Cable system for two-dimensional movement control of suspended objects

Abstract

The present disclosure relates to a kind of suspension object two-dimensional movement control sling system, comprising: main cableway;Tow rope, it includes the first tow rope for being connected with the suspension object for towing the suspension object, and the second tow rope for being connected with the double pulley trolley for towing the double pulley crane;Tow mechanism, the tow mechanism includes first tow device and second tow device;The free end of the first tow rope is connected with the first tow device by first fixed pulley, and the free end of the second tow rope is connected with the second tow device by second fixed pulley;Wherein, the first tow device is configured to tow the suspension object at first tow speed v1, and the second tow device is configured to tow the double pulley trolley at second tow speed v2.The suspension object two-dimensional movement control sling system provided by the present application, compared with prior art, while meeting control precision and stability, installation operation and maintenance cost is lower, can realize better motion shooting effect.

Description

Technical Field

[0001] This invention relates to the field of mechanical positioning and control technology, and in particular, to a sling system for two-dimensional movement control of suspended objects. Background Technology

[0002] A two-dimensional cableway camera system is a system used for motion capture. It typically consists of a cable system and a camera unit, enabling controlled-speed horizontal or vertical dynamic shooting between two points at long or ultra-long distances. Furthermore, the system can achieve simultaneous horizontal and vertical movement. Its applications include, but are not limited to, film and documentary shooting, live sports events or variety shows, and security patrols in production environments. Currently, there are two main technical solutions: one commonly known as a T-type system, where the second traction device is a circulating traction trolley that moves horizontally along the main cable. A movable pulley is installed on the suspended object. One end of the first traction rope is wrapped around the first traction device, and the other end passes sequentially through the first fixed pulley, the trolley pulley, the suspended object pulley, and the trolley pulley before being fixed to the other side. The disadvantage of this solution is its poor control precision and stability, making it unsuitable for rapid start-stop applications. The other system, commonly known as a TV system (see CN103685959A), has a more complex synchronous anti-locking structure, higher installation and maintenance costs, and is not easily adjustable. This invention can overcome the above two problems at the same time, namely, satisfying the requirements of control precision, stability and flexibility, while having low installation and maintenance costs, and is especially suitable for long-distance, large-span and high-speed occasions. Summary of the Invention

[0003] In view of the above-mentioned problems existing in the prior art, the purpose of the present invention is to provide a sling system for two-dimensional movement control of suspended objects, which, while meeting the requirements of control accuracy and stability, greatly reduces the installation, operation and maintenance costs.

[0004] To achieve the above objectives, one aspect of the present invention provides a sling system for controlling the two-dimensional movement of a suspended object, comprising:

[0005] The main cableway, which connects two fixed nodes laterally, is used to bear vertical loads and is equipped with two double pulley trolleys.

[0006] The traction rope includes a first traction rope connected to the suspended object for traction of the suspended object, and a second traction rope connected to the double pulley trolley for traction of the double pulley crane;

[0007] The traction mechanism includes a first traction device and a second traction device; the free end of the first traction rope passes through a first fixed pulley and is connected to the first traction device, and the free end of the second traction rope passes through a second fixed pulley and is connected to the second traction device.

[0008] Wherein, the first traction device is configured to traction the suspended object at a first traction speed v1, and the second traction device is configured to traction the double pulley trolley at a second traction speed v2, wherein the vector directions of the first traction speed and the second traction speed are opposite; and the movement of the suspended object in two-dimensional space satisfies the following formula:

[0009] V x =v2;

[0010] V y =(v2-v 1) *cosa, a=arctan(L / 2H);

[0011] In the formula, V x V is the velocity of the suspended object moving in the X-axis direction. y L represents the speed at which the suspended object moves in the Y-axis direction, and L is the length of the rope segment between the two double pulleys.

[0012] Preferably, the first traction rope includes a main traction side connected to the first traction device and a suspended object side connected to the suspended object; the second traction rope includes a secondary traction side connected to the second traction device and a pulley side connected to the double pulley trolley.

[0013] Preferably, the rope segment of the first traction rope on the suspended object side passes through the two double pulleys and is connected to the suspended object.

[0014] Preferably, the two double pulleys are connected in series on the rope segment of the second traction rope on the pulley side.

[0015] Preferably, the rope segments on the two suspended object sides are connected to the same first traction device via the rope segment on the main traction side, and the rope segments on the two suspended object sides traction the suspended object at a first traction speed v1.

[0016] Preferably, there are two first traction devices, and correspondingly, there are two rope segments on the main traction side connected to the first traction devices. The rope segments on the two suspended object sides are respectively connected to the rope segments on the two main traction sides.

[0017] Preferably, one of the first traction devices is configured to pull the suspended object at a first traction speed v1, and the other of the first traction devices is configured to pull the suspended object at a third traction speed v3.

[0018] Preferably, the two fixed nodes connecting the main cableway are each independently a third fixed pulley, and the main cableway is composed of the first part of the second traction rope passing through the two third fixed pulleys respectively, and the second part of the rope located on the two third fixed pulleys constitutes the rope segment on the pulley side.

[0019] Preferably, both free ends of the second traction rope are connected to the same second traction device, and the traction velocities of the first rope segment and the second rope segment are in opposite directions.

[0020] The sling system for two-dimensional movement control of suspended objects provided by this invention, compared with the prior art, achieves higher movement stability of suspended objects while meeting the control precision requirements, and can achieve better motion shooting effects. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the first embodiment of the sling system for two-dimensional movement control of a suspended object according to the present invention.

[0022] Figure 2 This is a schematic diagram of the second embodiment of the sling system for two-dimensional movement control of suspended objects according to the present invention.

[0023] Figure 3 This is a schematic diagram of the third embodiment of the sling system for two-dimensional movement control of suspended objects according to the present invention.

[0024] Figure 4 This is a schematic diagram of the fourth embodiment of the sling system for two-dimensional movement control of suspended objects according to the present invention.

[0025] Figure 5 This is a structural schematic diagram of the fifth embodiment of the sling system for two-dimensional movement control of suspended objects according to the present invention.

[0026] Key reference numerals:

[0027] 1, 11 - First traction device, 2 - Second traction device, 3 - Main cableway, 4 - First fixed pulley, 5 - Second fixed pulley, 6, 7 - Main traction side, 6', 7' - Suspended object side, 8 - Secondary traction rope side, 8' - Pulley side, 9, 10 - Double pulley trolley, 13 - Suspended object, 14 - Third fixed pulley. Detailed Implementation

[0028] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] These and other features of the invention will become apparent from the following description of preferred forms of embodiments given as non-limiting examples, with reference to the accompanying drawings.

[0030] It should also be understood that although the invention has been described with reference to some specific examples, those skilled in the art can certainly implement many other equivalent forms of the invention, which have the features described in the claims and are therefore all within the scope of protection defined herein.

[0031] The above and other aspects, features and advantages of the invention will become more apparent when taken in conjunction with the accompanying drawings and in view of the following detailed description.

[0032] Figure 1 The diagram shown is a structural schematic of an embodiment of the sling system for two-dimensional movement control of a suspended object according to the present invention. As shown, in the first embodiment of the present invention, the sling system for two-dimensional movement control of a suspended object provided by the present invention includes:

[0033] The main cableway 3, which is laterally connected between two fixed nodes, is used to bear vertical loads and horizontal movement (slide). It is equipped with two double pulley trolleys, namely double pulley trolley 9 and double pulley trolley 10. Similar to the prior art, in this embodiment of the present invention, the two fixed nodes of the main cableway 3 are directly connected to two fixed nodes at opposite positions on the building. The two fixed nodes are laterally opposite each other, which can define the movement path of the double pulley trolleys in the horizontal or inclined direction. Its main function is to bear the vertical load of the suspended object 13.

[0034] To move the suspended object 13 along the X-axis or Y-axis in two-dimensional space, a traction rope is required. Figure 1 As shown, the traction rope includes a first traction rope connected to the suspended object 13 for traction of the suspended object 13, and a second traction rope connected to the double pulley trolley for traction of the double pulley crane;

[0035] In this invention, the traction power of the first traction rope or the second traction rope is derived from the traction mechanism. Specifically, in this invention, the traction mechanism includes a first traction device 1 and a second traction device 2. The free end of the first traction rope passes through the first fixed pulley 4 and is connected to the first traction device 1, and the free end of the second traction rope passes through the second fixed pulley 5 and is connected to the second traction device 2.

[0036] In this embodiment, during actual motion control, the first traction device 1 is configured to traction the suspended object 13 at a first traction speed v1, and the second traction device 2 is configured to traction the double pulley trolley 9 at a second traction speed v2. The vector direction of the first traction speed v1 is opposite to the vector direction of the second traction speed v2. Furthermore, the movement of the suspended object 13 in two-dimensional space satisfies the following formula:

[0037] V x =v2;

[0038] V y =(v2-v 1) *cosa, a=arctan(L / 2H);

[0039] In the formula, V x V is the velocity of the suspended object moving in the X-axis direction. y Let L be the speed at which the suspended object moves along the Y-axis, and let L be the length of the rope segment between the two double-pulley pulleys 9 and 10. More specifically, in this embodiment of the invention, both the first traction device 1 and the second traction device 2 can actually be standard winches. When the winches are working, taking the first traction device as an example, as... Figure 1 As shown, the first traction rope includes a main traction side 6 connected to the first traction device 1 and a suspended object side 6' connected to the suspended object 13; by winding the rope segment of the main traction side 6 onto the winch corresponding to the first traction device and pulling it at a first traction speed v1 while keeping the second traction rope taut, the suspended object 13 can move vertically upward at -v 1*cosa The speed increases smoothly. However, if it is necessary to increase the horizontal component of motion, the second traction device 2 corresponding to the second traction rope must be activated simultaneously, and traction must begin at the second traction speed v2. Figure 1 As shown, the second traction rope includes a secondary traction side 8 connected to the second traction device 2, and a trolley side 8' connected to the double pulley trolley 9. Since the vector direction of the first traction speed v1 is opposite to the vector direction of the second traction speed v2, it is easy to conclude that by controlling the magnitudes of v1 and v2, the suspended object can be controlled to move vertically upwards or obliquely in two-dimensional space. For example, when the suspended object 13 is pulled vertically upwards at speed v1, while the double pulley trolleys 9 and 10 are pulled at a speed v2 with the opposite vector direction, the suspended object 13 will move horizontally in the direction of v2 while moving vertically. The actual trajectory will be an oblique movement biased towards the v2 direction. The same logic applies to other inclines.

[0040] In this embodiment, the rope segment of the first traction rope on the suspended object side passes through two of the double pulleys and is connected to the suspended object 13. Specifically, as... Figure 1 As shown, the two double-pulley trolleys are sequentially arranged on the rope segment of the second traction rope on the trolley side 8'. It is worth noting that, to improve handling stability, the rope segment on the trolley side 8' located between the two double-pulley trolleys can alternatively be made of a rigid material, such as a lightweight carbon fiber tube. Furthermore, in this embodiment, preferably, the rope segments on the two suspended object sides are connected to the same first traction device 1 via the rope segment on the main traction side, and the two rope segments 6' and 7' on the suspended object sides traction the suspended object at a first traction speed v1. Of course, there are also two corresponding main traction side rope segments, namely main traction side 6 and main traction side 7. In this case, both main traction side 6 and main traction side 7 are wound around the same first traction device 1, and main traction side 6 and 7 are wound simultaneously at the same speed.

[0041] Figure 2 The diagram shows a second embodiment of the sling system for two-dimensional movement control of suspended objects according to the present invention. As shown in the figure, it can be seen that the only difference between this embodiment and the second embodiment is that there is only one main traction side, that is, the suspended object side 6' and the suspended object side 7' are simultaneously connected to the same main traction side 6. In this scheme, the first traction device can use a standard winch, which reduces costs.

[0042] Figure 3 This is another embodiment of the present invention. In this embodiment, as shown in the figure, preferably, two first traction devices are provided, namely a first traction device 1 and a first traction device 11. Correspondingly, two rope segments on the main traction side connected to the first traction devices are also provided. That is, the arrangement of the first traction rope is the same as in the first embodiment. However, the difference is that in the third embodiment, the two rope segments 6' and 7' on the suspended object side are respectively connected to the main traction side 6 and main traction side 7 corresponding to the first traction device 1 and the first traction device 11. Thus, both the first traction devices 1 and 11 can use low-cost standard winches. For example, in one application, both the first traction device 1 and the first traction device 11 implement traction at a first traction speed v1, achieving a similar movement control effect as in the first embodiment.

[0043] Figure 4 The fourth embodiment of the invention is shown, but in fact, Figure 4The structure shown is the same as in the third embodiment. The only difference is that, during actual motion control, the first traction device 1 and the first traction device 11 can each be given different traction speeds. For example, the first traction device 1 applies traction at a first traction speed v1, while the first traction device 11 applies traction at a third traction speed v3. The motion component acting on the suspended object 13 is affected by both the first traction speed v1 and the third traction speed v3. The specific calculation process is a conventional technique and will not be elaborated upon in this invention. It is conceivable that in this embodiment, the suspended object 13 can achieve differential control. For example, in places where the main cable is not horizontal (such as an inclined main cable, or at both ends of a flexible catenary main cable), oblique motion will be easier to control. Furthermore, the motion component on the X-axis can be generated by the speed difference between traction devices 1 and 11 to compensate for the reduction in the range of motion caused by the V-angle structure.

[0044] Figure 5 The fifth embodiment of the present invention is shown in the figure. In this application, preferably, the two fixed nodes connecting the main cableway 3 are each independently a third fixed pulley 14. The main cableway 3 is composed of a first section (upper section) of the second traction rope passing through the two third fixed pulleys 14 respectively, and a second section (lower section) of the rope located at the two third fixed pulleys 14 constitutes the rope section on the pulley side. At this time, the two double pulley pulleys are connected in series on the rope section on the pulley side. Furthermore, the two free ends 3' of the second traction rope are both connected to the same second traction device 2, and the vector directions of the traction velocities of the first section and the second section are opposite. Specifically, the second traction rope, while constructing the main cableway 3, also undertakes the function of auxiliary traction.

[0045] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the present invention. The scope of protection of the present invention is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to the present invention within its spirit and scope of protection, and such modifications or equivalent substitutions should also be considered to fall within the scope of protection of the present invention.

Claims

1. A sling system for controlling the two-dimensional movement of a suspended object, comprising: The main cableway, which connects two fixed nodes laterally, is used to bear vertical loads and is equipped with two double pulley trolleys. The traction rope includes a first traction rope connected to the suspended object for traction of the suspended object, and a second traction rope connected to the double pulley for traction of the double pulley; The traction mechanism includes a first traction device and a second traction device; the free end of the first traction rope passes through a first fixed pulley and is connected to the first traction device, and the free end of the second traction rope passes through a second fixed pulley and is connected to the second traction device. The first traction rope includes a main traction side connected to the first traction device and a suspended object side connected to the suspended object. The suspended object side segment of the first traction rope passes through two double-pulley trolleys and is connected to the suspended object. The second traction rope includes a secondary traction side connected to the second traction device and a pulley side connected to the double-pulley trolleys. The two double-pulley trolleys are sequentially arranged on the pulley side segment of the second traction rope. The first traction device is configured to traction the suspended object at a first traction speed v1, and the second traction device is configured to traction the double-pulley trolleys at a second traction speed v2. The vector directions of the first traction speed and the second traction speed are opposite. Furthermore, the movement of the suspended object in two-dimensional space satisfies the following formula: V x =v2; V y (v2-v1)*cosa, arctan(L / 2H); In the formula, Vx is the speed of the suspended object moving in the X-axis direction, Vy is the speed of the suspended object moving in the Y-axis direction, and L is the length of the rope segment between the two double pulleys.

2. The system of claim 1, wherein the rope segments on the two suspended object sides are connected to the same first traction device via the rope segment on the main traction side, and the rope segments on the two suspended object sides traction the suspended object at a first traction speed v1.

3. The system as described in claim 2, wherein two first traction devices are provided, and two rope segments correspondingly connected to the first traction devices on the main traction side are also provided, and the two rope segments on the suspended object side are respectively connected to the two rope segments on the main traction side.

4. In the system of claim 1, the two fixed nodes connecting the main cableway are each independently a third fixed pulley, the main cableway is composed of a first section of the second traction rope passing through the two third fixed pulleys respectively, and the second section of the rope located on the two third fixed pulleys constitutes the rope section on the pulley side.

5. The system of claim 4, wherein both free ends of the second traction rope are connected to the same second traction device, and the vector directions of the traction velocities of the first portion of the rope and the second portion of the rope are opposite.

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