An elevator robot capable of emergency stop

Abstract

The application relates to the field of lifting equipment, in particular to a lifting robot capable of emergency stop. The lifting robot comprises a machine shell, a rolling disc assembly, a guide assembly, an emergency stop mechanism and a limiting mechanism; a driving device is arranged in the machine shell; the rolling disc assembly is provided with a rope passing channel, and the rolling disc assembly is connected with the output end of the driving device; the guide assembly comprises a guide wheel and a guide frame; the emergency stop mechanism comprises a fixing base, an abutting frame, a pressing handle, a fixing sleeve, a torsional spring, a sliding rod, a sliding frame and an elastic piece b; the fixing sleeve is arranged on the fixing base and abuts the abutting frame on the fixing base; a plurality of limiting grooves are circumferentially arranged at the end of the abutting frame away from the fixing sleeve; the torsional spring is sleeved on the outer periphery of the fixing sleeve and connected with the fixing sleeve and the abutting frame at two ends; and the limiting mechanism is arranged on the fixing base and forms a rope passing space with the fixing base. The lifting robot can conveniently abut the rope by pressing the pressing handle, so as to prevent relative slipping.

Description

Technical Field

[0001] The present invention relates to the field of lifting equipment, in particular to a lifting robot capable of emergency stop. Background Art

[0002] A lift is a machine used to move people or goods up and down. In some situations such as fire training, fire rescue, personnel transfer, high-altitude operations and deep well operations, people need to be able to move along ropes, and lifts are needed in these situations.

[0003] Chinese patent publication number CN212151245U discloses a novel elevator, which can ensure that the rope passing through the rope pulley can be smoothly discharged from the U-shaped ring, reduce the phenomenon of rope accumulation, and reduce the impact on the normal operation process of the elevator.

[0004] However, the above technical solution has the following shortcomings:

[0005] By turning the handle, the servo motor and drive motor are controlled to rotate, reeling in one end of the rope while releasing it from the other end, allowing the elevator to rise and fall on the rope. However, when people are being raised or lowered on the rope, if an obstacle appears in the direction of travel that may affect forward movement safety or the user needs to stop at a specific location, simply turning the handle to control the servo motor and drive motor will not stop the elevator immediately. This is because the weight and inertia of the person and the elevator itself may cause the elevator and the rope to slip relative to each other, making it impossible to achieve an emergency stop. Summary of the Invention

[0006] The purpose of the present invention is to address the problems existing in the background technology and to provide a lifting robot that can be stopped suddenly and can conveniently press a pressure handle to tighten a rope to prevent relative slippage.

[0007] The technical solution of the present invention is a lifting robot capable of emergency stop, comprising a housing, a rolling disk assembly, a guide assembly, an emergency stop mechanism and a limit mechanism; a driving device is provided in the housing; the rolling disk assembly has a rope winding channel, and the rolling disk assembly is connected to the output end of the driving device; the guide assembly comprises a guide wheel and a guide frame, the guide wheel is rotatably arranged on the guide frame, the guide frame is arranged on the housing, and the guide frame has a guide groove; the emergency stop mechanism comprises a fixed seat, an abutment frame, a pressure handle, a fixed sleeve, a torsion spring, a sliding rod, a sliding frame and an elastic member b, the fixed seat is provided with an installation groove b, the fixed seat is arranged on the housing, the abutment frame The rotation is set on the fixed seat, the fixed sleeve is set on the fixed seat and presses the abutment frame against the fixed seat, and the abutment frame has a plurality of limit grooves distributed circumferentially at one end away from the fixed sleeve, and the abutment frame has an abutment end protruding outward, and the torsion spring is set on the outer periphery of the fixed sleeve and the two ends are respectively connected to the fixed sleeve and the abutment frame, the pressing handle, the sliding rod and the sliding frame are connected in sequence, the sliding rod passes through the fixed seat, and the sliding frame has a limit rod portion that can be inserted into the limit groove, and the sliding frame is slidably set at the installation groove b, and the two ends of the elastic member b are respectively connected to the sliding frame and the casing; the limiting mechanism is set on the fixed seat and forms a rope threading space between the fixed seat.

[0008] Preferably, the rolling disk assembly includes two symmetrically distributed rotating disks, the rope winding channel is located between the two rotating disks, and the rotating disk has a protruding rib portion on the side facing the rope winding channel, and multiple rib portions are evenly arranged around the central axis of the rotating disk.

[0009] Preferably, the outer peripheral surface of the guide wheel is provided with concave wheel grooves along the axial direction from both ends to the middle.

[0010] Preferably, the abutment frame has a circular sleeve surface, ratchets are distributed on the abutment frame around the central axis of rotation, a rotating frame is rotatably arranged on the sleeve surface, the rotating frame is located between the ratchet and the fixed seat, a push handle and a stop member are provided on the rotating frame, a pawl is rotatably arranged on the rotating frame, and an elastic member c is connected between the pawl and the stop member.

[0011] Preferably, the pawl has a blocking rod portion, a limiting channel for the blocking rod portion to move is provided on the rotating frame, and the rotating frame is connected to a cover plate.

[0012] Preferably, the limiting mechanism includes a limiting frame, a pushing member, a slide and an elastic member a. The limiting frame is rotatably arranged on the fixed seat. The limiting frame is provided with an installation groove a and a strip hole. The installation groove a is connected to the strip hole. The two ends of the elastic member a are respectively connected to the bottom of the installation groove a and the slide. The pushing member passes through the strip hole and is connected to the slide; a card slot for the slide to be inserted is provided at the bottom of the fixed seat.

[0013] Preferably, two groups of rope limiting assemblies are arranged side by side on the casing, and the two groups of rope limiting assemblies are respectively located on both sides of the rolling disk assembly. The rope limiting assemblies include a slide rail, a slide, a rotating rod, a screw, a retaining ring, an elastic part d and a limit buckle. A connecting groove for installing the slide rail is provided on the casing, the slide is slidably arranged on the slide rail and is located on the inner side of the connecting groove, the rotating rod is rotatably arranged on the slide, and a rope threading channel is formed between the rotating rod and the slide, the rotating rod has a protruding connecting rod portion, the connecting rod portion is connected with a screw, a retaining ring is connected between the connecting rod portion and the screw, a limit buckle is slidably provided on the connecting rod portion, an elastic part d is connected between the limit buckle and the retaining ring, and a groove for the connecting rod portion to be snapped in and a retaining groove for the limit buckle to be snapped in are provided on the slide.

[0014] Preferably, a bracket is provided on the casing, a connecting belt is connected to the bottom of the bracket, a lock buckle is connected to the bottom of the connecting belt, the lock buckle includes a lock handle, a lock rod and a limit sleeve, the lock handle has an upper connecting end and a lower connecting end, one end of the lock rod is rotatably connected to the upper connecting end of the lock handle, and the other end of the lock rod is clamped at the lower connecting end of the lock handle, and the limit sleeve is slidingly sleeved on the lock rod.

[0015] Preferably, the housing is provided with a speed regulating knob for adjusting the speed of the output end of the driving device and a holding brake for braking.

[0016] Preferably, the method of using the above-mentioned lifting robot capable of emergency stop includes a method of using it for lifting personnel and a method of using it for transferring personnel;

[0017] The personnel lift method includes the following steps A1-A4:

[0018] A1. Pre-fix the top of the top fixed rope to a high building, with the top fixed rope in a suspended position.

[0019] A2. The user passes the top fixed rope through the guide groove, the rope winding channel and the rope threading space;

[0020] A3. The user fastens the buckle he is wearing onto the lock buckle;

[0021] A4. The user activates the driving device, which drives the rolling plate assembly to rotate, and the rolling plate assembly is raised and lowered on the top fixed rope;

[0022] When the lifting speed needs to be adjusted, turn the speed regulating knob to adjust the speed of the driving device driving the rolling disc assembly;

[0023] When braking is required, push the brake switch to brake. After releasing it, the brake will automatically reset and release the brake.

[0024] When an emergency stop is required, the pressing handle is pressed, and the pressing handle drives the sliding frame to move through the sliding rod. The sliding frame compresses the elastic member b, and the limiting rod part disengages from the limiting groove. The torsion force of the torsion spring drives the abutment frame to rotate, so that the abutment end presses the top fixed rope against the guide wheel.

[0025] The personnel transfer method includes the following steps B1-B5:

[0026] B1. Fix the two ends of the fixed rope to two places in advance;

[0027] B2. The user passes the fixed ropes at both ends through the rope threading channel and the rope winding channel;

[0028] B3. The user pulls the limit buckle outward, then rotates it and snaps it into the retaining groove;

[0029] B4. The user fastens the buckle he is wearing onto the lock buckle;

[0030] B5. The user starts the driving device, which drives the rolling disc assembly to rotate. The rolling disc assembly moves on the top fixed rope along the fixed ropes at both ends;

[0031] When the moving speed needs to be adjusted, turn the speed regulating knob to adjust the speed of the driving device driving the rolling disc assembly;

[0032] When braking is required, push the brake switch to brake. After releasing it, the brake will automatically reset and release the brake.

[0033] Compared with the prior art, the present invention has the following beneficial technical effects:

[0034] The present invention can conveniently press the pressure handle to tighten the top fixed rope to prevent relative slippage, thereby achieving the purpose of emergency stop, accurately stopping at the required position, or making an emergency stop before encountering an obstacle, ensuring the safety of personnel, and having high reliability of emergency stop control. When an emergency stop is required, the pressure handle is directly pressed, and the pressure handle drives the sliding frame to move inward through the sliding rod. The sliding frame squeezes the elastic member b, and the limit rod moves away from the limit groove to release the limit. At this time, due to the torsion force of the torsion spring, the torsion spring will drive the abutment frame to rotate in the direction of the top fixed rope at the guide wheel, and tighten the top fixed rope against the guide wheel to achieve locking, which can immediately stop the entire lifting robot from moving forward. The emergency stop operation is simple and fast. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic structural diagram of an embodiment of the present invention when applied to a top-fixed rope;

[0036] Figure 2 Schematic diagram of the internal structure of an embodiment of the present invention;

[0037] Figure 3 This is a schematic diagram of the structure of the embodiment of the present invention after the rotating cover is opened;

[0038] Figure 4 A cross-sectional view of a local structure of an embodiment of the present invention;

[0039] Figure 5 for Figure 4 A magnified view of the structure at point A;

[0040] Figure 6 for Figure 4 A magnified view of the structure at B in the middle;

[0041] Figure 7 A cross-sectional view of a local structure of another embodiment of the present invention;

[0042] Figure 8 for Figure 7 A magnified view of the structure at C in the middle;

[0043] Figure 9 An exploded view of a local structure of an embodiment of the present invention;

[0044] Figure 10 This is a structural diagram of a fixing base in an embodiment of the present invention;

[0045] Figure 11 Schematic diagram of the structure of the rotating frame in an embodiment of the present invention;

[0046] Figure 12 This is a schematic structural diagram of an embodiment of the present invention when applied to a rope with fixed ends;

[0047] Figure 13 for Figure 12 A magnified view of the structure at D in the middle;

[0048] Figure 14 It is a partial structural cross-sectional view of the lock in an embodiment of the present invention.

[0049] 1. Housing; 2. Speed ​​regulating knob; 3. Holding brake; 4. Motor; 5. Speed ​​reducer; 6. Rotating plate; 7. Fixing seat; 701. Slot; 702. Mounting slot b; 8. Limiting frame; 801. Mounting slot a; 802. Strip hole; 9. Pushing member; 10. Slide; 11. Elastic member a; 12. Abutting frame; 121. Limiting slot; 122. Ratchet; 123. Abutting end; 124. Socket surface; 13. Pressing handle; 14. Fixing sleeve; 15. Torsion spring; 16. Sliding rod; 17. Sliding frame; 171. Limiting rod; 18. Elastic member b; 19. Rotating frame; 191. Limiting Position channel; 192, cover plate; 20, push handle; 21, pawl; 211, stop rod; 22, stopper; 23, elastic member c; 24, guide wheel; 25, guide frame; 251, guide groove; 26, slide rail; 27, slide; 271, groove; 272, stop groove; 28, rotating rod; 281, connecting rod; 29, screw; 30, stop ring; 31, elastic member d; 32, limit buckle; 33, bracket; 34, connecting belt; 35, lock buckle; 351, locking handle; 352, locking rod; 353, limit sleeve; 36, rotating cover; 37, top fixed rope; 38, two-end fixed rope. DETAILED DESCRIPTION

[0050] Example 1

[0051] like Figures 1-11 As shown, the lifting robot capable of emergency stop proposed in this embodiment includes a housing 1, a rolling plate assembly, a guide assembly, an emergency stop mechanism and a limit mechanism.

[0052] like Figure 2 As shown, a drive device is provided within the housing 1. The drive device includes a motor 4 and a reducer 5. The output end of the motor 4 is connected to the input end of the reducer 5, and the output end of the reducer 5 is connected to the rolling disk assembly, thereby driving the rolling disk assembly forward and reverse, thereby achieving the movement of the entire lifting robot on the rope. The housing 1 is provided with a speed control knob 2 for adjusting the speed of the output end of the drive device and a holding brake 3 for braking. The speed control knob 2 is similar to the knob on an electric bicycle, i.e., a Hall effect knob. The speed of the output end of the motor 4 is adjusted by rotating the speed control knob 2. The speed control knob 2 can be provided with an anti-slip sleeve or anti-slip groove. The brake operation can be performed by using a switch on the holding brake 3. The holding brake 3 uses an existing brake that can achieve a braking function.

[0053] like Figure 2 and Figure 3As shown, the rolling disk assembly has a rope winding channel, and the rolling disk assembly is connected to the output end of the driving device. The rolling disk assembly includes two symmetrically distributed rotating disks 6. The rope winding channel is located between the two rotating disks 6. The rotating disk 6 has a protruding rib portion on the side facing the rope winding channel. A plurality of rib portions are evenly arranged around the central axis of the rotating disk 6. The rib portion can clamp the rope to increase friction, and can move on the rope when the rotating disk 6 rotates, which can ensure the accuracy and smoothness of the movement.

[0054] like Figure 2 As shown, the guide assembly includes a guide wheel 24 and a guide frame 25. The guide wheel 24 is rotatably set on the guide frame 25. The outer peripheral surface of the guide wheel 24 is provided with a concave wheel groove along the axial direction from both ends to the middle direction. The wheel groove can further stably clamp the top fixed rope 37 for guidance. The guide frame 25 is set on the casing 1. The guide frame 25 has a guide groove 251. The guide groove 251 plays a limiting role to prevent the top fixed rope 37 from lateral deviation and prevent the rope from falling off the guide wheel 24.

[0055] like Figure 4-Figure 8 As shown, the emergency stop mechanism includes a fixed seat 7, an abutment frame 12, a pressure handle 13, a fixed sleeve 14, a torsion spring 15, a sliding rod 16, a sliding frame 17 and an elastic member b18. A mounting groove b702 is provided on the fixed seat 7, the fixed seat 7 is provided on the housing 1, the abutment frame 12 is rotatably provided on the fixed seat 7, the fixed sleeve 14 is provided on the fixed seat 7 and presses the abutment frame 12 against the fixed seat 7, and a plurality of limiting grooves 121 are distributed circumferentially at one end of the abutment frame 12 away from the fixed sleeve 14, and the abutment frame 12 has an abutment end 123 protruding outward, and the abutment end 123 can stably abut against the top fixed rope 37 to achieve the emergency stop purpose of the entire robot. A torsion spring 15 is mounted on the outer periphery of the fixed sleeve 14, with its ends connected to the fixed sleeve 14 and the abutment frame 12, respectively. The pressure handle 13, sliding rod 16, and sliding frame 17 are sequentially connected. The sliding rod 16 extends through the fixed seat 7. The sliding frame 17 has a limiting rod portion 171 that can be inserted into the limiting groove 121. The sliding frame 17 is slidably mounted in the mounting groove b702. The ends of the elastic member b18 are connected to the sliding frame 17 and the housing 1, respectively. The elastic member b18 can be a spring. After pressing the pressure handle 13 once, the abutment frame 12 presses against the rope, and the limiting rod portion 171 is locked in the limiting groove 121 in the other direction to limit the position, ensuring the abutment frame 12 is tightened, and the lifting robot stops suddenly. If the abutment frame 12 needs to be released from its tight grip on the rope, the pressing handle 13 can be pressed again, rotating the abutment frame 12 in the opposite direction to release the rope. The pressing handle 13 can then be released, allowing the elastic force of the elastic member b18 to re-engage the limiting rod 171 in the limiting groove 121. At this point, the torsion spring 15 stores elastic potential energy for the next emergency stop, allowing the lifting robot to continue lifting on the top fixed rope 37.

[0056] like Figure 4 and Figure 5 As shown, the limiting mechanism is arranged on the fixed seat 7 and forms a rope threading space between the fixed seat 7. The top fixed rope 37 can pass through the rope threading space. When the robot is lifted or lowered, the rotating disk assembly can move stably and securely on the rope.

[0057] This embodiment conveniently presses the pressure handle 13 to tighten the top fixed rope 37, preventing relative slippage. This achieves an emergency stop, enabling precise stopping at a desired location or emergency stopping before encountering an obstacle, ensuring personnel safety and providing high reliability in emergency stop control. During use, the top fixed rope 37 is directly threaded through the guide groove 251, the rope winding channel, and the rope threading space. The guide wheel 24 guides the top fixed rope 37 within the guide groove 251. The driving device drives the rolling disc assembly to rotate, and the movement of the rolling disc assembly on the top fixed rope 37 is used to achieve lifting and lowering. When an emergency stop is required, just press the pressure handle 13. The pressure handle 13 drives the sliding frame 17 to move inward through the sliding rod 16. The sliding frame 17 squeezes the elastic part b18, and the limiting rod 171 moves away from the limiting groove 121 to release the limit. At this time, due to the torsion force of the torsion spring 15, the torsion spring 15 will drive the abutment frame 12 to rotate toward the top fixed rope 37 at the guide wheel 24, and press the top fixed rope 37 against the guide wheel 24 to achieve locking, which can immediately stop the entire lifting robot from moving forward. The emergency stop operation is simple and fast.

[0058] Example 2

[0059] like Figure 4-11 As shown, this embodiment proposes a lifting robot capable of emergency stop. Compared to the first embodiment, in this embodiment, the abutment frame 12 has a circular sleeve surface 124. The abutment frame 12 is distributed with ratchet teeth 122 around the central axis of rotation. A rotating frame 19 is rotatably provided on the sleeve surface 124. The rotating frame 19 is located between the ratchet teeth 122 and the fixed seat 7. The rotating frame 19 can rotate stably without misalignment or shaking. The rotating frame 19 is provided with a push handle 20 and a stopper 22. The push handle 20 can be used to drive the rotating frame 19 to rotate, thereby improving the convenience of operation. The stopper 22 can be a bolt or other part that can be connected to the rotating frame 19. A pawl 21 is rotatably provided on the rotating frame 19. An elastic member c23 is connected between the pawl 21 and the stopper 22. The elastic member c23 can be a spring, which can rebound the pawl 21, so that the pawl 21 can be bounced off by the ratchet 122 when rotating counterclockwise, and can be stuck in the ratchet 122 when rotating clockwise and drive the abutment frame 12 to rotate clockwise. By reciprocating the push handle 20, the abutment frame 12 can be intermittently driven to rotate clockwise, so as to turn the abutment frame 12 away and release the tightness on the rope.

[0060] like Figure 9As shown, the pawl 21 has a blocking rod portion 211. The rotating frame 19 is connected to a cover plate 192, which can shield the inner pawl 21 and the elastic member c23 to ensure the neatness of the structure and prevent debris from entering the inner side to affect the smooth rotation of the pawl 21. Figure 11 As shown, a limiting channel 191 is provided on the rotating frame 19 for the movement of the blocking rod 211. The limiting channel 191 is used to limit the range of movement of the blocking rod 211 to ensure that the pawl 21 can smoothly push the abutment frame 12 to rotate clockwise and reset, and can effectively prevent the pawl 21 from shaking at will.

[0061] Example 3

[0062] like Figure 4-Figure 6 As shown, this embodiment proposes a lifting robot that can stop suddenly. Compared with the first embodiment, in this embodiment, the limiting mechanism includes a limiting frame 8, a pushing member 9, a slide 10 and an elastic member a11. The limiting frame 8 is rotatably set on the fixed seat 7. The limiting frame 8 is provided with a mounting groove a801 and a strip hole 802. The mounting groove a801 is connected to the strip hole 802. The two ends of the elastic member a11 are respectively connected to the bottom of the mounting groove a801 and the slide 10. The elastic member a11 can adopt a compression spring. The pushing member 9 passes through the strip hole 802 and is connected to the slide 10; the bottom end of the fixed seat 7 is provided with a card slot 701 for the slide 10 to be clamped.

[0063] In this embodiment, when inserting the top fixed rope 37, it is not necessary to insert the rope from the free end, but the rope can be inserted from any part of the rope. In specific operation, the pusher 9 is pulled inward, and the pusher 9 drives the slide 10 to slide inward. The slide 10 compresses the elastic member a11, and the slide 10 moves away from the slot 701, and the limit frame 8 is turned away. At this time, the rope can be directly passed through the gap between the limit frame 8 and the fixed seat 7 and moved to the area between the limit frame 8 and the fixed seat 7. Then, the rope can be put between the two rotating disks 6, and the rope can be clamped into the guide groove 251 and pressed against the guide wheel 24. After the rope is placed, press the pusher 9, rotate the limit frame 8 in the opposite direction, and then release the pusher 9. The elastic member a11 releases its elastic potential energy and pushes the slide 10 to move. The end of the slide 10 is clamped into the slot 701 for limiting, effectively preventing the rope from loosening.

[0064] Example 4

[0065] like Figure 12 and Figure 13As shown, the present embodiment proposes a lifting robot capable of emergency stop. Compared with the first embodiment, in the present embodiment, two groups of rope limiting assemblies are arranged side by side on the housing 1, and the two groups of rope limiting assemblies are respectively located on both sides of the rolling disk assembly. The rope limiting assembly includes a slide rail 26, a slide 27, a rotating rod 28, a screw 29, a retaining ring 30, an elastic member d31 and a limiting buckle 32. A connecting groove for installing the slide rail 26 is provided on the housing 1, the slide 27 is slidably arranged on the slide rail 26 and is located inside the connecting groove, the rotating rod 28 is rotatably arranged on the slide 27, and a rope threading channel is formed between the rotating rod 28 and the slide 27, so that the slide 27 can stably It slides to adjust the position of the slide 27 according to the weight of people or items, and reduces the wear on the rope while ensuring that the rope is effectively limited through the rope threading channel. The rotating rod 28 has a protruding connecting rod portion 281, and the connecting rod portion 281 is connected to a screw 29. A retaining ring 30 is connected between the connecting rod portion 281 and the screw 29. A limiting buckle 32 is slidingly provided on the connecting rod portion 281, and an elastic part d31 is connected between the limiting buckle 32 and the retaining ring 30. The elastic part d31 can be a compression spring. The slide 27 is provided with a groove 271 for the connecting rod portion 281 to be engaged and a retaining groove 272 for the limiting buckle 32 to be engaged.

[0066] In this embodiment, two sets of rope limit assemblies can be used in conjunction with the rolling disk assembly to pass through the fixed rope 38 at both ends, allowing the lifting robot to be used to transfer people or objects on ropes with fixed ends. When setting up the robot, the limit buckle 32 is first moved away from the retaining groove 272 to form a gap between the slide 27 and the rotating rod 28. The rope is then inserted and then inserted between the two rotating disks 6. The limit buckle 32 is then pulled outward, and the rotating rod 28 is rotated until the connecting rod portion 281 is engaged in the groove 271. At this point, the limit buckle 32 is released, and the elastic member d31 pushes the limit buckle 32 to move, locking the limit buckle 32 in the retaining groove 272, effectively preventing the rope from loosening. When people or objects are moved using the robot, due to their own gravity, the rope is eventually distributed in a "V" shape in the robot area.

[0067] Example 5

[0068] This embodiment proposes a lifting robot capable of emergency stop. Compared with the fourth embodiment, in this embodiment, a bracket 33 is provided on the housing 1, a connecting belt 34 is connected to the bottom of the bracket 33, and a lock 35 is connected to the bottom of the connecting belt 34. Figure 14As shown, the lock 35 includes a lock handle 351, a lock rod 352, and a stop sleeve 353. The lock handle 351 has an upper connecting end and a lower connecting end. One end of the lock rod 352 is rotatably connected to the upper connecting end of the lock handle 351, and the other end of the lock rod 352 is engaged at the lower connecting end of the lock handle 351. The stop sleeve 353 is slidably mounted on the lock rod 352. A rotating cover 36 is rotatably mounted on the bracket 33 to cover the outer side of the rolling disk assembly. After the rope is threaded through, the rotating cover 36 is rotated to block and limit the inner rolling disk assembly, further preventing the rope from loosening. The rotating cover 36 can be connected to the bracket 33 with a rotational damping mechanism, or it can be designed to snap onto the outer periphery of the rolling disk assembly.

[0069] In this embodiment, when a person or an object is hung on the robot, the connection is made through the lock buckle 35. The person or the object can wear a hanging buckle or a belt, and then the hanging buckle or the belt is passed through the inner side of the lock handle 351, and the lock rod 352 is closed. Finally, the limit sleeve 353 is dragged downward and then rotated to a certain angle to limit the closed position of the lock handle 351 and the lock rod 352, thereby ensuring that the person or the object can be stably and safely hung on the lock buckle 35.

[0070] Example 6

[0071] This embodiment proposes a lifting robot capable of emergency stop. Compared with the fifth embodiment, the use method of this embodiment includes a method for lifting personnel and a method for transferring personnel.

[0072] The personnel lift method includes the following steps A1-A4:

[0073] A1. Pre-fix the top of the top fixed rope 37 to a high building, with the top fixed rope 37 in a hanging position;

[0074] A2. The user passes the top fixed rope 37 through the guide groove 251, the rope winding channel and the rope threading space;

[0075] A3. The user fastens the buckle he is wearing onto the lock buckle 35;

[0076] A4. The user activates the driving device, which drives the rolling plate assembly to rotate, and the rolling plate assembly is raised and lowered on the top fixed rope 37;

[0077] When the lifting speed needs to be adjusted, turn the speed control knob 2 to adjust the speed of the driving device driving the rolling disk assembly;

[0078] When braking is required, push the switch of the holding brake 3 to brake. After releasing it, the holding brake 3 automatically resets and releases the brake.

[0079] When an emergency stop is required, the pressing handle 13 is pressed, and the pressing handle 13 drives the sliding frame 17 to move through the sliding rod 16. The sliding frame 17 compresses the elastic member b18, and the limiting rod 171 disengages from the limiting groove 121. The torsion force of the torsion spring 15 drives the abutment frame 12 to rotate, so that the abutment end 123 presses the top fixed rope 37 against the guide wheel 24, effectively preventing the rope and the robot from slipping relative to each other, ensuring the timeliness and effectiveness of the emergency stop.

[0080] The personnel transfer method includes the following steps B1-B5:

[0081] B1. Pre-fix the two ends of the fixed rope 38 to two locations, such as two locations on a building. After the rope is fixed, a ropeway can be formed along the rope for the robot to be suspended and moved;

[0082] B2. The user passes the fixed ropes 38 at both ends through the rope threading channel and the rope winding channel;

[0083] B3. The user pulls the limit buckle 32 outward, then rotates and locks it in the retaining groove 272 to prevent the rope from loosening;

[0084] B4. The user fastens the buckle he is wearing onto the lock buckle 35;

[0085] B5. The user activates the driving device, which drives the rolling plate assembly to rotate. The rolling plate assembly moves on the top fixed rope 37 along the fixed ropes 38 at both ends;

[0086] When the moving speed needs to be adjusted, turn the speed regulating knob 2 to adjust the speed of the driving device driving the rolling disc assembly;

[0087] When braking is required, the switch of the holding brake 3 is pushed to brake. After releasing the switch, the holding brake 3 automatically resets and releases the brake.

[0088] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. A lifting robot capable of emergency stop, characterized in that: include: A housing (1) containing a driving device; A rolling disc assembly having a rope winding channel, the rolling disc assembly being connected to an output end of the driving device; A guide assembly comprises a guide wheel (24) and a guide frame (25), wherein the guide wheel (24) is rotatably arranged on the guide frame (25), the guide frame (25) is arranged on the housing (1), and the guide frame (25) has a guide groove (251); The emergency stop mechanism comprises a fixed seat (7), an abutting frame (12), a pressure handle (13), a fixed sleeve (14), a torsion spring (15), a sliding rod (16), a sliding frame (17) and an elastic member b (18), wherein the fixed seat (7) is provided with a mounting groove b (702), the fixed seat (7) is provided on the housing (1), the abutting frame (12) is rotatably provided on the fixed seat (7), the fixed sleeve (14) is provided on the fixed seat (7) and presses the abutting frame (12) against the fixed seat (7), and a plurality of limiting grooves (100) are distributed circumferentially on one end of the abutting frame (12) away from the fixed sleeve (14). 21), the abutting frame (12) has an abutting end (123) protruding outward, the torsion spring (15) is sleeved on the outer periphery of the fixed sleeve (14) and the two ends are respectively connected to the fixed sleeve (14) and the abutting frame (12), the pressing handle (13), the sliding rod (16) and the sliding frame (17) are connected in sequence, the sliding rod (16) passes through the fixed seat (7), the sliding frame (17) has a limiting rod portion (171) that can be inserted into the limiting groove (121), the sliding frame (17) is slidably arranged at the installation groove b (702), and the two ends of the elastic member b (18) are respectively connected to the sliding frame (17) and the housing (1); A limiting mechanism is arranged on the fixing seat (7) and forms a rope threading space between the fixing seat (7).

2. The lifting robot capable of emergency stop according to claim 1, characterized in that: The rolling disk assembly comprises two symmetrically distributed rotating disks (6), a rope winding channel is located between the two rotating disks (6), and a side of the rotating disk (6) facing the rope winding channel has a protruding rib portion, and a plurality of rib portions are evenly arranged around the central axis of the rotating disk (6).

3. The lifting robot capable of emergency stop according to claim 1, characterized in that: The outer peripheral surface of the guide wheel (24) is provided with concave wheel grooves along the axial direction from both ends to the middle.

4. The lifting robot capable of emergency stop according to claim 1, characterized in that: The abutting frame (12) has a circular sleeve surface (124), ratchet teeth (122) are distributed on the abutting frame (12) around the rotation center axis, a rotating frame (19) is rotatably provided on the sleeve surface (124), the rotating frame (19) is located between the ratchet teeth (122) and the fixed seat (7), a push handle (20) and a stopper (22) are provided on the rotating frame (19), a ratchet pawl (21) is rotatably provided on the rotating frame (19), and an elastic member c (23) is connected between the ratchet pawl (21) and the stopper (22).

5. The lifting robot capable of emergency stop according to claim 4, characterized in that: The ratchet (21) has a blocking rod portion (211), a limiting channel (191) for the blocking rod portion (211) to move is provided on the rotating frame (19), and the rotating frame (19) is connected to a cover plate (192).

6. The lifting robot capable of emergency stop according to claim 1, characterized in that: The limiting mechanism comprises a limiting frame (8), a pushing member (9), a slide (10) and an elastic member a (11); the limiting frame (8) is rotatably arranged on the fixed seat (7); a mounting groove a (801) and a strip hole (802) are provided on the limiting frame (8); the mounting groove a (801) is communicated with the strip hole (802); two ends of the elastic member a (11) are respectively connected to the bottom of the mounting groove a (801) and the slide (10); the pushing member (9) passes through the strip hole (802) and is connected to the slide (10); and a slot (701) for the slide (10) to be inserted is provided at the bottom end of the fixed seat (7).

7. The lifting robot capable of emergency stop according to claim 1, characterized in that: Two groups of rope limiting assemblies are arranged side by side on the housing (1), and the two groups of rope limiting assemblies are respectively located on both sides of the rolling disk assembly. The rope limiting assemblies include a slide rail (26), a slide (27), a rotating rod (28), a screw (29), a retaining ring (30), an elastic member d (31) and a limiting buckle (32). A connecting groove for installing the slide rail (26) is provided on the housing (1), the slide (27) is slidably arranged on the slide rail (26) and is located inside the connecting groove, the rotating rod (28) is rotatably arranged on the slide (27), and the rotating rod (28) and the slide ( 27), a rope threading channel is formed between the rotating rod (28), the rotating rod (28) has a protruding connecting rod portion (281), the connecting rod portion (281) is connected with a screw (29), a retaining ring (30) is connected between the connecting rod portion (281) and the screw (29), a limiting buckle (32) is slidably provided on the connecting rod portion (281), an elastic member d (31) is connected between the limiting buckle (32) and the retaining ring (30), and a groove (271) for the connecting rod portion (281) to be clamped and a retaining groove (272) for the limiting buckle (32) to be clamped are provided on the slide (27).

8. The lifting robot capable of emergency stop according to claim 7, characterized in that: The housing (1) is provided with a bracket (33), the bottom of the bracket (33) is connected to a connecting belt (34), the bottom of the connecting belt (34) is connected to a lock buckle (35), the lock buckle (35) comprises a lock handle (351), a lock rod (352) and a limit sleeve (353), the lock handle (351) has an upper connecting end and a lower connecting end, one end of the lock rod (352) is rotatably connected to the upper connecting end of the lock handle (351), the other end of the lock rod (352) is clamped at the lower connecting end of the lock handle (351), and the limit sleeve (353) is slidably sleeved on the lock rod (352).

9. The lifting robot capable of emergency stop according to claim 8, characterized in that: The housing (1) is provided with a speed regulating knob (2) for regulating the rotation speed of the output end of the driving device and a holding brake (3) for braking.

10. The lifting robot capable of emergency stop according to claim 9, characterized in that: The usage methods include personnel lifting and personnel transfer methods; The personnel lift method includes the following steps A1-A4: A1. Pre-fix the top of the top fixed rope (37) to a high building, and place the top fixed rope (37) in a hanging position; A2. The user passes the top fixed rope (37) through the guide groove (251), the rope winding channel and the rope threading space; A3. The user fastens the buckle he is wearing on the lock buckle (35); A4. The user starts the driving device, which drives the rolling disc assembly to rotate, and the rolling disc assembly is raised and lowered on the top fixed rope (37); When the lifting speed needs to be adjusted, the speed regulating knob (2) is turned to adjust the speed of the driving device driving the rolling disc assembly; When braking is required, the switch of the holding brake (3) is pushed to brake, and after releasing the switch, the holding brake (3) automatically resets and releases the brake; When an emergency stop is required, the pressing handle (13) is pressed, and the pressing handle (13) drives the sliding frame (17) to move through the sliding rod (16). The sliding frame (17) compresses the elastic member b (18), and the limiting rod (171) is disengaged from the limiting groove (121). The torsion force of the torsion spring (15) drives the abutting frame (12) to rotate, so that the abutting end (123) presses the top fixed rope (37) against the guide wheel (24). The personnel transfer method includes the following steps B1-B5: B1. Pre-fix the two ends of the fixed rope (38) to two places respectively; B2. The user passes the fixed ropes (38) at both ends through the rope threading channel and the rope winding channel; B3. The user pulls the limit buckle (32) outward, then rotates and snaps it into the retaining groove (272); B4, the user buckles the buckle he is wearing on the lock buckle (35); B5. The user starts the driving device, which drives the rolling disc assembly to rotate, and the rolling disc assembly moves on the top fixed rope (37) along the fixed ropes (38) at both ends; When the moving speed needs to be adjusted, the speed regulating knob (2) is turned to adjust the speed of the driving device driving the rolling disc assembly; When braking is required, the switch of the holding brake (3) is pushed to brake, and after being released, the holding brake (3) automatically resets and releases the brake.

Images