WO2025035662A1 - 一种吊装扭转平衡装置及其使用方法 - Google Patents

一种吊装扭转平衡装置及其使用方法 Download PDF

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Publication number
WO2025035662A1
WO2025035662A1 PCT/CN2023/137712 CN2023137712W WO2025035662A1 WO 2025035662 A1 WO2025035662 A1 WO 2025035662A1 CN 2023137712 W CN2023137712 W CN 2023137712W WO 2025035662 A1 WO2025035662 A1 WO 2025035662A1
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WIPO (PCT)
Prior art keywords
connecting rod
upper bracket
bracket
hoisting
balancing device
Prior art date
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Pending
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PCT/CN2023/137712
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English (en)
French (fr)
Inventor
冯伟
李鹏阁
王卫军
王世杰
杜梓乾
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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Publication of WO2025035662A1 publication Critical patent/WO2025035662A1/zh
Anticipated expiration legal-status Critical
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Classifications

    • 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
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/101—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means for containers

Definitions

  • the present invention relates to the technical field of hoisting equipment, and in particular to a hoisting torsion balancing device and a use method thereof.
  • Application No. CN201120379555.3 discloses a self-balancing lifting system and method for a test model, wherein the self-balancing lifting system determines the servo motor to be started and the speed of the servo motor according to the spatial state of the lifting platform, and drives the trapezoidal retractable lead screw to accurately move through multi-stage deceleration to automatically adjust the spatial state of the lifting platform and make it tend to a balanced state, which not only improves the automation of the system, but also improves the accuracy of the system; wherein the self-balancing lifting method accurately determines the spatial state of the lifting platform according to the distance between each corner of the lifting platform and the ground, and outputs a reset signal of the lifting platform according to the spatial state of the lifting platform, or outputs a reset signal of the lifting platform according to the spatial state of the lifting platform.
  • a signal indicating that the hoisting platform is in a balanced state is output, or an iterative step is executed, and a multi-stage deceleration combined with a continuously adjustable characteristic is adopted to continuously start the servo motor and drive the corresponding trapezoidal retractable lead screw to precisely move, so as to realize multiple automatic adjustments to the spatial state of the hoisting platform, and the hoisting platform gradually approaches a balanced state.
  • the hoisting device maintains a balanced state of the hoisting system and adjusts the posture of the hoisting device by retracting and extending the lead screw, but the invention has the following disadvantages.
  • the invention maintains balance by adjusting the distance between the upper rope and the lower rope by the lead screw. First, the rope is prone to breakage. Second, the structure is relatively complex, and four lead screws need to be adjusted separately, and the speed is slow during adjustment.
  • the present invention provides a lifting torsion balancing device and a use method thereof.
  • the present invention provides a hoisting torsion balancing device comprising a rotor unit, a bracket assembly and a pitch changing unit, wherein:
  • the bracket assembly includes an upper bracket and a lower bracket, the upper bracket is located at the bottom of the lower bracket, and the upper bracket and the lower bracket are movably connected through two connecting rods, one connecting rod connects the upper bracket and the lower bracket on the same side, and the other connecting rod connects the upper bracket and the lower bracket on the other same side;
  • the rotor unit includes a gyroscope, and both ends of the gyroscope are rotatably connected to the inner side of the lower bracket;
  • the variable pitch unit includes a main body disk and a ball joint mechanism, the ball joint mechanism passes through the main body disk and is fixedly connected to the main body disk, the hinge end of the ball joint mechanism faces the bottom and is fixedly connected to the driving end of the driving mechanism, the other end of the driving mechanism is fixed to the upper bracket, and a first connecting rod and a second connecting rod are respectively provided on both sides of the main body disk, one end of the first connecting rod is rotatably connected to the main body disk, and the other end is movably connected to the upper bracket, one end of the second connecting rod is rotatably connected to the main body disk, and the other end is telescopically connected to the upper bracket.
  • the gyroscope includes a rotor and a rotating shaft, the rotating shaft passes through the rotor and is connected to the rotor, one end of the rotating shaft is rotatably connected to the lower bracket, and the other end of the rotating shaft is provided with a first motor, the first motor is fixed on the inner side of the lower bracket, and the output end of the first motor is fixedly connected to the other end of the rotating shaft.
  • the driving mechanism adopts a ball screw mechanism.
  • the pitch-changing unit also includes a fixing mechanism, a connecting shaft is connected to the top of the ball joint mechanism, and a fixing mechanism is fixed to the top of the connecting shaft.
  • a semicircular groove is provided on the top of the upper bracket, the first connecting rod is inclined toward the second connecting rod, the first connecting rod is movably connected to the upper bracket through the semicircular groove, and the first connecting rod performs curved motion in the semicircular groove.
  • the second connecting rod is telescopically connected to the upper bracket through the compression device.
  • the connecting rod is movably connected to the upper bracket and the lower bracket through a hinge or pin connection, and the upper bracket rotates and drives the lower bracket to rotate in the same direction through the connecting rod.
  • a method for using a hoisting torsion balancing device comprises the following steps:
  • the fixing mechanism of the lifting torsion balancing device is fixed on the external lifting device, and the fixing mechanism is fixed.
  • the gyroscope always rotates on the lower bracket to generate stress. Since the first connecting rod is inclined relative to the second connecting rod, when the ball screw fixed at the hinge end of the ball joint mechanism drives the upper bracket to move downward relative to the main plate, the upper bracket will tilt toward the first connecting rod side, and drive the second bracket to tilt toward the first connecting rod side through the connecting rod; when the ball screw at the bottom of the ball joint mechanism drives the upper bracket to move upward relative to the main plate, the upper bracket will tilt toward the second connecting rod side, and drive the second bracket to tilt toward the second connecting rod side through the connecting rod, so as to control the stress direction of the gyroscope and the lifting device to adjust the posture of the lifting device.
  • the hoisting torsion balancing device proposed in the present invention generates a balancing force through a gyroscope.
  • the gyroscope is connected to the upper bracket through a lower bracket and a connecting rod.
  • the driving mechanism drives the upper bracket to move downward.
  • the hoisting posture of the hoisting device is adjusted and the hoisting balance is maintained, thereby avoiding the situation where the hoisting device is twisted due to external interference.
  • the twisting of the gyroscope can be completed by two motors, the first motor and the second motor of the driving mechanism.
  • the direction of the gyroscope stress is changed, so that a high real-time response can be achieved, and the overall structure is simpler.
  • the lifting torsion balancing device proposed in the present invention is composed of an upper bracket part, a lower bracket part and a connecting rod to form a parallelogram structure.
  • the upper bracket tilts to one side
  • the lower bracket will also tilt to the same side.
  • the stress direction of the gyroscope can be adjusted by the upper bracket and the lower bracket. At the same time, it can also play a role in buffering the stress of the gyroscope, thereby preventing the gyroscope stress from suddenly increasing or decreasing and causing structural fracture.
  • the lifting torsion balancing device proposed in the present invention occupies less space and has a simpler design. It does not require a large number of mechanical parts and a complex control system. It also has a lower manufacturing cost and is easier to maintain.
  • FIG1 is an overall structural diagram of a hoisting torsion balancing device according to the present invention.
  • FIG2 is a structural diagram of a variable pitch unit of a hoisting torsion balancing device according to the present invention.
  • FIG3 is a structural diagram of a rotor unit of a hoisting torsion balancing device according to the present invention.
  • FIG4 is a structural diagram of a bracket assembly of a hoisting torsion balancing device according to the present invention.
  • support assembly 1 upper support 11, lower support 12, connecting rod 13, rotor unit 2, gyroscope 21, rotor 211, rotating shaft 212, pitch unit 3, main plate 31, ball joint mechanism 32, first connecting rod 33, second connecting rod 34, driving mechanism 35, compression device 4, fixing mechanism 5, connecting shaft 6;
  • the present invention provides a hoisting torsion balancing device including a rotor 211 unit 2, a bracket assembly 1 and a pitch changing unit 3, wherein:
  • the bracket assembly 1 includes an upper bracket 11 and a lower bracket 12.
  • the upper bracket 11 is located at the bottom of the lower bracket 12.
  • the upper bracket 11 and the lower bracket 12 are movably connected through two connecting rods.
  • One connecting rod connects the upper bracket 11 and the lower bracket 12 on the same side, and the other connecting rod connects the upper bracket 11 and the lower bracket 12 on the other same side.
  • the rotor 211 unit 2 includes a gyroscope 21, and both ends of the gyroscope 21 are rotatably connected to the inner side of the lower bracket 12;
  • the variable pitch unit 3 includes a main body disk 31 and a ball joint mechanism 32.
  • the ball joint mechanism 32 passes through the main body disk 31 and is fixedly connected to the main body disk 31.
  • the hinge end of the ball joint mechanism 32 faces the bottom and is fixedly connected to the driving end of the driving mechanism 35.
  • the other end of the driving mechanism 35 is fixed to the upper bracket 11.
  • a first connecting rod 3313 and a second connecting rod 3413 are respectively provided on both sides of the main body disk 31.
  • One end of the first connecting rod 3313 is rotatably connected to the main body disk 31, and the other end is movably connected to the upper bracket 11.
  • One end of the second connecting rod 3413 is rotatably connected to the main body disk 31, and the other end is telescopically connected to the upper bracket 11.
  • the rotor 211 unit 2 is used to provide stress for maintaining the balance of the lifting device
  • the bracket assembly 1 is used to connect the rotor 211 unit 2 and the pitch unit 3;
  • the pitch changing unit 3 is used to drive the upper bracket 11 to tilt
  • the ball joint mechanism 32 includes a support and a ball joint.
  • the support is located at the top and the ball joint is located at the bottom.
  • the ball joint can rotate in a semicircle relative to the support.
  • the ball joint is connected to the driving mechanism 35.
  • the driving mechanism 35 includes a second motor ball screw. The driving mechanism 35 can be extended and shortened to adjust the distance between the upper bracket 11 and the ball joint.
  • the main plate 31 is connected to a first connecting rod 3313 and a second connecting rod 3314.
  • the second connecting rod 3413, the first connecting rod 3313 and the second connecting rod 3413 can rotate relative to the main body plate 31, the second connecting rod 3413 and the bottom of the first connecting rod 3313 are connected to the lower bracket 12, the connection position between the first connecting rod 3313 and the upper part is closer to the center relative to the second connecting rod 3413, and is inclined to the center side relative to the first connecting rod 3313. Therefore, when the driving mechanism 35 is extended, the lower bracket 12 moves downward relative to the main body plate 31, and the second connecting rod 3413 tends to rotate far outside, that is, rotates to the left, thereby driving the upper bracket 11 to move. The upper bracket 11 is tilted to the left by the cooperation between the driving mechanism 35 and the main plate 31, the first connecting rod 3313 and the second connecting rod 3413.
  • the lower bracket 12 Since the upper bracket 11 and the lower bracket 12 form a parallelogram structure through two connecting rods, the lower bracket 12 will tilt in the same direction as the upper bracket 11.
  • the gyroscope 21 can rotate to provide a stress, and the pitch-changing unit 3 changes the direction of the stress.
  • the pitch-changing unit 3 controls the gyroscope 21 to apply a balancing stress to it to maintain the balance of the lifting device.
  • the tilt angle of the lifting device needs to be adjusted, it can also be achieved by changing the direction of the gyroscope 21.
  • the lifting torsion balancing device proposed by the present invention only the first motor and the second motor need to operate to maintain the balance of the lifting device. The structure is simpler, the cost is lower, it is easier to maintain, and the response speed is faster.
  • the gyroscope 21 includes a rotor 211 and a rotating shaft, the rotating shaft passes through the rotor 211 and is connected to the rotor 211, one end of the rotating shaft is rotatably connected to the lower bracket 12, and the other end of the rotating shaft is provided with a first motor, the first motor is fixed on the inner side of the lower bracket 12, and the output end of the first motor is fixedly connected to the other end of the rotating shaft.
  • the first motor is used to drive the rotating shaft to rotate
  • the rotating shaft provides a movable connection structure for the rotor 211 and the upper bracket 11;
  • the rotor 211 may be rotated to generate stress
  • the motor drives the rotating shaft and the rotor 211 to rotate to generate a stress.
  • the stress is used to maintain the balance of the lifting device.
  • the stress can also be used to adjust the direction and inclination.
  • the first motor can also change the direction of the stress by rotating in the opposite direction.
  • the driving mechanism 35 adopts a ball screw mechanism.
  • the driving mechanism 35 is used to drive the upper bracket 11 to tilt.
  • the driving mechanism 35 includes a second motor, a ball screw and a nut seat.
  • the nut seat is connected to the upper bracket 11.
  • the second motor rotates and drives the ball screw to rotate, and finally the nut seat moves up and down, thereby driving the upper bracket 11 to move relative to the main plate 31.
  • the pitch changing unit 3 also includes a fixing mechanism 5 , a connecting shaft 6 is connected to the top of the ball joint mechanism 32 , and a fixing mechanism 5 is fixed to the top of the connecting shaft 6 .
  • the fixing mechanism 5 is used to provide a fixing structure for the gyroscope 21 torsion device and the external lifting device.
  • the fixing mechanism 5 can be connected to an external lifting device, so as to fix the variable pitch unit 3, the rotor 211 unit 2 and the bracket assembly 1 on the lifting device.
  • a semicircular groove is provided on the top of the upper bracket 11, the first connecting rod 3313 is inclined toward the second connecting rod 3413, the first connecting rod 3313 is movably connected to the upper bracket 11 through the semicircular groove, and the first connecting rod 3313 performs a curved motion in the semicircular groove.
  • the semicircular groove can provide a connecting motion structure for the first connecting rod 3313;
  • the first connecting rod 3313 is movably connected with the semicircular groove between the upper part.
  • the first connecting rod 3313 When the upper bracket 11 is not tilted, the first connecting rod 3313 is in a tilted state.
  • the driving mechanism 35 drives the upper bracket 11 to move downward, the first connecting rod 3313 will tend to a vertical state, thereby driving the upper bracket 11 to tilt to the left.
  • the driving mechanism 35 drives the upper bracket 11 to move upward, the first connecting rod 3313 will tend to a tilted state, thereby driving the upper bracket 11 to tilt to the right.
  • it also includes a compression device 4, which is fixed to the top of the upper bracket 11, and the second connecting rod 3413 is telescopically connected to the upper bracket 11 through the compression device 4.
  • the compression device 4 is used to provide a buffer structure for the second connecting rod 3413;
  • the compression device 4 includes a short rod with a spring inside.
  • the short rod is telescopically connected to the second connecting rod 3413.
  • the second connecting rod 3413 fits with the spring. When the upper bracket 11 is tilted, the second connecting rod 3413 will be subjected to a certain pulling force or pushing force.
  • the spring can buffer the pulling force and pushing force to ensure the safety of the device and prevent internal parts from breaking.
  • the connecting rod is movably connected to the upper bracket 11 and the lower bracket 12 through a hinge or a pin connection, and the upper bracket 11 rotates and drives the lower bracket 12 to rotate in the same direction through the connecting rod.
  • the upper bracket 11, the lower bracket 12 and the connecting rod are connected by hinges or pins to form a parallelogram structure;
  • the connecting rod can be relative to the upper bracket 11 or the lower bracket 12.
  • the upper bracket 11, the lower bracket 12 and the connecting rod form a parallelogram structure.
  • the parallelogram structure can buffer the stress of the gyroscope 21 to prevent it from being broken due to excessive stress.
  • the method for using the lifting torsion balancing device includes the following steps: the lifting torsion balancing device fixing mechanism 5 is fixed on the external lifting device, the fixing mechanism 5 is fixed, the gyroscope 21 always rotates on the lower bracket 12 to generate stress, and since the first connecting rod 3313 is inclined relative to the second connecting rod 3413, when the ball screw fixed at the hinge end of the ball joint mechanism 32 drives the upper bracket 11 to move downward relative to the main plate 31, the upper bracket 11 will tilt toward the first connecting rod 3313 side, and drive the second bracket to tilt toward the first connecting rod 3313 side through the connecting rod 13; when the ball screw at the bottom of the ball joint mechanism 32 drives the upper bracket 11 to move upward relative to the main plate 31, the upper bracket 11 will tilt toward the second connecting rod 3413 side, and drive the second bracket to tilt toward the second connecting rod 3413 side through the connecting rod 13, and control the stress direction of the gyroscope 21 and the lifting device to adjust the posture of the lifting device.
  • the gyroscope 21 can rotate in forward and reverse directions to change the stress direction
  • the ball screw can rotate in forward and reverse directions to change the tilt direction of the upper bracket 11 and thus change the stress direction.
  • the direction of stress can be changed by changing the rotation direction and the tilt direction of the gyroscope 21, and the stress can be adjusted to adjust the posture of the lifting device.

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  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Details Of Measuring And Other Instruments (AREA)
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Abstract

本发明提出一种吊装扭转平衡装置，具体涉及于家电设备技术领域，所述吊装扭转平衡装置包括转子单元、支架组件和变距单元，所述转子单元包括陀螺仪，所述变距单元包括主体盘和球铰机构，所述球铰机构贯穿所述主体盘并与所述主体盘固定连接，所述球铰机构的铰接端朝向底部并与驱动机构的驱动端固定连接，所述驱动机构另一端固定于所述上部支架，通过转子单元产生应力，驱动机构驱动转子单元进行倾斜，从而改变应力方向，通过改变应力的方向来维持吊装装置的平衡，结构更简单，同时在进行调整时速度更快。

Description

一种吊装扭转平衡装置及其使用方法 技术领域
本发明涉及吊装设备技术领域，尤其涉及一种吊装扭转平衡装置及其使用方法。
 背景技术
随着现代贸易的发展，集装箱等大型货物在港口的吊装越来越频繁，大型货物在吊装过程中如果受到其他因素例如风干扰，容易发生扰动和扭动的情况，如果扭转幅度过大很有可能导致吊装设备损坏，存在一定的安全隐患，因此，在大型货物的吊装过程中，货物的位姿调整十分重要。
申请号CN201120379555.3公开了一种用于试验模型的自平衡吊装系统及方法，其中自平衡吊装系统通过吊装平台的空间状态，确定需启动的伺服电机以及伺服电机的转速，并通过多级减速，驱动梯形收放丝杆精准位移，以自动调整吊装平台的空间状态，并使其趋向平衡状态，不仅提高了系统的自动化，还提高了系统的精度；其中自平衡吊装方法根据吊装平台各角与地面的距离准确判断吊装平台的空间状态，并根据吊装平台的空间状态，输出吊装平台复位落地信号，或输出吊装平台处于平衡状态信号，或执行迭代步骤，采用多级减速结合连续可调特性，连续启动伺服电机，驱动对应的梯形收放丝杆精准位移，以实现多次自动调整吊装平台的空间状态，并吊装平台逐渐逼近平衡状态，该吊装装置是通过收放丝杆来使吊装系统维持平衡状态以及调整吊装装置的位姿，但该发明具有以下缺点，该发明通过丝杆进行调整上绳索和下绳索的距离，来维持平衡，首先绳索容易出现断裂的情况，其次结构较为复杂，需要四个丝杆进行分别调节，在进行调节时速度较慢。
 技术问题
为了解决吊装装置结构复杂和响应速度慢的问题，本发明提出一种吊装扭转平衡装置及其使用方法。
 技术解决方案
本发明通过以下技术方案实现的：
本发明提出一种吊装扭转平衡装置包括转子单元、支架组件和变距单元，其中：
所述支架组件包括上部支架和下部支架，所述上部支架位于所述下部支架的底部，所述上部支架和所述下部之间通过两个连接杆进行活动连接，一个所述连接杆连接所述上部支架和所述下部支架的同一侧，另一个所述连接杆连接所述上部支架和所述下部支架的另一同侧；
所述转子单元包括陀螺仪，所述陀螺仪两端与所述下部支架的内侧进行转动连接；
所述变距单元包括主体盘和球铰机构，所述球铰机构贯穿所述主体盘并与所述主体盘固定连接，所述球铰机构的铰接端朝向底部并与驱动机构的驱动端固定连接，所述驱动机构另一端固定于所述上部支架固定，所述主体盘两侧分别设有第一连杆和第二连杆，所述第一连杆一端与所述主体盘转动连接，另一端与所述上部支架活动连接，所述第二连杆一端与所述主体盘转动连接，另一端与所述上部支架伸缩连接。
进一步的，所述陀螺仪包括转子和转轴，所述转轴贯穿所述转子并与所述转子连接，所述转轴一端与所述下部支架转动活动连接，所述转轴另一端设有第一电机，所述第一电机固定于所述下部支架内侧，所述第一电机输出端与所述转轴另一端固定连接。
进一步的，所述驱动机构采用滚珠丝杠机构。
进一步的，所述变距单元还包括固定机构，所述球铰机构顶部连接有连接轴，所述连接轴顶部固定有固定机构。
进一步的，所述上部支架顶部设有半圆槽，所述第一连杆向所述第二连杆方向倾斜，所述第一连杆通过所述半圆槽与上部支架活动连接，所述第一连杆在所述半圆槽内进行曲线运动。
进一步的，还包括压缩装置，所述压缩装置固定于所述上部支架的顶部，所述第二连杆通过所述压缩装置与所述上部支架伸缩连接。
进一步的，所述连接杆通过铰接或销连接与所述上部支架、所述下部支架活动连接，所述上部支架进行转动并通过所述连接杆带动所述下部支架向相同方向转动。
一种吊装扭转平衡装置的使用方法包括以下步骤：
吊装扭转平衡装置固定机构固定在外部吊装装置上，固定机构固定不动，陀螺仪始终在下部支架上进行旋转产生应力，由于第一连杆相对第二连杆倾斜，球铰机构铰接端固定的滚珠丝杠带动上部支架相对主体盘向下移动时，上部支架会向第一连杆侧倾斜，并通过连杆带动第二支架向第一连杆侧倾斜；球铰机构底部的滚珠丝杠带动上部支架相对主体盘向上移动时，上部支架会向第二连杆侧倾斜，并通过连杆带动第二支架向第二连杆侧倾斜，控制陀螺仪与吊装装置的应力方向来调整吊装装置的位姿。
 有益效果
本发明的有益效果：
（1）本发明提出的吊装扭转平衡装置通过陀螺仪进行产生平衡力，陀螺仪通过下部支架、连接杆与上部支架进行连接，驱动机构进行驱动上部支架进行向下移动，通过第一连杆和第二连杆的不同连接方式，使得上部支架相对主体盘向下移动时，上部支架会向一侧进行倾斜，反之则向另一侧倾斜，通过改变陀螺仪的应力方向，来进行调整吊装装置的吊装姿态和维持吊装平衡，从而避免吊装装置受到外部干扰而产生扭转的情况，通过第一电机和驱动机构的第二电机两个电机就可以完成陀螺仪的扭转，通过第一电机和第二电极两个电机的正反方向转动改变陀螺仪应力的方向，可以实现高实时性的响应，同时整体结构更简单。
（2）本发明提出的吊装扭转平衡装置通过上支架部、下支架部和连接杆进行组成平行四边形结构，上部支架在向一侧倾斜时，下部支架也会向同一侧倾斜，通过上部支架和下部支架可以进行调整陀螺仪的应力方向同时还可以起到缓冲陀螺仪应力的作用，防止陀螺仪应力突然增大或减小导致结构断裂的情况。
（3）本发明提出的吊装扭转平衡装置相对于现有技术占据空间更小，设计更简约化，不需要大量的机械零部件和复杂的控制系统，同时制作成本更低，维护更加容易。
 附图说明
图1为本发明的吊装扭转平衡装置的整体结构图；
图2为本发明的吊装扭转平衡装置的变距单元结构图；
图3为本发明的吊装扭转平衡装置的转子单元结构图；
图4为本发明的吊装扭转平衡装置的支架组件结构图；
图中：支架组件1，上部支架11，下部支架12，连杆13，转子单元2，陀螺仪21，转子211，转轴212，变距单元3，主体盘31，球铰机构32，第一连杆33，第二连杆34，驱动机构35，压缩装置4，固定机构5，连接轴6；
本发明为目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
 本发明的实施方式
为了更加清楚完整的说明本发明的技术方案，下面结合附图对本发明作进一步说明。
请参考图1-图4，本发明提出一种吊装扭转平衡装置包括转子211单元2、支架组件1和变距单元3，其中：
支架组件1包括上部支架11和下部支架12，上部支架11位于下部支架12的底部，上部支架11和下部之间通过两个连接杆进行活动连接，一个连接杆连接上部支架11和下部支架12的同一侧，另一个连接杆连接上部支架11和下部支架12的另一同侧；
转子211单元2包括陀螺仪21，陀螺仪21两端与下部支架12的内侧进行转动连接；
变距单元3包括主体盘31和球铰机构32，球铰机构32贯穿主体盘31并与主体盘31固定连接，球铰机构32的铰接端朝向底部并与驱动机构35的驱动端固定连接，驱动机构35另一端固定于上部支架11固定，主体盘31两侧分别设有第一连杆3313和第二连杆3413，第一连杆3313一端与主体盘31转动连接，另一端与上部支架11活动连接，第二连杆3413一端与主体盘31转动连接，另一端与上部支架11伸缩连接。
在本实施方式中：
转子211单元2用于提供维持吊装装置平衡的应力；
支架组件1用于连接转子211单元2和变距单元3；
变距单元3用于带动上部支架11进行倾斜；
具体的，上部支架11、下部支架12和两个连接杆组成一个可以活动的平行四边形，上部支架11在进行倾斜时，连接杆会带动下部支架12进行向相同方向倾斜，球铰机构32包括支座和球铰，支座位于上方，球铰位于底部，球铰可以相对支座进行半圆内转动，球铰连接驱动机构35，驱动机构35包括第二电机滚珠丝杠，驱动机构35可以进行伸长和缩短来调节上部支架11和球铰之间的距离，主体盘31上连接有第一连杆3313和第二连杆3413，第一连杆3313和第二连杆3413可以相对于主体盘31进行转动，第二连杆3413、第一连杆3313底部与下部支架12相连，第一连杆3313与上部之间的连接位置相对第二连杆3413要靠近中心一点，相对第一连杆3313要向中心一侧倾斜一些，因此在驱动机构35进行伸长，下部支架12相对主体盘31向下移动，第二连杆3413会趋向远外侧进行转动，即向左侧进行转动，进而带动上部支架11向右倾斜，同理，在驱动机构35进行缩短时，下部支架12相对主体盘31向上移动，第一连杆3313会向内侧进行转动，即向右侧进行转动，进而带动上部支架11向左倾斜，通过驱动机构35与主体盘31、第一连杆3313、第二连杆3413之间的配合，可以进行带动上部支架11进行向左右方向倾斜，由于上部支架11和下部支架12通过两个连接杆组成了一个平行四边形结构，因此下部支架12会与上部支架11向同一方向倾斜，陀螺仪21可以进行转动提供一个应力，变距单元3进行改变应力的方向，在吊装装置出现应力不平衡导致倾斜时，变距单元3控制陀螺仪21对其施加一个平衡应力，来进行维持吊装装置的平衡，其次在需要调整吊装装置的倾斜角度时，也可以通过改变陀螺仪21方向来实现，通过本发明提出的吊装扭转平衡装置，只需要第一电机和第二电电机进行运作，即可维持吊装装置的平衡，结构更加简单，成本更低，更容易维护，同时响应速度更快。
进一步的，陀螺仪21包括转子211和转轴，转轴贯穿转子211并与转子211连接，转轴一端与下部支架12转动活动连接，转轴另一端设有第一电机，第一电机固定于下部支架12内侧，第一电机输出端与转轴另一端固定连接。
在本实施方式中：
第一电机用于带动转轴进行旋转；
转轴为转子211和上部支架11提供一个活动连接的结构；
转子211可以进行旋转来产生应力；
具体的，电机带动转轴并带动转子211进行旋转，来产生一个应力，在吊装装置出现倾斜时，通过应力来维持吊装装置的平衡，在吊装装置需要改变吊装姿态时，也可以通过应力来进行调整方向和倾斜度，于此同时，第一电机也可以通过反方向转动来进行改变应力的方向。
进一步的，驱动机构35采用滚珠丝杠机构。
在本实施方式中：
驱动机构35用于带动上部支架11倾斜。
具体的，驱动机构35包括第二电机、滚珠丝杠和螺母座，螺母座与上部支架11进行连接，第二电机进行转动并带动滚珠丝杠进行转动，最终使螺母座进行上下移动，从而带动上部支架11相对主体盘31进行移动。
进一步的，变距单元3还包括固定机构5，球铰机构32顶部连接有连接轴6，连接轴6顶部固定有固定机构5。
在本实施方式中：
固定机构5用于为陀螺仪21扭转装置和外部吊装装置提供一个固定结构，
具体的，固定机构5可以与外部吊装装置进行连接，从而将变距单元3、转子211单元2和支架组件1固定在吊装装置。
进一步的，上部支架11顶部设有半圆槽，第一连杆3313向第二连杆3413方向倾斜，第一连杆3313通过半圆槽与上部支架11活动连接，第一连杆3313在半圆槽内进行曲线运动。
在本实施方式中：
半圆槽可以为第一连杆3313提供一个连接运动结构；
具体的，第一连杆3313与上部之间的半圆槽内进行活动连接，在上部支架11未出现倾斜时，第一连杆3313处于倾斜状态，在驱动机构35带动上部支架11向下移动时，第一连杆3313会趋向于垂直状态，从而带动上部支架11像左倾斜，同理在驱动机构35带动上部支架11向上移动时，第一连杆3313会趋向于倾斜状态，从而带动上部支架11像右倾斜。
进一步的，还包括压缩装置4，压缩装置4固定于上部支架11的顶部，第二连杆3413通过压缩装置4与上部支架11伸缩连接。
在本实施方式中：
压缩装置4用于为第二连杆3413提供一个缓冲结构；
具体的，压缩装置4包括短杆，短杆内部设有弹簧，短杆与第二连杆3413伸缩连接，第二连杆3413与弹簧贴合，上部支架11倾斜时，第二连杆3413会受到一定的拉力或推力，弹簧可以进行缓冲拉力和推力，来保证装置的安全性，不会出现内部零件断裂的情况。
进一步的，连接杆通过铰接或销连接与上部支架11、下部支架12活动连接，上部支架11进行转动并通过连接杆带动下部支架12向相同方向转动。
在本实施方式中：
上部支架11、下部支架12和连接杆通过铰接或销连接组成一个平行四边形结构；
具体的，连接杆可以相对上部支架11或下部支架12进行上部支架11、下部支架12和连接杆组成一个平行四边形结构，在上部支架11倾斜时，下部支架12也会向同一方向倾斜，通过平行四边形结构进行控制陀螺仪21进行倾斜，可以很好的调整陀螺仪21应力方向，另一方面平行四边形结构可以进行缓冲陀螺仪21的应力，防止在应力过大，出现断裂的情况。
进一步的，吊装扭转平衡装置的使用方法包括以下步骤，吊装扭转平衡装置固定机构5固定在外部吊装装置上，固定机构5固定不动，陀螺仪21始终在下部支架12上进行旋转产生应力，由于第一连杆3313相对第二连杆3413倾斜，球铰机构32铰接端固定的滚珠丝杠带动上部支架11相对主体盘31向下移动时，上部支架11会向第一连杆3313侧倾斜，并通过连杆13带动第二支架向第一连杆3313侧倾斜；球铰机构32底部的滚珠丝杠带动上部支架11相对主体盘31向上移动时，上部支架11会向第二连杆3413侧倾斜，并通过连杆13带动第二支架向第二连杆3413侧倾斜，控制陀螺仪21与吊装装置的应力方向来调整吊装装置的位姿。
具体的：陀螺仪21可以进行正反方向转动改变应力方向，滚珠丝杠可以正反方向转动来改变上部支架11的倾斜方向进而改变应力方向，通过改变陀螺仪21旋转方向和陀螺仪21的倾斜方向，来进行改变应力的方向，通应力进而调整吊装装置的位姿。
当然，本发明还可有其它多种实施方式，基于本实施方式，本领域的普通技术人员在没有做出任何创造性劳动的前提下所获得其他实施方式，都属于本发明所保护的范围。

Claims (8)

  1. 一种吊装扭转平衡装置，其特征在于，所述吊装扭转平衡装置包括转子单元、支架组件和变距单元，其中：
    所述支架组件包括上部支架和下部支架，所述上部支架位于所述下部支架的底部，所述上部支架和所述下部之间通过两个连接杆进行活动连接，一个所述连接杆连接所述上部支架和所述下部支架的同一侧，另一个所述连接杆连接所述上部支架和所述下部支架的另一同侧；
    所述转子单元包括陀螺仪，所述陀螺仪两端与所述下部支架的内侧进行转动连接；
    所述变距单元包括主体盘和球铰机构，所述球铰机构贯穿所述主体盘并与所述主体盘固定连接，所述球铰机构的铰接端朝向底部并与驱动机构的驱动端固定连接，所述驱动机构另一端固定于所述上部支架固定，所述主体盘两侧分别设有第一连杆和第二连杆，所述第一连杆一端与所述主体盘转动连接，另一端与所述上部支架活动连接，所述第二连杆一端与所述主体盘转动连接，另一端与所述上部支架伸缩连接。
  2. 根据权利要求1所述的吊装扭转平衡装置，其特征在于，所述陀螺仪包括转子和转轴，所述转轴贯穿所述转子并与所述转子连接，所述转轴一端与所述下部支架转动活动连接，所述转轴另一端设有第一电机，所述第一电机固定于所述下部支架内侧，所述第一电机输出端与所述转轴另一端固定连接。
  3. 根据权利要求1所述的吊装扭转平衡装置，其特征在于，所述驱动机构采用滚珠丝杠机构。
  4. 根据权利要求1所述的吊装扭转平衡装置，其特征在于，所述变距单元还包括固定机构，所述球铰机构顶部连接有连接轴，所述连接轴顶部固定有固定机构。
  5. 根据权利要求1所述的吊装扭转平衡装置，其特征在于，所述上部支架顶部设有半圆槽，所述第一连杆向所述第二连杆方向倾斜，所述第一连杆通过所述半圆槽与上部支架活动连接，所述第一连杆在所述半圆槽内进行曲线运动。
  6. 根据权利要求5所述的吊装扭转平衡装置，其特征在于，还包括压缩装置，所述压缩装置固定于所述上部支架的顶部，所述第二连杆通过所述压缩装置与所述上部支架伸缩连接。
  7. 根据权利要求1所述的吊装扭转平衡装置，其特征在于，所述连接杆通过铰接或销连接与所述上部支架、所述下部支架活动连接，所述上部支架进行转动并通过所述连接杆带动所述下部支架向相同方向转动。
  8. 一种根据权利要求1-7所述的吊装扭转平衡装置的使用方法，其特征在于，包括以下步骤：
    吊装扭转平衡装置固定机构固定在外部吊装装置上，固定机构固定不动，陀螺仪始终在下部支架上进行旋转产生应力，由于第一连杆相对第二连杆倾斜，球铰机构铰接端固定的滚珠丝杠带动上部支架相对主体盘向下移动时，上部支架会向第一连杆侧倾斜，并通过连杆带动第二支架向第一连杆侧倾斜；球铰机构底部的滚珠丝杠带动上部支架相对主体盘向上移动时，上部支架会向第二连杆侧倾斜，并通过连杆带动第二支架向第二连杆侧倾斜，控制陀螺仪与吊装装置的应力方向来调整吊装装置的位姿。
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