阅读说明：本技术 一种双绳垂吊台倾斜平衡系统 (Double-rope hanging table inclination balancing system ) 是由 欧阳天德 叶国梁 林佳瑜 陈云财 刘泽平 朱志豪 李军波 于 2021-08-05 设计创作，主要内容包括：本发明公开了一种双绳垂吊台倾斜平衡系统,属于高空垂吊领域,包括垂吊台以及控制器、磁力计、陀螺仪、加速度传感器、电机编码器、收线电机、两条绳索；所述两条绳索的一端分别固定在垂吊台两侧,且两条绳索的另一端分别连接收线电机；所述磁力计、陀螺仪、加速度传感器与电机编码器均通信连接控制器,且控制器通信连接收线电机；所述磁力计用于采集垂吊台摇摆的倾斜角度信息,并将倾斜角度信息传输给控制器,所述陀螺仪用于采集垂吊台摇摆的角度信息,并将角度信息传输给控制器,所述加速度传感器用于采集垂吊台摇摆的加速度信息。本发明,能够基于双绳垂吊台本身进行平衡,通过垂吊台自身通过改变重心完成全自动平衡。(The invention discloses a double-rope hanging table inclination balance system, which belongs to the field of high-altitude hanging and comprises a hanging table, a controller, a magnetometer, a gyroscope, an acceleration sensor, a motor encoder, a take-up motor and two ropes; one ends of the two ropes are respectively fixed on two sides of the hanging platform, and the other ends of the two ropes are respectively connected with the take-up motor; the magnetometer, the gyroscope, the acceleration sensor and the motor encoder are all in communication connection with a controller, and the controller is in communication connection with a take-up motor; the magnetometer is used for collecting the swing inclination angle information of the hanging platform and transmitting the inclination angle information to the controller, the gyroscope is used for collecting the swing angle information of the hanging platform and transmitting the angle information to the controller, and the acceleration sensor is used for collecting the swing acceleration information of the hanging platform. The invention can carry out balance based on the double-rope hanging platform, and complete full-automatic balance by changing the gravity center of the hanging platform.)

1. A double-rope hanging table inclination balance system is characterized by comprising a hanging table, a controller, a magnetometer, a gyroscope, an acceleration sensor, a motor encoder, a take-up motor and two ropes;

one ends of the two ropes are respectively fixed on two sides of the hanging platform, and the other ends of the two ropes are respectively connected with the take-up motor; the magnetometer, the gyroscope, the acceleration sensor and the motor encoder are all in communication connection with a controller, and the controller is in communication connection with a take-up motor;

the magnetometer is used for collecting the swing inclination angle information of the suspended platform and transmitting the inclination angle information to the controller, the gyroscope is used for collecting the swing angle information of the suspended platform, and transmits the angle information to the controller, the acceleration sensor is used for collecting the swinging acceleration information of the hanging platform, and transmits the acceleration information to the controller, the motor encoder is used for acquiring the height information of the two ropes which vertically descend, the controller constructs a balance calculation model, receives inclination angle information, acceleration information and descending height information transmitted by a magnetometer, a gyroscope, an acceleration sensor and a motor encoder, inputs the received information into the balance calculation model for calculation, outputs a calculation result to a take-up motor, and correspondingly takes up and takes down two ropes after the take-up motor receives the calculation result;

the specific calculation process of the balance calculation model comprises the following steps:

s1: taking the starting point of the hanging platform as the original point as O (0,0,0), and establishing a three-axis coordinate system; namely, artificial balance is needed in the origin position, the double-rope hanging platform is ensured to be in the optimal operation state through the cooperation of the gyroscope and the magnetometer, and is set as the origin O (0,0,0), so that the height of the two collected ropes which vertically descend is marked as L;

s2: when the hanging platform shakes parallel to the working surface, the specific calculation process is as follows:

s201: the method comprises the steps that the suspended platform moves to A (x, Y,0) in a one-way mode, the inclination angle of the suspended platform is calculated and marked as omega, the shaking amount of the acceleration sensor is recorded from the beginning to the top end x of the shaking to x1 when the suspended platform starts to incline, and the value of omega is obtained according to the formula tan omega x 1/L;

s202: when the hanging platform swings from the swinging vertex to the original point, the rope on the contraction side is contracted, the contraction amount is marked as P, and the P is x1 sin omega;

s203: after the primary sway top end is collected, the rope is collected by the sway collection and collection mode of the rear sway collection and collection mode by the amount of the sway peak of the previous sway peak, and the rope is collected by the rope collection mode of the secondary sway by the amount of the sway peak of the previous sway value x1 from the origin end, wherein the rope collection amount is Q (x 1) sin omega, the rope is discharged along with the increase of x, and the rope discharge amount is P (x 1) sin omega;

s204: outputting the corresponding rope receiving amount and the corresponding rope releasing amount to a rope receiving motor for receiving and releasing the rope;

s3: when the hanging platform shakes perpendicular to the working surface, the specific calculation process is as follows:

s301: the hanging platform moves to B (X, y,0) from an original point O (0,0,0) in a one-way mode, the hanging platform decelerates or accelerates in the air to return to the original point 0(0,0,0) at the top end of the double-rope hanging platform, namely, the vertical shaking is reduced by reducing or increasing the numerical values of P and Q, and the component force of the hanging platform vertical to the working surface is increased by increasing the tensile force F of the rope, so that the shaking is reduced;

s302: the shaking is reduced vertically to the working surface for the first time, the numerical value of y is increased, the increment is y, namely 0, y, 1, wherein the quantity refers to acceleration, the acceleration comprises deceleration and acceleration, and the deceleration is preferentially adopted according to conditions;

s303: when the hanging platform is not parallel to be stressed and shaken, the balancing method is also accompanied with a method for realizing single-side rope winding of the rope of the double-rope hanging platform through the theory in the acceleration process, the method is that the side with large tilting amplitude adopts a descending mode, the mode increases from y 0 to y1 and descends, the increasing amount is W1 sin omega, wherein the value of omega is obtained according to the formula tan omega y1/L, and the side with large tilting amplitude is ensured to descend vertically to the ground along with the acceleration motion;

s304: outputting corresponding increment to a take-up motor for taking up and paying off;

s4: when the hanging platform rocks because of the external force formation arc, the concrete calculation process is:

s401: the gantry is displaced from origin 0(0,0,0) to C (x2, y2, z 2);

s402: the hanging platform balance scheme firstly balances Y-axis balance and then adjusts X-axis balance, firstly increases the acceleration upwards F, then reduces the deviation in the Y-axis direction by increasing the acting force of the Z-axis in the same stress direction, and simultaneously contracts the side with the larger variable of the Y-axis to provide an extra W-Y2-sin omega to accelerate the shaking on the Y-axis, wherein the value of omega is obtained according to the formula tan omega-Y2/L;

s403: when the Y-axis shaking is released, the shaking on the X-axis is carried out again, the value of omega is obtained according to the formula tan omega-X2/L, and P-Q-X2 sin omega is obtained;

s404: and outputting a corresponding calculation result to a take-up motor to take up and pay off.

2. The tilt balancing system for a two-rope suspended platform according to claim 1, wherein the magnetometer, the gyroscope and the acceleration sensor are integrated inside the box body, and the box body is fixed at the central position of the bottom end face of the suspended platform.

3. The dual-rope platform tilt balancing system according to claim 1, wherein shock absorbers are movably mounted at both ends of the rope.

Technical Field

The invention relates to a hanging platform balance system, in particular to a double-rope hanging platform inclination balance system.

Background

The existing double-rope hanging platform mode (the double-rope hanging platform refers to objects hung by ropes, such as cleaning equipment, mounting equipment, painting equipment and platforms, in particular to a loading hanging platform) is easy to be blown by wind to shake and cause accidents during aloft work.

The existing double-rope hanging solutions cannot be balanced based on the double-rope hanging platform itself. Accordingly, one skilled in the art has provided a dual rope sling table tilt balancing system that addresses the problems set forth in the background above.

Disclosure of Invention

The invention aims to provide a double-rope hanging table inclination balancing system which can be used for balancing based on a double-rope hanging table and can complete full-automatic balancing by changing the gravity center of the hanging table so as to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

a double-rope hanging table inclination balance system comprises a hanging table, a controller, a magnetometer, a gyroscope, an acceleration sensor, a motor encoder, a take-up motor and two ropes;

one ends of the two ropes are respectively fixed on two sides of the hanging platform, and the other ends of the two ropes are respectively connected with the take-up motor; the magnetometer, the gyroscope, the acceleration sensor and the motor encoder are all in communication connection with a controller, and the controller is in communication connection with a take-up motor;

the magnetometer is used for collecting the swing inclination angle information of the suspended platform and transmitting the inclination angle information to the controller, the gyroscope is used for collecting the swing angle information of the suspended platform, and transmits the angle information to the controller, the acceleration sensor is used for collecting the swinging acceleration information of the hanging platform, and transmits the acceleration information to the controller, the motor encoder is used for acquiring the height information of the two ropes which vertically descend, the controller constructs a balance calculation model, receives inclination angle information, acceleration information and descending height information transmitted by a magnetometer, a gyroscope, an acceleration sensor and a motor encoder, inputs the received information into the balance calculation model for calculation, outputs a calculation result to a take-up motor, and correspondingly takes up and takes down two ropes after the take-up motor receives the calculation result;

the specific calculation process of the balance calculation model comprises the following steps:

s1: taking the starting point of the hanging platform as the original point as O (0,0,0), and establishing a three-axis coordinate system; namely, artificial balance is needed in the origin position, the double-rope hanging platform is ensured to be in the optimal operation state through the cooperation of the gyroscope and the magnetometer, and is set as the origin O (0,0,0), so that the height of the two collected ropes which vertically descend is marked as L;

s2: when the hanging platform shakes parallel to the working surface, the specific calculation process is as follows:

s201: the suspended platform moves to A (x, Y,0) in a single direction, the inclined angle of the suspended platform is calculated and marked as omega, and the acceleration sensor records the shaking amount from x to 0 to the shaking top at the beginning of the inclination

The terminal x is x1, and the value of omega is obtained according to the formula tan omega is x 1/L;

s202: the rope on the opposite side of the swing direction of the suspended platform contracts during the first swing, the contraction amount is marked as P, and P is x1 sin omega

The lifting rope on one side is released along with the rope, and the rope releasing amount is marked as Q, and Q is x1 sin omega;

s203: after the primary swaying top end is collected, the rope is collected by the last swaying top point quantity in the subsequent swaying collection mode, and the rope is collected by the last swaying value x1 top point quantity from the origin end in the secondary swaying rope collection mode, wherein the rope collection quantity is x1 sin omega, and the rope is discharged

Releasing the rope with the increase of x, wherein the rope releasing amount is equal to P (x 1) sin omega;

s204: outputting the corresponding rope receiving amount and the corresponding rope releasing amount to a rope receiving motor for receiving and releasing the rope;

s3: when the hanging platform shakes perpendicular to the working surface, the specific calculation process is as follows:

s301: the hanging platform moves to B (X, y,0) from an original point O (0,0,0) in a one-way mode, the hanging platform decelerates or accelerates in the air to return to the original point 0(0,0,0) at the top end of the double-rope hanging platform, namely, the vertical shaking is reduced by reducing or increasing the numerical values of P and Q, and the component force of the hanging platform vertical to the working surface is increased by increasing the tensile force F of the rope, so that the shaking is reduced;

s302: the shaking is reduced vertically to the working surface for the first time, the numerical value of y is increased, the increment is y, namely 0, y, 1, wherein the quantity refers to acceleration, the acceleration comprises deceleration and acceleration, and the deceleration is preferentially adopted according to conditions;

s303: when the hanging platform is not parallel to be stressed and shaken, the balancing method is also accompanied with a method for realizing single-side rope winding of the rope of the double-rope hanging platform through the theory in the acceleration process, the method is that the side with large tilting amplitude adopts a descending mode, the mode increases from y 0 to y1 and descends, the increasing amount is W1 sin omega, wherein the value of omega is obtained according to the formula tan omega y1/L, and the side with large tilting amplitude is ensured to descend vertically to the ground along with the acceleration motion;

s304: outputting corresponding increment to a take-up motor for taking up and paying off;

s4: when the hanging platform rocks because of the external force formation arc, the concrete calculation process is:

s401: the gantry is displaced from origin 0(0,0,0) to C (x2, y2, z 2);

s402: the hanging platform balance scheme firstly balances Y-axis balance and then adjusts X-axis balance, firstly increases the acceleration upwards F, then reduces the deviation in the Y-axis direction by increasing the acting force of the Z-axis in the same stress direction, and simultaneously contracts the side with the larger variable of the Y-axis to provide an extra W-Y2-sin omega to accelerate the shaking on the Y-axis, wherein the value of omega is obtained according to the formula tan omega-Y2/L;

s403: when the Y-axis shaking is released, the shaking on the X-axis is carried out again, the value of omega is obtained according to the formula tan omega-X2/L, and P-Q-X2 sin omega is obtained;

s404: and outputting a corresponding calculation result to a take-up motor to take up and pay off.

The invention can carry out balance based on the double-rope hanging platform, and complete full automatic balance by changing the gravity center of the hanging platform.

As a further scheme of the invention: the magnetometer, the gyroscope and the acceleration sensor are integrated in the box body, and the box body is fixed in the center of the bottom end face of the hanging platform.

According to the arrangement, the magnetometer, the gyroscope and the acceleration sensor are prevented from being exposed to the outside and being easily damaged, and are integrated together to improve the accuracy of information acquisition.

As a still further scheme of the invention: and shock absorbers are movably arranged at both ends of the rope.

The shock absorber can improve the stability of rope, reduces the rocking of rope.

Compared with the prior art, the invention has the beneficial effects that:

the invention provides a double-rope hanging balance scheme, which is characterized in that full-automatic balance is achieved by changing the gravity center of a hanging platform through the hanging platform, the gravity center of the hanging platform is changed through winding and unwinding the rope based on the rope of the hanging platform to achieve the effect of balancing and reducing shaking, when the hanging platform is inclined by external force, the controller and a winding motor adjust the length of the rope to achieve the effect of reducing shaking and shaking time, the safety of a bearing object is protected, and the operation efficiency of bearing equipment is improved.

Drawings

FIG. 1 is a block diagram of a dual-rope sling table tilt-balancing system;

FIG. 2 is a schematic diagram of the sway of a hanging platform parallel to the working plane in a dual-rope hanging platform tilt balance system;

FIG. 3 is a schematic diagram of the vertical swing of a platform in a dual-rope platform tilt-balance system;

FIG. 4 is a schematic diagram of the arc-shaped shaking of the hanging platform in the double-rope hanging platform tilt balance system due to external force.

Detailed Description

Referring to fig. 1 to 4, in an embodiment of the present invention, a dual-rope hanging platform tilt balancing system includes a hanging platform, a controller, a magnetometer, a gyroscope, an acceleration sensor, a motor encoder, a take-up motor, and two ropes; one ends of the two ropes are respectively fixed on two sides of the hanging platform, and the other ends of the two ropes are respectively connected with the take-up motor; the magnetometer, the gyroscope, the acceleration sensor and the motor encoder are all in communication connection with a controller, and the controller is in communication connection with a take-up motor; the magnetometer is used for collecting the swing inclination angle information of the suspended platform and transmitting the inclination angle information to the controller, the gyroscope is used for collecting the swing angle information of the suspended platform, and transmits the angle information to the controller, the acceleration sensor is used for collecting the swinging acceleration information of the hanging platform, and transmits the acceleration information to the controller, the motor encoder is used for acquiring the height information of the two ropes which vertically descend, the controller constructs a balance calculation model, receives inclination angle information, acceleration information and descending height information transmitted by a magnetometer, a gyroscope, an acceleration sensor and a motor encoder, inputs the received information into the balance calculation model for calculation, outputs a calculation result to a take-up motor, and correspondingly takes up and takes down two ropes after the take-up motor receives the calculation result;

the specific calculation process of the balance calculation model comprises the following steps:

s1: taking the starting point of the hanging platform as the original point as O (0,0,0), and establishing a three-axis coordinate system; namely, artificial balance is needed in the origin position, the double-rope hanging platform is ensured to be in the optimal operation state through the cooperation of the gyroscope and the magnetometer, and is set as the origin O (0,0,0), so that the height of the two collected ropes which vertically descend is marked as L;

s2: when the hanging platform shakes parallel to the working surface, as shown in fig. 2, the specific calculation process is as follows:

s201: the suspended platform moves to A (x, Y,0) in a single direction, the inclined angle of the suspended platform is calculated and marked as omega, and the acceleration sensor records the shaking amount from x to 0 to the shaking top at the beginning of the inclination

The terminal x is x1, and the value of omega is obtained according to the formula tan omega is x 1/L;

s202: the rope on the opposite side of the swing direction of the suspended platform contracts during the first swing, the contraction amount is marked as P, and P is x1 sin omega

The lifting rope on one side is released along with the rope, and the rope releasing amount is marked as Q, and Q is x1 sin omega;

s203: after the primary sway top end is collected, the rope is collected by the sway collection and collection mode of the rear sway collection and collection mode by the amount of the sway peak of the previous sway peak, and the rope is collected by the rope collection mode of the secondary sway by the amount of the sway peak of the previous sway value x1 from the origin end, wherein the rope collection amount is Q (x 1) sin omega, the rope is discharged along with the increase of x, and the rope discharge amount is P (x 1) sin omega;

s204: outputting the corresponding rope receiving amount and the corresponding rope releasing amount to a rope receiving motor for receiving and releasing the rope;

s3: when the hanging platform shakes perpendicular to the working surface, as shown in fig. 3, the specific calculation process is as follows:

s301: the hanging platform moves to B (X, y,0) from an original point O (0,0,0) in a one-way mode, the hanging platform decelerates or accelerates in the air to return to the original point 0(0,0,0) at the top end of the double-rope hanging platform, namely, the vertical shaking is reduced by reducing or increasing the numerical values of P and Q, and the component force of the hanging platform vertical to the working surface is increased by increasing the tensile force F of the rope, so that the shaking is reduced;

s302: the shaking is reduced vertically to the working surface for the first time, the numerical value of y is increased, the increment is y, namely 0, y, 1, wherein the quantity refers to acceleration, the acceleration comprises deceleration and acceleration, and the deceleration is preferentially adopted according to conditions;

s303: when the hanging platform is not parallel to be stressed and shaken, the balancing method is also accompanied with a method for realizing single-side rope winding of the rope of the double-rope hanging platform through the theory in the acceleration process, the method is that the side with large tilting amplitude adopts a descending mode, the mode increases from y 0 to y1 and descends, the increasing amount is W1 sin omega, wherein the value of omega is obtained according to the formula tan omega y1/L, and the side with large tilting amplitude is ensured to descend vertically to the ground along with the acceleration motion;

s304: outputting corresponding increment to a take-up motor for taking up and paying off;

s4: when the hanging platform shakes in an arc shape due to external force, as shown in fig. 4, the specific calculation process is as follows:

s401: the gantry is displaced from origin 0(0,0,0) to C (x2, y2, z 2);

s402: the hanging platform balance scheme firstly balances Y-axis balance and then adjusts X-axis balance, firstly increases the acceleration upwards F, then reduces the deviation in the Y-axis direction by increasing the acting force of the Z-axis in the same stress direction, and simultaneously contracts the side with the larger variable of the Y-axis to provide an extra W-Y2-sin omega to accelerate the shaking on the Y-axis, wherein the value of omega is obtained according to the formula tan omega-Y2/L;

s403: when the Y-axis shaking is released, the shaking on the X-axis is carried out again, the value of omega is obtained according to the formula tan omega-X2/L, and P-Q-X2 sin omega is obtained;

s404: and outputting a corresponding calculation result to a take-up motor to take up and pay off.

The invention can carry out balance based on the double-rope hanging platform, and complete full automatic balance by changing the gravity center of the hanging platform.

In this embodiment: the magnetometer, the gyroscope and the acceleration sensor are integrated in the box body, and the box body is fixed in the center of the bottom end face of the hanging platform. According to the arrangement, the magnetometer, the gyroscope and the acceleration sensor are prevented from being exposed to the outside and being easily damaged, and are integrated together to improve the accuracy of information acquisition.

In this embodiment: and shock absorbers are movably arranged at both ends of the rope. The shock absorber can improve the stability of rope, reduces the rocking of rope.

The working principle of the invention is as follows: when the double-rope hanging platform inclination balance system is used, firstly, one ends of two ropes are respectively fixed on two sides of the hanging platform, then the other ends of the ropes are fixed on a take-up motor on the roof, and the take-up motor is started, so that the hanging platform rises to a certain height to serve as an original point. The ropes at this time are tightened, and in addition, artificial balance is required at the time of the origin azimuth, the double-rope suspended platform is ensured to be in an optimal operation state by the cooperation of the gyroscope and the magnetometer, and the origin O (0,0,0) is set, and the height at which the two collected ropes vertically descend is marked as L.

When the suspended platform swings parallel to the working surface, the suspended platform moves to A (x, Y,0) in a single direction, the inclined angle of the suspended platform is calculated and marked as omega, the acceleration sensor records the swing amount from x to 0 to the top x to x1 when the inclination starts, and the value of omega is obtained according to the formula tan omega to x 1/L. During the first sway, the rope on the opposite side of the sway direction of the suspended platform is contracted, the contraction amount is marked as P, and P is x1 sin omega, when the suspended platform sways from the sway peak to the original point, the rope on the contraction side follows the rope unwinding, the rope unwinding amount is marked as Q, and Q is x1 sin omega. After the primary sway top end is collected, the rope is collected by the sway collection mode of the rear sway collection mode by the amount of the sway top point of the previous sway, and the rope is collected by the rope collection mode of the secondary sway by the amount of the sway top point of the previous sway value x1 from the origin end, wherein the rope collection amount is Q (x 1) sin omega, the rope is discharged along with the increase of x, and the rope discharge amount is P (x 1) sin omega. And finally, outputting the corresponding rope receiving amount and the corresponding rope releasing amount to a rope receiving motor for receiving and releasing the rope.

When the hanging platform shakes perpendicular to the working surface, the hanging platform moves to the position B (X, y,0) from the original point O (0,0,0) in a single direction, the hanging platform decelerates or accelerates in the air to return to the original point 0(0,0,0) at the top end of the double-rope hanging platform, namely, the vertical shaking is reduced by reducing or increasing the numerical values of P and Q, and the component force of the hanging platform perpendicular to the working surface is increased by increasing the tensile force F of the rope, so that the shaking is reduced. The shaking is reduced vertically to the working surface for the first time, the numerical value of y is increased, the increment is y-0 to y-1, wherein the quantity refers to acceleration, the acceleration comprises deceleration and acceleration, and the deceleration is preferentially adopted according to conditions. When the hanging platform is not parallel to be stressed and shaken, the balancing method is also accompanied with the method that the double-rope hanging platform carries out single-side rope winding on the rope of the double-rope hanging platform through the theory in the acceleration process, the method is that the side with large upwarp amplitude adopts a descending mode, the mode increases from y 0 to y1 and descends, the increasing amount is W1 sin omega, wherein, the value of omega is obtained according to the formula tan omega y1/L, and the side with large upwarp amplitude is ensured to descend vertically to the ground along with the acceleration motion. Finally, outputting corresponding increment to a take-up motor for taking up and paying off;

when the table rocks in an arc due to external force, the table is displaced from the origin 0(0,0,0) to C (x2, y2, z 2). The hanging platform balance scheme firstly balances Y-axis balance and then adjusts X-axis balance, firstly increases acceleration in the upward direction F, then reduces the deviation in the Y-axis direction by increasing the acting force of the Z-axis in the same force-bearing direction, and simultaneously contracts the side with the larger variable of the Y-axis to provide an extra W-Y2 sin omega to accelerate the shaking in the Y-axis, wherein the value of omega is obtained according to the formula tan omega-Y2/L. When the Y-axis wobbling is released and the wobbling on the X-axis is performed again, the value of ω is obtained from the formula tan ω ═ X2/L, and P ═ Q ═ X2 × sin ω is obtained. And finally, outputting a corresponding calculation result to a take-up motor for taking up and paying off.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention are equivalent to or changed within the technical scope of the present invention.