240 results about "Gravity compensation" patented technology

The invention provides a tower crane system with an offset repairing function and an offset repairing method thereof. The tower crane system comprises a base; the tower comprises a tower body, a cargo boom, a balance arm and a first rotating assembly. The monitoring assembly is configured to be used for monitoring the current offset, the current offset direction, the wind load and the wind direction of the tower body; the offset repairing assembly comprises a plurality of groups of compensation arms, a second rotating assembly, a third rotating assembly and a control unit; the multiple sets of compensation arms are rotationally connected with the tower body, and gravity compensation pieces capable of moving along the compensation arms are hung on the multiple sets of compensation arms. The control unit is used for predicting the future offset and the future offset direction of the tower body according to data monitored by the monitoring assembly and controlling the second rotating assembly to drive the multiple sets of compensation arms to rotate according to the future offset direction of the tower body so as to adjust the positions of the compensation arms. And the position of the gravity compensation piece on the compensation arm is adjusted according to the future offset of the tower body, compensation of the offset of the tower body is achieved, and the tower body is kept in a balanced state.

The invention provides a model and data driving fused mechanical arm gravity compensation algorithm, and aims to solve the problem of poor mechanical arm gravity compensation precision caused by model uncertainty. According to the algorithm, firstly, a statics equation is established, secondly, multiple data are trained through a Bayesian neural network (BNN), a predicted torque and a standard are generated, then, through a Bayesian fusion method, a model calculation result and a neural network fitting result are subjected to Bayesian fusion according to a standard deviation, and a fusion estimation torque is generated. In order to solve the problem that the generalization ability of a data driving model is insufficient in an unseen scene, the algorithm uses a physical model as a constraint condition to limit the range of fusion torque, high deviation caused by insufficient model generalization is reduced, and then stability is ensured. Compared with a traditional modeling method, the fusion strategy is combined with the self-adaptability of physical constraint and data driving, the influence of modeling errors on the control precision is effectively reduced, and the precision and robustness of gravity compensation are remarkably improved.

The invention provides a tower crane system and an offset repairing method thereof. The tower crane system comprises a base; the tower comprises a tower body, a cargo boom, a balance arm and a first rotating assembly. The monitoring assembly is configured to be used for monitoring the current offset, the current offset direction, the wind load and the wind direction of the tower body; the offset repairing assembly comprises a plurality of groups of compensation arms, a second rotating assembly, a third rotating assembly and a control unit; one end of each compensation arm is rotationally connected with the tower body through a second rotating assembly, a gravity compensation part is suspended at the end, away from the tower body, of each compensation arm, and the compensation arms are of telescopic structures; the control unit is used for predicting the future offset and the future offset direction of the tower body according to data monitored by the monitoring assembly, controlling the compensation arm to stretch out and draw back according to the future offset and the future offset and controlling the compensation arm to rotate, compensation of the offset of the tower body is achieved, and the tower body is kept in a balanced state.

The invention relates to the technical field of magneto-rheological, in particular to a magneto-rheological machining regulation and control device based on instantaneous current perception and a machining method.The device comprises a polishing platform, a polishing assembly, a detection circuit and a computer; the corresponding relation between different operation parameters of the polishing assembly and the ideal instantaneous current is collected, when the to-be-polished element is machined, the second instantaneous current is judged through the corresponding relation, whether the operation parameters of the polishing assembly are adjusted or not is determined according to the judgment result, and therefore real-time adjustment of the operation parameters of the polishing assembly is achieved. In the process, the step of calibrating parameters such as gravity compensation is not needed, the precision of measured data is only limited by the current measurement precision of the second instantaneous current between the magneto-rheological polishing module and the to-be-polished element, the measurement result is more accurate, a force sensor does not need to be added, and the equipment cost is reduced.

The invention discloses an intelligent control method for precise grinding of a robot, and the method comprises the steps: obtaining the information of a to-be-ground workpiece and initial grinding parameters, and the initial grinding parameters comprise the load gravity of the tail end of the robot; generating a target contact force based on the to-be-ground workpiece information and the initial grinding parameters; constructing a gravity compensation model through preset coordinate parameters based on the load gravity at the tail end of the robot; in the grinding process, grinding force data are collected in real time; on the basis of the grinding force data, actual contact force is obtained through a gravity compensation model; comparing the actual contact force with the target contact force to generate a contact force deviation and a deviation change rate; based on the contact force deviation and the deviation change rate, a force-position hybrid control instruction is output through a fuzzy PID controller; and on the basis of the force-position hybrid control instruction, control adjustment parameters of the robot are generated. By forming a complete intelligent control closed loop, constant-force grinding can be achieved, and the problems of uneven surface roughness, excessive grinding and the like are effectively solved.

The invention relates to the technical field of industrial robots, in particular to a dynamic simulation damping parameter solving method based on a gravity compensation mechanism, which comprises the following steps of: acquiring a joint basic parameter set of a to-be-tested industrial robot, and determining a test boundary condition according to the joint basic parameter set, and constructing a test task sequence based on the test boundary conditions. According to the method, the fusion weight of the static stiffness and the dynamic stiffness is intelligently adjusted according to the characteristics of the movement speed, the acceleration or the force control frequency band in a specific application task, and the limitation of a single parameter under complex and changeable working conditions is avoided. According to the parameter fusion mechanism aiming at the specific task characteristics, the generated joint comprehensive rigidity parameters can truly reflect the physical response of the robot in different operation stages, and the prediction error between the physical simulation environment and the actual physical operation is reduced; and the strict requirements of high-precision scenes such as semiconductor packaging and the like on micron-level positioning precision and force control stability are met.

The embodiment of the invention relates to the technical field of robots, and discloses a robot zero-force dragging teaching method and system. The teaching method comprises the steps that in response to dragging external force applied by an operator, the joint position and the joint speed are obtained in real time; determining a gravity compensation torque based on the joint position, determining a friction compensation torque based on the joint speed, and obtaining a command torque according to the gravity compensation torque and the friction compensation torque; and controlling the robot to execute dragging teaching through the command torque. According to the scheme of the embodiment of the invention, the operation difficulty and the physical burden are greatly reduced, and zero-force dragging teaching is realized.

The invention belongs to the technical field of shooting training assistance, and discloses a kinetic energy weapon trajectory attitude analysis and shooting time acquisition method and system. The method comprises the following steps: installing and calibrating a weapon detection terminal comprising an acceleration sensor and a gyroscope sensor on a kinetic energy weapon gun body; in the shooting process, acceleration and angular velocity data of the weapon are collected at high frequency through the terminal and wirelessly transmitted to the analysis processing equipment; the analysis processing equipment is used for performing gravity compensation and attitude calculation on the received data to obtain a real-time attitude angle and processing angle abrupt change; analyzing the data statistical characteristic change of the acceleration and / or angular velocity data, and comparing the data statistical characteristic change with a preset threshold value to accurately judge the shooting moment; and finally outputting track attitude information for evaluation. The weapon attitude can be accurately analyzed, the shooting time is accurately collected, an objective and quantitative evaluation basis is provided for shooting training, and the training effect is improved.

The invention discloses a robot compliance force control interaction method, system and device for a collaborative sewing scene and a storage medium. The method comprises the steps of setting a preset period of a contact force track, a speed track and a pose track; before the task is started, collecting data of a plurality of groups of force sensors, completing dynamic gravity compensation, and calculating real contact force in real time; in the task process, the real contact force is continuously obtained, the speed deviation and the pose deviation are obtained, the real contact force, the speed deviation and the pose deviation are input into a compliant controller based on an admittance model, and the target pose of the mechanical arm in the next step is dynamically adjusted; the compliant cooperation is repeatedly executed until the whole cooperation sewing task is completed; after the task is finished, a parameter optimization algorithm based on smooth iterative learning is constructed, the real contact force trajectory, the speed trajectory and the pose trajectory are used as input, the smooth iterative learning algorithm autonomously optimizes parameters of a compliant controller, and the optimal force-position trajectory tracking performance is achieved. According to the invention, a safe and stable robot cooperation sewing task is realized.

The invention belongs to the technical field of cap screwing processes, and discloses a multi-element cooperative automatic cap screwing process which comprises the following steps: S1, a bottle cap pretreatment and supply system; s2, a bottle body accurate positioning and fixing system; S3, a two-stage collaborative cap screwing execution system; s4, a multi-element sensing and feedback control system; and S5, process switching and system maintenance. The problem that a sealing interface is pressed unevenly due to deflection of a cover body or instability of a container is fundamentally solved, specifically, non-contact posture correction replaces traditional mechanical forced correction, microstructure damage caused by thread dislocation is avoided, the countertorque of the screw cover is counteracted in real time through a multi-degree-of-freedom constraint mechanism, and the reliability of the screw cover is improved. Risks of dumping of a height-diameter-ratio container and liquid sputtering are thoroughly eliminated, based on the dynamic coupling effect of profiling clamping and gravity compensation, the axis of a bottle opening is continuously kept in an ideal centering state in high-speed operation, and zero-interference continuous control over a mechanical transmission path of a sealing interface is achieved.

The invention discloses a two-arm robot flexible assembly method, device and equipment and a medium, and relates to the technical field of robot assembly.The method comprises the steps that gravity compensation is conducted on a contact force signal of a two-arm robot, and the compensated contact force signal is obtained; dynamically adjusting an impedance control model by using a fuzzy controller based on the compensated contact force signal to obtain a parameter-adjusted impedance control model; and according to the parameter-adjusted impedance control model and the compensated contact force signal, motion planning is conducted on the double-arm robot, and a flexible assembly result of the double-arm robot is obtained. The self motion state can be adjusted in real time according to changes of the external environment, it is ensured that the contact force in the assembling process is always kept within a proper range, and therefore the assembling precision is remarkably improved; the self-adaptive impedance control strategy can effectively avoid the situation that elements are damaged due to excessive force, and the production cost is reduced.

The invention discloses a wind turbine generator full-blade load monitoring method based on tower wall vision measurement, and the method comprises the steps: S1, arranging an observation platform, and installing a camera; s2, arranging a blade mark group; s3, synchronizing image acquisition and time; s4, camera calibration and distortion correction; s5, feature detection and tracking; s6, performing three-dimensional reconstruction; s7, centrifugal force and gravity compensation calculation; s8, blade net displacement calculation; and S9, carrying out aerodynamic force load inversion and result output. According to the invention, monitoring of the load in the edge direction of the whole blade of the wind turbine generator can be effectively realized, and reliable technical support is provided for safe operation, optimal design and economical efficiency improvement of the blade of the large-scale wind turbine generator.

The invention relates to the technical field of carts, in particular to a four-wheel quick-release large-base cart which comprises a transmission assembly, a gravity center compensation assembly and a direction reset mechanism. The transmission assembly is arranged in the supporting column. The gravity center compensation assembly is installed in the base in a sliding mode and connected with the transmission assembly. The direction resetting mechanism is connected with the universal wheel; when the bearing platform is rotated, a balancing weight in the gravity center compensation assembly is driven by the transmission assembly to slide reversely along the compensation sliding rail, so that gravity center shift caused by rotation of the bearing platform is counteracted; when the bearing platform is adjusted, the direction resetting mechanism enables the four universal wheels to slowly and automatically recover to the posture that the axes are parallel to the short sides of the base with the four universal wheels arranged in a rectangular shape; the problem that an existing four-wheel medical trolley overturns due to center-of-gravity shift when the angle of a bearing platform is adjusted is solved.

The invention discloses an automatic assembling method of a radio frequency connector, which comprises the following steps that: A, a female joint is static, and a male joint is translated to the upper part of the female joint and is in contact with the female joint; b, acquiring data of a force sensor to obtain contact force information between the male joint and the female joint, and performing filtering and tool gravity compensation on the data; c, inputting the processed force data into the KAN network to obtain a predicted position error between the male joint and the female joint; d, according to the position error, a first rotation center and a second rotation center of the two sections of rotation are calculated through a virtual rotation center algorithm, so that pose changes of the male connector after two times of rotation are obtained, and the speeds of two times of rotation movement of the male connector are obtained; e, inputting the processed force data into an admittance controller at the same time to obtain a compliant speed; f, the compliant speed and the two-time rotating speed are input into a speed controller, the final corresponding movement of the male connector and the speed and displacement of all joints needed by the robot are solved, and pose adjustment is completed; and G, pressing the male joint to complete assembly.

The invention belongs to the technical field of multi-rotor unmanned aerial vehicle control, and particularly relates to a multi-rotor unmanned aerial vehicle self-adaptive feedforward control method based on a mesoscopic wind field model. Comprising the following steps: firstly, based on a relaxation time model of a lattice Boltzmann method, establishing a mapping relation between a Knudsen number and turbulence intensity and thermal noise intensity of a macroscopic wind field, and realizing parameterized representation of a mesoscopic wind field; then, constructing a mesoscopic wind field model by synthesizing a real-time wind field containing average wind, turbulent flow, gust and thermal noise components; then, calculating the wind resistance according to the predicted wind speed, designing a self-adaptive gain mechanism fusing a real-time tracking error, an error wind direction included angle and a historical error trend, and generating a dynamic feedforward control quantity; and finally, combining the feedforward control quantity with a feedback control quantity based on gravity compensation to form a comprehensive wind resistance control law. Starting from the mesoscale, the disturbance suppression capability and trajectory tracking precision of the unmanned aerial vehicle in complex environments such as strong wind and turbulent flow are enhanced.

The invention relates to a constant-force grinding device and method based on gravity-elastic force dynamic balance, solves the problem of contact force fluctuation caused by blade profile deviation, actuating mechanism positioning error and grinding tool abrasion, and ensures that normal pressure is stabilized at a set threshold value in the polishing process. The device comprises a constant-force coil spring, a motor, a base, a limiting block, a linear guide rail, a balancing weight, a grinding wheel and a foundation frame. The linear guide rail in the vertical direction is installed on the foundation frame, the base is connected to the linear guide rail in a sliding mode and can move up and down on the linear guide rail, the motor is fixed to the base, the upper end of the constant-force coil spring is fixedly connected to the top of the foundation frame, and the lower end of the constant-force coil spring is connected with the base. The balancing weight is installed on the motor or the base, and the balancing weight requirement is calculated according to the target downward pressure F. The contact force stability is improved; the maintenance period is prolonged, and the constant-force floating structure does not need electrical maintenance.

The present invention discloses a chainless electrical bicycle, which is designed to eliminate any type of mechanical means to transfer torque and power from pedals to a traction wheel. The present invention employs a generator to transfer a pedal torque and power with the help of power electronics, control electronics, a battery and control methods to a motor that is used for traction, which is attached to the traction wheel. The generator power is supplemented with the battery power, wherein the battery is rechargeable. The main purpose of the present invention is to emulate a mechanical chain bicycle operation, eliminate shortcomings of a mechanical chain bicycle, and introduce convenience features, such as, but not limited to, continuously variable electronic gear, a gravity compensation, a static and dynamic torque assistance, a ride charge feature, and an electric brake system.

The invention relates to the field of motors, and discloses a voice coil motor with a magnetic gravity compensation structure, comprising a rotor unit and a stator unit, the stator unit slidably sleeves the rotor unit, the rotor unit comprises a coil assembly, the rotor unit comprises a first gravity compensation magnet and a second gravity compensation magnet, the first gravity compensation magnet and the second gravity compensation magnet are located above and below the coil assembly respectively, the stator unit comprises a stator magnet assembly, the stator magnet assembly comprises an upper surface magnet and a lower surface magnet which are distributed up and down, and the first gravity compensation magnet and the upper surface magnet repel each other. And the second gravity compensation magnet and the lower surface magnet are mutually exclusive to constantly compensate the gravity of the mover unit, so that the mover unit is suspended, the gravity compensation linearity is good, the rigidity is high, the current consumption is reduced, the heating is reduced, the precision error caused by thermal expansion is avoided, the structure is simple and compact, the assembly is convenient, and the production cost is low.

The present application provides a robotic arm, a main operating table, and a surgical robot. The robotic arm includes a base connecting rod; a parallelogram mechanism rotatably connected to the base connecting rod, wherein the axis of rotation of the parallelogram mechanism around the base connecting rod coincides with the first rotation axis between the first connecting rod and the second connecting rod in the parallelogram mechanism; and a gravity compensation mechanism, including a rotation mechanism and an elastic mechanism, wherein the rotation mechanism is coupled to at least one of the first connecting rod and the second connecting rod, and the base connecting rod, and the elastic mechanism couples the base connecting rod and the rotation mechanism to generate a compensation torque that balances the gravity torque of the parallelogram mechanism in at least one degree of freedom corresponding to the parallelogram mechanism. Through this embodiment, it is possible to achieve better gravity balance on the degree of freedom compensated by gravity without increasing the inertia of the robotic arm, thereby providing an excellent operating experience.

The invention provides a gravity compensation method of a mechanical arm, which comprises the following steps: when a deflection joint motor is at different deflection joint angles, controlling a parallel linkage joint to do reciprocating constant-speed motion, and collecting output torque data of a parallel joint motor in real time; carrying out optimization processing on the collected output torque data to obtain a gravity baseline data set of the parallel linkage joints; according to the gravity baseline data set, calculating a compensation gravitational torque for gravity compensation of the parallel linkage joint; the technical problems that in the prior art, a dynamic modeling method not only needs accurate mechanical parameters and a complex calculation process, but also needs a large amount of experimental data to calibrate a calculation result, and the cost and time consumption in the compensation torque calculation process are increased are solved. Therefore, the response time of the mechanical arm to the external environment change is prolonged, and the compensation effect of the compensation torque is further affected.

The invention relates to an adaptive master-slave force tracking control system for a surgical robot, which is characterized in that an Omega7 force feedback manipulator is used as a master manipulator, a Franka-R3 seven-degree-of-freedom mechanical arm is used as a slave manipulator, a surgical instrument is assembled at the tail end of the slave manipulator, a master-slave system is constructed, and a mapping relation between the master manipulator and the slave manipulator is established; driving a slave hand to move on the basis of the action of a master hand, and reversely deducing a tail end contact force on the basis of an expansion kinetic model of the mechanical arm and a surgical instrument and a joint torque measured by a joint torque sensor in the Franka-R3 seven-degree-of-freedom mechanical arm; correcting the tail end contact force in real time based on the real-time identified environment rigidity, and updating the environment rigidity in real time based on a recursive least square method; calculating a force received by the master hand based on the corrected tail end contact force and a mapping relation between the master hand and the slave hand; and the force received by the master manipulator after gravity compensation is added is fed back to an operator, and tracking and control of the tail end force are achieved.

The invention relates to an annular antenna microgravity simulation experiment device based on a magnetic suspension technology. The annular antenna microgravity simulation experiment device comprises a rack, a linear guide rail group, a magnetic suspension driving module, a suspension rope, an annular deployable antenna, a driving rope and an antenna driving module, the linear guide rail group is horizontally arranged above the rack, and the tail end of the linear guide rail group is fixedly connected with the top end of the rack; the magnetic suspension driving modules are respectively arranged at the lower parts of the linear guide rail groups; the bottom of the magnetic suspension driving module is connected with nodes of the annular deployable antenna through suspension ropes. And the antenna driving module is arranged at one end of the bottom of the rack. The device has the characteristics of high-precision microgravity environment simulation, a large-aperture annular deployable antenna structure, excellent synchronous following performance and no friction, and solves the problems that the friction force is large, the antenna node and the gravity compensation device cannot be synchronized in real time and the like when the conventional large-aperture annular antenna performs a gravity compensation experiment by using a suspension method.

The invention relates to the field of artificial intelligence, and discloses an unmanned unloading automatic operation method and system based on machine vision, and the method comprises the steps: collecting images and point clouds through multi-view synchronous imaging, fusing texture and geometric features through a double-flow feature extraction network, and achieving the high-robustness recognition and six-degree-of-freedom pose calculation of a tray; a virtual grabbing point is generated in combination with a structure prior knowledge base, dynamic bottom plate deformation is modeled through a B-spline curved surface, and grabbing parameters are adjusted in a self-adaptive mode; layered path planning and force control pre-judgment cooperate to guarantee movement safety, and a gravity center compensation algorithm maintains stable carrying posture. The system comprises a synchronous imaging module, a feature fusion module, a pose resolving module, a plane modeling module, a path planning module, a force control compensation module and the like.

The invention discloses a contact force compliance control method of a cleaning robot for differentiated insulators. The contact force compliance control method of a robot cleaning control system is formed by combining robot off-line trajectory planning and on-line contact force control. The method comprises the following steps: acquiring the contact force and environment information of a cleaning tool in the decontamination process, namely the surface roughness, water absorbability, dirt type and degree and the like of an insulator; according to the flexible mechanism and active compliance control, an active and passive compliance control cleaning model is established; through tool gravity calculation, a gravity compensation algorithm based on a tool load is put forward to eliminate interference of gravity generated in the cleaning machining process; and a force outer ring control strategy based on an impedance inner ring is established, static-error-free tracking is carried out on the interface pressure between the brush head in the cleaning mechanism and the surface of the insulator, and the adaptability of the cleaning system to differentiated insulators is improved.

The invention relates to an active gravity compensation spacecraft cabin separation test system and method. The test system is mainly composed of a tension control system, a comprehensive control system, a high-speed measurement subsystem, a system support subsystem and other subsystems. The tension control system and the comprehensive control system are closed-loop control systems taking a high-precision and fast-response torque motor as a core; the high-speed measurement system is used for acquiring parameters such as the inter-cabin separation speed and the angular speed, and performing whole-course monitoring on the state of an inter-cabin separation surface; the system support is a main bearing structure of the tension control system and the separation cabin section, provides a separation simulation space for a spacecraft, and provides an operation platform for ground workers at the same time. By adopting the test system disclosed by the invention, the vertical separation of the large spacecraft during ground development can be realized, the gravity unloading efficiency is as high as 95-105%, and effective separation parameters are obtained.

The present invention relates to a gravity compensation mechanism for a mechanical arm of a surgical robot, comprising a mechanical arm base, a lifting arm, a wire rope, an adapter seat and a gas spring, wherein a guide rail is installed on the inner side of the mechanical arm base, a slider is slidably connected to the guide rail, one side of the adapter seat is fixedly connected to the slider, and the other side of the adapter seat is fixedly connected to the lifting arm, and the lifting arm moves linearly along the guide rail; an end is fixed at each end of the wire rope, one end of the end is hung on a hook, the hook is fixed on the top of the inner side of the mechanical arm base, and the end of the other end is fixed on the lifting arm, the wire rope passes around a first pulley and a second pulley in sequence, the upper end of the gas spring is fixed on the top of the inner side of the mechanical arm base, and a movable pulley seat is fixed at the lower end, the first pulley is installed on the movable pulley seat, and the second pulley is fixed on the top of the inner side of the mechanical arm base; the present invention can compensate for the gravity that needs to be overcome when a doctor manually drags the lifting arm, so that the doctor can easily drag it to move in the height direction and manually adjust it.

The invention relates to an impedance control method for performing gravity compensation on an unknown tail end load of a mechanical arm, which belongs to the field of industrial robots and comprises the following steps: acquiring a kinetic model of a robot in a Cartesian space; external force borne by the robot in the impedance model is obtained; an impedance control law of the robot is obtained according to the external force borne by the robot in the kinetic model and the impedance model of the robot in the Cartesian space; an iterative learning gravity compensation increment is introduced into impedance control, an iterative learning output quantity is added into an impedance control law, a Cartesian space impedance control law combined with gravity iterative learning is generated, and online compensation of the gravity of the unknown load at the tail end is achieved; and executing a steady-state scaling strategy, scaling a steady-state period to a sampling period, and obtaining an updating law. According to the method, the tracking precision of the position of the unknown load at the tail end of the impedance controller can be improved, and the compliance characteristic of impedance control is kept.

A robotic system for performing an ocular surgery includes a robot and an electronic control unit (ECU). The robot includes an end-effector, six or more electric motors connected to or operable for moving six or more links and controllable via the ECU, and all-pose gravity compensation structure. A surgical tool is connected to the end-effector. The robot and surgical tool, in response to electronic control signals from the ECU, perform a surgical task on an eye during the ocular surgery. The ECU includes scaling logic operable for downscaling or limiting a tool force imparted to the eye by the surgical tool and / or a tool velocity of the surgical tool. All-pose gravity compensation minimizes a perceived weight of the surgical tool during the ocular surgery. The robotic system may include a surgeon-operated haptic device / master in which the robot acts as a slave device.

A cantilevered work platform and method with dynamic balancing counterweight are disclosed, belonging to the technical field of high-altitude work safety equipment. The platform includes a main boom, a telescopic boom, a personnel carrier frame, and a base. A dynamic center of gravity compensation device, consisting of a counterweight slide rail, a movable counterweight block, and a drive mechanism, is installed on the base. The counterweight block, linked to the pitch angle and telescopic stroke of the main boom via displacement sensors, moves in real-time along the slide rail in the opposite direction to counteract the variable overturning moment generated during operation. Simultaneously, a dual-rope self-locking fall arrest system, independent of the platform structure, is installed above the personnel carrier frame. This system includes two safety ropes anchored to high-level fixed points and corresponding speed difference controllers, directly connected to the worker's safety belt. This invention improves the overall anti-overturning stability of the machine by actively adjusting the counterweight position and ensures personnel safety even in the event of platform failure, significantly enhancing the reliability and safety of high-altitude operations.

The utility model provides a leg structure with gravity compensation, which comprises a first leg, a second leg, a driving assembly and a gravity compensation module, the driving assembly comprises a driving part mounted at one end of the first leg, and the driving part is used for driving the second leg to rotate, so that the first leg and the second leg are relatively opened and closed; the gravity compensation module comprises a limiting part, a guide column and a reset part, the limiting part is connected to the end, close to the driving part, of the first leg part, a limiting cover is arranged at one end of the guide column, the other end of the guide column penetrates through the limiting part and is rotationally connected to the second leg part through a rotating structure, and the reset part is arranged in the circumferential direction of the guide column; the reset piece abuts against the position between the limiting piece and the limiting cover. According to the leg structure provided by the invention, the extra acting degree of the driving part can be reduced, so that the driving part can be prevented from being overheated or damaged, energy consumption can be reduced, endurance can be prolonged, the service life can be prolonged, and the requirement for model selection of the driving part can be reduced.