CN106429886B - A kind of high-altitude Quick rescue robot - Google Patents

A kind of high-altitude Quick rescue robot Download PDF

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Publication number
CN106429886B
CN106429886B CN201611099032.7A CN201611099032A CN106429886B CN 106429886 B CN106429886 B CN 106429886B CN 201611099032 A CN201611099032 A CN 201611099032A CN 106429886 B CN106429886 B CN 106429886B
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CN
China
Prior art keywords
speed
limiter
support
joint
swing arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201611099032.7A
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Chinese (zh)
Other versions
CN106429886A (en
Inventor
李建英
王洪波
曹宇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Harbin University of Technology Robot (Yueyang) Research Institute Co., Ltd.
Original Assignee
Hagongda Robot Group (harbin) Asset Management Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Hagongda Robot Group (harbin) Asset Management Co Ltd filed Critical Hagongda Robot Group (harbin) Asset Management Co Ltd
Priority to CN201611099032.7A priority Critical patent/CN106429886B/en
Priority to CN201711010343.6A priority patent/CN107812329A/en
Publication of CN106429886A publication Critical patent/CN106429886A/en
Application granted granted Critical
Publication of CN106429886B publication Critical patent/CN106429886B/en
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Classifications

    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62B—DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING
    • A62B1/00—Devices for lowering persons from buildings or the like
    • A62B1/06—Devices for lowering persons from buildings or the like by making use of rope-lowering devices
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62B—DEVICES, APPARATUS OR METHODS FOR LIFE-SAVING
    • A62B1/00—Devices for lowering persons from buildings or the like
    • A62B1/06—Devices for lowering persons from buildings or the like by making use of rope-lowering devices
    • A62B1/08—Devices for lowering persons from buildings or the like by making use of rope-lowering devices with brake mechanisms for the winches or pulleys
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/66—Outer or upper end constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/68—Jibs foldable or otherwise adjustable in configuration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
    • B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/78—Supports, e.g. outriggers, for mobile cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Manipulator (AREA)
  • Mechanical Operated Clutches (AREA)

Abstract

The present invention provides a kind of high-altitude Quick rescue robot, including base, the first joint, one-level swing arm, second joint, two level swing arm, the 3rd joint, three-level swing arm, first support, suspention module, two hanging baskets, speed limit module, two coiling modules, it is characterised in that：Described one-level swing arm is arranged on the arm swing support on base by the first joint of lower end；Described two level swing arm is arranged on the support of one-level swing arm upper end by the second joint of lower end；Described three-level swing arm is arranged on the support of two level swing arm upper end by the 3rd joint of lower end；There is first support described three-level swing arm upper end；Described the first joint, second joint, the 3rd joint are directly driven by steering wheel；Described suspention module upper end is hinged in first support；The present invention is back and forth lifted by two hanging baskets by gravity, while falling speed can be controlled by speed limit module, rescues speed considerably beyond existing equipment.

Description

A kind of high-altitude Quick rescue robot
Technical field
The present invention relates to rescue technique field, more particularly to a kind of high-altitude Quick rescue robot.
Background technology
As the present building number of plies is more and more, high level occurs to carry out relief during fire to personnel and become more and more difficult, Common aerial ladder can only succour a small amount of personnel every time, and need repetition lifting process after rescue every time, have a strong impact on rescue efficiency, because This is badly in need of a kind of high-altitude Quick rescue robot tool.
The content of the invention
In view of the above-mentioned problems, the present invention provides a kind of high-altitude Quick rescue robot, it relies on gravity by two hanging baskets Reciprocal lifting, while falling speed can be controlled by speed limit module.
Technical scheme used in the present invention is：A kind of high-altitude Quick rescue robot, including base, the first joint, one Level swing arm, second joint, two level swing arm, the 3rd joint, three-level swing arm, first support, suspention module, two hanging baskets, speed limit mould Block, two coiling modules, it is characterised in that：Described one-level swing arm is arranged on the swing arm on base by the first joint of lower end On bearing；Described two level swing arm is arranged on the support of one-level swing arm upper end by the second joint of lower end；Described three-level Swing arm is arranged on the support of two level swing arm upper end by the 3rd joint of lower end；Described three-level swing arm upper end has first Frame；Described the first joint, second joint, the 3rd joint are directly driven by steering wheel；Described suspention module upper end is hinged on On one support；Hawser has been fastened on two described hanging basket tops, and the hawser on the hanging basket on right side is wound on the pulley on right side, end edge It is wound on clockwise in the line wheel on right side, the hawser on the hanging basket in left side is wound on the pulley in left side, and end is along side counterclockwise In line wheel on the left of being wound on；Described speed limit module is arranged on base；Two sliding blocks of two described coiling modules with Rail plate coordinates, and the axle sleeve of coiling module coordinates with main shaft periphery, two line wheels difference position of two coiling modules In two stop collar rears；It is fixedly connected between two sliding blocks of two coiling modules by connecting plate；
Described base is led including bottom plate, arm swing support, spindle carrier, main shaft, two splines, two stop collars, slip Rail, hydraulic cylinder, shifting bracket, described arm swing support are fixedly mounted on rear on the right side of bottom plate；Described bottom plate front end is provided with master Bracing strut, main shaft are arranged on spindle carrier；Described main shaft is provided with two stop collars, and one is respectively provided with the right side of each stop collar Individual spline；Described spindle carrier rear is provided with rail plate；Described hydraulic cylinder is fixedly mounted on rail plate above bottom plate End；Described shifting bracket is fixedly mounted on hydraulic cylinder piston rod, and shifting bracket lower surface is fixedly mounted on adjacent thereto Upper end of slide block face on；
Described suspention module includes hanger bracket, two pulleys, two the second servomotors, two cams, and described is outstanding Flap seat both sides are symmetrical, have second servomotor per side；Two described cams are separately mounted to two the second servo electricity On machine output shaft；Two described pulley rotations are arranged on hanger bracket both sides, and respectively immediately below two cams；
Described speed limit module includes big belt wheel, limiter of speed support, guiding trestle, small pulley, limiter of speed axle, limiter of speed shell Body, four rolling support, four rolling, limited block, four blocks, four slide rails, four sliding sleeves, four springs, two V-types Band, friction disc carrier, frictional disk, fin, limiter of speed end cap, described big belt wheel are arranged on main shaft left end；Described speed limit Device support is located at spindle carrier rear, and guiding trestle is located on the right side of limiter of speed support, the axis hole on guiding trestle and limiter of speed branch Axis hole on frame is coaxial；Described limiter of speed axle is rotatably installed on guiding trestle and limiter of speed support；Described small pulley is consolidated Dingan County is equipped with two grooves, and the groove in big belt wheel and small pulley is relative on limiter of speed axle in big belt wheel and small pulley Should, described two V-type bands are arranged in big belt wheel and small pulley；Described friction disc carrier is fixedly mounted on bottom plate；Institute The frictional disk stated is fixedly mounted on friction disc carrier, and fin is provided with above frictional disk；Described frictional disk is located at limiter of speed Between support and guiding trestle, and frictional disk and limiter of speed axle are coaxial；
Described limited block is fixedly mounted on limiter of speed axle, and limited block outer rim is cross and is rounded down；Described Limiter of speed end cap is fixedly mounted on limited block end face, and limiter of speed housing is fixedly mounted on limiter of speed end cap, and with it is spacing Block is located at the same side；Described limiter of speed case inside is evenly equipped with four sliding sleeves, respectively has a slide rail to match somebody with somebody with it in each sliding sleeve Close, one end that each slide rail stretches to limiter of speed hull outside is provided with a rolling wheel support, is rolled on each rolling wheel support equipped with one Wheel, is provided with frictional damping between roller and rolling wheel support；One end that described each slide rail stretches to limiter of speed case inside is provided with The spring of limited block is pointed in one block, the direction for respectively having a power between described each block and limiter of speed housing inner ring；
Described coiling module include sliding block, the first servomotor, little gear, gear wheel, spline, line wheel, axle sleeve, dial Fork, slideway, connecting plate, described line wheel left side are provided with the slideway coaxial with line wheel, and slideway left side is provided with and the coaxial canine tooth of slideway Wheel；Described gear wheel, slideway, axle sleeve is provided with inside line wheel；Axle sleeve on the right side of described line wheel is provided with spline；Described Spline and spline fitted；The first described servomotor is fixedly mounted on the support in upper end of slide block face, the first servomotor Output shaft is towards gear wheel side, and little gear is fixedly mounted on the first servo motor output shaft, and little gear engages with gear wheel； Described shift fork is fixedly mounted on upper end of slide block face, and on the right side of little gear, shift fork end coordinates with slideway；
Further, described frictional disk inner ring is circle, and is wear-resistant material.
There is advantages below because present invention employs above-mentioned technical proposal, the present invention：
The present invention is back and forth lifted by two hanging baskets by gravity, while falling speed can be controlled by speed limit module System, speed is rescued considerably beyond existing equipment.
Brief description of the drawings
Fig. 1 be the present invention be completed after structural representation.
Fig. 2 is the structural representation of present invention suspention module.
Fig. 3 is the structural representation of base of the present invention and its top part.
Fig. 4, Fig. 5 are the structural representation of base of the present invention.
Fig. 6, Fig. 7 are the structural representation of limiter of speed part of the present invention.
Fig. 8 is the structural representation of present invention friction disc portion.
Fig. 9 is the structural representation of coiling module of the present invention.
Figure 10 is that coiling module of the present invention removes the structural representation after gear wheel.
Drawing reference numeral：1- bases；The joints of 2- first；3- one-level swing arms；4- second joints；5- two level swing arms；6- the 3rd is closed Section；7- three-level swing arms；8- first supports；9- suspends module in midair；10- hanging baskets；11- speed limit modules；12- coiling modules；901- suspends in midair Seat；902- pulleys；The servomotors of 903- second；904- cams；101- bottom plates；102- arm swing supports；103- spindle carriers；104- Main shaft；105- splines；106- stop collars；107- rail plates；108- hydraulic cylinders；109- shifting brackets；1101- big belt wheels； 1102- limiter of speed supports；1103- guiding trestles；1104- small pulleys；1105- limiter of speed axles；1106- limiter of speed housings；1107- Rolling wheel support；1108- rollers；1109- limited blocks；1110- blocks；1111- slide rails；1112- sliding sleeves；1113- springs；1114-V Type band；1115- friction disc carriers；1116- frictional disks；1117- fin；1118- limiter of speed end caps；1201- sliding blocks；1202- First servomotor；1203- little gears；1204- gear wheels；1205- splines；1206- line wheels；1207- axle sleeves；1208- is dialled Fork；1209- slideways；1210- connecting plates.
Embodiment
Below by embodiment, and with reference to accompanying drawing, technical scheme is described in further detail.
Embodiment
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, a kind of high-altitude Quick rescue machine People, including base 1, the first joint 2, one-level swing arm 3, second joint 4, two level swing arm 5, the 3rd joint 6, three-level swing arm 7, first 11, two support 8,9, two hanging baskets 10 of suspention module, speed limit module coiling modules 12, it is characterised in that：Described one-level pendulum Arm 3 is arranged on the arm swing support 102 on base 1 by the first joint 2 of lower end；Described two level swing arm 5 passes through lower end Second joint 4 is arranged on the support of the upper end of one-level swing arm 3；Described three-level swing arm 7 is arranged on by the 3rd joint 6 of lower end On the support of the upper end of two level swing arm 5；There is first support 8 the described upper end of three-level swing arm 7；Described the first joint 2, second joint 4th, the 3rd joint 6 is directly driven by steering wheel；The described upper end of suspention module 9 is hinged in first support 8；Two described hanging baskets Hawser has been fastened on 10 tops, and the hawser on the hanging basket 10 on right side is wound on the pulley 902 on right side, and end is wound on the right side along clockwise direction In the line wheel 1206 of side, the hawser on the hanging basket 10 in left side is wound on the pulley 902 in left side, and end is wound on a left side in the counterclockwise direction In the line wheel 1206 of side；Described speed limit module 11 is arranged on base 1；Two sliding blocks of two described coiling modules 12 1201 coordinate with rail plate 107, and the axle sleeve 1207 of coiling module 12 coordinates with the periphery of main shaft 104, two winding formers Two line wheels 1206 of block 12 are located at two rears of stop collar 106 respectively；Between two sliding blocks 1201 of two coiling modules 12 It is fixedly connected by connecting plate 1210；
Described base 1 includes 104, two bottom plate 101, arm swing support 102, spindle carrier 103, main shaft splines 105, two Individual stop collar 106, rail plate 107, hydraulic cylinder 108, shifting bracket 109, described arm swing support 102 are fixedly mounted on bottom plate 101 right sides rear；The described front end of bottom plate 101 is provided with spindle carrier 103, and main shaft 104 is arranged on spindle carrier 103；It is described Main shaft 104 be provided with two stop collars 106, each right side of stop collar 106 is respectively provided with a spline 105；Described main shaft branch The rear of frame 103 is provided with rail plate 107；Described hydraulic cylinder 108 is fixedly mounted on the end of 101 top rail plate of bottom plate 107； Described shifting bracket 109 is fixedly mounted on the piston rod of hydraulic cylinder 108, and the lower surface of shifting bracket 109 is fixedly mounted on and it On the adjacent upper surface of sliding block 1201；
Described suspention module 9 includes 902, two, pulley, 903, two cams of the second servomotor of hanger bracket 901, two 904, the described both sides of hanger bracket 901 are symmetrical, have second servomotor 903 per side；Two described cams 904 are distinguished On two output shafts of the second servomotor 903；Two described pulleys 902 are rotatably installed in the both sides of hanger bracket 901, and Respectively immediately below two cams 904；
Described speed limit module 11 includes big belt wheel 1101, limiter of speed support 1102, guiding trestle 1103, small pulley 1104th, limiter of speed axle 1105, limiter of speed housing 1106, four rolling support 1107, four rolling 1108, limited block 1109, four The individual slide rail 1111, four of block 1110, four 1113, two, the spring of sliding sleeve 1112, four V-type band 1114, friction disc carrier 1115th, frictional disk 1116, fin 1117, limiter of speed end cap 1118, described big belt wheel 1101 are arranged on the left end of main shaft 104； Described limiter of speed support 1102 is located at the rear of spindle carrier 103, and guiding trestle 1103 is located at the right side of limiter of speed support 1102, led It is coaxial to the axis hole on support 1103 and the axis hole on limiter of speed support 1102；Described limiter of speed axle 1105, which is rotatably installed in, leads To on support 1103 and limiter of speed support 1102；Described small pulley 1104 is fixedly mounted on limiter of speed axle 1105, big belt wheel 1101 and small pulley 1104 on be equipped with two grooves, and the groove in big belt wheel 1101 and small pulley 1104 is corresponding, described Two V-type band 1114 is arranged in big belt wheel 1101 and small pulley 1104；Described friction disc carrier 1115 is fixedly mounted on bottom On plate 101；Described frictional disk 1116 is fixedly mounted on friction disc carrier 1115, and the top of frictional disk 1116 is provided with fin 1117；Described frictional disk 1116 is between limiter of speed support 1102 and guiding trestle 1103, and frictional disk 1116 and limit Fast device axle 1105 is coaxial；
Described limited block 1109 is fixedly mounted on limiter of speed axle 1105, and the outer rim of limited block 1109 is cross and had Fillet；Described limiter of speed end cap 1118 is fixedly mounted on the end face of limited block 1109, and limiter of speed housing 1106 is fixedly mounted on On limiter of speed end cap 1118, and it is located at the same side with limited block 1109；The described inner side of limiter of speed housing 1106 is evenly equipped with four Individual sliding sleeve 1112, respectively there is a slide rail 1111 to coordinate with it in each sliding sleeve 1112, each slide rail 1111 stretches to limiter of speed housing The one end in 1106 outsides is provided with a rolling wheel support 1107, and a roller 1108, roller are housed on each rolling wheel support 1107 Frictional damping is provided between 1108 and rolling wheel support 1107；Described each slide rail 1111 stretches to the inner side of limiter of speed housing 1106 One end is provided with a block 1110, respectively there is the side of a power between described each block 1110 and the inner ring of limiter of speed housing 1106 To the spring 1113 for pointing to limited block 1109；
Described coiling module 12 include sliding block 1201, the first servomotor 1202, little gear 1203, gear wheel 1204, Spline 1205, line wheel 1206, axle sleeve 1207, shift fork 1208, slideway 1209, connecting plate 1210, the described left side of line wheel 1206 Provided with the slideway 1209 coaxial with line wheel 1206, the left side of slideway 1209 is provided with gear wheel 1204 coaxial with slideway 1209；Described Gear wheel 1204, slideway 1209, the inside of line wheel 1206 are provided with axle sleeve 1207；Set on the axle sleeve 1207 on the described right side of line wheel 1206 There is spline 1205；Described spline 1205 coordinates with spline 105；The first described servomotor 1202 is fixedly mounted on cunning On the support of the upper surface of block 1201, the output shaft of the first servomotor 1202 is fixed towards the side of gear wheel 1204, little gear 1203 On the output shaft of the first servomotor 1202, little gear 1203 engages with gear wheel 1204；Described shift fork 1208 is fixed Installed in the upper surface of sliding block 1201, and positioned at the right side of little gear 1203, the end of shift fork 1208 coordinates with slideway 1209；
Further, the described inner ring of frictional disk 1116 is circle, and is wear-resistant material.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Operation principle of the present invention：Bottom plate 101 is mounted by means of bolts on running on wheels first when using and put down by the present invention On platform, at work by the first joint 2, second joint 4, the 3rd joint 6 by one-level swing arm 3, two level swing arm 5, three-level swing arm 7 Rise, the spline 105 in two coiling modules 12 can be pushed into spline 1205 by the elongation of hydraulic cylinder 108 with shift fork 1208 is crossed, will Two coiling modules 12 are fixed together with main shaft 104, and the second servomotor 903 is rotated with moving cam 904 and can locked Hawser, the first servomotor 1202 drives gear wheel 1204 to rotate by little gear 1203, so as to drive line wheel 1206 to rotate；It is main Axle 104 drives small pulley 1104 to rotate by big belt wheel 1101 with V-type band 1114, rotates limiter of speed axle 1105, limiter of speed axle Block 1110 compresses limited block 1109 under the effect of spring 1113 when 1105 rotating speeds are low, is constantly pressed as rotating speed improves spring 1113 Contracting, roller 1108 contact with frictional disk 1116, and resistance is bigger between the higher roller 1108 of rotating speed and frictional disk 1116, and final rotating speed is steady Certain value is scheduled on, it is necessary to be braked when slowing down using the first servomotor 1202；First by spline 105 when performing rescue task Disengaged with spline 1205, suspention module 9 is moved to specified altitude assignment, two the first servomotors 1202 drive 1206 turns of line wheel It is dynamic, two hanging baskets 10 1 are promoted to summit, another is down to bottom, the rotation lock hawser of cam 904, after the completion of spline 105 are combined with spline 1205, and the people waited for rescue enters hanging basket 10, and cam 904, which rotates, unclamps hawser, under manned hanging basket 10 Drop, empty hanging basket 10 are risen, braked when hanging basket 10 is down to bottom using the first servomotor 1202, flower after rescue work terminates Key 105 disengages with spline 1205, and the first servomotor 1202 drives line wheel 1206 to rotate, and two hanging baskets 10 are all promoted into top Point, one-level swing arm 3, two level swing arm 5, three-level swing arm 7 are folded up, while the first servomotor 1202 drives line wheel 1206 continuous Tighten up.

Claims (2)

1. a kind of high-altitude Quick rescue robot, including base（1）, the first joint（2）, one-level swing arm（3）, second joint（4）、 Two level swing arm（5）, the 3rd joint（6）, three-level swing arm（7）, first support（8）, suspention module（9）, two hanging baskets（10）, speed limit Module（11）, two coiling modules（12）, it is characterised in that：Described one-level swing arm（3）Pass through the first joint of lower end（2）Peace Mounted in base（1）On arm swing support（102）On；Described two level swing arm（5）Pass through the second joint of lower end（4）Installed in one Level swing arm（3）On the support of upper end；Described three-level swing arm（7）Pass through the 3rd joint of lower end（6）Installed in two level swing arm（5） On the support of upper end；Described three-level swing arm（7）There is first support upper end（8）；The first described joint（2）, second joint （4）, the 3rd joint（6）Directly driven by steering wheel；Described suspention module（9）Upper end is hinged on first support（8）On；Described Two hanging baskets（10）Hawser, the hanging basket on right side are fastened in top（10）On hawser be wound on right side pulley（902）On, end is along suitable Clockwise is wound on the line wheel on right side（1206）On, the hanging basket in left side（10）On hawser be wound on left side pulley（902）On, end End is wound on the line wheel in left side in the counterclockwise direction（1206）On；Described speed limit module（11）Installed in base（1）On；Described Two coiling modules（12）Two sliding blocks（1201）With rail plate（107）Coordinate, and coiling module（12）Axle sleeve （1207）With main shaft（104）Periphery coordinates, two coiling modules（12）Two line wheels（1206）It is spacing positioned at two respectively Set（106）Rear；Two coiling modules（12）Two sliding blocks（1201）Between pass through connecting plate（1210）It is fixedly connected；
Described base（1）Including bottom plate（101）, arm swing support（102）, spindle carrier（103）, main shaft（104）, two splines （105）, two stop collars（106）, rail plate（107）, hydraulic cylinder（108）, shifting bracket（109）, described arm swing support （102）It is fixedly mounted on bottom plate（101）Right side rear；Described bottom plate（101）Front end is provided with spindle carrier（103）, main shaft （104）Installed in spindle carrier（103）On；Described main shaft（104）It is provided with two stop collars（106）, each stop collar （106）Right side is respectively provided with a spline（105）；Described spindle carrier（103）Rear is provided with rail plate（107）；Described Hydraulic cylinder（108）It is fixedly mounted on bottom plate（101）Top rail plate（107）End；Described shifting bracket（109）Fixed peace Mounted in hydraulic cylinder（108）On piston rod, shifting bracket（109）Lower surface is fixedly mounted on sliding block adjacent thereto（1201）Upper end On face；
Described suspention module（9）Including hanger bracket（901）, two pulleys（902）, two the second servomotors（903）, two Cam（904）, described hanger bracket（901）Both sides are symmetrical, have second servomotor per side（903）；Described two Cam（904）It is separately mounted to two the second servomotors（903）On output shaft；Two described pulleys（902）Rotational installation In hanger bracket（901）Both sides, and it is located at two cams respectively（904）Underface；
Described speed limit module（11）Including big belt wheel（1101）, limiter of speed support（1102）, guiding trestle（1103）, small pulley （1104）, limiter of speed axle（1105）, limiter of speed housing（1106）, four rolling support（1107）, four rolling（1108）, it is spacing Block（1109）, four blocks（1110）, four slide rails（1111）, four sliding sleeves（1112）, four springs（1113）, two V-types Band（1114）, friction disc carrier（1115）, frictional disk（1116）, fin（1117）, limiter of speed end cap（1118）, described is big Belt wheel（1101）Installed in main shaft（104）Left end；Described limiter of speed support（1102）Positioned at spindle carrier（103）Rear, lead To support（1103）Positioned at limiter of speed support（1102）Right side, guiding trestle（1103）On axis hole and limiter of speed support（1102） On axis hole it is coaxial；Described limiter of speed axle（1105）It is rotatably installed in guiding trestle（1103）With limiter of speed support（1102） On；Described small pulley（1104）It is fixedly mounted on limiter of speed axle（1105）On, big belt wheel（1101）And small pulley（1104）On It is equipped with two grooves, and big belt wheel（1101）And small pulley（1104）On corresponding, the described two V-type bands of groove（1114） Installed in big belt wheel（1101）And small pulley（1104）On；Described friction disc carrier（1115）It is fixedly mounted on bottom plate（101） On；Described frictional disk（1116）It is fixedly mounted on friction disc carrier（1115）On, frictional disk（1116）Top is provided with fin （1117）；Described frictional disk（1116）Positioned at limiter of speed support（1102）And guiding trestle（1103）Between, and frictional disk （1116）With limiter of speed axle（1105）Coaxially；
Described limited block（1109）It is fixedly mounted on limiter of speed axle（1105）On, limited block（1109）Outer rim is cross and fallen There is fillet；Described limiter of speed end cap（1118）It is fixedly mounted on limited block（1109）On end face, limiter of speed housing（1106）Gu Dingan County is mounted in limiter of speed end cap（1118）On, and and limited block（1109）Positioned at the same side；Described limiter of speed housing （1106）Inner side is evenly equipped with four sliding sleeves（1112）, each sliding sleeve（1112）Inside respectively there is a slide rail（1111）Coordinate with it, often Individual slide rail（1111）Stretch to limiter of speed housing（1106）The one end in outside is provided with a rolling wheel support（1107）, each rolling wheel support （1107）It is upper that a roller is housed（1108）, roller（1108）With rolling wheel support（1107）Between be provided with frictional damping；Described Each slide rail（1111）Stretch to limiter of speed housing（1106）One end of inner side is provided with a block（1110）, described each block （1110）With limiter of speed housing（1106）Point to limited block in the direction for respectively having a power between inner ring（1109）Spring（1113）；
Described coiling module（12）Including sliding block（1201）, the first servomotor（1202）, little gear（1203）, gear wheel （1204）, spline（1205）, line wheel（1206）, axle sleeve（1207）, shift fork（1208）, slideway（1209）, connecting plate（1210）, Described line wheel（1206）Left side is provided with and line wheel（1206）Coaxial slideway（1209）, slideway（1209）Left side is provided with and slideway （1209）Coaxial gear wheel（1204）；Described gear wheel（1204）, slideway（1209）, line wheel（1206）Inside is provided with axle sleeve （1207）；Described line wheel（1206）The axle sleeve on right side（1207）It is provided with spline（1205）；Described spline（1205） With spline（105）Coordinate；The first described servomotor（1202）It is fixedly mounted on sliding block（1201）On the support of upper surface, the One servomotor（1202）Output shaft is towards gear wheel（1204）Side, little gear（1203）It is fixedly mounted on the first servomotor （1202）On output shaft, little gear（1203）With gear wheel（1204）Engagement；Described shift fork（1208）It is fixedly mounted on sliding block （1201）Upper surface, and it is located at little gear（1203）Right side, shift fork（1208）End and slideway（1209）Coordinate.
A kind of 2. high-altitude Quick rescue robot according to claim 1, it is characterised in that：Described frictional disk（1116） Inner ring is circle, and is wear-resistant material.
CN201611099032.7A 2016-12-04 2016-12-04 A kind of high-altitude Quick rescue robot Active CN106429886B (en)

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CN112459451B (en) * 2020-11-13 2022-02-18 北京市政建设集团有限责任公司 Dual-purpose hanging flower basket device that weighs down soon of preventing of construction
CN112591625A (en) * 2021-01-23 2021-04-02 国网西藏电力有限公司物资公司 Material removes hoist device for electric power
CN112791420B (en) * 2021-01-29 2024-05-24 中山市金龙游乐设备有限公司 Lifting device and high-altitude flying amusement equipment
CN113184734B (en) * 2021-04-27 2022-05-13 韩伟 A rescue device for hydraulic engineering

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