A kind of Elevator rescue flight device robot system
The present invention relates to a kind of intelligent rescue systems, and in particular to a kind of Elevator rescue flight device robot system.
Present urban construction, skyscraper have become saving construction area, and one kind of room for promotion utilization rate is common
Means, but with bringing some potential danger, for example, it is high-rise once the certain dangers situations such as fire occur, high residential building
Height problem just brings biggish difficulty to rescue, and there are also high residential buildings also to some rescues for having aggressive behavior such as to commit suiside
Work belt carrys out many inconvenience.It is handicapped in the prior art such as some large-scale rescue aids since volume is larger, at the same also by
The limitation of height, influences to rescue, it is therefore desirable to and it is a kind of can adapt to different story heights, while lightweight and portable in volume can be quick
Set out the appliance arrangement of progress rescue work.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of Elevator rescue flight device robot system, unique structure is adapted to
Property is strong.
The technical scheme adopted by the invention is as follows: a kind of Elevator rescue flight device robot system, including UAV system,
Twist the system of liter and car deliverance system, traction rope and hoisting line.
The UAV system includes: rack, four adjustment motors, four wings and four propellers, four spirals
Paddle motor, four telescopic outriggers, beating unit and transmitter of catching net fly pawl transmitter, one end of four wings
Four Angle Positions for being mounted on rack are respectively articulated with, the top of four Angle Positions of rack is also respectively provided with four adjustment motors,
The main shaft of four adjustment motors is connected with one end of four wings respectively, between adjustment motor adjustment wing and rack
Angle；The other end of four wings is rotatably equipped with propeller respectively, each propeller and is fixedly mounted on wing lower part
Propeller electric machine main shaft is connected, the rotation of propeller motor driven propeller；Front end of rack is additionally provided with manipulator seat, described
Level-one arm is hingedly installed on manipulator seat, the end of the level-one arm is hingedly equipped with second level arm, and described two
The end of grade arm is hingedly equipped with three-level arm, and the end of the three-level arm is equipped with manipulator；Each wing it is upper
Portion is respectively arranged with a fixing camera, and the lower part of each wing is vertically-mounted respectively a telescopic outrigger；Upper rack
An omnidirectional camera is respectively arranged with lower central position；Upper rack is additionally provided with beating unit；Frame lower is also
It is provided with transmitter of catching net and winged pawl transmitter.
It includes: to twist rise frame, winch and turntable, twist lifting motor, two vacuum chucks, vacuum generation that the strand, which rises system,
Device adjusts electric cylinders, two drillings with liter controller, two hooks and two hooks adjustment electric cylinders, two hanging rods and two hanging rods are twisted
Pedestal and two drilling sliding rails, two drilling rack gears and two drilling gears, two bore motors and two drilling electric drills, it is described
Strand to rise frame be frame structure, the turntable is mounted on strand and rises frame lower part, and the winch is roll form, and rotates peace
On turntable, the strand lifting motor is mounted on turntable side, twists lifting motor main shaft and is connected with winch, drives winch
Rotation；Turntable both upper ends thereof is symmetrically installed with leading truck, is rotatably equipped with guided way and supporting rail on leading truck respectively, guiding
Rail and supporting rail are arranged in parallel, and guide pad is slidably fitted on guided way and supporting rail, and the guide pad top is symmetrical arranged
There are two directive wheel, twists and rise a frame center upper portion position and be symmetrically arranged that there are two directive wheels, guided way is provided circumferentially about to lead
To slot；The lower part for twisting liter frame, which is additionally provided with vacuum generator and twists, rises controller；Strand liter frame two sides drill there are two being respectively set
Pedestal is provided with drilling sliding rail on each drilling pedestal, and drilling rack gear is provided on the drilling sliding rail, and the drilling is sliding
Block is slidably mounted on drilling sliding rail, and the bore motor is mounted on drilling sliding block, is co-axially mounted on bore motor main shaft
There is drilling gear, the drilling gear and drilling rack gear intermeshing, bore motor driving drilling sliding block are sliding along drilling sliding rail
Dynamic, the drilling electric drill is mounted on drilling sliding block, the drill axis direction for the electric drill that drills and the length direction of drilling sliding rail
It is parallel to each other；Strand liter frame top is arranged symmetrically, and there are two sucker electric cylinders, and the piston rod end of each sucker electric cylinders is respectively arranged with
One vacuum chuck；Twist rise frame upper front symmetrically hingedly installation there are two hook, the hook be L shape, hook it is another
End is slidably fitted with hanging rod, and each hanging rod is connected with the piston rod end of hanging rod adjustment electric cylinders, the hanging rod adjustment electric cylinders peace
Mounted in hook top；The cylinder base of the hook electric cylinders is hingedly mounted on strand and rises frame top, links up with the tailpiece of the piston rod of electric cylinders
Portion is hinged with hook；It twists liter frame lower central position and is additionally provided with hanging ring.
The upper end of the traction rope is mounted on winged pawl transmitter, and the lower end of traction rope, which passes sequentially through to twist, rises frame top
The guide groove on two directive wheels, guided way on two directive wheels, guide pad, is finally wrapped on winch.
The car deliverance system includes: carriage, lifting rope drum and roller support, bridge motor, rope guide, two
Traveling crawler, track drive motor, crawler driving whell, medial support wheel and outside-supporting wheel, elevator car, the carriage
Center upper portion position is provided with roller support, and the lifting rope drum is rotatably installed on roller support, on roller support also
It is provided with bridge motor, the bridge motor main shaft is connected with drum of crane, driving drum of crane rotation；Described
Rope guide is mounted on car upper；Carriage two sides are respectively arranged with nine medial support wheels；Carriage two sides are also respectively provided with row
Crawler belt is walked, every traveling crawler is covered on nine medial support wheels of the same side；Car upper two sides have been symmetrically arranged
Track drive motor is connected with crawler driving whell, the crawler driving whell and walking on the track drive electric machine main shaft
The contact of crawler belt inboard friction, driving traveling crawler rotation；Crawler driving whell two sides are also set up there are two outside-supporting wheel, with walking
It is in contact on the outside of crawler belt；Carriage front is additionally provided with car door, and cab interior is provided with elevator car.
The upper end of the hoisting line, which is mounted on, to be twisted on the hanging ring for rising frame lower part, and the lower end of hoisting line after rope guide by twining
It is wound on lifting rope drum.
Further, the winged pawl transmitter front is provided with winged pawl, and middle part is provided with air bag, and rear portion is provided with percussion
Electromagnet, for percussion electromagnet for hitting gas explosion capsule, air bag explosion, which fires, flies pawl.
Further, the level-one arm, second level arm, three-level arm are driven by joint motor.
Further, the beating unit is used for shattered glass for emitting hammer, hammer.
Further, the transmitter of catching net is for emitting catching net.
Further, the hanging rod lower end is provided with idler wheel.
Further, the length direction of drilling pedestal and the piston rod axis direction of sucker electric cylinders keep a folder
Angle, corner dimension are 15 degree ~ 20 degree.
Since present invention employs above-mentioned technical proposals, the invention has the following advantages that (1) is by being provided with unmanned plane system
System realizes rescue and quickly sets out, the purpose that a variety of rescue modes rescue in time；(2) system is risen by being provided with strand, effectively opened up
Rescue height, and small volume have been opened up, rapid and convenient action is conducive to；(3) it by the way that last one of car deliverance system is arranged, realizes
Rescue personnel portable elevator is climbed to a higher point the purpose of rescue；(4) structure of the invention uniqueness is compact, multiple functional, is suitable for high level
The rescue action of building.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is the 3 D stereo assembling structure schematic diagram of UAV system in the present invention.
Fig. 3 is the 3 D stereo assembling structure schematic diagram of another angle of UAV system in the present invention.
Fig. 4 is the 3 D stereo assembling structure schematic diagram of another angle of UAV system in the present invention.
Fig. 5 is the 3 D stereo assembling structure schematic diagram that the system of liter is twisted in the present invention.
Fig. 6 is that the 3 D stereo assembling structure schematic diagram for rising another angle of system is twisted in the present invention.
Fig. 7 is that the 3 D stereo assembling structure schematic diagram for rising another angle of system is twisted in the present invention.
Fig. 8 is the 3 D stereo assembling structure schematic diagram of car deliverance system in the present invention.
Drawing reference numeral: 1- UAV system；2- traction rope；3- twists the system of liter；4- hoisting line；5- car deliverance system；
101- rack；102- adjusts motor；103- fixing camera；104- wing；105- propeller；106- propeller motor；107-
Telescopic outrigger；108- fires electromagnet；109- flies pawl transmitter；110- flies pawl；111- second level arm；112- three-level arm；
113- manipulator；114- level-one arm；115- manipulator seat；116- beating unit；117- omnidirectional camera；118- catching net
Emitter；301-, which is twisted, rises frame；302- drilling sliding block；303- drilling gear；304- bore motor；305- drilling electric drill；306-
Drill sliding rail；307- drilling rack gear；308- drilling pedestal；309- winch；310- turntable；311- twists lifting motor；312- vacuum
Sucker；313- idler wheel；314- hanging rod；315- hanging rod adjusts electric cylinders；316- hook；317- hook adjustment electric cylinders；318- sucker electricity
Cylinder；319- leading truck；320-, which is twisted, rises controller；321- guide pad；322- directive wheel；323- vacuum generator；324- supporting rail；
325- guided way；326- hanging ring；501- carriage；502- car door；503- crawler belt；504- medial support wheel；505- outside-supporting
Wheel；506- crawler driving whell；507- track drive motor；508- roller support；509- rope guide；510- lifting rope drum；
511- bridge motor；512- elevator car.
The invention will be further described combined with specific embodiments below, in the illustrative examples and explanation of the invention
For explaining the present invention, but it is not as a limitation of the invention.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, a kind of Elevator rescue flight device robot system,
System 3 is risen including UAV system 1, strand and car deliverance system 5, traction rope 2 and hoisting line 4, UAV system 1 include: machine
101, four, frame, 102, four, adjustment motor wing 104 and the flexible branch of four 105, four, propeller, 106, four, propeller motors
Leg 107, beating unit 116 and transmitter of catching net 118 fly pawl transmitter 109, and one end of four wings 104 is respectively articulated with
Four Angle Positions of rack 101 are mounted on, the top of 101 4 Angle Positions of rack, which is also respectively set, is equipped with adjustment motor 102,
The main shaft of four adjustment motors 102 is connected with one end of four wings 104 respectively, and adjustment motor 102 adjusts wing 104 and machine
Angle between frame 101.The other end of four wings 104 is rotated respectively there are four propeller 105, each propeller 105 with it is solid
Propeller motor 106 main shaft of the Dingan County mounted in 104 lower part of wing is connected, and propeller motor 106 drives propeller 105 to rotate.
101 front end of rack is additionally provided with manipulator seat 115, and level-one arm 114, level-one arm 114 are hingedly equipped on manipulator seat 115
End second level arm 111 is hingedly installed, the end of second level arm 111 is hingedly equipped with three-level arm 112, three-level arm
112 end is equipped with manipulator 113.The top of each wing 104 is respectively arranged with a fixing camera 103, Mei Geji
The lower part of the wing 104 is vertically-mounted respectively a telescopic outrigger 107.101 upper and lower part central location of rack is respectively arranged with
One omnidirectional camera 117.101 top of rack is additionally provided with beating unit 116.101 lower part of rack is additionally provided with catching net
Emitter 118 and winged pawl transmitter 109.
Twisting and rising system 3 includes: to twist rise frame 301, winch 309 and turntable 310, twist 311, two vacuum chucks of lifting motor
312, vacuum generator 323 and strand rise controller 320, two hooks 316 and two hooks adjust 317, two hanging rods 314 of electric cylinders
With two hanging rod adjustment 315, two drilling pedestals 308 of electric cylinders and two drilling sliding rails, 306, two drilling rack gears 307 and two
Drill 303, two bore motors 304 of gear and two drilling electric drills 305, and twisting and rising frame 301 is frame structure, and turntable 310 is pacified
301 lower part of frame is risen mounted in twisting, winch 309 is roll form, and is rotatably installed on turntable 310, twists lifting motor 311 and is mounted on
310 side of turntable twists 311 main shaft of lifting motor and is connected with winch 309, and driving winch 309 rotates.310 top two of turntable
End is symmetrically installed with leading truck 319, is rotatably equipped with guided way 325 and supporting rail 324, guided way 325 on leading truck 319 respectively
It is arranged in parallel with supporting rail 324, is slidably fitted with guide pad 321,321 top pair of guide pad on guided way 325 and supporting rail 324
Claim setting there are two directive wheel 322, twists and rise 301 center upper portion position of frame and be symmetrically arranged that there are two directive wheel 322, guided ways
325 provided circumferentially about have guide groove.The lower part for twisting liter frame 301, which is additionally provided with vacuum generator 323 and twists, rises controller 320.It twists
It rises 301 two sides of frame and is respectively set that there are two the pedestals 308 that drills, drilling sliding rail 306 is provided on each drilling pedestal 308, is drilled
Drilling rack gear 307 is provided on sliding rail 306, drilling sliding block 302 is slidably mounted on drilling sliding rail 306, and bore motor 304 is installed
On drilling sliding block 302, drilling gear 303, drilling gear 303 and drilling rack gear are coaxially installed on 304 main shaft of bore motor
307 intermeshings, the driving of bore motor 304 drilling sliding block 302 are slided along drilling sliding rail 306, and drilling electric drill 305 is mounted on drilling
On sliding block 302, the drill axis direction for the electric drill 305 that drills and the length direction of drilling sliding rail 306 are parallel to each other.It twists and rises frame 301
Top is symmetrical arranged there are two sucker electric cylinders 318, and the piston rod end of each sucker electric cylinders 318 is respectively arranged with a vacuum and inhales
Disk 312.Twisting liter 301 upper front of frame, symmetrically hingedly there are two linking up with 316, hook 316 is L shape, links up with 316 other end for installation
It is slidably fitted with hanging rod 314, each hanging rod 314 is connected with the piston rod end of hanging rod adjustment electric cylinders 315, and hanging rod adjusts electric cylinders
315 are mounted on 316 tops of hook.The cylinder base for linking up with 316 electric cylinders is hingedly mounted on strand and rises 301 top of frame, links up with 316 electric cylinders
Piston rod end 316 be hinged with hook.It twists liter 301 lower central position of frame and is additionally provided with hanging ring 326.
The upper end of traction rope 2 is mounted on winged pawl transmitter 109, and the lower end of traction rope 2 passes sequentially through strand and rises 301 top of frame
Two directive wheels 322, two directive wheels 322 on guide pad 321, the guide groove on guided way 325, be finally wrapped in winch
Car deliverance system 5 includes: carriage 501, lifting rope drum 510 and roller support 508, bridge motor 511, conductor rope
509, two traveling crawlers 503 of device, track drive motor 507, crawler driving whell 506, medial support wheel 504 and outside-supporting wheel
505, elevator car 512,501 center upper portion position of carriage are provided with roller support 508, and lifting rope drum 510 is rotatablely installed
On roller support 508, bridge motor 511,511 main shaft of bridge motor and drum of crane are additionally provided on roller support 508
It is connected, driving drum of crane rotation.Rope guide 509 is mounted on 501 top of carriage.501 two sides of carriage are respectively arranged with nine
A medial support wheel 504.501 two sides of carriage are also respectively provided with traveling crawler 503, and every traveling crawler 503 is covered on same
On nine medial support wheels 504 of side.501 top two sides of carriage have been symmetrically arranged track drive motor 507, track drive
Crawler driving whell 506 is connected on 507 main shaft of motor, crawler driving whell 506 is contacted with 503 inboard friction of traveling crawler, driving
Traveling crawler 503 rotates.506 two sides of crawler driving whell are also set up there are two outside-supporting wheel 505, outer with traveling crawler 503
Side is in contact.501 front of carriage is additionally provided with car door 502, and carriage 501 is internally provided with elevator car 512.
The upper end of hoisting line 4, which is mounted on, to be twisted on the hanging ring 326 for rising 301 lower part of frame, and the lower end of hoisting line 4 passes through rope guide
It is wrapped in after 509 on lifting rope drum 510.
Fly 109 front of pawl transmitter and be provided with winged pawl 110, middle part is provided with air bag, and rear portion is provided with percussion electromagnet
108, for percussion electromagnet 108 for hitting gas explosion capsule, air bag explosion, which fires, flies pawl 110.Level-one arm 114, second level arm 111, three
Grade arm 112 is driven by joint motor.Beating unit 116 is used for shattered glass for emitting hammer, hammer.It captures
Net emitter 118 is for emitting catching net.314 lower end of hanging rod is provided with idler wheel 313.Drill pedestal 308 length direction with
The piston rod axis direction of sucker electric cylinders 318 keeps an angle, and corner dimension is 15 degree ~ 20 degree.
The operation principle of the present invention is that: when emergency relief situation occurs in skyscraper, carried out first by UAV system 1
Work: 1 fast lifting of UAV system, there are enough length to guarantee that UAV system 1 can for traction rope 2 and hoisting line 4 at this time
It, can be by rescue site by two omnidirectional cameras 117 of starting and four fixing cameras 103 to move to rescue height
Situation is imaged, and is judged convenient for operator；When needing to smash in the glass at rescue, unmanned plane system can be passed through
Beating unit 116 in system 1 emits hammer for glass crushing；When occur when rescue personnel jumps out of the building and is inclined to, can pass through
Transmitter of catching net 118 emits catching net, treats rescue personnel and implements relief；Meanwhile level-one arm 114, two can be passed through
Grade arm 111 and three-level arm 112 manipulate manipulator 113 and carry out simple grasping movement.
When needing rescue personnel to move to rescue height, needs that UAV system 1 can be needed at this time, twists liter system 3
With 5 coordinated of car deliverance system: UAV system 1 being moved to floor top, hits gas explosion by firing electromagnet 108
Capsule recycles the impact force of air bag explosion to fire and flies pawl 110, thus by winged pawl 110 nail on floor, or move to and be suitble to height
It is hooked in inside window using winged 110 shattered glass of pawl, while by winged pawl 110；Then starting twists the strand lifting motor risen in system 3
311, traction rope 2 is wound on winch 309, rises so that strand be made to rise system 3 along traction rope 2, is transported when twisting liter system 3 upwards
It moves to rescue height top certain distance, rises the starting vacuum generator 323 of controller 320 by twisting first, while passing through two
Two vacuum chucks 312 are fixed on wall by a sucker electric cylinders 318 respectively, then start two bore motors 304 and drilling
The drill bit of two drilling electric drills 305 is pierced wall by electric drill 305, is fixed on the wall so that strand be made to rise system 3；It twists and rises system 3
Another fixed form be, when execution conditions allow, to pass through two hooks and adjust electric cylinders 317 and adjust two and link up with
316 angle, and adjust electric cylinders 315 by two hanging rods and adjust position of two hanging rods 314 on two hooks 316, thus
In place, such as windowsill, it will be twisted two hooks 316 and hanging rod 314 and rise a system 3 and consolidated in a manner of hanging
It is fixed, while the idler wheel 313 of two 314 ends of hanging rod can be during strand rises system 3 and rises upwards, by contacting with wall
It collides to prevent from twisting liter system 3 with wall；Finally after strand, which rises system 3, to be fixed on the wall, pass through elevator car
512 starting bridge motors 511, hoisting line 4 are wound on lifting rope drum 510, to make car deliverance system 5 along lifting
Rope 4 is soaring upwards；Start two track drive motors 507 simultaneously, rotates two traveling crawlers 503, to make traveling crawler
During 503 contact with wall, frictional force is reduced, the protrusion obstacle between floor is easily crossed；Rescue personnel can be in sedan-chair
Compartment rescue system 5 is entered in carriage 501 before being promoted by car door 502, when car deliverance system 5 moves to rescue height
When, stop motion rescue personnel, that is, deployable sues and labours, while will lead in the personnel in dangerous such as generation fire fortuitous event
Car deliverance system 5 is crossed to save.