WO2017088251A1 - 一种并联悬吊平台偏载调整机构及方法 - Google Patents

一种并联悬吊平台偏载调整机构及方法 Download PDF

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Publication number
WO2017088251A1
WO2017088251A1 PCT/CN2015/099314 CN2015099314W WO2017088251A1 WO 2017088251 A1 WO2017088251 A1 WO 2017088251A1 CN 2015099314 W CN2015099314 W CN 2015099314W WO 2017088251 A1 WO2017088251 A1 WO 2017088251A1
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WO
WIPO (PCT)
Prior art keywords
platform
counterweight
suspension platform
angle steel
push rod
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PCT/CN2015/099314
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English (en)
French (fr)
Inventor
朱真才
曹国华
王乃格
晏璐
韦磊
王磊
彭维红
李伟
周公博
彭玉兴
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中国矿业大学
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Application filed by 中国矿业大学 filed Critical 中国矿业大学
Priority to AU2015415833A priority Critical patent/AU2015415833B2/en
Priority to CA2972295A priority patent/CA2972295C/en
Priority to US15/539,175 priority patent/US10118811B2/en
Publication of WO2017088251A1 publication Critical patent/WO2017088251A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/044—Working platforms suspended from booms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B17/00—Hoistway equipment
    • B66B17/12—Counterpoises
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B7/00—Other common features of elevators
    • B66B7/02—Guideways; Guides
    • B66B7/04—Riding means, e.g. Shoes, Rollers, between car and guiding means, e.g. rails, ropes
    • B66B7/046—Rollers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C21/00—Cable cranes, i.e. comprising hoisting devices running on aerial cable-ways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F2700/00—Lifting apparatus
    • B66F2700/09—Other lifting devices

Definitions

  • the invention relates to an eccentric load adjusting mechanism, in particular to an eccentric loading adjusting mechanism and a method for a parallel suspension platform.
  • the unsynchronized rotation speed of the roping device and the centroid eccentricity of the suspension platform can cause the platform to tilt during the lifting process, and most of the existing parallel suspension platforms are not biased.
  • the load-adjusting mechanism brings great hidden dangers to the stability and safety of the operation of the parallel suspension platform. In severe cases, even a tipping accident occurs.
  • the present invention provides an offset loading mechanism and method for a parallel suspension platform, which can perform timely adjustment when the suspension platform is tilted, and can effectively eliminate the eccentric load of the suspension platform.
  • the phenomenon can effectively ensure the stability and safety of the operation of the suspension platform; the method can safely and smoothly use the suspension platform for the suspension operation.
  • the eccentric load adjusting mechanism of the parallel suspension platform of the present invention comprises a suspension platform, and an eccentric load adjusting mechanism is arranged on the suspension platform, and the eccentric load adjusting mechanism comprises a rotating platform driven by a servo motor and arranged on the rotating platform.
  • the support guide frame includes parallel arranged Two counterweight guide rails, respectively, which are respectively fixed to the left and right ends of the counterweight guide rail and are arranged in parallel with the left angle steel piece and the right angle steel piece, and are arranged parallel to the counterweight guide rail and fixed to the middle of the left angle steel piece and the right angle steel piece;
  • the support guide frame is fixed on the turntable of the rotating platform by the rotating plate;
  • the rotating plate is provided with a roller matched with the guide rail at a position corresponding to the guide rail;
  • the left end of the left angle steel piece is fixed with a push rod right support angle steel piece, and the left side support angle steel piece of the push rod is provided with a push rod left support angle steel piece in parallel on the left side, and the push rod left support angle piece piece and the push rod right support angle piece piece are before and after
  • the two ends are fixedly connected by a front angle steel piece and a rear angle steel piece arranged in parallel;
  • the pusher left support angle steel member is fixed with a hinge seat
  • the right support angle steel member is fixed with a support seat
  • the hinge seat is hinged with a left end of the electric push rod
  • the support base is used for fixing the electric push rod
  • the right end of the electric push rod is connected with a counterweight device
  • the counterweight device cooperates with the two counterweight guide rails to move along the telescopic direction of the electric push rod.
  • the counterweight device comprises a counterweight, a counterweight disposed on the counterweight, and at least four counterweight wheels are disposed around the bottom of the counterweight at positions corresponding to the two counterweight rails. This ensures the smoothness of the movement of the heavy equipment, thus ensuring that the platform offset is quickly eliminated.
  • the suspension platform is circular, the rotating platform is disposed at a center of the suspension platform, and the guide rail is disposed around the outer edge of the suspension platform.
  • the rotary plate is rotated by the rotating platform, thereby driving the support guide frame to rotate, and the two counterweight guide rails on the support guide frame are provided with a counterweight device that moves in the longitudinal direction thereof, and the weight is adjusted by the electric push rod.
  • the position of the device enables adjustment of the different positions of the counterweight on the suspension platform to effectively adjust the eccentric load of the suspension platform. Therefore, the mechanism can effectively eliminate the eccentric load phenomenon of the suspension platform, thereby ensuring the stability and safety of the suspension platform operation.
  • the mechanism is simple in structure, safe and reliable, and convenient to maintain, and is especially suitable for adjusting the eccentric load of the parallel suspension platform, and has wide versatility.
  • a method for adjusting the offset load of a suspension platform includes the following steps:
  • Step 1 The four roping devices are arranged on the same horizontal plane, wherein each roping device is wound with a steel wire rope, and each of the four steel wire ropes is connected with the suspension platform through a tension sensor, and the offset load is adjusted on the suspension platform. mechanism;
  • Step 2 When the suspension platform generates an eccentric load, the tension data is obtained by the tension sensor, and the tension analysis is performed. The magnitude and position of the eccentric load are obtained by the torque balance principle, and the rotating platform is rotated by the servo motor to drive the support guide frame to rotate. The corresponding angle of the eccentric load is reversed, and then the electric push rod drives the counterweight device to move the corresponding distance on the counterweight guide rail, thereby eliminating the platform eccentric load.
  • the tension sensor connected with the steel wire rope in the invention can obtain the tension data in real time, so that the tension analysis can be facilitated, and the magnitude and position of the eccentric load are obtained by combining the torque balance principle, and then the eccentric load adjustment mechanism is adjusted by the eccentric load adjustment mechanism to Eliminate platform eccentricity.
  • the method can safely and stably realize the operation of the hanging platform, and can be suspended Hanging operations are suitable for harsher, more complex environments.
  • FIG. 1 is a schematic structural view showing the operation of the parallel suspension platform of the present invention
  • Figure 2 is a schematic view of the structure of the present invention.
  • Figure 3 is a plan view of Figure 2.
  • a parallel suspension platform offset load adjustment mechanism includes a suspension platform 4, and an offset load adjustment mechanism 5 is mounted on the suspension platform 4, and the offset load adjustment mechanism 5 includes a servo motor.
  • the platform 5-2 is provided with a circular guide rail 5-8 fixedly mounted on the suspension platform 4;
  • the support guide frame 5-3 includes two counterweight guide rails 5-15 arranged in parallel, respectively fixed to the counterweight Left and right steel members 5-14 and right angle steel members 5-16, which are disposed at right and left ends of the guide rails 5-15, are arranged in parallel with the counterweight guide rails 5-15 and are fixed to the left angle steel members 5-14 and the right angle steel members 5- 16 intermediate rotating plate 5-17;
  • the rotating platform 5-2 is preferably a right angle output type rotating platform.
  • the support guide frame 5-3 is fixed on the turntable of the rotary platform 5-2 by the rotating plate 5-17; the rotating plate 5-17 is provided with a roller 5 which cooperates with the guide rail 5-8 at the position of the corresponding guide rail 5-8. 7; The rollers 5-7 can support the support guide frame 5-3.
  • the left end steel piece 5-14 is fixed with a push rod right support angle piece 5-13 at the left end, and the push rod right support angle piece 5-13 is provided with a push rod left support angle piece 5-11 in parallel on the left side, the push rod
  • the left support angle steel member 5-11 and the push rod right support angle steel member 5-13 are fixedly connected at both front and rear ends by parallelly disposed front angle steel members 5-12 and rear angle steel members 5-10;
  • the pusher left support angle steel members 5-11 are fixed with a hinge seat 5-5
  • the right support angle steel members 5-13 are fixed with a support seat 5-4
  • the left end of the rod 5-6 is hinged
  • the support seat 5-4 is for fixing the middle portion of the electric push rod 5-6
  • the right end of the electric push rod 5-6 is connected with the counterweight device 5-9
  • the counterweight device 5 The -9 cooperates with the two counterweight guide rails 5-15 to move along the telescopic direction of the electric push rod 5-6.
  • the counterweight device 5-9 may be a counterweight block.
  • the counterweight device 5-9 in order to reduce the friction between the counterweight device 5-9 and the counterweight guide rail 5-15, the counterweight device 5-9 includes a counterweight frame 5-19, The counterweights 5-18 are disposed on the counterweights 5-19, and the bottoms of the counterweights 5-19 are provided with at least four counterweight wheels 5 at positions corresponding to the two counterweight guide rails 5-15. 20. This ensures the smoothness of the movement of the counterweight 5-9, thereby ensuring that the platform offset is quickly eliminated.
  • the suspension platform 4 is circular or square, and the circular shape is a preferred embodiment in the present invention.
  • the rotating platform 5-2 is disposed at the center of the suspension platform 4, and the guide rails 5-8 surround the suspension platform 4 Edge setting.
  • the suspension platform 4 can be provided as a double-layer truss structure, the upper layer is used to carry people and goods, and the lower layer is provided with an eccentric adjustment mechanism 5. It is of course also possible to make the suspension platform 4 a hollow structure, and to provide the eccentric adjustment mechanism 5 in a cavity inside the suspension platform 4. It is also possible to arrange the eccentric adjustment mechanism 5 on the upper surface of the suspension platform 4, and then cover the suspension platform 4 with a cover body, and the upper portion of the cover body carries the cargo.
  • the rotary table 5-2 is driven to rotate by the servo motor 5-1, thereby driving the support guide frame 5-3 to move in the opposite direction of the eccentric load, and then expanding and contracting through the electric push rod 5-6.
  • the movement of the counterweight device 5-9 in the longitudinal direction of the support guide frame 5-3 is realized, thereby eliminating the eccentric load condition of the suspension platform 4.
  • a method for adjusting the offset load of a suspension platform includes the following steps:
  • Step 1 The four roping devices 1 are arranged on the same horizontal plane, wherein each roping device 1 is wound with a steel wire rope 2, and each of the four steel wire ropes 2 is connected to the suspension platform 4 through a tension sensor 3, and is suspended.
  • the platform 4 is equipped with an eccentric adjustment mechanism 5;
  • Step 2 When the suspension platform 4 generates an eccentric load, the tension data is obtained by the tension sensor 3, and the tension analysis is performed, so that the tension sensor 3 can be electrically connected to the controller, and the controller obtains the magnitude and position of the eccentric load by the torque balance principle.
  • the controller controls the servo motor 5-1 to drive the rotation platform 5-2 to rotate, thereby driving the support guide frame 5-3 to rotate to the corresponding angle of the reverse load reverse direction, and then the electric push rod 5-6 drives the counterweight device 5-9 at The corresponding distance is moved on the counterweight guides 5-15, thereby eliminating the platform offset.
  • the method can safely and stably realize the suspension platform operation, and can make the suspension operation suitable for a more severe and complicated environment.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)
  • Cage And Drive Apparatuses For Elevators (AREA)
  • Manufacture Of Motors, Generators (AREA)

Abstract

一种并联悬吊平台偏载调整机构（5）及其调整方法。调整机构（5）包括旋转平台（5-2）、设置在旋转平台（5-2）上的支撑导向架（5-3），其中，旋转平台（5-2）的基座固定连接有悬吊平台（4），围绕旋转平台（5-2）设有圆形导轨（5-8），支撑导向架（5-3）上设有两根对重导轨（5-15），并通过设置在支撑导向架（5-3）上的旋转板（5-17）与旋转平台（5-2）的转盘连接；电动推杆（5-6）驱动对重装置（5-9）在两根对重导轨（5-15）上移动从而消除偏载。调整方法则包括以下步骤：1、将四个绕绳装置（1）通过四根钢丝绳（2）和四个张力传感器（3）与装配偏载调整机构（5）的悬吊平台（4）连接；2、偏载时，由张力传感器（3）获得张力数据，再由伺服电机（5-1）驱动旋转平台（5-2）带动支撑导向架（5-3）旋转到偏载反向的对应角度，最后电动推杆（5-6）推动对重装置（5-9）在对重导轨（5-15）上移动。该调整机构（5）及其调整方法有效地消除了悬吊平台（4）的偏载现象，保证了悬吊平台（4）运行的稳定性和安全性。

Description

一种并联悬吊平台偏载调整机构及方法 技术领域
本发明涉及偏载调整机构，具体涉及一种并联悬吊平台偏载调整机构及方法。
背景技术
在工程应用领域中广泛存在着通过四根绳索悬吊一个平台的并联机构，如立井施工的悬吊平台稳车系统、烟囱内施工悬吊平台系统以及航天航空领域贵重航天器的四绳悬吊系统等。绳索悬吊并联机构的主要功能是实现悬吊平台在竖直方向的升降，且保证悬吊平台在升降过程中保持水平状态，悬吊的钢丝绳张力分布比较均衡。
由于四根钢丝绳由四台绕绳装置独立驱动，绕绳装置旋转速度的不同步以及悬吊平台的质心偏心都会导致平台在升降过程发生倾斜，而现有的大多数并联悬吊平台都没有偏载调整机构，这给并联悬吊平台运行的稳定性和安全性带来了极大的隐患，严重时甚至发生倾翻事故。
发明内容
针对上述现有技术存在的问题，本发明提供一种并联悬吊平台偏载调整机构及方法，该机构能在悬吊平台发生倾斜时进行及时的调整，能有效地消除悬吊平台的偏载现象，可以有效地保证悬吊平台运行的稳定性和安全性；该方法可以安全平稳地利用悬吊平台进行悬吊作业。
为实现上述目的，本发明并联悬吊平台偏载调整机构包括悬吊平台，在悬吊平台上装有偏载调整机构，所述偏载调整机构包括由伺服电机驱动的旋转平台、设置在旋转平台上的支撑导向架，所述悬吊平台的中心位置与旋转平台的基座固定连接，围绕旋转平台设有固定安装在悬吊平台上的圆形的导轨；所述支撑导向架包括平行设置的两根对重导轨、分别固接在对重导轨左右两端且平行设置的左角钢件和右角钢件、与对重导轨平行布置且固接在左角钢件和右角钢件中间的旋转板；
所述支撑导向架通过旋转板固定在旋转平台的转盘上；旋转板在对应导轨的位置设有与导轨配合的滚轮；
所述左角钢件左端固接有推杆右支撑角钢件，所述推杆右支撑角钢件左边平行地设有推杆左支撑角钢件，推杆左支撑角钢件和推杆右支撑角钢件前后两端通过平行设置的前角钢件和后角钢件固定连接；
所述推杆左支撑角钢件上方固接有铰接座，所述右支撑角钢件上方固接有支撑座，所述铰接座与电动推杆的左端铰接，所述支撑座用于固定电动推杆的中部，所述电动推杆的右端连接有对重装置，对重装置与两根对重导轨配合可沿电动推杆的伸缩方向移动。
优选的，所述对重装置包括对重架、设置在对重架上的对重块，所述对重架的底部四周在对应两根对重导轨的位置设有至少四个对重轮。这样可以保证对重装置移动的平滑性，从而可以保证迅速地消除平台偏载。
优选的，所述悬吊平台为圆形，旋转平台设置在悬吊平台的圆心处，导轨围绕悬吊平台外缘设置。
本发明中通过旋转平台带动旋转板旋转，进而带动支撑导向架旋转，支撑导向架上的两根对重导轨上设有在其长度方向上移动的对重装置，通过电动推杆来调整对重装置的位置，能实现对重装置在悬吊平台上不同位置的调整，从而来对悬吊平台偏载进行有效地调整。因此，该机构可以有效地消除悬吊平台的偏载现象，进而能够保证悬吊平台作业的平稳性和安全性。该机构结构简单，安全可靠，维护方便，尤其适用于对并联悬吊平台偏载的调节，具有广泛的通用性。
一种悬吊平台偏载调整的方法，包括以下步骤：
步骤一：将四个绕绳装置布设在同一水平面，其中每个绕绳装置上均缠绕有一根钢丝绳，四根钢丝绳各通过一个张力传感器与悬吊平台连接，在悬吊平台上装配偏载调整机构；
步骤二：当悬吊平台产生偏载时，通过张力传感器获得张力数据，进行张力分析，通过力矩平衡原理得到偏载的大小与位置，由伺服电机驱动旋转平台旋转，从而带动支撑导向架旋转到偏载反向的对应角度，再由电动推杆带动对重装置在对重导轨上移动相应的距离，从而消除平台偏载。
本发明中与钢丝绳连接的张力传感器能够实时地获取到张力数据，从而可以便于进行张力分析，再结合力矩平衡原理得到偏载的大小与位置，进而通过偏载调整机构进行偏载的调整，以消除平台偏载。该方法可以安全、稳定地实现悬吊平台作业，可以使悬 吊作业适用于更恶劣、更复杂的环境。
附图说明
图1是本发明的并联悬吊平台进行作业的结构示意图；
图2是本发明的结构示意图；
图3是图2的俯视图。
图中：1、绕绳装置；2、钢丝绳；3、张力传感器；4、悬吊平台；5、偏载调整机构；5-1、伺服电机；5-2、旋转平台；5-3、支撑导向架；5-4、支撑座；5-5、铰接座；5-6、电动推杆；5-7、滚轮；5-8、导轨；5-9、对重装置；5-10、后角钢件；5-11、推杆左支撑角钢件；5-12、前角钢件；5-13、推杆右支撑角钢件；5-14、左角钢件；5-15、对重导轨；5-16、右角钢件；5-17、旋转板；5-18、对重块；5-19、对重架；5-20、对重轮。
具体实施方式
下面结合附图对本发明作进一步说明。
如图1至图3所示，一种并联悬吊平台偏载调整机构，包括悬吊平台4，在悬吊平台4上装有偏载调整机构5，所述偏载调整机构5包括由伺服电机5-1驱动的旋转平台5-2、设置在旋转平台5-2上的支撑导向架5-3，所述悬吊平台4的中心位置与旋转平台5-2的基座固定连接，围绕旋转平台5-2设有固定安装在悬吊平台4上的圆形的导轨5-8；所述支撑导向架5-3包括平行设置的两根对重导轨5-15、分别固接在对重导轨5-15左右两端且平行设置的左角钢件5-14和右角钢件5-16、与对重导轨5-15平行布置且固接在左角钢件5-14和右角钢件5-16中间的旋转板5-17；这里的旋转平台5-2优选直角输出型旋转平台。
所述支撑导向架5-3通过旋转板5-17固定在旋转平台5-2的转盘上；旋转板5-17在对应导轨5-8的位置设有与导轨5-8配合的滚轮5-7；滚轮5-7可以对支撑导向架5-3起到支撑作用。
所述左角钢件5-14左端固接有推杆右支撑角钢件5-13，所述推杆右支撑角钢件5-13左边平行地设有推杆左支撑角钢件5-11，推杆左支撑角钢件5-11和推杆右支撑角钢件5-13前后两端通过平行设置的前角钢件5-12和后角钢件5-10固定连接；
所述推杆左支撑角钢件5-11上方固接有铰接座5-5，所述右支撑角钢件5-13上方固接有支撑座5-4，所述铰接座5-5与电动推杆5-6的左端铰接，所述支撑座5-4用于固定电动推杆5-6的中部，所述电动推杆5-6的右端连接有对重装置5-9，对重装置5-9与两根对重导轨5-15配合可沿电动推杆5-6的伸缩方向移动。
对重装置5-9可以为对重块，本发明中为了减小对重装置5-9与对重导轨5-15的摩擦，所述对重装置5-9包括对重架5-19、设置在对重架5-19上的对重块5-18，所述对重架5-19的底部四周在对应两根对重导轨5-15的位置设有至少四个对重轮5-20。这样可以保证对重装置5-9移动的平滑性，从而可以保证迅速地消除平台偏载。
所述悬吊平台4为圆形，也可以为方开，本发明中圆形为优选方案，旋转平台5-2设置在悬吊平台4的圆心处，导轨5-8围绕悬吊平台4外缘设置。
在实际使用时，悬吊平台4可以设置成双层的桁架结构，上层用来承载人员和货物，下层上设置偏载调整机构5。当然也可以使悬吊平台4为中空结构，将偏载调整机构5设置在悬吊平台4内部的空腔中。也可以使偏载调整机构5设置在悬吊平台4的上表面，然后用罩体罩住覆盖在悬吊平台4上，罩体上部承载货物。
当悬吊平台4发生偏载时，通过伺服电机5-1驱动旋转平台5-2旋转，进而带动支撑导向架5-3向着偏载相反的方向运动，再通过电动推杆5-6的伸缩来实现对重装置5-9在支撑导向架5-3长度方向上的移动，进而可以消除悬吊平台4的偏载情况。
一种悬吊平台偏载调整的方法，包括以下步骤：
步骤一：将四个绕绳装置1布设在同一水平面，其中每个绕绳装置1上均缠绕有一根钢丝绳2，四根钢丝绳2各通过一个张力传感器3与悬吊平台4连接，在悬吊平台4上装配偏载调整机构5；
步骤二：当悬吊平台4产生偏载时，通过张力传感器3获得张力数据，进行张力分析，可以使张力传感器3与控制器电连接，控制器通过力矩平衡原理得到偏载的大小与位置，控制器控制伺服电机5-1驱动旋转平台5-2旋转，从而带动支撑导向架5-3旋转到偏载反向的对应角度，再由电动推杆5-6带动对重装置5-9在对重导轨5-15上移动相应的距离，从而消除平台偏载。
该方法可以安全、稳定地实现悬吊平台作业，可以使悬吊作业适用于更恶劣、更复杂的环境。

Claims (4)

  1. 一种并联悬吊平台偏载调整机构，包括悬吊平台(4)，其特征在于，在悬吊平台(4)上装有偏载调整机构(5)，所述偏载调整机构(5)包括由伺服电机(5-1)驱动的旋转平台(5-2)、设置在旋转平台(5-2)上的支撑导向架(5-3)，所述悬吊平台(4)的中心位置与旋转平台(5-2)的基座固定连接，围绕旋转平台(5-2)设有固定安装在悬吊平台(4)上的圆形的导轨(5-8)；所述支撑导向架(5-3)包括平行设置的两根对重导轨(5-15)、分别固接在对重导轨(5-15)左右两端且平行设置的左角钢件(5-14)和右角钢件(5-16)、与对重导轨(5-15)平行布置且固接在左角钢件(5-14)和右角钢件(5-16)中间的旋转板(5-17)；
    所述支撑导向架(5-3)通过旋转板(5-17)固定在旋转平台(5-2)的转盘上；旋转板(5-17)在对应导轨(5-8)的位置设有与导轨(5-8)配合的滚轮(5-7)；
    所述左角钢件(5-14)左端固接有推杆右支撑角钢件(5-13)，所述推杆右支撑角钢件(5-13)左边平行地设有推杆左支撑角钢件(5-11)，推杆左支撑角钢件(5-11)和推杆右支撑角钢件(5-13)前后两端通过平行设置的前角钢件(5-12)和后角钢件(5-10)固定连接；
    所述推杆左支撑角钢件(5-11)上方固接有铰接座(5-5)，所述右支撑角钢件(5-13)上方固接有支撑座(5-4)，所述铰接座(5-5)与电动推杆(5-6)的左端铰接，所述支撑座(5-4)用于固定电动推杆(5-6)的中部，所述电动推杆(5-6)的右端连接有对重装置(5-9)，对重装置(5-9)与两根对重导轨(5-15)配合可沿电动推杆(5-6)的伸缩方向移动。
  2. 根据权利要求1所述的一种并联悬吊平台偏载调整机构，其特征在于，所述对重装置(5-9)包括对重架(5-19)、设置在对重架(5-19)上的对重块(5-18)，所述对重架(5-19)的底部四周在对应两根对重导轨(5-15)的位置设有至少四个对重轮(5-20)。
  3. 根据权利要求1或2所述的一种并联悬吊平台偏载调整机构，其特征在于，所述悬吊平台(4)为圆形，旋转平台(5-2)设置在悬吊平台(4)的圆心处，导轨(5-8)围绕悬吊平台(4)外缘设置。
  4. 一种并联悬吊平台偏载调整方法，其特征在于，包括以下步骤：
    步骤一：将四个绕绳装置(1)布设在同一水平面，其中每个绕绳装置(1)上均缠绕 有一根钢丝绳(2)，四根钢丝绳(2)各通过一个张力传感器(3)与悬吊平台(4)连接，在悬吊平台(4)上装配偏载调整机构(5)；
    步骤二：当悬吊平台(4)产生偏载时，通过张力传感器(3)获得张力数据，进行张力分析，通过力矩平衡原理得到偏载的大小与位置，由伺服电机(5-1)驱动旋转平台(5-2)旋转，从而带动支撑导向架(5-3)旋转到偏载反向的对应角度，再由电动推杆(5-6)带动对重装置(5-9)在对重导轨(5-15)上移动相应的距离，从而消除平台偏载。
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