b are two sections of the same rope, the dynamic ranges of the forward traction rope 6a and the backward traction rope 6b are mutually converted; for example, when the forward traction rope 6a is gradually wound up with the action of the forward-backward movement control device 3, the part of the forward traction rope 6a closest to the forward-backward movement control device 3 is released from the forward-backward movement control device 3, which means that the part of the rope wound up from the forward traction rope 6a and released to the backward traction rope 6b actually becomes a part of the backward traction rope 6 b; and vice versa.

Of course, with the embodiment of fig. 1 and 2, the back-and-forth movement operation and the lifting movement operation of the suspended object 1 are coupled, that is, when only the back-and-forth movement control equipment 3 acts to control the back-and-forth movement of the suspended object 1, a height change of the suspended object 1 is caused. The compensation method can be easily conceived by those skilled in the art, such as the forward-backward moving operation and the lifting-moving operation by adopting the rope connection method of fig. 3, or the height of the suspended object 1 is kept substantially constant by simultaneously operating the lifting-moving control equipment 4, etc.; with regard to the latter, for example, when the lifting traction rope 5 and the backward traction rope 6b between the suspended support platform 3 and the lifting movement control device 4 are parallel, when it is necessary to move the suspended object 1 forward and backward, the length change of the lifting traction rope 5 can be made to coincide with the length change of the backward traction rope 6b to keep the height of the suspended object constant. Of course, for the embodiment of fig. 1 and 2, if there is a need for the forward and backward movement and the lifting movement of the suspended object 1 to be performed simultaneously, it is more complicated to manually control the forward and backward movement control device 3 and the lifting movement control device 4 simultaneously, and it is suggested to adopt the connection method of the embodiment of fig. 3, or to use some motion control software and hardware with interpolation, etc. It should be noted that the embodiment of fig. 1 and 2 requires that the rope winding capacity, i.e. the stroke of the lifting movement control device 4, be sufficiently long, typically at least the stroke in the forward and backward movement direction plus the stroke in the lifting direction.

Since the rope may twist itself to some extent, the suspended object may twist itself when moving in the air. This phenomenon may or may not be desirable for the application. When the self-rotation is not required, the lifting/lowering traction rope 5 may be connected in the manner shown in fig. 2 (the connection of the forward traction rope 6a and the backward traction rope 6b is the same as that shown in fig. 1, and is omitted from the figure for simplicity), that is, one end of the lifting/lowering traction rope 5 is fixed to the lifting/lowering movement control device 4, and the other end thereof passes through the groove 21 formed in the suspended support platform 2 and the grooves 11 and 12 formed in the suspended object 1 in this order and is then fixed to the suspended support platform 2. The farther the distance between the two lengths of rope between the suspended object 1 and the suspended support platform 2, the less likely the suspended object 1 itself will twist. In addition, the method of forward and backward and up-and-down movement of the suspended object 1 in the rope connection diagram of fig. 2 is implemented similarly to fig. 1. Of course, other ways of avoiding the suspended object from rotating freely on its own will be readily apparent to those skilled in the art.

For the embodiment of fig. 1 and 2, if manual operation control is adopted, when the suspended object 1 moves back and forth, it may be necessary to control the back-and-forth movement control device 3 and the lifting movement control device 4 simultaneously to keep the height of the suspended object 1 unchanged, especially when a person directly pulls a control rope, or when the upper computer 100 is not configured for automatic control, the complexity of operation is increased, which may sacrifice the simplicity of rope winding to improve the simplicity of operation, such as decoupling the back-and-forth movement and the lifting movement of the suspended object 1, i.e. there is no coupling in the operations in two directions. This can be achieved by the embodiment of fig. 3 (the connection method of the forward pulling rope 6a and the backward pulling rope 6b is the same as that of fig. 1, and is omitted in this figure for simplicity), one end of the lifting pulling rope is fixed on the lifting movement control device 4, the other end passes through the groove 21 installed on the suspension support platform and the groove 11 installed on the suspension object in turn, then passes through the other groove 22 installed on the suspension support platform again, then is fixed below the groove 31, and the two ropes between the suspension support platform 2 and the front side and the two ropes between the suspension support platform 2 and the rear side are made parallel as much as possible, forming a traditional T-shaped control scheme without main cableway, that is, when the forward and backward movement control device 3 pulls the suspension support platform 2 to move the suspension object 1 forward and backward by the lifting pulling rope 5, the height of the suspended object 1 is constant (or more precisely the height variation is negligible, since the rope cannot be absolutely perpendicular to the lifting direction), and the lifting control of the suspended object 1 is the same as in the embodiment of fig. 1 and will not be described again. It is apparent that in this embodiment of fig. 3, the forward-backward moving operation and the lifting operation of the suspended object 1 are independent without coupling, and the design stroke of the lifting movement control equipment 4 can be reduced (it is only necessary to be larger than the lifting stroke).

In the case that the forward and backward movement direction of the suspended object cannot be along a straight line, fig. 4 shows an embodiment that can be passed through the deployment of fixed grooves 301 and 302 (or fixed pulleys, etc.) at the turn, while the suspended support platform 2 is provided with a gripper 22, similar to the installation of a passenger cableway, which can grip the forward traction rope 6a and the backward traction rope 6b tightly and can follow the forward traction rope 6a and the backward traction rope 6b together to pass through the groove 302, in fact, the gripper is the boundary point of the forward traction rope 6a and the backward traction rope 6 b. Thus, when the forward and backward movement control device 3 is operated, the suspension support platform 2 can be driven by the forward traction rope 6a and the backward traction rope 6b, and then the suspended object can be driven to move forward and backward by the lifting traction rope 5, and the turning can be realized at the place similar to the groove 302. A set of similar fixed grooves can be added at each corner to realize simple movement of the suspended object 1 in three-dimensional space. It is noted that the trench 301 is not necessary. The method of attachment of the hoisting traction ropes 5 in the embodiment of fig. 4 can also be replaced by the method of attachment of the hoisting traction ropes 5 of fig. 3, in order to decouple the operation of the lifting movement and the operation of the forward-backward movement of the suspended object 1. As is apparent from fig. 4, the forward-backward movement direction of the suspended object may be curved.

For heavier suspended objects the tension of the forward and rearward traction ropes may be very high, although the tension can be reduced by increasing the sag of the forward and

rearward traction ropes

6a, 6b, but without increasing the height of the forward and rearward movement control equipment 3 and the channel 31, a large sag means that the maximum height of the suspended object that can rise is smaller. Fig. 5 shows another embodiment for reducing the tension of the forward traction rope and the backward traction rope, namely, a groove 23 (or a pulley) is installed above the suspended supporting platform 2, the groove 23 rides on the groove 31 to the forward traction rope 6a of the forward-backward movement control equipment 3 (when the suspended supporting platform 3 moves forward and backward, the groove 31 to the forward traction rope 6a of the forward-backward movement control equipment 3 can always bear the weight of the suspended object 1 together), and it is equivalent to that 4 ropes bear the weight of the suspended supporting platform 2 and the suspended object 1 together, so that the tension of the forward traction rope 6a and the backward traction rope 6b can be effectively reduced, and further, the torque or the power of the forward-backward movement control equipment 3 can be reduced. As can be seen from fig. 5, the forward-backward movement and the lifting movement control of the suspended object 1 are still performed by controlling the forward-backward movement control means 3 and the lifting movement control means 4, respectively. Of course, other ways of further reducing the tension of the forward and

backward traction ropes

6a and 6b and the lifting traction rope 5, such as by adding a counterweight and counterweight rope (connecting the counterweight and the suspended object 1 by a groove), can be easily conceived by those skilled in the art based on this invention, and the invention will not be described in detail. In addition, as can be seen from fig. 5 and the above description, for the case where the sag of the forward pulling rope 6a and the backward pulling rope 6b is not negligible, and the suspended object 1 moves forward and backward without height compensation, the forward and backward moving direction of the suspended object 1 may be a curve, like the curve 99 in the figure, but this does not affect the effect of practical application because the middle of the general stage performance is low and the two sides are high of the auditorium. From this, it can be seen that the forward-backward movement direction of the suspended object 1 is not necessarily orthogonal to the lifting direction.

In the case of many obstacles above, fig. 6 shows another embodiment of the invention, where

obstacles

71, 72, 73 affect the direct deployment of the ropes, thus splitting the forward-backward movement control equipment 3 into two parts, respectively forward-backward movement control equipment 3 and 31, which may take a form similar to the implementation of the lifting movement control equipment 4. Whether it is a method of pulling the control rope directly by a human power or by a motor, it is easily conceivable by those skilled in the art that the forward and backward movement control devices 3 and 31 are simultaneously operated, so that the forward direction traction rope 6a is simultaneously wound up (or unwound) and the backward direction traction rope 6b is simultaneously wound up (or wound up). For example, when the forward movement control device 31 and the backward movement control device 3 are simultaneously rotated clockwise in fig. 6 (as viewed from the front of fig. 6), the forward pulling rope 6a is wound up while the backward pulling rope 6b is paid out, thereby pulling the suspended support platform 2 to move forward; conversely, when the forward movement control device 31 and the backward movement control device 3 are simultaneously rotated counterclockwise (as viewed from the front of fig. 6), the forward traction ropes 6b are wound up while the backward traction ropes 6a are paid out, thereby pulling the suspended support platform 2 to move backward; particularly, when the amounts of rope length changes of the

front traction ropes

6a and 6b are the same, the forward and backward movement trajectory of the suspended support platform 2 is an elliptical trajectory, but generally, the center of the stage is a performance occasion, and both sides of the stage are auditoriums slightly higher, so that the practical application has almost no negative effect. In addition, the lifting control of the suspended object 1 in the embodiment of fig. 6 is still accomplished by the lifting movement control equipment 4, but of course, further, the connection method of the lifting traction ropes 5 in the embodiment of fig. 6 can also be replaced by the rope connection method of fig. 3, so as to decouple the back-and-forth movement and the lifting movement of the suspended object.

As is apparent from the above description, the specific form of the forward-backward movement control device 3 and the upward-downward movement control device 4 may be a manual winch constituted by a human power, a drum, or the like, in addition to an electric winch constituted by a motor, a reducer, a drum, or the like, or may be even a form in which a control rope is directly pulled by a human power. When the control rope is directly pulled by manpower, the forward and backward movement control equipment 3 is actually a control point applied to the forward pulling rope 6a and the backward pulling rope 6b by manpower, and the lifting movement control equipment 4 is actually a control point applied to the lifting pulling rope 5 by manpower, or the forward and backward movement and the lifting movement of the suspended object 1 are completed by directly manually pulling the ropes by manpower; of course, the manpower is required to constantly control the ropes to ensure that the suspended object does not slide freely.

It is also apparent that the suspended object 1 can also be made to float in the air by a hot air balloon or the like, and then the effect of inverted lifting is achieved by overcoming the buoyancy of the suspended object 1 instead of the gravity. Further, the lifting direction of the suspended object is not necessarily parallel to the gravity direction, for example, the oblique lifting effect can be achieved by the lateral strong wind or the electromagnetic attraction.

Based on the figures and the description, the device for moving the suspended object in the air does not need to install a main cableway, is less influenced by the obstacle, can be easily reached in the area near the obstacle, is low in installation and maintenance cost, is simple and easy to implement, and is particularly suitable for occasions such as performances or special effects.

The above-described embodiments, objects, solutions and advantages of the present invention are further described in detail, it should be understood that the above-described embodiments are only examples of the present invention, and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention, for example, a person skilled in the art can easily add a series of guide pulleys, use a plurality of traction ropes, add a tension pulley to a traction rope, etc.

Claims

1. An apparatus for suspending an object for movement in the air, comprising:

a suspended object;

at least one forward traction rope and at least one backward traction rope which are connected with the suspension supporting platform and used for dragging the suspension supporting platform to move back and forth;

a set of forward and backward movement control equipment, which controls the suspension support platform to move forward and backward by retracting the forward traction rope and simultaneously releasing the backward traction rope or retracting the backward traction rope and simultaneously releasing the forward traction rope;

at least one lifting traction rope connected with the suspended object through a groove on the suspended support platform and used for drawing the suspended object to move up and down;

a set of lifting movement control equipment for controlling the lifting movement of the suspended object by retracting and releasing the lifting traction rope;

when the suspension supporting platform moves back and forth, the suspension object is driven to move back and forth through the lifting traction rope.

2. The apparatus of claim 1, further comprising: at least two support structures.

3. The apparatus of claim 1, wherein the forward and rearward hauling ropes are either two sections of the same rope or separate ropes.

4. The device as claimed in claim 1, wherein the forward and backward movement control means and the elevation movement control means are either a manual power directly pulling the control rope or a winch constructed by a manual power or a motor and a transmission member.

5. The winch of claim 4, further comprising: a set of centralized motor motion control software and hardware system is used for realizing automation or semi-automation of the suspended object moving in the air.

6. The apparatus of claim 1, further comprising: and at least two sets of stop moving components are respectively matched with the front-back moving control equipment and the lifting moving control equipment and are commonly used for the stop moving operation of the suspended object during still keeping or moving.