WO2024036963A1 - 悬吊物体摇摆止振的主被动复合控制系统 - Google Patents

悬吊物体摇摆止振的主被动复合控制系统 Download PDF

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Publication number
WO2024036963A1
WO2024036963A1 PCT/CN2023/083663 CN2023083663W WO2024036963A1 WO 2024036963 A1 WO2024036963 A1 WO 2024036963A1 CN 2023083663 W CN2023083663 W CN 2023083663W WO 2024036963 A1 WO2024036963 A1 WO 2024036963A1
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WO
WIPO (PCT)
Prior art keywords
controlled
active
output mechanism
force output
driving member
Prior art date
Application number
PCT/CN2023/083663
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English (en)
French (fr)
Inventor
张春巍
Original Assignee
沈阳工业大学
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Publication date
Application filed by 沈阳工业大学 filed Critical 沈阳工业大学
Publication of WO2024036963A1 publication Critical patent/WO2024036963A1/zh

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G3/00—Scaffolds essentially supported by building constructions, e.g. adjustable in height
    • E04G3/28—Mobile scaffolds; Scaffolds with mobile platforms
    • E04G3/30—Mobile scaffolds; Scaffolds with mobile platforms suspended by flexible supporting elements, e.g. cables
    • E04G3/32—Hoisting devices; Safety devices
    • E04G3/325—Safety devices for stabilising the mobile platform, e.g. to avoid it swinging in the wind
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G3/00—Scaffolds essentially supported by building constructions, e.g. adjustable in height
    • E04G3/28—Mobile scaffolds; Scaffolds with mobile platforms
    • E04G3/30—Mobile scaffolds; Scaffolds with mobile platforms suspended by flexible supporting elements, e.g. cables

Definitions

  • the invention relates to the field of construction hanging basket control, and in particular to an active and passive composite control system for swing and vibration control of suspended objects.
  • the gondola for high-altitude construction is a high-altitude work equipment.
  • the aerial work platform with the gondola suspended by a wire rope carries people into the air. It is greatly affected by the nature of the operation and the working environment. It may be caused by factors such as the characteristics of the aerial work platform and the effect of wind load.
  • the present invention provides an active and passive composite control system for swing and vibration control of suspended objects, including:
  • a passive force output mechanism is used to connect with the object to be controlled, and the passive force output mechanism is used to exert an action on the object to be controlled that is opposite to the direction of translation of the object to be controlled when the object to be controlled occurs. Force to suppress the translation of the object to be controlled;
  • An active force output mechanism includes a driving member and a rotating member.
  • the driving member is arranged on the object to be controlled.
  • the rotating member is connected to the driving member.
  • the driving member is used to rotate when the object to be controlled rotates.
  • the rotating member is driven to rotate, so that the rotating member generates a moment opposite to the rotation direction of the object to be controlled and transmits it to the object to be controlled through the driving member, thereby inhibiting the rotation of the object to be controlled. .
  • the active and passive composite control system for swing and vibration control of suspended objects also includes a sensor and a controller.
  • the sensor is used to detect the rotation angle of the object to be controlled.
  • the controller cooperates with the sensor and the controller.
  • the driving member is electrically connected, and the controller is used to receive the rotation angle result of the object to be controlled detected by the sensor, and output corresponding control instructions to the object according to the rotation angle result of the object to be controlled provided by the sensor.
  • the driving member thereby controls the driving member to drive the rotation of the rotating member.
  • the driving member is also used to drive the rotating member to rotate when the object to be controlled is in translation, so that the rotating member generates a force opposite to the translation direction of the object to be controlled and passes the
  • the driving member is transmitted to the object to be controlled to suppress the translational movement of the object to be controlled.
  • the sensor is also used to detect the translational movement of the object to be controlled.
  • the controller is also used to receive The sensor detects the translational movement result of the object to be controlled, and outputs corresponding control instructions to the driving member according to the translational movement result of the object to be controlled provided by the sensor, thereby controlling the The driving member drives the rotating member to rotate.
  • the passive force output mechanism includes a mass body and a flexible connector.
  • One end of the flexible connector is connected to the mass body, and the other end of the flexible connector is connected to the object to be controlled.
  • the object to be controlled is flat.
  • the center of gravity of the mass body can be biased in the direction opposite to the translation direction of the object to be controlled, so that the mass body can be transferred to the object through the flexible connector.
  • the object to be controlled exerts a force opposite to the translation direction of the object to be controlled.
  • the passive force output mechanism further includes a first fixing part, the mass body is arranged on the first fixing part, and the mass body is connected to the flexible connecting part through the first fixing part.
  • the passive force output mechanism further includes a second fixing part and an elastic part, the second fixing part is sleeved outside the first fixing part, and the elastic part is connected between the first fixing part and the elastic part. Between the second fixing parts, the elasticity is used to exert a force on the mass body that is opposite to the translation direction of the mass body when the mass body is in translation.
  • the active force output mechanism includes at least three, at least one of the active force output mechanisms is disposed on the first plane of the object to be controlled, and at least one of the active force output mechanisms is disposed on the second plane of the object to be controlled.
  • plane at least one of the active force output mechanisms is arranged on the third plane of the object to be controlled, the first plane, the second plane and the third plane are perpendicular to each other, and the first plane
  • the active force output mechanism is used to inhibit the object to be controlled from rotating parallel to an axis perpendicular to the first plane
  • the active force output mechanism on the second plane is used to inhibit the object to be controlled from rotating parallel to the axis perpendicular to the first plane.
  • the controlled object rotates around an axis perpendicular to the second plane
  • the active force output mechanism on the third plane is used to inhibit the rotation of the object to be controlled around the axis perpendicular to the third plane.
  • the rotating member and the driving member are detachably fixedly connected.
  • the active force output mechanism further includes a first base, the driving member is arranged on the first base, and one end of the first base away from the driving member is connected to the object to be controlled.
  • the driving member and the first base are detachably fixedly connected.
  • the active and passive composite control system for swing and vibration control of suspended objects also includes at least one of the following:
  • the first shock absorbing member is connected to the object to be controlled.
  • the first shock absorbing member is used to provide support to the object to be controlled when the object to be controlled falls to the ground or when an object is placed on the object to be controlled. Under the force XXX state, to reduce the vibration when the object to be controlled falls to the ground or when an object is placed on the object to be controlled;
  • a second vibration damping member is connected to the object to be controlled.
  • the second vibration damping member is used to apply a force to the object to be controlled when the object to be controlled vibrates up and down in the air.
  • the force in the opposite direction of vibration is used to suppress the vibration of the object to be controlled.
  • the passive force output mechanism exerts a force on the object to be controlled in the direction opposite to the translational motion of the object to be controlled, so as to suppress the translational motion of the object to be controlled;
  • the driving part drives the rotating part to rotate in the opposite direction to the rotation direction of the object to be controlled, so that the rotating part generates a torque.
  • the torque generated by the rotating part will react on the driving part, causing the driving part to be transmitted to the object to be controlled.
  • the torque is opposite to the rotation direction of the object to be controlled to suppress the rotation of the object to be controlled, thereby suppressing the translation of the object to be controlled in the plane and the rotation in space.
  • Figure 1 is a three-dimensional schematic structural diagram of the active and passive composite control system for swing and vibration damping of suspended objects in the present invention
  • Figure 2 is a structural front view of the active and passive composite control system for swing and vibration damping of suspended objects in the present invention
  • Figure 3 is a schematic structural diagram of the passive force output mechanism in the present invention.
  • Figure 4 is a structural side view of the active power output mechanism in the present invention.
  • Figure 5 is a three-dimensional schematic structural diagram of the active power output mechanism in the present invention.
  • an active and passive composite control system 100 for swing and vibration control of suspended objects includes a passive force output mechanism 1 and an active force output mechanism 2.
  • the passive force output mechanism 1 is used to connect to the object to be controlled 200, and the passive force output mechanism 2
  • the mechanism 1 is also used to exert a force on the object to be controlled 200 in the direction opposite to the translation direction of the object to be controlled 200 when the object to be controlled 200 undergoes translational motion, so as to suppress the translational motion of the object to be controlled 200.
  • the active force output mechanism 2 includes The driving member 21 and the rotating member 22.
  • the driving member 21 is arranged on the object 200 to be controlled.
  • the rotating member 22 is connected with the driving member 21.
  • the driving member 21 is used to drive the rotating member 22 to rotate when the object 200 to be controlled rotates, so that the rotation occurs.
  • the component 22 generates a torque opposite to the rotation direction of the object to be controlled 200 and transmits it to the object to be controlled 200 through the driving component 21 to inhibit the rotation of the object to be controlled 200.
  • the object to be controlled 200 is a hanging basket.
  • the passive force output mechanism 1 exerts a force on the object to be controlled 200 in the direction opposite to the translational motion of the object to be controlled 200 to suppress the translational motion of the object to be controlled 200; when the object to be controlled 200 occurs When rotating, the driving member 21 drives the rotating member 22 to rotate, so that the rotating member 22 generates a moment opposite to the rotation direction of the object to be controlled 200 and transmits it to the object to be controlled 200 through the driving member 21, thereby inhibiting the rotation of the object to be controlled 200. , through the above process, the translation in the plane and the rotation in space of the object to be controlled 200 are simultaneously suppressed.
  • the driving member 21 may be, but is not limited to, a motor
  • the rotating member 22 may be, but is not limited to, a rotating wheel.
  • the active and passive composite control system 100 for swing and vibration control of suspended objects also includes a sensor 3 and a controller 4.
  • the driving member 21 is used to drive the rotating member 22 to rotate when the object 200 to be controlled rotates.
  • the rotating member 22 is caused to generate a torque opposite to the rotation direction of the object to be controlled 200 and is transmitted to the object to be controlled 200 through the driving member 21 to inhibit the rotation of the object to be controlled 200.
  • the sensor 3 is used to detect the rotation angle of the object to be controlled 200.
  • the controller 4 is electrically connected to the sensor 3 and the driving member 21 respectively.
  • the controller 4 is used to receive the rotation angle result of the object 200 to be controlled detected by the sensor 3, and output a corresponding response according to the rotation angle result of the object 200 to be controlled provided by the sensor 3.
  • the control instructions are given to the driving member 21, thereby controlling the driving member 21 to drive the rotating member 22 to rotate, and the controller 4 can realize automatic control of the active power output mechanism 2.
  • the driving member 21 is also used to drive the rotating member 22 to rotate when the object to be controlled 200 is in translation, so that the rotating member 22 generates a force opposite to the translation direction of the object to be controlled 200 and passes through the driving member. 21 is passed to the object 200 to be controlled, thereby suppressing the translational movement of the object 200 to be controlled.
  • the sensor 3 is also used to detect the translational movement amount of the object 200 to be controlled, and send the translational movement amount of the object 200 to be controlled to the controller. 4.
  • the controller 4 is also used to receive the translational movement amount of the object to be controlled 200 and process it. The controller 4 outputs corresponding control instructions to the driving member 21 according to the processing results, thereby controlling the driving member 21 to drive the rotating member 22 to rotate.
  • the controller 4 controls the driving member 21 to drive the rotating member 22 to rotate so that the rotating member 22 generates a torque, and the torque generated by the rotating member 22 will react to
  • the driving member 21 transmits a force opposite to the translation direction of the object 200 to be controlled, and cooperates with the force exerted by the mass body 12 on the object 200 to jointly suppress the translation direction of the object 200 to be controlled. move;
  • the sensor 3 is provided on the object 200 to be controlled.
  • the passive force output mechanism 1 includes a mass body 12 and a flexible connector 11. One end of the flexible connector 11 is connected to the mass body 12, and the other end of the flexible connector 11 is connected to the object 200 to be controlled.
  • the deformation of the flexible connector 11 causes the center of gravity of the mass body 12 to deviate in the opposite direction to the translational direction of the object 200 to be controlled, thereby causing the mass body 12 to move to the object 200 to be controlled through the flexible connector 11 Apply a force opposite to the translation direction of the object to be controlled 200.
  • the mass body 12 when the object to be controlled 200 undergoes translation, since the mass body 12 is connected to the object to be controlled 200 through the flexible connector 11, and the mass body 12 has inertia, The mass body 12 will not translate together with the object to be controlled 200 but will stay in the original position when the flexible connector 11 is deformed. Therefore, the center of gravity of the mass body 12 is biased in the opposite direction to the translation direction of the object to be controlled 200 , so that the mass body 12 can exert a force on the object to be controlled 200 that is opposite to the translation direction of the object to be controlled 200, so as to suppress the translation of the object to be controlled 200.
  • the shape of the mass body 12 is a standard sphere.
  • the standard spherical mass body 12 is symmetrical in all directions passing through the center of the mass body 12 itself.
  • the center of gravity of the mass body 12 is biased in different directions of the object to be controlled 200 , and the same magnitude of force can be applied to the object to be controlled 200 , so that the spherical mass body 12 can reliably suppress the translation of the object to be controlled 200 .
  • the flexible connectors 11 include multiple, and the multiple flexible connectors 11 are spaced between the mass body 12 and the object to be controlled 200.
  • the multiple flexible connectors 11 connect the first fixing member 13 and the object to be controlled.
  • the connection of the controlled object 200 is more reliable.
  • the flexible connectors 11 include four, and the four flexible connectors 11 are spaced apart between the mass body 12 and the object 200 to be controlled.
  • the flexible connector 11 may be, but is not limited to, a high-strength elastic steel cable.
  • the passive force output mechanism 1 also includes a first fixing part 13.
  • the mass body 12 is fixed on the first fixing part 13.
  • the mass body 12 is connected to the flexible connector 11 through the first fixing part 13.
  • the passive force output mechanism 1 also includes a top plate 14.
  • the flexible connector 11 is connected to the object to be controlled 200 through the top plate 14.
  • the top plate 14 is used to increase the friction between the flexible connector 11 and the object to be controlled 200.
  • the contact area is to improve the stability of the connection between the passive force output mechanism 1 and the object to be controlled 200.
  • one end of each flexible connector 11 away from the first fixing member 13 is connected to the top plate 14. It is necessary to connect the flexible connectors 11 to the objects to be controlled 200 one by one, and directly connect the entire passive force output mechanism 1 and the object to be controlled 200 through the top plate 14 to improve the convenience of connecting the passive force output mechanism 1 and the object to be controlled 200 .
  • the passive force output mechanism 1 also includes a second fixing part 15 and an elastic part 16.
  • the second fixing part 15 is sleeved outside the first fixing part 13, and the elastic part 16 is connected between the first fixing part 13 and the elastic part 16.
  • the elastic member 1 is used to exert a force on the mass body 12 in the direction opposite to the translation direction of the mass body 12 when the mass body 12 is in translation.
  • the mass body 12 compresses the elastic member 16, so that the elastic member 16 generates a force opposite to the translation direction of the mass body 12 and transmits it to the mass body 12, so that the mass body 12 can exert more force on the object 200 to be controlled.
  • the large force is opposite to the translation direction of the object 200 to be controlled, so that the mass body 12 can better suppress the translation of the object 200 to be controlled.
  • the elastic members 16 include multiple elastic members 16 that are spaced apart between the first fixing member 13 and the second fixing member 15, so that when the mass body 12 translates in different directions, the mass The body 12 will compress the elastic member 16 in the corresponding direction, so that the elastic member 16 in the corresponding direction generates a force opposite to the translation direction of the mass body 12 and transmits it to the mass body 12, so that the mass body 12 can exert force on the object 200 to be controlled. Applying a greater force, the mass body 12 can better suppress the translation of the object 200 to be controlled.
  • the elastic members 16 include four, and the four elastic members 16 are spaced apart on the first fixing member 13 and the second fixing member 15.
  • the elastic member 16 may be, but is not limited to, a spring.
  • the passive force output mechanism 1 also includes a base plate 17, and the second fixing member 15 is provided on the base plate 17.
  • the passive force output mechanism 1 also includes a third shock absorber 18.
  • One end of the third shock absorber 18 is connected to the second fixing member 15, and the other end of the third shock absorber 18 is connected to the bottom plate 17.
  • the third vibration damping member 18 provides supporting force for the second fixed member 15 to weaken the vibration of the mass body 12. Specifically, when the mass body 12 vibrates, it drives the second fixed member 15 to vibrate together. At this time, the third damping member 18 The vibration member 18 transmits a force opposite to the vibration direction of the second fixed member 15 to the second fixed member 15 to weaken the vibration of the second fixed member 15 and the mass body 12, thereby reducing the impact that the mass body 12 receives when it vibrates up and down. , to extend the service life of the mass body 12.
  • the third damping member 18 may be, but is not limited to, a hydraulic damper.
  • the active force output mechanism 2 includes at least three. At least one active force output mechanism 2 is arranged on the first plane of the object to be controlled 200, and at least one active force output mechanism 2 is arranged on the second plane of the object to be controlled 200. , at least one active force output mechanism 2 is arranged on the third plane of the object to be controlled 200.
  • the first plane, the second plane and the third plane are two perpendicular to each other.
  • the active force output mechanism 2 on the first plane is used to suppress the object 200 to be controlled.
  • the active force output mechanism 2 on the second plane is used to inhibit the rotation of the object 200 to be controlled around the axis perpendicular to the first plane.
  • the active force output mechanism 2 on the third plane is used to inhibit the rotation of the object 200 around the axis perpendicular to the second plane.
  • the object to be controlled 200 rotates around an axis perpendicular to the third plane.
  • the first plane is a plane perpendicular to the Z-axis in Figure 1
  • the second plane is a plane perpendicular to the Y-axis in Figure 1
  • the third plane is A plane perpendicular to the X-axis in Figure 1.
  • the active force output mechanism 2 on the first plane, the second plane and the third plane cooperate to inhibit the rotation of the active force output mechanism 2 in any direction.
  • the rotating member 22 and the driving member 21 are detachably fixedly connected. Specifically, when the rotating member 22 is damaged, only the damaged rotating member 22 needs to be replaced, and there is no need to replace the driving member 21. Thereby reducing the replacement cost of the active power output mechanism 2 .
  • the active power output mechanism 2 also includes a sleeve 23.
  • the sleeve 23 is used to fix the rotating member 22 on the driving member 21.
  • the sleeve 23 is detachable relative to the rotating member 22, thereby realizing the rotating member. 22 is detachable relative to the driving member 21 .
  • the active power output mechanism 2 also includes a first base 24.
  • the driving member 21 is arranged on the first base 24.
  • One end of the first base 24 away from the driving member 21 is connected to the object to be controlled 200.
  • the first base 24 includes an outer frame 241 and a connecting rod 242 .
  • the connecting rod 242 is disposed on the diagonal line of the outer frame 241 .
  • the driving member 21 is disposed on an end of the connecting rod 242 away from the outer frame 241 .
  • the connecting rods 242 include multiple connecting rods 242 , and the plurality of connecting rods 242 are arranged at intervals on the outer frame 241 On the diagonal line, one end of the multiple connecting rods 242 away from the outer frame 241 is connected to the driving member 21.
  • the multiple connecting rods 242 can achieve reliable connection between the driving member 21 and the outer frame 241.
  • the connecting rods 242 are connected to the driving member 21.
  • 242 includes four.
  • the four connecting rods 242 are arranged at intervals on the diagonal line of the outer frame 241 .
  • One end of the four connecting rods 242 away from the outer frame 241 is connected to the driving member 21 .
  • the driving member 21 is detachably fixedly connected to the first base 24 . Specifically, by attaching and removing the third fixing member 25 , the driving member 21 can be installed on the first base 24 or removed from the third fixing member 25 .
  • the first base 24 is disassembled, thereby improving the loading and unloading efficiency of the active and passive composite control system 100 for preventing swing and vibration of suspended objects, and the driving part 21 is easy to replace when damaged.
  • the active power output mechanism 2 also includes a third fixing part 25.
  • the third fixing part 25 fixes the driving part 21 on the first base 24.
  • the third fixing part 25 is detachable relative to the driving part 21. , thereby realizing that the driving member 21 is detachable relative to the first base 24 .
  • the active and passive composite control system 100 for swing and vibration control of suspended objects also includes a first damping member 5.
  • the first damping member 5 is connected to the object to be controlled 200.
  • the first damping member 5 is used to When the object to be controlled 200 falls to the ground or when an object is placed on the object to be controlled 200, a supporting force is provided to the object to be controlled 200 to reduce the vibration of the object to be controlled 200 when it falls to the ground or when an object is placed on the object to be controlled 200.
  • the first damping member 5 is a spring damping member.
  • the active and passive composite control system 100 for preventing swing and vibration of suspended objects also includes a second damping member 6.
  • the second damping member 6 is connected to the object to be controlled 200.
  • the second damping member 6 is used when When the object to be controlled 200 vibrates up and down in the air, a force opposite to the vibration direction of the object to be controlled 200 is exerted on the object to be controlled 200 to suppress the vibration of the object to be controlled 200 .
  • the second damping member 6 is a hydraulic damping member.
  • the second damping member 6 is filled with damping fluid.
  • the damping fluid When the object to be controlled 200 vibrates, the damping fluid will move in the direction opposite to the vibration direction of the object to be controlled 200 , so that the first The two damping members 6 exert a force on the object to be controlled 200 that is opposite to the vibration direction of the object to be controlled 200.
  • the active and passive composite control system 100 for swing and vibration control of suspended objects also includes a second base 7.
  • One end of the first vibration damping member 5 away from the object to be controlled 200 is connected to the second base 7.
  • the second vibration damping member 5 is connected to the second base 7.
  • One end of the member 6 facing away from the object to be controlled 200 is connected to the second base 7 .
  • the active and passive composite control system 100 for preventing swing and vibration of suspended objects also includes a mounting member 8 , through which the first damping member 5 and the second damping member 6 are connected to the object to be controlled 200 .
  • the mounting part 8 is a hollow structure, and the passive force output mechanism 1 is disposed on the mounting part 8 Inside, the active power output mechanism 2 is set on the mounting piece 8 to integrate the passive power output mechanism 1, the active power output mechanism 2 and the vibration isolation mechanism 5 into one body, which saves space and is easy to install.
  • the mass body 12 connected to the flexible connector 11 remains at the previous position. Therefore, the center of gravity of the mass body 12 is biased in the direction opposite to the translational direction of the object to be controlled 200 , thereby giving the object to be controlled.
  • the object 200 exerts a force opposite to the translation direction of the object to be controlled 200 to suppress the translation of the object 200 to be controlled.
  • the mass body 12 will compress the elastic member 16 in the translation direction of the mass body 12, thereby making the elasticity
  • the member 16 generates a force opposite to the translation direction of the mass body 12 and transmits it to the mass body 12, so that the mass body 12 can exert a greater force on the object to be controlled 200, so that the mass body 12 can better suppress the object to be controlled. Control the translation of object 200;
  • the controller 4 controls the driving member 21 to drive the rotating member 22 to rotate so that the rotating member 22 generates a force, and the force generated by the rotating member 22 will react to
  • the driving member 21 transmits a force opposite to the translation direction of the object 20 to be controlled and the object 200 to be controlled, and cooperates with the force exerted by the mass body 12 on the object 200 to jointly suppress the translation direction of the object 200 to be controlled. move;
  • the damping fluid in the second damping member 6 will move in the opposite direction to the vibration direction of the object 200 to be controlled, so that the second damping member 6 exerts a force on the object 200 to be controlled.
  • the controller 4 controls the driving member 21 to drive the rotating member 22 to rotate in a direction opposite to the rotating direction of the object to be controlled 200, so that the rotating member 22 generates a rotation direction opposite to the rotating direction of the object to be controlled 200.
  • the torque is transmitted to the object to be controlled 200 through the driving member 21, thereby inhibiting the rotation of the object to be controlled 200;
  • the first shock absorber 5 provides support force to the object to be controlled 200 to reduce the risk of the object 200 to be controlled falling to the ground or placing an object on the object to be controlled 200 time vibration.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Vibration Prevention Devices (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

本发明公开了一种悬吊物体摇摆止振的主被动复合控制系统，包括被动出力机构及主动出力机构，被动出力机构用于与待控对象连接，被动出力机构还用于在待控对象发生平动时，给待控对象施加与待控对象的平动方向相反的作用力，以抑制待控对象的平动，主动出力机构包括驱动件和转动件，驱动件设置于待控对象上，转动件与驱动件连接，所述驱动件用于在所述待控对象发生转动时驱动所述转动件旋转，以使所述转动件产生与所述待控对象的转动方向相反的力矩并通过所述驱动件传递给所述待控对象，从而以抑制所述待控对象的转动，本发明能够同时抑制待控对象在平面内的平动及在空间内的转动。

Description

悬吊物体摇摆止振的主被动复合控制系统 技术领域
本发明涉及施工吊篮控制领域，特别涉及一种悬吊物体摇摆止振的主被动复合控制系统。
背景技术
高空施工的吊篮属于高空作业设备，由钢丝绳悬挂吊篮的高空作业平台载人升空，受作业性质和作业环境的影响较大，可能因为高空作业平台的自身特性和风荷载作用等因素引起吊篮的一系列振动，吊篮的一系列振动包括在平面内的平动和空间内的转动，影响着施工进度和效率，严重时造成高空坠落事故。
为了解决上述问题，现有吊篮的控制装置大多采用通常采用阻尼器等被动控制方式进行控制，但是阻尼器只能输出直线的作用力，只能对吊篮在平面内的平动进行抑制，不能对吊篮在空间内的转动进行抑制。
发明内容
基于此，有必要提供一种既能抑制吊篮在平面内的平动又能抑制吊篮在空间内的转动的悬吊物体摇摆止振的主被动复合控制系统。
为解决上述技术问题，本发明提供一种悬吊物体摇摆止振的主被动复合控制系统，包括：
被动出力机构，用于与待控对象连接，且所述被动出力机构用于在所述待控对象发生平动时给所述待控对象施加与所述待控对象的平动方向相反的作用力，以抑制所述待控对象的平动；及
主动出力机构，包括驱动件和转动件，所述驱动件设置于所述待控对象上，所述转动件与所述驱动件连接，所述驱动件用于在所述待控对象发生转动时驱动所述转动件旋转，以使所述转动件产生与所述待控对象的转动方向相反的力矩并通过所述驱动件传递给所述待控对象，从而以抑制所述待控对象的转动。
优选地，所述悬吊物体摇摆止振的主被动复合控制系统还包括传感器和控制器，所述传感器用于检测所述待控对象的转动角度，所述控制器与所述传感器及所述驱动件电连接，所述控制器用于接收所述传感器检测的所述待控对象的转动角度结果，并根据所述传感器提供的所述待控对象的转动角度结果输出相应的控制指令给所述驱动件，从而控制所述驱动件驱动所述转动件的旋转。
优选地，所述驱动件还用于在所述待控对象发生平动时驱动所述转动件旋转，以使所述转动件产生与所述待控对象的平动方向相反的作用力并通过所述驱动件传递给所述待控对象，从而以抑制所述待控对象的平动，所述传感器还用于检测所述待控对象的平动移动量，所述控制器还用于接收所述传感器检测的所述待控对象的平动移动量结果，并根据所述传感器提供的所述待控对象的平动移动量结果输出相应的控制指令给所述驱动件，从而控制所述驱动件驱动所述转动件旋转。
优选地，所述被动出力机构包括质量体和柔性连接件，所述柔性连接件的一端与所述质量体连接，所述柔性连接件的另一端与待控对象连接，当待控对象发生平动时，通过所述柔性连接件的变形，可使得所述质量体的重心偏向所述待控对象的平动方向相反的方向，进而以使所述质量体通过所述柔性连接件给所述待控对象施加与所述待控对象的平动方向相反的作用力。
优选地，所述被动出力机构还包括第一固定件，所述质量体设置在所述第一固定件上，所述质量体通过所述第一固定件与所述柔性连接件连接。
优选地，所述被动出力机构还包括第二固定件和弹性件，所述第二固定件套设于所述第一固定件外，所述弹性件连接在所述第一固定件和所述第二固定件之间，所述弹性用于在所述质量体平动时给所述质量体施加与所述质量体的平动方向相反的作用力。
优选地，所述主动出力机构包括至少三个，至少一个所述主动出力机构设置在所述待控对象的第一平面上，至少一个所述主动出力机构设置在所述待控对象的第二平面上，至少一个所述主动出力机构设置在所述待控对象的第三平面上，所述第一平面、所述第二平面及所述第三平面两两垂直，所述第一平面上的所述主动出力机构用于抑制所述待控对象绕垂直于与所述第一平面的轴线平行转动，所述第二平面上的所述主动出力机构用于抑制所述待 控对象绕垂直于所述第二平面的轴线的转动，所述第三平面上的所述主动出力机构用于抑制所述待控对象垂直于所述第三平面的轴线的转动。
优选地，所述转动件和所述驱动件可拆卸的固定连接。
优选地，所述主动出力机构还包括第一底座，所述驱动件设置在所述第一底座上，所述第一底座背离所述驱动件的一端与所述待控对象连接。
优选地，所述驱动件和所述第一底座可拆卸的固定连接。
优选地，所述悬吊物体摇摆止振的主被动复合控制系统还包括如下中的至少一个：
第一减振件，与所述待控对象连接，所述第一减振件用于在所述待控对象落地时或在所述待控对象上放置物体时给所述待控对象提供支撑力XXX状态下，以减弱待所述控对象落地时或在所述待控对象上放置物体时的振动；及
第二减振件，与所述待控对象连接，所述第二减振件用于当所述待控对象在空中发生上下振动时给所述待控对象施加一与所述待控对象的振动方向相反的作用力，以抑制所述待控对象的振动。
本发明技术方案的有益效果：当待控对象发生平动时，被动出力机构给待控对象施加与待控对象的平动方向相反的作用力，以抑制待控对象的平动；当待控对象发生转动时，驱动件驱动转动件朝与待控对象的转动方向相反的方向旋转，以使转动件产生力矩，转动件产生的力矩会反作用到驱动件上，使得驱动件传递给待控对象与待控对象的转动方向相反的力矩，以抑制待控对象的转动，从而实现抑制待控对象在平面内的平动及在空间内的转动。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。
图1为本发明中悬吊物体摇摆止振的主被动复合控制系统的结构三维示意图；
图2为本发明中悬吊物体摇摆止振的主被动复合控制系统的结构主视图；
图3为本发明中被动出力机构的结构示意图；
图4为本发明中主动出力机构的结构侧视图；
图5为本发明中主动出力机构的结构三维示意图。
其中，1.被动出力机构；11.柔性连接件；12.质量体；13.第一固定件；14.顶板；15.第二固定件；16.弹性件；17.底板；18.减振件；2.主动出力机构；21.驱动件；22.转动件；23.轴套；24.第一底座；241.外框；242.连接杆；25.第三固定件；3.传感器；4.控制器；5.第一减振件；6.第二减振件；7.第二底座；8.安装件；100.悬吊物体摇摆止振的主被动复合控制系统；200.待控对象。
本发明目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
下面结合附图和示例性实施例对本发明作进一步地描述，实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本发明，而不能解释为对本发明的限制。此外，如果已知技术的详细描述对于示出本发明的特征是不必要的，则将其省略。
本技术领域技术人员可以理解，除非特意声明，这里使用的单数形式“一”、“一个”、“”和“该”也可包括复数形式。应该进一步理解的是，本发明的说明书中使用的措辞“包括”是指存在特征、整数、步骤、操作、元件和/或组件，但是并不排除存在或添加一个或多个其他特征、整数、步骤、操作、元件、组件和/或它们的组。应该理解，当我们称元件被“连接”或“耦接”到另一元件时，它可以直接连接或耦接到其他元件，或者也可以存在中间元件。此外，这里使用的“连接”或“耦接”可以包括无线连接或无线耦接。这里使用的措辞“和/或”包括一个或更多个相关联的列出项的全部或任一单元和全部组合。
本技术领域技术人员可以理解，除非另外定义，这里使用的所有术语(包括技术术语和科学术语)，具有与本发明所属领域中的普通技术人员的一般理解相同的意义。还应该理解的是，诸如通用字典中定义的那些术语，应该 被理解为具有与现有技术的上下文中的意义一致的意义，并且除非像这里一样被特定定义，否则不会用理想化或过于正式的含义来解释。
以下将主要描述一实施例中的悬吊物体摇摆止振的主被动复合控制系统的具体结构。
如图2-4所示，一种悬吊物体摇摆止振的主被动复合控制系统100，包括被动出力机构1及主动出力机构2，被动出力机构1用于与待控对象200连接，被动出力机构1还用于在待控对象200发生平动时，给待控对象200施加与待控对象200的平动方向相反的作用力，以抑制待控对象200的平动，主动出力机构2包括驱动件21和转动件22，驱动件21设置于待控对象200上，转动件22与驱动件21连接，驱动件21用于在待控对象200发生转动时驱动转动件22旋转，以使转动件22产生与待控对象200的转动方向相反的力矩并通过驱动件21传递给待控对象200，从而以抑制待控对象200的转动，在本实施例中，待控对象200为吊篮。
当待控对象200发生平动时，被动出力机构1给待控对象200施加与待控对象200的平动方向相反的作用力，以抑制待控对象200的平动；当待控对象200发生转动时，驱动件21驱动转动件22旋转，以使转动件22产生与待控对象200的转动方向相反的力矩并通过驱动件21传递给待控对象200，从而以抑制待控对象200的转动，通过上述过程实现同时抑制待控对象200在平面内的平动及在空间内的转动。
在一实施例中，驱动件21可以但不限于为电机，转动件22可以但不限于为转动轮。
如图2-4所示，悬吊物体摇摆止振的主被动复合控制系统100还包括传感器3和控制器4，驱动件21用于在待控对象200发生转动时驱动转动件22旋转，以使转动件22产生与待控对象200的转动方向相反的力矩并通过驱动件21传递给待控对象200，从而以抑制待控对象200的转动，传感器3用于检测待控对象200的转动角度，控制器4分别与传感器3及驱动件21电连接，控制器4用于接收传感器3检测的待控对象200的转动角度结果，并根据传感器3提供的待控对象200的转动角度结果输出相应的控制指令给驱动件21，从而控制驱动件21驱动转动件22旋转，控制器4能够实现主动出力机构2的自动控制。
在一实施例中，驱动件21还用于在待控对象200发生平动时驱动转动件22旋转，以使转动件22产生与待控对象200的平动方向相反的作用力并通过驱动件21传递给待控对象200，从而以抑制待控对象200的平动，传感器3还用于检测待控对象200的平动移动量，并将待控对象200的平动移动量发送给控制器4，控制器4还用于接收待控对象200的平动移动量并进行处理，控制器4根据处理结果输出相应的控制指令给驱动件21，从而控制驱动件21驱动转动件22旋转，具体地，当传感器3检测到待控对象200的移动量达到设定值时，控制器4控制驱动件21驱动转动件22旋转，以使转动件22产生力矩，转动件22产生的力矩会反作用到驱动件21上，驱动件21传递给待控对象200与待控对象200的平动方向相反的作用力，与质量体12施加给待控对象200的作用力配合共同抑制待控对象200的平动；
在一实施例中，传感器3设置在待控对象200上。
如图2-3所示，被动出力机构1包括质量体12和柔性连接件11，柔性连接件11的一端与质量体12连接，柔性连接件11的另一端与待控对象200连接，待控对象200发生平动时，通过柔性连接件11的变形，使得质量体12的重心偏向待控对象200的平动方向相反的方向，进而以使质量体12通过柔性连接件11给待控对象200施加与待控对象200的平动方向相反的作用力，具体地，待控对象200发生平动时，由于质量体12通过柔性连接件11与待控对象200连接，且质量体12具有惯性，质量体12不会随待控对象200一起平动而是在柔性连接件11发生变形的情况下停留在原来的位置，因此，质量体12的重心偏向待控对象200的平动方向相反的方向，从而使得质量体12能够给待控对象200施加与待控对象200的平动方向相反的作用力，以抑制待控对象200的平动。
在一实施例中，质量体12的形状为标准球形，标准球形的质量体12在经过质量体12自身的球心的各个方向均是对称的，当待控对象200平动的移动量相同而方向不同时，质量体12的重心偏向待控对象200的不同方向，能够给待控对象200施加大小相同的作用力，从而球形的质量体12实现对待控对象200的平动的可靠抑制。
如图2-3所示，柔性连接件11包括多个，多个柔性连接件11间隔设置在质量体12和待控对象200之间，多个柔性连接件11使得第一固定件13和待 控对象200的连接更加可靠，在本实施例中，柔性连接件11包括四个，四个柔性连接件11间隔设置在质量体12和待控对象200之间。
在一实施例中，柔性连接件11可以但不限于为高强弹性钢缆绳。
如图2-3所示，被动出力机构1还包括第一固定件13，质量体12固定在第一固定件13上，质量体12通过第一固定件13与柔性连接件11连接。
如图2-3所示，被动出力机构1还包括顶板14，柔性连接件11通过顶板14与待控对象200连接，具体地，顶板14用于增大柔性连接件11与待控对象200的接触面积，以提高被动出力机构1和待控对象200连接的稳定性，在柔性连接件11包括多个时，每个柔性连接件11远离第一固定件13的一端均与顶板14连接，不需要将柔性连接件11一一与待控对象200连接，通过顶板14直接将整个被动出力机构1与待控对象200连接一体，以提高被动出力机构1和待控对象200连接的便捷性。
如图2-3所示，被动出力机构1还包括第二固定件15和弹性件16，第二固定件15套设于第一固定件13外，弹性件16连接在第一固定件13和第二固定件15之间，弹性件1用于在质量体12平动时，给质量体12施加与质量体12的平动方向相反的方向的作用力，具体地，当待控对象200产生平动时，质量体12将弹性件16压缩，从而弹性件16产生与质量体12的平动方向相反的作用力，并传递给质量体12，使得质量体12能够给待控对象200施加更大的与待控对象200平动方向相反的作用力，从而使得质量体12能够更好地抑制待控对象200的平动。
如图2-3所示，弹性件16包括多个，多个弹性件16间隔设置在第一固定件13和第二固定件15之间，从而质量体12在不同方向发生平动时，质量体12会将相应方向的弹性件16压缩，从而相应方向的弹性件16产生与质量体12的平动方向相反的作用力，并传递给质量体12，使得质量体12能够给待控对象200施加更大的作用力，从而质量体12能够更好地抑制待控对象200的平动，在本实施例中，弹性件16包括四个，四个弹性件16间隔设置在第一固定件13和第二固定件15之间。
在一实施例中，弹性件16可以但不限于为弹簧。
如图2-3所示，被动出力机构1还包括底板17，第二固定件15设置于底板17上。
如图2-3所示，被动出力机构1还包括第三减振件18，第三减振件18的一端与第二固定件15连接，第三减振件18的另一端与底板17连接，第三减振件18为第二固定件15提供支撑力，以减弱质量体12的振动，具体地，当质量体12发生振动时带动第二固定件15一起振动，此时，第三减振件18传递给第二固定件15与第二固定件15的振动方向相反的作用力，以减弱第二固定件15和质量体12的振动，从而减小质量体12上下振动时受到的冲击，以延长质量体12的使用寿命。
在一实施例中，第三减振件18可以但不限于为液压阻尼器。
如图1所示，主动出力机构2包括至少三个，至少一个主动出力机构2设置在待控对象200的第一平面上，至少一个主动出力机构2设置在待控对象200的第二平面上，至少一个主动出力机构2设置在待控对象200的第三平面上，第一平面、第二平面及第三平面两两垂直，第一平面上的主动出力机构2用于抑制待控对象200绕垂直于第一平面的轴线的转动，第二平面上的主动出力机构2用于抑制待控对象200绕垂直于第二平面的轴线的转动，第三平面上的主动出力机构2用于抑制待控对象200绕垂直于第三平面的轴线的转动，具体地，第一平面为与图1中Z轴垂直的平面，第二平面为与图1中Y轴垂直的平面，第三平面为与图1中X轴垂直的平面。
在一实施例中，第一平面、第二平面及第三平面上的主动出力机构2共同配合能够抑制主动出力机构2在任意方向的转动。
如图2和图4所示，转动件22和驱动件21可拆卸的固定连接，具体地，当转动件22发生损坏时，只需更换损坏的转动件22即可，无需更换驱动件21，从而降低主动出力机构2的更换成本。
如图2和图4所示，主动出力机构2还包括轴套23，轴套23用于将转动件22固定在驱动件21上，轴套23相对于转动件22可拆卸，从而实现转动件22相对于驱动件21可拆卸。
如图2和图4所示，主动出力机构2还包括第一底座24，驱动件21设置在第一底座24上，第一底座24背离驱动件21的一端与待控对象200连接。
如图5所示，第一底座24包括外框241和连接杆242，连接杆242设置在外框241的对角线上，驱动件21设置在连接杆242背离外框241的一端。
如图5所示，连接杆242包括多个，多个连接杆242间隔设置在外框241 的对角线上，多个连接杆242背离外框241的一端均与驱动件21连接，多个连接杆242能够实现驱动件21和外框241的可靠连接，在本实施例中，连接杆242包括四个，四个连接杆242间隔设置在外框241的对角线上，四个连接杆242背离外框241的一端均与驱动件21连接。
如图2和图4所示，驱动件21和第一底座24可拆卸的固定连接，具体地，通过装卸第三固定件25，即可将驱动件21安装到第一底座24上或者从第一底座24上拆卸下来，从而提高悬吊物体摇摆止振的主被动复合控制系统100的装卸效率，且驱动件21发生损坏时便于更换。
如图2和图4所示，主动出力机构2还包括第三固定件25，第三固定件25将驱动件21固定在第一底座24上，第三固定件25相对于驱动件21可拆卸，从而实现驱动件21相对于第一底座24可拆卸。
如图2所示，悬吊物体摇摆止振的主被动复合控制系统100还包括第一减振件5，第一减振件5与待控对象200连接，第一减振件5用于在待控对象200落地时或在待控对象200上放置物体时给待控对象200提供支撑力，以减弱待控对象200落地时或在待控对象200上放置物体时的振动。
在一实施例中，第一减振件5为弹簧减振件。
如图2所示，悬吊物体摇摆止振的主被动复合控制系统100还包括第二减振件6，第二减振件6与待控对象200连接，第二减振件6用于当待控对象200在空中发生上下振动时给待控对象200施加一与待控对象200的振动方向相反的作用力，以抑制待控对象200的振动。
在一实施例中，第二减振件6为液压减振件。
如图2所示，在一实施例中，第二减振件6内填充有阻尼液，待控对象200发生振动时，阻尼液会朝待控对象200振动方向相反的方向的移动，使得第二减振件6给待控对象200施加与待控对象200的振动方向相反的作用力，
如图2所示，悬吊物体摇摆止振的主被动复合控制系统100还包括第二底座7，第一减振件5背离待控对象200的一端与第二底座7连接，第二减振件6背离待控对象200的一端与第二底座7连接。
如图2所示，悬吊物体摇摆止振的主被动复合控制系统100还包括安装件8，第一减振件5和第二减振件6均通过安装件8与待控对象200连接。
在一实施例中，安装件8为中空结构，被动出力机构1设置在安装件8 内，主动出力机构2设置在安装件8上，以将被动出力机构1、主动出力机构2及隔振机构5集成为一体，节省空间且安装方便。
参照图1-5，悬吊物体摇摆止振的主被动复合控制系统100各结构之间的配合和动作过程如下：
当待控对象200发生平动时：与柔性连接件11连接的质量体12留在之前的位置，因此，质量体12的重心偏向待控对象200的平动方向相反的方向，从而给待控对象200施加与待控对象200的平动方向相反的作用力，以抑制待控对象200的平动于此同时，质量体12会将质量体12平动方向的弹性件16压缩，从而使得弹性件16产生与质量体12的平动方向相反的作用力，并传递给质量体12，使得质量体12能够给待控对象200施加更大的作用力，从而质量体12能够更好地抑制待控对象200的平动；
当传感器3检测到待控对象200的移动量达到设定值时，控制器4控制驱动件21驱动转动件22旋转，以使转动件22产生作用力，转动件22产生的作用力会反作用到驱动件21上，驱动件21传递给待控对象20与待控对象200的平动方向相反的作用力，与质量体12施加给待控对象200的作用力配合共同抑制待控对象200的平动；
当待控对象200在空中发生上下振动时：第二减振件6内的阻尼液会朝待控对象200振动方向相反的方向的移动，使得第二减振件6给待控对象200施加一与待控对象200的振动方向相反的作用力，以抑制待控对象200的振动；
当待控对象200发生转动时，控制器4控制驱动件21驱动转动件22朝与待控对象200的转动方向相反的方向旋转，以使转动件22产生与待控对象200的转动方向相反的力矩并通过驱动件21传递给待控对象200，从而以抑制待控对象200的转动；
当待控对象200落地时或在待控对象200上放置物体时：第一减振件5给待控对象200提供支撑力，以减轻待控对象200落地时或在待控对象200上放置物体时的振动。
以上仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是在本发明的发明构思下，利用本发明说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本发明的专利保护范围内。

Claims (10)

  1. 一种悬吊物体摇摆止振的主被动复合控制系统，其特征在于，包括：
    被动出力机构，用于与待控对象连接，且所述被动出力机构用于在所述待控对象发生平动时给所述待控对象施加与所述待控对象的平动方向相反的作用力，以抑制所述待控对象的平动；及
    主动出力机构，包括驱动件和转动件，所述驱动件设置于所述待控对象上，所述转动件与所述驱动件连接，所述驱动件用于在所述待控对象发生转动时驱动所述转动件旋转，以使所述转动件产生与所述待控对象的转动方向相反的力矩并通过所述驱动件传递给所述待控对象，从而以抑制所述待控对象的转动。
  2. 根据权利要求1所述的悬吊物体摇摆止振的主被动复合控制系统，其特征在于，所述悬吊物体摇摆止振的主被动复合控制系统还包括传感器和控制器，所述传感器用于检测所述待控对象的转动角度，所述控制器与所述传感器及所述驱动件电连接，所述控制器用于接收所述传感器检测的所述待控对象的转动角度结果，并根据所述传感器提供的所述待控对象的转动角度结果输出相应的控制指令给所述驱动件，从而控制所述驱动件驱动所述转动件的旋转。
  3. 根据权利要求2所述的悬吊物体摇摆止振的主被动复合控制系统，其特征在于，所述驱动件还用于在所述待控对象发生平动时驱动所述转动件旋转，以使所述转动件产生与所述待控对象的平动方向相反的作用力并通过所述驱动件传递给所述待控对象，从而以抑制所述待控对象的平动，所述传感器还用于检测所述待控对象的平动移动量，所述控制器还用于接收所述传感器检测的所述待控对象的平动移动量结果，并根据所述传感器提供的所述待控对象的平动移动量结果输出相应的控制指令给所述驱动件，从而控制所述驱动件驱动所述转动件旋转。
  4. 根据权利要求1所述的悬吊物体摇摆止振的主被动复合控制系统，其特征在于，所述被动出力机构包括质量体和柔性连接件，所述柔性连接件的一端与所述质量体连接，所述柔性连接件的另一端与待控对象连接，当待控对象发生平动时，通过所述柔性连接件的变形，可使得所述质量体的重心偏 向所述待控对象的平动方向相反的方向，进而以使所述质量体通过所述柔性连接件给所述待控对象施加与所述待控对象的平动方向相反的作用力。
  5. 根据权利要求4所述的悬吊物体摇摆止振的主被动复合控制系统，其特征在于，所述被动出力机构还包括第一固定件，所述质量体设置在所述第一固定件上，所述质量体通过所述第一固定件与所述柔性连接件连接。
  6. 根据权利要求5所述的悬吊物体摇摆止振的主被动复合控制系统，其特征在于，所述被动出力机构还包括第二固定件和弹性件，所述第二固定件套设于所述第一固定件外，所述弹性件连接在所述第一固定件和所述第二固定件之间，所述弹性用于在所述质量体平动时给所述质量体施加与所述质量体的平动方向相反的作用力。
  7. 根据权利要求1所述的悬吊物体摇摆止振的主被动复合控制系统，其特征在于，所述主动出力机构包括至少三个，至少一个所述主动出力机构设置在所述待控对象的第一平面上，至少一个所述主动出力机构设置在所述待控对象的第二平面上，至少一个所述主动出力机构设置在所述待控对象的第三平面上，所述第一平面、所述第二平面及所述第三平面两两垂直，所述第一平面上的所述主动出力机构用于抑制所述待控对象绕垂直于所述第一平面的轴线转动，所述第二平面上的所述主动出力机构用于抑制所述待控对象绕垂直于所述第二平面的轴线的转动，所述第三平面上的所述主动出力机构用于抑制所述待控对象垂直于所述第三平面的轴线的转动。
  8. 根据权利要求1所述的悬吊物体摇摆止振的主被动复合控制系统，其特征在于，所述转动件和所述驱动件可拆卸的固定连接。
  9. 根据权利要求1所述的悬吊物体摇摆止振的主被动复合控制系统，其特征在于，所述主动出力机构还包括第一底座，所述驱动件设置在所述第一底座上，所述第一底座背离所述驱动件的一端与所述待控对象连接。
  10. 根据权利要求1所述的悬吊物体摇摆止振的主被动复合控制系统，其特征在于，所述悬吊物体摇摆止振的主被动复合控制系统还包括如下中的至少一个：
    第一减振件，与所述待控对象连接，所述第一减振件用于在所述待控对象落地时或承放物体时给所述待控对象提供支撑力，以减弱所述待控对象落地时或在所述待控对象上放置物体时的振动；及
    第二减振件，与所述待控对象连接，所述第二减振件用于在所述待控对象在空中发生上下振动时给所述待控对象施加与所述待控对象的振动方向相反的作用力，以抑制所述待控对象的振动。
PCT/CN2023/083663 2022-08-15 2023-03-24 悬吊物体摇摆止振的主被动复合控制系统 WO2024036963A1 (zh)

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