Multi-line parallel suspension movement system

Abstract

The invention relates to a multi-line parallel suspension movement system which comprises a plurality of traction devices, each traction device correspondingly extends to form a flexible traction rope, and the traction ropes at least comprise a main traction rope for calibrating the preset reference angle of the system and a plurality of auxiliary traction ropes; the suspension platform is used for suspending the suspended object, traction nodes used for connecting the main traction rope and the auxiliary traction rope are constructed on the suspension platform, and at least the main traction rope and the traction nodes are constructed into a posture linkage mechanism, so that when the position of the suspension platform in the three-dimensional space is changed, the posture linkage mechanism can be used for connecting the main traction rope with the auxiliary traction rope. A fixed angle difference exists between a first included angle between the rope direction of the main traction rope and the X axis of a preset coordinate system and a second included angle between the preset orientation of the suspension platform and the Y axis of the preset coordinate system. When the system is used for controlling the direction of the suspended object, a user can continuously keep the suspended object at an expected orientation angle, or the expected angle of the suspended object is controlled manually through a direction control motor.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical positioning control, and in particular to a multi-line parallel suspension movement system. BACKGROUND

[0002] In the application fields of stage performance, TV live broadcast, film and television shooting or flight simulation, it is often necessary to use a multi-line parallel suspension movement system to carry a camera device or other suspended objects with certain mass that need to move along a specified path in two-dimensional and three-dimensional space. Such a system usually uses multiple traction ropes to realize coordinated control with a winch. In its typical structure, at least two flexible ropes are needed to realize the movement of the suspended object in two-dimensional space. At least three flexible ropes are needed to realize the movement of the suspended object in three-dimensional space. Figure 1 and Figure 2 The existing multi-line parallel suspension movement system for realizing three-dimensional space movement is shown in FIG. 1. In this exemplary typical structure, four traction ropes are provided, one end of each of the four traction ropes is connected to traction device 1, traction device 2, traction device 3 and traction device 4, respectively, and the other end of each of the ropes is optionally passed through guide node 5, guide node 6, guide node 7 and guide node 8, respectively. Generally, these guide nodes can be a fixed pulley or a pulley group composed of a fixed pulley and multiple movable pulleys, respectively, according to the actual working conditions. The latter four traction ropes are then connected to different traction nodes on the suspension platform, and each node corresponds to the label in Figure 2 FIG. 2, wherein traction node 13, traction node 14, traction node 15 and traction node 16 represent the first position of the suspension platform, and traction node 13', traction node 14', traction node 15' and traction node 16' represent the second position of the suspension platform. The suspended object 17 is always hung on the suspension platform when it is in the first position and the second position, and the actual direction change of the suspension platform when it is in the first position and the second position is exemplarily marked by arrows in the figure. It can be clearly seen that according to the existing system, there is no corresponding angle locking relationship between the direction change of the suspension platform and any one of the traction ropes. In actual use, the inventors have found that such a system in the prior art has problems in some application environments. For example, if the suspended object 17 has a clear orientation and the orientation of the suspended object 17 needs to be controlled during movement, the existing multi-line parallel suspension movement system with three or more lines cannot achieve this well. Taking the typical structure shown in FIG. 1 and FIG. 2 as an example, in order to facilitate the description, the traction ropes in the figure are marked with the driving side close to the traction device and the driven side connected to the load on the other side of the fixed pulley. Figure 1 and Figure 2 The typical structure is shown in FIG. 1 and FIG. 2. In order to facilitate the description, the traction ropes in the figure are marked with the driving side close to the traction device and the driven side connected to the load on the other side of the fixed pulley. Figure 2 The horizontal projection view of Figure 1 is shown in FIG. 3. In Figure 2If the first position in the first position, the driven side traction rope 9', the driven side traction rope 10', the driven side traction rope 11' and the driven side traction rope 12' are respectively pulled under the traction of the corresponding traction device with the tension of F1, F2, F3 and F4, and if the suspended object needs to move in the three-dimensional space, the values of F1, F2, F3 and F4 will change in real time, for example, in the second position, the traction forces are F1', F2', F3' and F4' respectively, at this time the suspended platform will change the posture under the real-time tension change, at the same time the suspended platform will change from one balance state to another balance state, and the process will occur torsional deviation. At the same time, because there is no stable angle corresponding relationship between any traction rope and the suspended platform, the deviation angle of the suspended platform is difficult to obtain, which directly leads to the fact that the angle of the suspended object hanging on the suspended platform cannot be maintained or changed. Further explanation, because the real-time tension direction and size of the traction rope are different and cannot be stably in a regular direction posture, therefore, in fact, it is impossible to accurately obtain the deviation. This puts forward new requirements for some application scenarios that need to keep the suspended object facing the same direction or controllably change direction. Although some manufacturers have increased inertial navigation means to measure the position, speed and attitude data of the suspended platform in real time as the data feedback source of the winch controller. However, this method still has the problems of complex system, high cost and poor actual accuracy. SUMMARY

[0003] In view of the above problems existing in the prior art, one aspect of the present application aims to provide a multi-line parallel suspension movement system, which has simple structure and high reliability, and can provide accurate direction data feedback in application scenarios requiring direction control, facilitating subsequent real-time adjustment of the orientation of the suspended object.

[0004] In order to achieve the above-mentioned first aspect, the present application provides a multi-line parallel suspension movement system, comprising: a plurality of traction devices, each of which corresponds to a flexible traction rope, and the traction rope at least includes a main traction rope for calibrating the orientation angle of the suspended object, and a plurality of auxiliary traction ropes; a suspended platform configured to hang the suspended object, which is provided with a traction node for connecting the main traction rope and the auxiliary traction rope, and at least the main traction rope and the traction node are configured as a posture linkage mechanism, so that when the suspended platform changes position in the three-dimensional space, there is a fixed angle difference between the first included angle between the rope direction of the main traction rope and the X-axis of the preset coordinate system, and the second included angle between the preset orientation of the suspended platform and the Y-axis of the preset coordinate system.

[0005] As preferred, a plurality of guide nodes are further included, and the plurality of traction ropes are connected to the suspension platform after passing through the corresponding guide nodes respectively; wherein the preset coordinate system is a coordinate system established by the horizontal projection of the system, and when the guide node corresponding to the main traction rope is taken as the origin, the first included angle formed between the main traction rope and the X-axis direction of the preset coordinate system is the same as the second included angle formed between the preset orientation of the suspension platform and the Y-axis direction of the preset coordinate system, and the fixed angle difference is 0.

[0006] As preferred, the traction nodes include a main traction node and a secondary traction node, the posture linkage mechanism includes one fixed-position main traction node and one secondary traction node located on the opposite sides of the traction platform from the main traction node, and the main traction rope is connected to the main traction node, and a plurality of secondary traction ropes are connected to the secondary traction node.

[0007] As preferred, the suspension platform includes at least a main hanger, and the main hanger includes at least a main body and a swing arm rotatably connected to the main body, and the swing arm is provided with a main traction lifting ring and a secondary traction lifting ring at two ends respectively, the main traction lifting ring is configured to allow the main traction rope to be connected to the main traction node, and the secondary traction lifting ring is configured to allow the secondary traction rope to be connected to the secondary traction node.

[0008] As preferred, the traction nodes include a main traction node and a secondary traction node, the posture linkage mechanism includes one fixed-position main traction node and a plurality of position-variable secondary traction nodes, and when the suspension platform moves in the three-dimensional space, the positions of the plurality of secondary traction nodes dynamically change to an equilibrium state, and in the equilibrium state, the tension vectors of the plurality of secondary traction ropes have the same equivalent action point.

[0009] As preferred, the suspension platform includes a main hanger, and the main hanger includes a lifting disc, the lifting disc is provided with a first lifting arm, and the main hanger is further provided with a plurality of second lifting arms capable of rotating or sliding around the central axis of the lifting disc, and a plurality of secondary traction ropes are connected to the second lifting arms respectively.

[0010] As preferred, a plurality of bearings are coaxially installed on the main hanger, the plurality of bearings rotate independently and do not interfere with each other, and a plurality of second lifting arms are connected to the outer periphery of the bearings respectively.

[0011] As preferred, the hanging points of the plurality of second lifting arms are configured with bending portions towards the same horizontal plane, so that the hanging points of the second lifting arms are substantially in the same plane.

[0012] As preferred, the posture linkage mechanism further comprises a hinged linkage mechanism, the hinged linkage mechanism comprising a first linkage and a second linkage hinged to each other, a free end of the first linkage being connected with one of the traction ropes, and a free end of the second linkage being connected with the suspension platform.

[0013] As preferred, the first linkage comprises a first clamping arm and a second clamping arm arranged in parallel, one end of the first clamping arm and the second clamping arm being hinged to the second linkage, and the other end being provided with a clamp, the traction rope being clamped between the first clamping arm and the second clamping arm.

[0014] As preferred, a direction control motor module is arranged in the main body, an output end of the direction control motor module being connected to the main hanger, and the other end of the direction shaft module being connected to the suspended object.

[0015] As preferred, the suspension platform further comprises a battery, a controller and a pitch adjustment mechanism, wherein the pitch adjustment mechanism comprises a pitch control motor and a pitch control winch arranged at an output end of the pitch control motor, and a pitch control rope capable of adjusting the pitch angle of the suspended object being wound around the pitch control winch.

[0016] The multi-line parallel suspension motion system provided by the present application can establish a preset angle relationship between the traction rope and the suspension platform during initial setting, and lock the preset angle relationship when the position of the suspension platform changes. That is, when the position of the suspension platform changes in the three-dimensional space, there is a fixed angle difference between the first included angle between the rope direction of the main traction rope and the X-axis of the preset coordinate system, and the second included angle between the preset orientation of the suspension platform and the Y-axis of the preset coordinate system. In this way, regardless of how the suspension platform moves in the three-dimensional space, the orientation angle of the suspension platform can be obtained through the angle change of the traction rope in the preset coordinate system, and the direction of the suspended object hung on the suspension platform can be further controlled. Specifically, during this process, the user can continuously maintain the suspended object at a desired orientation angle according to the above angle locking relationship, or artificially give the suspended object a desired angle control through the direction control motor. Compared with the traditional technology, the above scheme of the present application has the advantages of simple structure, easy deployment and high control accuracy. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is a typical structural schematic diagram of the existing multi-line parallel suspension motion system; Figure 2 is a horizontal projection view of Figure 1 ; Figure 3Structure diagram of a first embodiment of the multi-wire parallel suspension motion system of the present application; Figure 4 Structure diagram of a second embodiment of the multi-wire parallel suspension motion system of the present application; Figure 3 Structure diagram of a third embodiment of the multi-wire parallel suspension motion system of the present application; Figure 5 Structure diagram of a fourth embodiment of the multi-wire parallel suspension motion system of the present application; Figure 6 Structure diagram of a first embodiment of the multi-wire parallel suspension motion system of the present application; Figure 5 Structure diagram of a second embodiment of the multi-wire parallel suspension motion system of the present application; Figure 7 Structure diagram of a third embodiment of the multi-wire parallel suspension motion system of the present application; Figure 8 Structure diagram of a fourth embodiment of the multi-wire parallel suspension motion system of the present application; Figure 9a Structure diagram of a first embodiment of the multi-wire parallel suspension motion system of the present application; Figure 9b Structure diagram of a first embodiment of the multi-wire parallel suspension motion system of the present application; Figure 10a Structure diagram of a second embodiment of the multi-wire parallel suspension motion system of the present application; Figure 10b Structure diagram of a second embodiment of the multi-wire parallel suspension motion system of the present application; Figure 11 Structure diagram of a third embodiment of the multi-wire parallel suspension motion system of the present application; Figure 12 Structure diagram of a fourth embodiment of the multi-wire parallel suspension motion system of the present application.

[0018] Main reference signs: 1, 2, 3, 4 - traction device; 5, 6, 7, 8 - guide node; 9, 10, 11, 12 - active side traction rope; 9', 10', 11', 12' - passive side traction rope; 13, 14, 15, 16, 13', 14', 15', 16' - traction node, 17 - suspended object, 19 - equivalent action point; 20, 30 - main hanger; 201 - swing arm; 202 - first rotation shaft; 203 - main traction hanger ring; 204 - auxiliary traction hanger ring; 21 - direction shaft reduction machine; 22 - direction shaft; 23 - direction shaft control motor; 24 - battery; 25 - pitch control motor; 26 - pitch reduction machine; 27 - pitch control winch; 28 - pitch control rope; 31 - bearing; 32 - first boom; 33 - second boom; 34 - jib; 35 - sling; 36 - reduction gear; 37 - servo motor; 38 - controller; 18, 100, 101 '-hinged linkage; 200 - gimbal frame; 300 - bearing rotary support; 400 - main shaft; 500 - rotary platform connection end; 600 - base; 301 - second rotary shaft; 302 - second rotary shaft; 101 - first link; 102 - second link; 103 - hinged joint; 104 - locking hoop; 105 - fastener; 1011 - first clamping arm; 1012 - second clamping arm; 1013 - clamp. DETAILED DESCRIPTION

[0019] In order for those skilled in the art to better understand the technical solutions of the present application, the present application will be described in detail below in conjunction with the drawings and specific embodiments.

[0020] These and other characteristics of the present application will become more apparent from the following description of the preferred forms given, by way of non-limiting example, with reference to the attached drawings.

[0021] It should also be understood that, although the present application has been described with reference to some specific examples, a person of skill in the art shall be capable of submitting many other equivalent forms thereof, having the characteristics as defined by the claims, and therefore falling within the field of protection defined thereby.

[0022] The above and other aspects, features and advantages of the present application will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings, in which:

[0023] In the present application, similar to the conventional structure, at least three flexible ropes and corresponding number of traction devices are needed for the multi-wire parallel suspension movement system to realize the movement control of the suspended object in three-dimensional space. The traction device is generally a winch, such as Figures 1 to 6The traction device 1, the traction device 2, the traction device 3 and the traction device 4 shown in the figure. In the conventional structure, the traction ropes have no strict primary and secondary division, when a plurality of traction ropes are connected on the suspension platform respectively, any rope has no attitude locking relationship with the preset orientation of the suspension platform, that is, the orientation angle of the suspension platform cannot be calibrated through the deflection angle of the rope in the preset coordinate system. Moreover, when the position of the suspended object 17 changes, the tension on each traction rope is not actually concentrated at the same point, at this time, the suspension platform will inevitably produce a twist which cannot be accurately calculated, so the orientation of the suspension platform cannot be accurately known. In this way, in some application scenarios which need to strictly control the orientation of the suspended object, for example, when the suspended object is a camera, in order to keep the camera always pointing to the photographed object when moving in the three-dimensional space, the deflection angle of the camera needs to be adjusted and compensated at any time, if the real-time orientation of the suspension platform in the movement process cannot be accurately known, the actual deflection angle of the camera cannot be controlled. Therefore, the technical scheme of the present application actually realizes the angle locking relationship between the traction rope and the suspension platform by changing the connection structure of the traction rope and the suspension platform, no matter how the suspension platform moves in the three-dimensional space, there is always a traction rope in the same preset coordinate system which can calibrate the preset orientation of the suspension platform, and then the orientation angle of the suspended object 17 hung on the suspension platform can also be accurately calibrated. This process does not need to involve inertial navigation technology related components, saves deployment and maintenance costs, and ensures the stability of the system operation. Specifically, the present application provides a multi-line parallel suspension movement system, comprising: A plurality of traction devices, each of which can actually be a winch, and a flexible traction rope corresponding to the winch extends out, the traction rope at least includes a main traction rope for calibrating the preset reference angle of the system, and a plurality of secondary traction ropes; a suspension platform for hanging a suspended object, which is provided with a traction node for connecting the main traction rope and the secondary traction rope, at least the main traction rope and the traction node are constructed as an attitude linkage mechanism, so that when the position of the suspension platform changes in the three-dimensional space, there is a fixed angle difference between the first included angle between the rope direction of the main traction rope and the X axis of the preset coordinate system, and the second included angle between the preset orientation of the suspension platform and the Y axis of the preset coordinate system. In the technical scheme proposed in the present application, the essence is to make at least one traction rope form an angle locking with the suspension platform. Figure 3 And Figure 4 The structure schematic diagram of the first embodiment of the present application is shown, Figure 5 And Figure 6 The structure schematic diagram of the second embodiment of the present application is shown. Figure 7 The third embodiment of the present application is shown, and Figure 8A fourth embodiment of the present application is shown, in the above-mentioned embodiments of the present application, as shown in Figures 3 to 8 , the traction device 1 corresponds to the traction rope 9, 9', the traction device 2, the traction device 3 and the traction device correspond to the traction rope 10, 11, 12 and 10', 11', 12'. It can be understood that although in these embodiments, the four rope scheme is exemplified, it can be understood that three or five lines can also be implemented. And in the above-mentioned embodiments of the present application, although the traction rope 9, 9' is specified as the main traction rope, the rest is the auxiliary traction rope, in fact, it can be understood that the main traction rope is not fixed, the user can set one traction rope as the main traction rope and the rest as the auxiliary traction rope according to the actual needs during on-site deployment. In other words, as long as at least one traction rope is in the same coordinate system as the suspended platform, the first included angle between the rope direction of the main traction rope and the X-axis of the preset coordinate system and the second included angle between the preset orientation of the suspended platform and the Y-axis of the preset coordinate system exist a fixed angle difference. In other words, in the present application, setting a main traction rope does not mean that the main traction rope plays a major traction role, but the main traction rope is used to calibrate the orientation angle of the suspended platform. In addition, as shown in Figures 3 to 8 , the same as the first embodiment and the second embodiment, it also includes a plurality of guide nodes, that is, guide node 5, guide node 6, guide node 7 and guide node 8, which can actually be a fixed pulley or a pulley group composed of multiple pulleys, and a plurality of traction ropes are connected with the suspended platform after passing through the corresponding guide nodes. At the same time, it can be noted that in order to facilitate explanation, the main traction rope and the auxiliary traction rope are marked as Figure 1 and Figure 2 similarly, the driving side traction rope and the driven side traction rope located on both sides of the guide node are clearly marked. Among them, Figure 4 and Figure 6 are the horizontal projection views of the first embodiment and the second embodiment, respectively, as shown in the figure, the preset coordinate system of the present application is the coordinate system established in the horizontal projection of the system, and when the guide node corresponding to the main traction rope is taken as the origin, the first included angle formed by the main traction rope and the X-axis direction of the preset coordinate system is the same as the second included angle formed by the preset orientation of the suspended platform and the Y-axis direction of the preset coordinate system, and the fixed angle difference is 0. That is, in this specific implementation, no matter how the suspended platform moves in the three-dimensional space, the main traction rope will keep the first included angle formed by the main traction rope and the X-axis direction of the coordinate system and the second included angle formed by the orientation on the suspended platform and the Y-axis direction of the coordinate system the same, both are angle a. In the exemplary coordinate system, the guide node corresponding to the main traction rope is the origin.

[0024] In the first embodiment, the traction node includes a main traction node 13, and auxiliary traction nodes 14, 15, 16. In the figure, the traction nodes 13', 14', 15', 16' are actually traction node marks at different positions. In this embodiment, the posture linkage mechanism is actually composed of a main traction node and auxiliary traction nodes at specific positions. Specifically, the posture linkage mechanism includes a main traction node 13 with a fixed position, and an auxiliary traction node 14 located on both sides of the traction platform opposite to the main traction node 13. The main traction rope 9 is connected to the main traction node 13, and the plurality of auxiliary traction ropes 10, 11, 12 are all connected to the auxiliary traction node 14. In fact, in three-line, five-line or other applications, it is only necessary to maintain one main traction node and one auxiliary traction node, and the two are symmetrically distributed on the suspension platform to form a posture linkage mechanism. At this time, there is a posture linkage relationship between the main traction rope and the suspension platform, such as Figure 4 As shown, in the preset coordinate system, the angle between the main traction rope and the X-axis in the first position is a, and the angle between the suspension platform and the Y-axis of the preset coordinate system is also a. When the suspension platform moves to the dotted line position, the angle of the main traction rope changes to a'. Due to the posture linkage relationship set by the system, the user can determine the angle of the suspension platform based on the angle value of the main traction rope. Since the suspended object is suspended from the suspension platform, if the user wants to obtain the current angle of the suspended object or adjust it to a desired angle, appropriate corresponding control can be performed based on its initial angle and subsequent angle changes.

[0025] In the first embodiment, the main traction rope 9 is connected to the main traction ring 203, and the auxiliary traction ropes 10, 11, 12 are connected to the auxiliary traction ring 204. In the first embodiment, since the tension points of multiple auxiliary traction ropes actually converge on the same auxiliary traction node 14, when the main traction node 13 and the auxiliary traction node 14 are subjected to force, the auxiliary traction ropes 10, 11, 12 are connected to the auxiliary traction ring 204. Figure 4 As shown by the arrow in the direction of the suspended object, under the premise of reasonably setting the initial angle, no matter how the position of the suspended object 17 in the three-dimensional space changes, the direction angle of the suspended object 17 can be determined based on the angle of the main traction rope in the reference coordinate system. Figure 9a and Figure 9bThe specific structure of the first embodiment is shown. As shown in the figure, the suspension platform at least comprises a main hanger 20, which at least comprises a main body and a swing arm 201 connected to the main body. The swing arm 201 is connected with a main traction ring 203 and a secondary traction ring 204 at both ends through a first rotating shaft 204, respectively. The main traction ring 203 is configured to connect the main traction rope to the main traction node, and the secondary traction ring 204 is configured to connect the secondary traction rope to the secondary traction node. In the first embodiment, a direction control motor module is also shown. As shown in Figure 9a , 9b The suspension platform can be mounted with a battery 24. The main body is provided with a direction control motor 23. The output end of the direction control motor 23 is connected with a direction shaft 22. The other end of the direction shaft 22 is connected with a direction shaft speed reducer 21.

[0026] Figure 5 and Figure 6 The second embodiment of the present application is shown. In this embodiment, as shown in the figure, the traction node comprises a main traction node and a secondary traction node. The posture linkage mechanism comprises one fixed-position main traction node 13 and multiple position-variable secondary traction nodes 14. When the suspension platform moves in three-dimensional space, the positions of the multiple secondary traction nodes dynamically change to a balanced state. In the balanced state, the tension vectors of the multiple secondary traction ropes have the same equivalent point of action 18. Here, the balanced state refers to a force balanced state, i.e., a state in which the vector sum of all the pulling forces acting on the suspension platform is zero. Only in this state, the suspension platform will not be twisted. Therefore, in the balanced state, the angle between the main traction rope 9 and the X-axis in the preset coordinate system and the angle between the suspension platform and the Y-axis of the coordinate system can maintain a preset relationship. As shown in Figure 6As shown, in the preset coordinate system, the angle between the main traction rope and the X-axis is a when the main traction rope is in the first position, and the angle between the suspended platform and the Y-axis of the preset coordinate system is also a at this time. When the suspended platform moves to the dashed line position, the angle of the main traction rope changes to a', and due to the posture linkage relationship of the system, the user can determine the angle of the suspended platform according to the angle value of the main traction rope. Since the suspended object is hung on the suspended platform, if the user wants to obtain the current angle of the suspended object or adjust it to the expected angle, appropriate corresponding control can be performed according to the initial angle and the subsequent angle change. Different from the first embodiment, in this embodiment, the plurality of secondary traction nodes 14, 15 and 16 are dynamically changed, and the dynamic change of the secondary traction node can enable the system to dynamically reach a force balance state when moving from the first position to the second position, thereby preventing the suspended platform from deviating unpredictably. At the same time, as shown, the dynamically changed secondary traction nodes enable the tension vectors of the secondary traction ropes to have the same equivalent action point 19. In fact, when the suspended object 17 moves in the three-dimensional space, the traction rope 9 is fixedly connected to the traction node 13 as the main traction rope, and the traction node 13 is fixedly connected to the suspended platform as the main traction node. In order to enable the plurality of secondary traction ropes to have the same equivalent action point 19, in the present application, the secondary traction node can be configured as a position-passively variable hanging point. In this way, under the tension of the secondary traction rope, the secondary traction node can dynamically change position to enable the tension of the secondary traction rope to act on substantially the same point, and the effect is equivalent to the mode of the first embodiment.

[0027] However, the same as the first embodiment, in the present application, in order to realize the pitch angle adjustment of the suspended object 17, the suspended platform further comprises a controller 38 and a pitch adjustment mechanism, wherein the pitch adjustment mechanism comprises a pitch control motor 25 and a pitch control winch 27 arranged at the output end of the pitch control motor 25, and the pitch control winch 27 is wound with a pitch control rope 28 capable of adjusting the pitch angle of the suspended object 17.

[0028] Figure 10a and Figure 10bThe specific structure of the second embodiment is shown in the figure. As shown, the suspension platform comprises a body, a hanging disc 34 is fixedly connected to the body, a first hanging arm 32 is arranged on the hanging disc 34, a plurality of second hanging arms 33 capable of rotating or sliding around the central axis of the hanging disc 34 are arranged on the body, and a plurality of auxiliary traction ropes are respectively connected to the second hanging arms 33. More specifically, a plurality of bearings 31 are coaxially arranged on the body, the plurality of bearings 31 rotate independently and do not interfere with each other, and a plurality of second hanging arms are respectively connected to the outer periphery of the bearings 31. The hanging points of the plurality of second hanging arms are configured with a bending portion towards the same horizontal plane, so that the hanging nodes of the second hanging arms 33 are substantially in the same plane.

[0029] Figure 7 and Figure 8 The third and fourth embodiments of the present application are shown, Figure 11 and Figure 12 The specific structure diagrams are respectively shown. In the two implementation modes, the same as in the first and second embodiments, the third and fourth embodiments also maintain the attitude linkage relationship between one of the traction ropes and the suspension platform through the attitude linkage mechanism, that is, the angle locking relationship, or in other words, the direction of the suspension platform is calibrated through the main traction rope. Unlike the equivalent two traction nodes of the first embodiment, or the fixed traction node and the plurality of variable traction nodes with the same equivalent action point of the second embodiment, in the two embodiments, the attitude linkage mechanism further comprises a hinged linkage mechanism 18, 100, 101', specifically, the hinged linkage mechanism comprises a first linkage 101 and a second linkage 102 hinged to each other, a free end of the first linkage 101 is connected with one of the traction ropes, and a free end of the second linkage 102 is connected with the suspension platform. In such a structure, since the hinged linkage structure is actually configured as a planar linkage mechanism, when the suspension platform moves, the torsion angle of the suspension platform can be changed synchronously through the attitude linkage mechanism to change the included angle of the main traction rope, at which time the orientation angle of the suspension platform can be calculated through the angle of the main traction rope. In the fourth embodiment, unlike the third embodiment, the first linkage 101 comprises a first clamping arm 1011 and a second clamping arm 1012 arranged in parallel, one end of the first clamping arm 1011 and the second clamping arm 1012 is hinged to the second linkage 102, and the other end is provided with a clamp 1013, and the traction rope is clamped between the first clamping arm 1011 and the second clamping arm 1012.

[0030] More specifically, in some embodiments, the suspension platform comprises a gimbal outer frame 200 and a gimbal inner frame 300, which are connected by a second rotating shaft 301 arranged oppositely, the gimbal inner frame 300 is connected with a bearing rotating support 303 connected on a main shaft 400 through a third rotating shaft 302 arranged oppositely, the second connecting rod is connected on the main shaft 400 through a locking hoop 104, and a bottom of the main shaft 400 is provided with a rotating platform connecting end 500. In other implementations, for example, in the application of achieving the locking relationship between the traction rope and the suspension platform through the articulated connecting rod mechanism, the connecting traction node of the traction rope can be actually connected on the same point, as shown in Figure 12 In this application, a rotatable base 600 is arranged on the main shaft, a plurality of traction rings are arranged on the plurality of traction nodes, and a plurality of traction ring bearings are connected on the main shaft. Of course, in this application, the articulated connecting rod mechanism still needs to be fixedly connected with a traction rope through the locking hoop 104.

[0031] The above embodiments are only exemplary embodiments of the present application and are not used to limit the present application, and the protection scope of the present application is defined by the claims. Those skilled in the art can make various modifications or equivalent replacements to the present application within the spirit and protection scope of the present application, and such modifications or equivalent replacements shall also be considered to fall within the protection scope of the present application.

Claims

1. Multi-line parallel suspension motion system, including: A plurality of traction devices, each of which extends a corresponding flexible traction rope, wherein the traction rope includes at least a main traction rope for calibrating a preset reference angle of the system, and a plurality of auxiliary traction ropes; A suspension platform is used to suspend a suspended object, and is constructed with a traction node for connecting the main traction rope and the auxiliary traction rope. At least the main traction rope and the traction node are constructed as a posture linkage mechanism, so that when the position of the suspension platform changes in three-dimensional space, there is a fixed angle difference between the first angle between the rope direction of the main traction rope and the X-axis of the preset coordinate system and the second angle between the preset orientation of the suspension platform and the Y-axis of the preset coordinate system.

2. The multi-line parallel suspension motion system according to claim 1, further comprising a plurality of guide nodes, wherein the plurality of traction ropes pass through corresponding guide nodes and are connected to the suspension platform; wherein, The preset coordinate system is a coordinate system established by the horizontal projection of the system, and when the guide node corresponding to the main traction rope is taken as the origin, the first angle formed by the main traction rope and the X-axis direction of the preset coordinate system is the same as the second angle formed by the preset orientation of the suspension platform and the Y-axis direction of the preset coordinate system, and the fixed angle difference is 0.

3. The multi-line parallel suspension motion system as described in claim 1, wherein the traction node includes a main traction node and an auxiliary traction node, the posture linkage mechanism includes a main traction node with a fixed position, and an auxiliary traction node located on two sides opposite to the main traction node of the traction platform, the main traction rope is connected to the main traction node, and multiple auxiliary traction ropes are connected to the auxiliary traction node.

4. The multi-line parallel suspension motion system as described in claim 3, wherein the suspension platform includes at least a main hanger, and the main hanger includes at least a main body and a swing arm rotatably connected to the main body, and main traction rings and auxiliary traction rings are respectively provided at both ends of the swing arm, the main traction ring serves as the main traction node for the main traction rope to be connected, and the auxiliary traction ring serves as the auxiliary traction node for the auxiliary traction rope to be connected.

5. The multi-line parallel suspension motion system as described in claim 1, wherein the traction node includes a main traction node and a secondary traction node, the posture linkage mechanism includes a main traction node with a fixed position, and a plurality of secondary traction nodes with variable positions, and when the suspension platform moves in three-dimensional space, the positions of the plurality of secondary traction nodes dynamically change to an equilibrium state, and in the equilibrium state, the tension vectors of the plurality of secondary traction ropes have the same equivalent point of action.

6. The multi-line parallel suspension motion system as described in claim 5, wherein the suspension platform includes a main hanger, the main hanger includes a hanging plate, a main traction boom is provided on the hanging plate, and the main hanger is also provided with a plurality of auxiliary traction booms that can rotate or slide around the central axis of the hanging plate, and the plurality of auxiliary traction ropes are respectively connected to the auxiliary traction booms.

7. The multi-line parallel suspension motion system as described in claim 5, wherein a plurality of bearings are coaxially mounted on the main hanger, the plurality of bearings rotate independently and do not interfere with each other, and the plurality of auxiliary traction arms are respectively connected to the outer periphery of the bearings; the hanging points of the plurality of auxiliary traction arms are constructed with bending portions facing the same horizontal plane, so that the hanging nodes of the auxiliary traction arms are roughly in the same plane.

8. The multi-line parallel suspension motion system as described in claim 1, wherein the posture linkage mechanism also includes an articulated link mechanism, and the articulated link mechanism is a planar link mechanism, which includes a first link and a second link hinged to each other, the free end of the first link is connected to one of the traction ropes, and the free end of the second link is connected to the suspension platform.

9. The multi-line parallel suspension motion system as described in claim 8, wherein the suspension platform includes a vertical main shaft, one end of the second connecting rod is connected to the main shaft through a locking hoop, and the other end is hinged to one end of the first connecting rod through an articulated joint, and the other end of the first connecting rod is connected to one of the traction ropes through a fastener.

10. The multi-line parallel suspension motion system as described in claim 9, wherein the first connecting rod includes a first clamping arm and a second clamping arm arranged in parallel, one end of the first clamping arm and the second clamping arm is hinged to the second connecting rod, and the other end is provided with a clamp, and the traction rope is clamped between the first clamping arm and the second clamping arm.

11. The multi-line parallel suspension motion system according to any one of claims 3, 5 or 8, wherein a direction control motor module is further provided on the main hanger, an output end of the direction control motor module is connected to the main hanger, and the other end of the direction control motor module is connected to the suspended object.

Images