CN111675124B - Crawling mechanism adopting single rope wheel to reciprocate along rope and using method thereof - Google Patents

Abstract

The invention discloses a creeping mechanism adopting a single rope wheel to reciprocate along a rope, which is matched with an anchored working rope and comprises: a housing having a working surface; speed reducer, motor, brake; a battery, a power key, and an emergency stop key; the main machine handle is arranged on the shell and controls the output shaft of the motor to rotate forwards or backwards at a certain output rotating speed; a sheave; and the working rope bends to pass through the opposite surfaces of the rope wheels sleeved between the pair of transverse transition wheels so as to stretch and suspend the shell. The invention also discloses a using method of the crawling mechanism adopting the single rope wheel to reciprocate along the rope. The invention can realize the movement of carrying personnel or goods and materials along the direction of the working rope, has small friction resistance of the working rope, convenient and sensitive operation and good safety, realizes transshipment, diagonal pulling and vertical multi-directional assault or rescue, and is suitable for anti-terrorist assault, urban rescue, emergency rescue and relief, field operation and the like.

Description

Crawling mechanism adopting single rope wheel to reciprocate along rope and using method thereof

Technical Field

The invention relates to the technical field of climbing tools. More particularly, the present invention relates to a crawling mechanism that reciprocates along a rope using a single sheave and a method of using the same.

Background

The climbing tool is widely applied to individual combat, emergency rescue and material transportation, and is mainly used for rapidly realizing assault or rescue on vertical, oblique and horizontal targets, and an operator can carry necessary tactical equipment or personnel losing motion ability or transport objects with certain load, so that the rope climber runs to places where other equipment is difficult to reach along a special rope at a set speed. The existing climbing tool limits the smoothness and convenience of use due to factors such as the structure or logic design of the existing climbing tool, and a rope wheel can slip to cause safety accidents in practical application.

Disclosure of Invention

An object of the present invention is to solve at least the above problems and to provide at least the advantages described later.

The invention also aims to provide a crawling mechanism adopting the single rope pulley to reciprocate along a rope and a using method thereof, which can realize that carried personnel or materials move along the direction of a working rope, the working rope has small friction resistance, convenient and sensitive operation and good safety, realizes transverse crossing, diagonal pulling and vertical multi-direction assault or rescue, and is suitable for anti-terrorist assault, urban rescue, emergency rescue, field operation and the like.

To achieve these objects and other advantages in accordance with the invention, there is provided a crawling mechanism reciprocating along a rope using a single sheave, cooperating with an anchored working rope, comprising:

a housing having a working surface;

the speed reducer, the motor and the brake are positioned in the shell and assembled through a connecting flange, the brake is provided with a release handle extending out of the shell, and an output shaft of the speed reducer penetrates through the working surface;

the battery is positioned in the shell, the power key is triggered to enable the battery to supply power to the motor, and the emergency stop key is triggered to enable the battery to stop supplying power to the motor and start the brake;

the main machine handle is arranged on the shell and controls the output shaft of the motor to rotate forwards or backwards at a certain output rotating speed;

the rope wheel is parallel to the working surface, the rope wheel comprises a pair of sub rope wheels which are coaxially arranged in the front and back opposite directions, the sub rope wheels are detachably and fixedly connected, a gasket with a certain thickness is arranged between the sub rope wheels, the opposite surfaces of the sub rope wheels are conical sections with teeth to form a contact surface of a working rope, the rope wheel is fixedly connected to a rotating shaft of the rope wheel, the rotating shaft is fixedly connected with an output shaft of the speed reducer, and the output shaft of the motor rotates clockwise or anticlockwise in a forward or reverse mode to drive the rope wheel to rotate clockwise or anticlockwise;

the pair of transverse ferries are parallel to the working surface and are arranged in a bilateral symmetry mode, a pair of transverse ferries are connected to a fixing shaft through bearings, one end of the fixing shaft is installed on the working surface, the other end of the fixing shaft is connected through a limiting plate, the pair of transverse ferries are located above the rope wheel, the circle center of the rope wheel on the working surface falls on the perpendicular bisector of the pair of transverse ferries, the limiting plate limits the opposite sides of the pair of transverse ferries to form a contact surface of a working rope, and the working rope is bent to penetrate through the pair of transverse ferries to be sleeved on the opposite surfaces of the pair of transverse ferries to hang the shell.

Preferably, the method further comprises the following steps:

the safety cover, its one end articulate in working face, the other end can lock in the working face, the safety cover is equipped with the confession the breach that the work rope passed, form the cover during safety cover locking and establish the panel of rope sheave, a pair of cross ferry.

Preferably, the method further comprises the following steps:

a high/low rotation speed key for switching the output rotation speed of the motor to a higher first rotation speed or a lower second rotation speed;

the high-low rotating speed key is triggered to enable the host handle to control the output shaft of the motor to increase to a certain output rotating speed by taking the first rotating speed or the second rotating speed as an initial rotating speed.

Preferably, the method further comprises the following steps:

and the indicating lamp is switched to display the electric quantity of the battery or give a fault alarm, and the indicating lamp is respectively and electrically connected with the battery and a fault alarm module preset by the controller.

Preferably, the method further comprises the following steps:

the remote control key switches the control of the host or the control of the remote controller, the remote controller switches the output shaft of the motor to rotate forwards or backwards at a first rotating speed or a second rotating speed, and the remote controller is provided with a signal lamp, a high-rotating-speed key, a low-rotating-speed key, an ascending key and a descending key.

Preferably, the lower-middle part of working face has an installation axle through a pair of bedplate fixedly connected with, and it is on a parallel with the line of a pair of ferry, the one end activity cover of safety cover is located the installation axle forms the rotation end, power key, scram key, high and low speed key, remote control key, pilot lamp inlay and locate the working face, and distribute in the safety cover left and right sides, the release handle host computer handle sets up the shell surface on the left side or the right side of working face.

Preferably, a connection portion is formed between a pair of seat plates on the mounting shaft, and the crawling mechanism further includes:

the safety protection assembly comprises a safety rope, a safety catcher or a pulley and a climbing clothes, wherein the safety rope is anchored near the working rope in the same anchoring mode of the working rope, suspension points are arranged on the abdomen and the back of the climbing clothes, the abdomen suspension point of the climbing clothes is detachably suspended and connected with the connecting part through the safety rope, and the back suspension point of the climbing clothes is detachably suspended and connected with the safety rope through the safety catcher or the pulley.

Preferably, when the temperature of the motor reaches the early warning temperature, the output rotating speed of the motor is reduced to 15-20% of the maximum rotating speed;

when the temperature of the motor reaches the shutdown temperature, the motor stops rotating, and simultaneously alarms, and the motor can be started again to work until the temperature of the motor is reduced to be lower than the shutdown temperature;

when the electric quantity of the battery is reduced to be lower than 15-30%, the ascending key of the remote controller is locked, the rotating speed of the motor is reduced to be lower than 20% of the maximum speed, and meanwhile, an alarm is given;

when the electric quantity of the battery is over-voltage, the motor stops rotating, a release circuit is started, and an alarm is given;

when the driver is failed, the system is wrong, the battery is under-voltage, the battery discharges and overflows, the battery charges and overflows, the battery is overheated, the battery is under-temperature, the battery capacity is insufficient, the battery temperature is invalid, the battery voltage is invalid, and the relay in the battery is invalid, the motor stops rotating and gives an alarm.

The use method of the crawling mechanism with the single rope wheel reciprocating along the rope is adopted, when the working rope is horizontally stretched or pulled in a high-low inclined mode, the working rope is bent to penetrate through a pair of transverse wheels and is sleeved between the transverse wheels, and an included angle formed after the rope wheels are tensioned is less than 150 degrees.

Preferably, the threading mode of the working rope is as follows: when in use, the left side anchor point facing the working surface is higher than the right side anchor point.

The invention at least comprises the following beneficial effects:

firstly, carrying personnel or materials move along the direction of a working rope, the friction resistance of the working rope is small, the operation is convenient and sensitive, the safety is good, cross, diagonal and vertical multi-directional assault or rescue is realized, and the device is suitable for anti-terrorist assault, urban rescue, emergency rescue and relief, field operation and the like;

second, the quick lift is realized to two kinds of control methods of manual and remote control of accessible, stepless speed regulation, and the release stops promptly, and in case the mechanism of crawling of this application control is unusual, the power supply is unusual and the motor is unusual etc. can the band-type brake protection immediately, can use manual decline to make the operator safely fall to the ground, and the operation is smooth and easy, and it is convenient to use, and the practicality is extremely strong.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

Drawings

FIG. 1 is a schematic structural diagram of a working surface according to one embodiment of the present invention;

FIG. 2 is a side view of one embodiment of the present invention;

fig. 3 is a schematic view of the structure of the sheave of the present invention;

FIG. 4 is an assembled view of one embodiment of the present invention;

FIG. 5 is a schematic view of the assembly of the brake of the present invention;

FIG. 6 is an assembled view of the host handle of the present invention.

Detailed Description

The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.

It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.

It is to be noted that the experimental methods described in the following embodiments are all conventional methods unless otherwise specified, and the reagents and materials, if not otherwise specified, are commercially available; in the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can, for example, be fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. The terms "lateral," "longitudinal," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.

As shown in fig. 1-6, the invention provides a crawling mechanism adopting a single rope pulley to reciprocate along a rope, a working rope matched with anchoring is provided, the anchoring mode and the knotting mode of the working rope are not limited, for example, anchor joints (splayed knots and nine-shaped knots), rope connecting joints (double fisherman joints and flat knots), intermediate joints (engineering bowknots) and the like are not limited, the anchor joint connected with the crawling mechanism is required to meet the EN795 standard or ANSI/ASSE Z359.15:2014 standard, the working rope uses a rope with the diameter of 11mm according to the EN1891 standard under the condition of 200kg load, an operator has basic knowledge and skill of high-altitude rope operation, equipment required by rope technology can be correctly used, checked and maintained through training, necessary safety management schemes, related policies, working permission and working areas can be mastered through training, related working safety analysis can be carried out, training the operator can independently accomplish following knot to master application method, intensity and restriction, adopt single rope sheave to include along rope reciprocating motion's the mechanism of crawling:

the shell 13 can be designed into a box-shaped structure, has a containing space for placing the control circuit 11, circuits and batteries, preferably is less than or equal to 40cm multiplied by 28cm multiplied by 18.5cm, has a working surface 1, preferably is less than or equal to 28cm multiplied by 18.5cm, the top of the shell 13 can be provided with a handle 14, and the rear side can be provided with a rear cover plate 15;

the reducer 19, the motor 20, and the brake 21 are located inside the housing 13, and are assembled through a connecting flange 22 in a manner that is prior art and will not be described in detail herein, the brake 21 has a release handle 12 extending out of the housing 13, as shown in fig. 5, the brake includes the release handle 12, the connecting flange 22, a first screw 23, a shaft sleeve 24, a friction bushing 25, a dust cover 26, a magnet system 27, and a second screw 28, in response to a manual descent after the emergency stop key 5 is pressed down or when the equipment is stopped due to circuit protection, an operator needs to apply a certain torque to the release handle 12 to release the brake, the descent speed can be changed according to the size of the rotation angle of the knob, the output shaft of the motor 20 is fixedly connected with the output shaft of the brake 21, the output shaft of the reducer 19 passes through the working surface 1, and can be in a manner of a bearing, or the output shaft of the motor 20 can rotate in a clearance fit mode, and the output shaft of the speed reducer 19 rotates relative to the working surface 1 through speed reduction;

the battery is positioned in the shell 13, for example, a back cover plate 15 and a back cover handle are arranged on the opposite surface of the mounting surface, the back cover is detached to pull the handle to pull the battery out of the host machine and connect the charger and the battery, the anode and the cathode can not be reversely arranged, a charger power connector is inserted into a 220VAC power socket, a 220V power supply is used for charging, and the charging is divided into two processes: constant current charging, constant voltage charging, constant current charging, a charger indicator lamp 4 is a red lamp, during constant voltage charging, the charger indicator lamp 4 is a yellow lamp, during full charging, the charger indicator lamp 4 is a green lamp, during charging of the charger, the battery is preferably a high-power lithium ion battery, the rated voltage of the battery is 44V-50V/10Ah, the battery has a monitoring function to protect a battery circuit, has functions of output current protection, charging overvoltage overcurrent protection and high-temperature cutoff protection, when the equipment is overloaded, the output current is overlarge, the battery automatically cuts off the output current to protect the battery and control a driving system, during charging, when the charging voltage is larger than the rated voltage, the battery system automatically cuts off the input current of the battery or limits the input current to protect the battery, the battery system can be charged at any time, and has no memory effect of reducing the battery capacity, the battery has the characteristic of attenuation, and the battery capacity can be reduced every 20000 meters (120kg load) in operation; the crawling mechanism is provided with a special quick charger, the battery which is completely exhausted can be fully charged within about 1 hour, a short-circuit plug 8 is further arranged, when the short-circuit plug 8 is not installed, the equipment is in an open circuit state, battery discharging caused by mistaken touch of a switch is prevented, the equipment and the battery are powered off after the short-circuit plug 8 is pulled out for a long time, standby power consumption is prevented, the short-circuit plug 8 needs to be inserted before use, a power key is triggered to enable the battery to supply power to the motor 20, when the equipment is shut down, the equipment is powered on after the power key is pressed, the power key is pressed under a normal mode of the equipment, the equipment is shut down, and the emergency stop key 5 is triggered to enable the battery to stop supplying power to the motor 20, And the brake 21 is started, the crawling mechanism of the application stops working immediately after the emergency stop key 5 is pressed down in an emergency, the crawling mechanism is locked on the working rope and can slowly descend under the condition of no power supply in the mode of manually controlling the release handle 12, the emergency stop key 5 realizes the braking function, when the torsion of the motor 20 is smaller than the load gravity or the motor 20 stops, the load is prevented from falling out of control, the motor 20 stops working, just starts working or stops working for a period of time, the output torsion is smaller than the load weight, the brake is in a power-off state at the moment, the brake is in a brake-clasping state when the brake is in the power-off state, the load is prevented from reversely driving the motor 20, when the motor 20 obtains enough torsion to drive the load, the battery powers on the brake, the brake is released at the moment, the motor 20 drives the speed reducer 19 and the rope pulley 2 to start working, and the control mode ensures that the equipment is in the power-off state once, the brake is always in a contracting brake state, so that the safety of personnel and equipment is ensured;

the main machine handle 9 is arranged on the shell 13, the main machine handle 9 controls the output shaft of the motor 20 to rotate forwards or backwards at a certain output rotating speed in an electric control mode, in order to ensure that a user can judge more accurately in a nervous rescue task, the main machine handle 9 can be designed into a poking mode, for example, an opening is reserved in the shell 13 and can be used for a thumb of the user to extend into, the opening faces to a working surface 11 of the shell 13, a holding part (which can be a concave part or a convex part or an annular part) carried by the user holding the shell 13 is positioned on the side surface of the shell, the thumb penetrates through the opening to enter the shell 13, the main machine handle 9 is a duckbilled poking block and is assembled in the shell 13 through a backing plate, the main machine handle 9 is in clearance fit with the backing plate and can swing up and down (when external force is applied) relative to the backing plate, the main machine handle 9 is positioned in a middle position through a spring, when the main machine handle 9 is positioned at the middle position, no signal is sent, the rotating speed of the output shaft of the motor 20 is 0, the touch motor 20 is stirred upwards to rotate reversely (positively), the rope pulley 2 rotates anticlockwise, the touch motor 20 is stirred downwards to rotate positively (negatively), the rope pulley 2 rotates clockwise, the swinging angle of the handle is in direct proportion to the speed, a signal of positive speed increase or reverse speed increase is generated, and when external force is not applied, the main machine handle 9 is reset at the middle position, and the main machine handle 9 has more control hand feeling and is focused on operation relative to a setting button in one implementation mode;

the rope wheel 2 is parallel to the working surface 1, the rope wheel 2 comprises a pair of rope wheels which are coaxially arranged in front and back opposite directions, the pair of rope wheels comprises a first rope wheel 162 close to the working surface 1 and a second rope wheel 172 far away from the working surface 1, the pair of rope wheels can be disassembled and fixedly connected and are fastened by bolts, a gasket with certain thickness is arranged between the pair of rope wheels, the spacers with corresponding size are installed according to the thickness of the working rope to adjust the distance between the pair of sub-rope wheels, the opposite surfaces of the pair of sub-rope wheels are provided with toothed conical sections to form the contact surface of the working rope, the structure enables the diameter of the rope to have certain tolerance, meanwhile, when the heavy object is lifted, the rope is tightened to the inside of the rope wheel 2 under the action of the pulling force, the rope is prevented from falling off, the rope wheel 2 is fixedly connected with a rotating shaft thereof, the rotating shaft is fixedly connected with an output shaft of the speed reducer 19, an output shaft of the motor 20 rotates clockwise or reversely to drive the rope pulley 2 to rotate clockwise or anticlockwise;

a pair of horizontal ferryboat 18, it is on a parallel with 1 and bilateral symmetry of working face set up, and a pair of horizontal ferryboat 18 bearing connect in its fixed axle, a pair of fixed axle one end install in 1, the other end of working face pass through limiting plate 10 and connect, and a pair of horizontal ferryboat 18 is located 2 tops of rope sheave, just the centre of a circle of rope sheave 2 falls on the perpendicular bisector of a pair of horizontal ferryboat 18 on the working face 1, limiting plate 10 restricts the contact surface that the opposite side of a pair of horizontal ferryboat 18 formed the work rope, and the work rope is bent and is passed and set up the opposite side of a pair of horizontal ferryboat 18 and hang with the stretch-draw the casing 13 in the opposite side of a pair of rope sheave between 18. This structure guarantee work rope gets into rope sheave 2 along the certain direction, leave rope sheave 2 along the certain direction, a pair of cross ferryboat 18 is as dividing the rope ware, prevent to leave the skew setting direction of side work rope and disturb into rope end work, a pair of cross ferryboat 18 changes the sliding friction of work rope and equipment into rolling friction, reduce the frictional resistance of work rope, alleviate the wearing and tearing of rope simultaneously, the life of extension rope, the design of cross ferryboat 18 has increased the ferry function of equipment simultaneously, make the mechanism of crawling of this application except can following the rope and rise and descend, can also follow horizontal rope ferry or follow the slant rope and draw to one side.

In the technical scheme, the working temperature of a power supply battery of the crawling mechanism is-30-60 ℃; the charging temperature is-20-60 ℃, the maximum charging current is more than or equal to 40A, the charging time is short, the battery has overvoltage protection, undervoltage protection, over-temperature protection, overcurrent protection and overshoot protection, a control system monitors the working state of the battery at any time, and when a problem is found, the battery can display the fault reason and automatically stops when necessary to guarantee the safety of personnel. When the load moves downward, the control system transfers the electric energy generated by the reverse motion of the motor 20 to the power resistor (converted into thermal energy) and the electric energy converted into thermal energy in the battery or stored in the battery.

The transmission system comprises a motor 20, a speed reducer 19 and a rope wheel 2; the control system can automatically adjust the power supply current, and the speed can be continuously adjusted under different loads. The maximum rotating speed of the motor 20 is 4500rpm, and the speed is continuously adjustable through the main machine handle 9. Meanwhile, the motor 20 is provided with a temperature sensor, when the temperature of the motor 20 is too high, the system is thermally protected, the motor 20 stops running, and the internal contracting brake is braked at the same time, so that the safe operation of the equipment is ensured.

The utility model provides a climbing mechanism's rising or decline depend on the rotation direction of rope sheave 2, and the work rope is bent and is passed a pair of cross ferry 18 and overlap and locate the rope sheave 2 taut during the use, guarantees that working face 1 is just to the operator all the time, and the operator of being convenient for observes the equipment state at any time, and host computer handle 9 is located the most comfortable operating position of operator all the time, and the thumb that only need light-moving just can controlgear's traffic direction and speed. When the equipment is in a vertical ascending and descending working state, the battery is dead, and the equipment cannot normally run, the operator can safely fall to the ground by using manual descending.

The power key is pressed, the equipment is normally powered on, the rotation direction of the rope pulley 2 is adjusted by operating the main machine handle 9, for example, the main machine handle 9 is stirred upwards, the rope pulley 2 rotates anticlockwise, the main machine handle 9 is stirred downwards, and the rope pulley 2 rotates anticlockwise, so that the rope pulley can move along a working rope, and when the rope pulley needs to be manually lowered, the power key is turned off (powered off); pressing the emergency stop key 5, rotating the release handle 12 clockwise to start descending, wherein the descending speed is higher when the force is higher; releasing the release handle 12 automatically resets and the descent stops.

This technical scheme adopts single rope sheave structure, can follow the optional position erection equipment of work rope, rope sheave 2 looks facies has certain tapering, the adaptation does not use the work rope of thickness, the position of rope sheave 2 and ferry wheel 18 makes the mechanism of crawling of this application not only can the oscilaltion (rise or descend on perpendicular rope), still can the level ferry (carry out the side-to-side motion on horizontal rope), can also the height draw to one side (rise or descend on oblique stay cord), casing 13 can adopt carbon fiber material, light in weight, high strength, handsome in appearance.

In another technical solution, the method further comprises:

safety cover 3, its one end articulate in working face 1, the other end can lock in working face 1, the restriction is not done to articulated mode, can adopt modes such as pivot, hinge, and the restriction is not done to the locking mode, can adopt modes such as elasticity lock, lock body closure, safety cover 3 is equipped with the confession the breach that the work rope passed, the continuous business turn over of the work rope of being convenient for, form the panel that the rope sheave 2, a pair of horizontal ferryboat 18 were established to the cover during 3 locks of safety cover. The safety cover 3 adopts carbon fiber material, and light in weight structural strength is big, opens safety cover 3, can follow the optional position installation of work rope the mechanism of crawling of this application, and the back of adorning is good, closes safety cover 3, and safety cover 3 and working face 1 are closed completely, hug closely with the work rope, guarantee that the work rope can not deviate from in rope sheave 2.

In another technical solution, the method further comprises:

a high/low rotation speed key 7 that switches the output rotation speed of the motor 20 to a higher first rotation speed or a lower second rotation speed; the high-low rotating speed key is triggered to enable the host handle to control the output shaft of the motor to increase to a certain output rotating speed by taking the first rotating speed or the second rotating speed as an initial rotating speed.

For example, when the high/low speed key 7 is pressed, the blue indicator lamp 4 is turned on, and the low speed mode is set; when the high-low speed key 7 is pressed, the blue indicator light 4 is turned off, and the high-speed mode is adopted, so that the operation and display mode is convenient to understand, the first rotating speed or the second rotating speed can be 75% or 25% of the maximum speed, and when one person uses the crawling mechanism (the load is small) and the electric quantity is sufficient, the crawling mechanism can operate at high speed; when the load is great or the electric quantity is less, the automatic low-speed operation that truns into of the mechanism of crawling of this application, high low rotational speed key 7 is triggered and makes host computer handle 9 control the output shaft of motor 20 with first rotational speed or second rotational speed are certain output rotational speed for initial rotational speed acceleration rate, for example press high low rotational speed key 7, and first rotational speed is initial rotational speed, stirs host computer handle 9 by the meso position upwards, and after motor 20's output rotational speed increased the speed to first rotational speed fast, along with host computer handle 9 stir continuously (the angle increases), output rotational speed lasted by first rotational speed. And switching the rotating speed according to actual requirements.

In another technical solution, the method further comprises:

the indicating lamp 4 is switched to display the electric quantity of the battery or give a fault alarm, the indicating lamp 4 is electrically connected with the battery and a fault alarm module preset by the controller respectively, under the condition that the equipment is shut down, the red indicating lamp 4 is turned on after the power key is pressed down, the equipment is powered on, the indicating lamp 4 displays normal electric quantity, under the normal mode of the equipment, the power key is pressed up, all the indicating lamps are turned off, and the equipment is shut down. When the LED display device is used for displaying the electric quantity, 10 LED indicator lamps 4 can be designed, wherein the LED indicator lamps are respectively blue, four are green, three yellow and two red from top to bottom, each LED indicator lamp 4 represents 10% of the electric quantity of the battery, and when the LED display device is used for displaying fault alarms, different flashing indications can be realized according to the definition of faults, such as power-on faults, communication faults, motor overheating alarms, low-voltage alarms, overvoltage alarms, battery capacity insufficiency alarms, battery overheating, battery non-communication alarms and the like. The operator can observe the equipment in real time conveniently.

In another technical solution, the method further comprises:

the remote control key switches the control of the host or the control of the remote controller, the remote controller switches the output shaft of the motor 20 to rotate forwards or backwards at a first rotating speed or a second rotating speed, and the remote controller is provided with a signal lamp, a high-rotating-speed key, a low-rotating-speed key, an ascending key and a descending key.

The wireless transmission of remote controller and equipment, the mode of received signal is prior art, do not restrict here and give unnecessary details, internal configuration remote control receiving arrangement at the mechanism of crawling of this application, be furnished with wireless remote controller simultaneously, every set is mated in pairs, the controllable equipment of remote controller rises/descends with high-speed or low-speed, remote control distance is greater than 150m, when being used for the rescue or only transport means material, the operator can send out the instruction to the mechanism of crawling of this application corresponding through the remote controller, rise or descend the operation, confirm the mechanism traffic direction of crawling of this application according to the installation direction of work rope and the direction of motion of rope sheave 2, when confirming the mechanism of crawling of this application speed of operation, select corresponding button, equipment can be according to setting for direction and speed operation, the remote controller can select two kinds of different speeds: fast and slow (75% and 25% of maximum speed, respectively). When a remote control key is pressed, the green indicating lamp 4 is lightened and can be controlled by a remote controller; when the remote control key is pressed, the green indicating lamp 4 is turned off and can only be controlled by the host machine, namely the host machine handle 9 and various panels on the working surface 1.

In another technical scheme, the middle lower part of the working face 1 is fixedly connected with an installation shaft 6 through a pair of seat plates, the installation shaft 6 is parallel to a connecting line of a pair of transverse ferry wheels 18, one end of the protection cover 3 is movably sleeved on the installation shaft 6 to form a rotating end, the power key, the emergency stop key 5, the high and low rotating speed keys 7, the remote control key and the indicator lamp 4 are embedded on the working face 1 and distributed on the left side and the right side of the protection cover 3, and the release handle 12 and the host machine handle 9 are arranged on the surface of a shell 13 on the left side or the right side of the working face 1.

When the operator uses, the locking piece at equipment top is rotated 180 and is aimed at the front bezel breach (one of the locking realization modes of safety cover 3), the safety cover 3 is rotated downwards, after bending the working rope, pass the working rope in order to the middle of ferry wheel 18, make the working rope cover on rope sheave 2 and taut working rope, cover safety cover 3, the locking piece, the user is towards working face 1, both hands grasp equipment, various buttons are located finger operation range, be convenient for the operator to operate, observe each button and the equipment condition, the human engineering has been considered in the abundant design, rope sheave 2 stretches out length, hang the position of rope connecting piece and stretch out length and guaranteed that the operator uses equipment dead weight and load weight reach the balance, equipment is parallel with ground all the time.

In another aspect, a connection portion is formed between a pair of seat plates on the mounting shaft 6, and the crawling mechanism that reciprocates along the rope using the single sheave further includes:

the safety protection assembly comprises a safety rope, a safety catcher or a pulley and a climbing clothes, wherein the safety rope is anchored near the working rope in the same anchoring mode of the working rope, suspension points are arranged on the abdomen and the back of the climbing clothes, the abdomen suspension point of the climbing clothes is detachably suspended and connected with the connecting part through the safety rope, and the back suspension point of the climbing clothes is detachably suspended and connected with the safety rope through the safety catcher or the pulley.

The operator has the thing risk of falling when high altitude construction, must use supplementary safety protection subassembly under the non-emergency, and at the horizontal cross and the height draw the direction during operation to one side, safety rope lock, suspender rope should keep lax, should not produce big pulling force to the mechanism of crawling of this application to influence the normal work of equipment. The harness cord conforms to the harness of EN 354/795; the safety rope lock conforms to the EN358 limit working rope; the D-lock mounting the fall arrester or pulley conforms to the metal ring of EN 362. Climbing a full body seating harness conforming to the EN361 and EN813 standards.

In another technical scheme, when the temperature of the motor 20 reaches the early warning temperature (for example, 170 ℃), the output rotating speed of the motor 20 is reduced to 15-20% of the maximum rotating speed;

when the temperature of the motor 20 reaches the shutdown temperature (for example, 180 ℃), the motor 20 stops rotating, and an alarm is given at the same time, and the motor 20 can be started to work again until the temperature of the motor 20 is reduced to be lower than the shutdown temperature;

when the electric quantity of the battery is reduced to be lower than 15-30%, the ascending key of the remote controller is locked, the rotating speed of the motor 20 is reduced to be lower than 20% of the maximum speed, and meanwhile, an alarm is given;

when the electric quantity of the battery is over-voltage, the motor 20 stops rotating, a release circuit is started, and meanwhile an alarm is given;

when the driver is out of order, the system is wrong, the battery is under-voltage, the battery discharges and overflows, the battery charges and overflows, the battery is overheated, the battery is under-temperature, the battery capacity is insufficient, the battery temperature is invalid, the battery voltage is invalid, and the relay inside the battery is invalid, the motor 20 stops rotating and gives an alarm.

Once the crawling mechanism of the application is abnormal in control, power supply, the motor 20 and the like, the internal contracting brake can be immediately protected. The remote control system also has the functions of emergency protection (one-key emergency stop), over-temperature protection, battery power protection, driving overheat protection, overvoltage protection, overcurrent protection, direct connection protection and remote control signal loss protection. When the driver, the control system or the battery is abnormal, the motor 20 stops rotating and gives an alarm.

By adopting the application method of the crawling mechanism, when the working rope is horizontally stretched or pulled in a high-low inclined mode, the working rope is bent to pass through a pair of transverse ferry wheels 18 and is sleeved on the rope wheel 2 to form an included angle less than 150 degrees after being tensioned. Reduce the abrasion consumption and ensure the use safety of the equipment.

Vertical up and down: the device moves up and down along a special rope in the vertical direction, and can work by using a single rope system when materials are conveyed (by using a remote controller); horizontal crossing operation: the safety rope works between two places with small height difference and certain horizontal distance, the other rope can be erected as a safety rope except the working rope, and the safety rope is provided with a safety catch and a pulley and is connected with a safety belt of a climbing clothes of an operator; in the whole movement process, the sling rope and the safety rope are in a loose state and are not stressed, so that the running direction and the working state of the working rope in the crawling mechanism are prevented from being influenced; in emergency, the safety rope is not used, and the working rope is only used for undertaking the working task, so that the operator is required to have rich experience to ensure the safety of the operator; high-low diagonal pulling operation: work in two places that have certain discrepancy in elevation and have certain horizontal distance, can erect a safety rope except that the work rope, safety rope is equipped with the safety hook and is connected with the safe hanging point of the mechanism of crawling of this application on, and the safety hook is relative lax state with the safety rope in whole motion process to avoid influencing operation direction and the operating condition of work rope in the mechanism of crawling of this application. In emergency, the safety rope is not used, and the working rope is only used for undertaking the working task, so that the operator is required to have rich experience to ensure the safety of the operator.

The application fields are as follows:

1. individual combat: the operator can carry necessary tactical equipment to run along a special rope to a place where other equipment is difficult to reach according to a set speed;

2. emergency rescue: an operator can carry personnel without the motor ability, so that the crawling mechanism runs to a place where other equipment is difficult to reach along a special rope according to a set speed;

3. material conveying: the operator uses a remote controller to control the crawling mechanism to convey a certain load of articles along a special rope at a set speed to a place where other equipment is difficult to reach.

Personnel or materials can carry the equipment to move along the direction of the working rope, and can realize quick lifting, stepless speed regulation and stop when hands are loosened by two control modes of manual operation and remote control.

In another technical scheme, when in actual operation, the rotation direction of the rope wheel 2 needs to be operated according to the anchor point direction of the working rope when ascending or descending, and the threading mode of the working rope is as follows: when in use, the left side anchor point of the working surface 1 is higher than the right side anchor point facing the working surface 1. Uniformity and convenience of operation are facilitated.

The number of apparatuses and the scale of the process described herein are intended to simplify the description of the present invention. Applications, modifications and variations of the present invention will be apparent to those skilled in the art.

While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.

Claims (3)

1. Adopt single rope sheave along rope reciprocating motion's crawling mechanism, the work rope of cooperation anchoring, its characterized in that includes:

a housing having a working surface;

the speed reducer, the motor and the brake are positioned in the shell and assembled through a connecting flange, the brake is provided with a release handle extending out of the shell, and an output shaft of the speed reducer penetrates through the working surface;

the battery is positioned in the shell, the power key is triggered to enable the battery to supply power to the motor, and the emergency stop key is triggered to enable the battery to stop supplying power to the motor and start the brake;

the main machine handle is arranged on the shell and controls the output shaft of the motor to rotate forwards or backwards at a certain output rotating speed;

the rope wheel is parallel to the working surface, the rope wheel comprises a pair of sub rope wheels which are coaxially arranged in the front and back opposite directions, the sub rope wheels are detachably and fixedly connected, a gasket with a certain thickness is arranged between the sub rope wheels, the opposite surfaces of the sub rope wheels are conical sections with teeth to form a contact surface of a working rope, the rope wheel is fixedly connected to a rotating shaft of the rope wheel, the rotating shaft is fixedly connected with an output shaft of the speed reducer, and the output shaft of the motor rotates clockwise or anticlockwise in a forward or reverse mode to drive the rope wheel to rotate clockwise or anticlockwise;

the pair of transverse ferries are parallel to the working surface and are arranged in bilateral symmetry, the pair of transverse ferries are connected with a fixed shaft through bearings, one end of the fixed shaft is installed on the working surface, the other end of the fixed shaft is connected through a limiting plate, the pair of transverse ferries are positioned above the rope wheel, the circle center of the rope wheel on the working surface falls on the perpendicular bisector of the pair of transverse ferries, the limiting plate limits the opposite sides of the pair of transverse ferries to form a contact surface of a working rope, and the working rope is bent to pass through the space between the pair of transverse ferries and is sleeved on the opposite surface of the pair of transverse ferries so as to stretch the shell;

the indicating lamp is switched to display the electric quantity of the battery or give a fault alarm, and the indicating lamp is respectively and electrically connected with the battery and a fault alarm module preset by the controller;

the remote control key switches the control of a host or the control of the remote controller, the remote controller switches the output shaft of the motor to rotate forwards or backwards at a first rotating speed or a second rotating speed, and the remote controller is provided with a signal lamp, a high-rotating-speed key, a low-rotating-speed key, an ascending key and a descending key;

when the temperature of the motor reaches the early warning temperature, the output rotating speed of the motor is reduced to 15-20% of the maximum rotating speed;

when the temperature of the motor reaches the shutdown temperature, the motor stops rotating, and simultaneously alarms, and the motor can be started again to work until the temperature of the motor is reduced to be lower than the shutdown temperature;

when the electric quantity of the battery is reduced to be lower than 15-30%, the ascending key of the remote controller is locked, the rotating speed of the motor is reduced to be lower than 20% of the maximum speed, and meanwhile, an alarm is given;

when the electric quantity of the battery is over-voltage, the motor stops rotating, a release circuit is started, and an alarm is given;

when a driver fails, a system error, battery under-voltage, battery discharge overcurrent, battery charge overcurrent, battery overheating, battery under-temperature, battery capacity insufficiency, battery temperature failure, battery voltage failure and battery internal relay failure, the motor stops rotating and gives an alarm;

the protective cover is hinged to the working surface at one end, the other end of the protective cover can be locked on the working surface, a notch for the working rope to pass through is formed in the protective cover, and a panel covering the rope wheel and the pair of transverse ferries is formed when the protective cover is locked;

the middle lower part of the working surface is fixedly connected with an installation shaft through a pair of seat plates, the installation shaft is parallel to a connecting line of a pair of transverse ferry wheels, one end of the protective cover is movably sleeved on the installation shaft to form a rotating end, the power key, the emergency stop key, the high and low rotating speed keys, the remote control key and the indicator lamp are embedded on the working surface and distributed on the left side and the right side of the protective cover, and the release handle and the host machine handle are arranged on the surface of a shell on the left side or the right side of the working surface;

when the working rope is horizontally tensioned or pulled in a high-low oblique manner, the working rope is bent, passes through a pair of transverse wheels, is sleeved between the transverse wheels and is tensioned on the rope wheels, and then the included angle formed by tensioning the rope wheels is less than 150 degrees;

the threading mode of the working rope is as follows: when in use, the left side anchor point facing the working surface is higher than the right side anchor point.

2. The crawling mechanism using single sheave to reciprocate along a rope as claimed in claim 1, further comprising:

a high/low rotation speed key for switching the output rotation speed of the motor to a higher first rotation speed or a lower second rotation speed;

the high-low rotating speed key is triggered to enable the host handle to control the output shaft of the motor to increase to a certain output rotating speed by taking the first rotating speed or the second rotating speed as an initial rotating speed.

3. The crawling mechanism using the single sheave to reciprocate along the rope as claimed in claim 2, wherein a connection part is formed between a pair of seat plates on the mounting shaft, and the crawling mechanism using the single sheave to reciprocate along the rope further comprises:

the safety protection assembly comprises a safety rope, a safety catcher or a pulley and a climbing clothes, wherein the safety rope is anchored near the working rope in the same anchoring mode of the working rope, suspension points are arranged on the abdomen and the back of the climbing clothes, the abdomen suspension point of the climbing clothes is detachably suspended and connected with the connecting part through the safety rope, and the back suspension point of the climbing clothes is detachably suspended and connected with the safety rope through the safety catcher or the pulley.

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