Working system of three-dimensional space

Abstract

The invention provides an operation system for a three-dimensional space. The operation system comprises a rope driving device and an operation platform. The two rope driving devices are arranged below the three-dimensional space in the first direction, and the first direction is parallel to the horizontal direction. The rope driving device is provided with a walking mechanism and a rope driving mechanism, the walking mechanism is used for driving the rope driving device to move in the second direction, and the second direction is parallel to the first direction; the rope driving mechanism is connected with one end of a driving rope, the other end of the driving rope is fixedly arranged above the three-dimensional space, and the rope driving mechanism is used for winding and unwinding the driving rope; the top of the working platform is provided with a working plane, the working platform is provided with two rope climbing mechanisms arranged in the first direction, and the rope climbing mechanisms move on the driving ropes on the corresponding sides of the rope climbing mechanisms to achieve lifting of the working platform. According to the system, the mobile platform can freely move in a complex three-dimensional space, and the working efficiency and flexibility of the system in a large-span space are remarkably improved.

Description

Technical Field

[0001] The present disclosure generally relates to the technical field of three-dimensional space construction, and in particular to an operation system for three-dimensional space. Background Art

[0002] The existing three-dimensional operation method mainly relies on manual lifting ropes for vertical operation, but this method cannot achieve free operation in a large-span three-dimensional space and has high labor costs. In addition, the current mechanical lifting method still cannot achieve free operation in a large span, and at the same time, it is costly, has poor flexibility, and cannot cope with complex and changing working environments. Summary of the invention

[0004] In view of the above defects or deficiencies in the prior art, it is desired to provide a working system for a three-dimensional space that can solve the above technical problems.

[0005] The present application provides an operation system for a three-dimensional space, comprising:

[0006] A rope driving device, wherein two rope driving devices are arranged below the three-dimensional space along a first direction, wherein the first direction is parallel to the horizontal direction; the rope driving device is provided with a walking mechanism and a rope driving mechanism, wherein the walking mechanism is used to drive the rope driving device to move along a second direction, wherein the second direction is parallel to the first direction; the rope driving mechanism is connected to one end of a driving rope, wherein the other end of the driving rope is fixedly arranged above the three-dimensional space, and the rope driving mechanism is used to retract and release the driving rope;

[0007] A working platform having a working plane on the top thereof, and provided with two rope climbing mechanisms arranged along the first direction, wherein the rope climbing mechanisms move on the driving ropes on the corresponding sides thereof to realize the lifting and lowering of the working platform.

[0008] According to the technical solution provided by this application, the operation system for three-dimensional space also includes:

[0009] A fixing device, the fixing device is used to be fixed on a structure disposed above the three-dimensional space, and one end of the driving rope away from the rope driving mechanism is disposed above the three-dimensional space through the fixing device;

[0010] A drone is used to drive the fixing device to move above the three-dimensional space.

[0011] According to the technical solution provided by this application, the fixing device includes:

[0012] A tether unit, the tether unit being used to be connected to the driving rope;

[0013] A holding unit, the holding unit comprising two holding members, the holding unit having a first state and a second state; when the holding unit is in the first state, the two holding members are close to each other to hold and fix on the structure, and when the holding unit is in the second state, the two holding members are away from each other to release the fixation with the structure;

[0014] A supporting driving unit, wherein the supporting driving unit is used to drive the supporting unit to switch between the first state and the second state.

[0015] According to the technical solution provided in this application, the rope climbing mechanism includes:

[0016] A fixed plate, the fixed plate is mounted on one side of the working platform; a driving rope wheel is rotatably mounted on the fixed plate; an arc track is provided on the fixed plate and close to the driving rope wheel, the arc track has a first end relatively close to the driving rope wheel and a second end relatively far from the driving rope wheel; a first slider and a second slider are slidably provided in the arc track;

[0017] A tension wheel, the tension wheel being rotatably mounted on the first sliding block;

[0018] A pressure wheel, the pressure wheel is rotatably mounted on the second sliding block;

[0019] A rope climbing driving unit, the rope climbing driving unit is used to drive the rope driving wheel to rotate;

[0020] Wherein, a force arm is provided between the first slider and the second slider, and the end of the driving rope away from the rope driving mechanism sequentially passes around the pressure wheel, the rope driving wheel and the tension wheel, and is fixedly arranged above the three-dimensional space.

[0021] According to the technical solution provided in the present application, a guide wheel is rotatably provided on the fixed plate, and the guide wheel is used to guide the driving rope in the rope climbing mechanism.

[0022] According to the technical solution provided in the present application, guide mechanisms are provided at both ends of the fixing plate to guide the driving rope extending out of the rope climbing mechanism.

[0023] According to the technical solution provided in this application, the guiding mechanism includes:

[0024] A guide housing, wherein both ends of the guide housing are open;

[0025] A first guide rod, wherein two first guide rods are provided and are parallel to each other, and the first guide rods are installed in the guide housing;

[0026] second guide rods, two of which are parallel to each other, and are installed in the guide housing;

[0027] There is a preset angle between the first guide rod and the second guide rod, and a guide channel for the driving rope to pass through is formed between the two first guide rods and the two second guide rods.

[0028] According to the technical solution provided in this application, the supporting unit also includes:

[0029] A supporting shell, wherein a slide groove is provided on the supporting shell;

[0030] A threaded rod, the threaded rod is rotatably mounted on the supporting housing, and the threaded rod is arranged in a direction parallel to the slide groove;

[0031] Among them, the two supporting parts are respectively an active supporting part and a passive supporting part; the passive supporting part is fixedly installed on the supporting shell, and the active supporting part is threadedly connected to the threaded rod and slidably installed in the slide groove; the supporting driving unit is used to drive the threaded rod to rotate to switch the first state and the second state.

[0032] According to the technical solution provided by this application, it also includes a pressure sensor and a controller;

[0033] The pressure sensor is arranged on the passive supporting member and / or the active supporting member, the sensor is connected to the input end of the controller, and the output end of the controller is connected to the supporting driving unit.

[0034] According to the technical solution provided in the present application, the rope driving mechanism includes a rotatable drum and a drum driving unit for driving the drum to rotate; one end of the driving rope is installed on the drum; a rope guide is provided on the drum for guiding the driving rope.

[0035] The beneficial effects of the present application are: by arranging a rope climbing mechanism on both sides of the working platform, and by using the left and right rope climbing mechanisms to be responsible for the up and down movement on the two driving ropes respectively, the working platform can achieve more flexible mobile operations in a complex three-dimensional space after the rope climbing mechanism coordinates the movement on the two driving ropes. At the same time, it can also cooperate with the position of the rope driving device and the retracted and released state of the driving rope to realize the free movement of the mobile platform in space without relying on the traditional multi-rope frame, simplifying the overall setting, and significantly improving the system's operating efficiency and flexibility in large-span spaces. At the same time, the coordination of the rope driving device and the rope climbing mechanism can further speed up the arrangement of the ropes, ensuring that the system can quickly enter the working state and adapt to efficient response scenarios such as emergency rescue; the four arrangement nodes can be adjusted according to actual needs, which improves the flexibility of the arrangement. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0037] Figure 1 A schematic diagram of the structure of a three-dimensional space operation system provided by the present application;

[0038] Figure 2 for Figure 1 The structural schematic diagram of the fixing device 5 is shown;

[0039] Figure 3 for Figure 1 The structural schematic diagram of the working platform 3 shown;

[0040] Figure 4 for Figure 3 The structural schematic diagram of the rope climbing mechanism 4 is shown;

[0041] Figure 5 for Figure 4 The schematic diagram of the installation structure of the driving rope wheel 42 is shown;

[0042] Figure 6 for Figure 4 A schematic diagram of the structure of the guide mechanism shown;

[0043] Figure 7 for Figure 1 The structural schematic diagram of the rope driving mechanism 2 is shown;

[0044] Numbers in the figure:

[0045] 1. Walking mechanism; 2. Rope driving mechanism; 21. Drum; 22. Drum driving unit; 23. Fairlead; 3. Working platform; 4. Rope climbing mechanism; 41. Fixed plate; 42. Rope driving wheel; 43. Arc track; 44. First slider; 45. Second slider; 46. Tension wheel; 47. Pressure wheel; 48. Guide wheel; 49. Guide mechanism; 491. Guide shell; 492. First guide rod; 493. Second guide rod; 5. Fixing device; 51. Tether unit; 521. Support shell; 522. Slide; 523. Threaded rod; 524. Active support member; 525. Passive support member; 6. Structure; 7. UAV. DETAILED DESCRIPTION

[0046] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0047] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0048] In order to facilitate the understanding of this application, a brief introduction to the related technology is first given:

[0049] Stereoscopic space, that is, three-dimensional space;

[0050] Three-dimensional space operations refer to the execution of work tasks in the three-dimensional space where a certain structure is located; for example, fire fighting and rescue in high-rise buildings, curtain wall cleaning of high-rise buildings, maintenance of large equipment (such as wind turbines), etc. During the operation, it is necessary to move the position in the three-dimensional space formed by the x / y / z axis.

[0051] The existing three-dimensional operation method mainly relies on manual lifting ropes for vertical operation, but this method cannot achieve free operation in a large-span three-dimensional space and has high labor costs. In addition, the current mechanical lifting method still cannot achieve free operation in a large span, and at the same time, it is costly, has poor flexibility, and cannot cope with complex and changing working environments.

[0052] Based on the above technical problems, this application provides an operation system for three-dimensional space. Figure 1-Figure 7 , the operating system for three-dimensional space includes:

[0053] A rope driving device, wherein two rope driving devices are provided and arranged below the three-dimensional space along a first direction, wherein the first direction is parallel to the horizontal direction; the rope driving device comprises a walking mechanism 1 and a rope driving mechanism 2, wherein the walking mechanism 1 is used to drive the rope driving device to move along a second direction, wherein the second direction is parallel to the first direction; the rope driving mechanism 2 is connected to one end of a driving rope, wherein the other end of the driving rope is fixedly arranged above the three-dimensional space, and the rope driving mechanism 2 is used to retract and release the driving rope;

[0054] The working platform 3 has a working plane on the top, and the working platform 3 is provided with two rope climbing mechanisms 4 arranged along the first direction. The rope climbing mechanisms 4 move on the driving ropes on the corresponding sides to achieve the lifting and lowering of the working platform 3.

[0055] refer to Figure 1The rope driving devices are arranged on opposite sides of the ground and arranged along the first direction, that is, one is arranged at the lower left and one is arranged at the lower right; a driving rope is arranged on each rope driving device; the driving rope is arranged above the three-dimensional space at one end away from the rope driving device, and is arranged on one side of the corresponding rope driving device, that is, the driving rope of the lower left rope driving device is fixedly arranged at the upper left of the three-dimensional space, and the driving rope of the lower right rope driving device is fixedly arranged at the upper right of the three-dimensional space.

[0056] When it is necessary to perform vertical lifting (z direction) movement, the two rope driving mechanisms 2 are driven to retract and release the driving ropes, thereby controlling the climbing rope mechanism 4 to rise and fall on the two driving ropes, so as to realize the movement of the working platform 3 in the vertical direction;

[0057] When walking movement in the forward and backward direction (y direction, i.e. the second direction) is required, the walking mechanism 1 drives the rope driving device to move along the second direction on the ground. At this time, the top end of the driving rope is fixed and the bottom end moves along the second direction, thereby driving the working platform 3 on the driving rope to move forward and backward.

[0058] When it is necessary to move in the left and right directions (x direction, i.e. the first direction), one rope driving mechanism 2 is driven to release the rope, and the other rope driving mechanism 2 is driven to collect the rope, thereby realizing the left and right movement of the working platform 3. Specifically, when it is necessary to move to the left, the right rope driving mechanism 2 is driven to release the rope, and the left rope driving mechanism 2 is driven to collect the rope, thereby realizing the left movement of the working platform 3; when it is necessary to move to the right, the left rope driving mechanism 2 is driven to release the rope, and the right rope driving mechanism 2 is driven to collect the rope, thereby realizing the right movement of the working platform 3;

[0059] The above three-dimensional motion process can be performed simultaneously or adjusted in steps until the designated position is reached. In the above structure, only the walking mechanism 1, the rope driving mechanism 2, the rope climbing mechanism 4 and two driving ropes are needed to realize large-span three-dimensional space operation, which has a simple structure, is easy to control and has good flexibility.

[0060] Furthermore, the working platform 3 may be provided with working equipment, such as a fire extinguishing device, a rescue device, a cleaning device, etc.

[0061] Furthermore, the walking mechanism 1 is a functional vehicle, thereby making the walking mechanism 1 more flexible, that is, in addition to being able to move along the second direction, the walking mechanism 1 can also more conveniently adjust the position of the functional vehicle along the first direction, thereby adjusting the position and angle of the driving rope.

[0062] Furthermore, one end of the driving rope away from the rope driving mechanism 2 is fixedly arranged on the structure 6 above the three-dimensional space.

[0063] In some embodiments, the three-dimensional space operation system further includes:

[0064] A fixing device 5, the fixing device 5 is used to be fixed on a structure 6 arranged above the three-dimensional space, and one end of the driving rope away from the rope driving mechanism is arranged above the three-dimensional space through the fixing device 5;

[0065] The drone 7 is used to drive the fixing device 5 to move above the three-dimensional space.

[0066] By setting up the fixing device 5 and the drone 7, the driving rope can be fixed on the fixing device 5 on the ground, and then the fixing device 5 is fixed above the three-dimensional space through the drone 7, thereby achieving the goal of fixing one end of the driving rope away from the rope driving mechanism 2 above the three-dimensional space.

[0067] Furthermore, the drone 7 is equipped with a rotatable camera for scanning and identifying the shape and orientation of the structure 6 and locating the coordinate point of the fixed anchor point (ie, the fixed coordinate point of the end of the driving rope).

[0068] In some embodiments, reference Figure 2 As shown, the fixing device 5 comprises:

[0069] A tether unit 51, wherein the tether unit 51 is used to connect with the driving rope;

[0070] A holding unit, the holding unit comprising two holding members, the holding unit having a first state and a second state; when the holding unit is in the first state, the two holding members are close to each other to hold and fix on the structure, and when the holding unit is in the second state, the two holding members are away from each other to release the fixation with the structure;

[0071] A supporting driving unit, wherein the supporting driving unit is used to drive the supporting unit to switch between the first state and the second state.

[0072] When in use, the end of the driving rope away from the driving rope mechanism 2 is fixed on the tether unit 51. At this time, the drone 7 drives the fixing device 5 to move as a whole to the top of the three-dimensional space, and the supporting driving unit drives the supporting unit to switch to the second state. The drone 7 continues to control the supporting unit to move to the position of the structure 6. The supporting driving unit drives the supporting unit to switch to the first state. At this time, the supporting unit is fixed on the structure 6 to complete the fixing of the end of the driving rope. The other driving rope is the same, which will not be repeated here.

[0073] In some embodiments, continue to refer to Figure 2 As shown, the supporting unit also includes:

[0074] A supporting shell 521, wherein a slide groove 522 is provided on the supporting shell 521;

[0075] A threaded rod 523, wherein the threaded rod 523 is rotatably mounted on the supporting housing 521, and the threaded rod 523 is arranged in a direction parallel to the slide slot 522;

[0076] Among them, the two supporting parts are respectively an active supporting part 524 and a passive supporting part 525; the passive supporting part 525 is fixedly installed on the supporting shell 521, and the active supporting part 524 is threadedly connected with the threaded rod 523 and slidably installed in the slide groove 522; the supporting driving unit is used to drive the threaded rod 523 to rotate to switch the first state and the second state.

[0077] Furthermore, the support driving unit is, for example, a motor, which is connected to the threaded rod 523 via a bevel gear set; the motor is connected to an encoder;

[0078] Furthermore, the active supporting member 524 and the passive supporting member 525 are provided with hollow holes to achieve weight reduction.

[0079] The threaded rod 523 is controlled to rotate forward and reversely through the supporting driving unit, thereby controlling the passive supporting member 525 to move in a direction close to or away from the active supporting member 524. When the passive supporting member 525 is close to the active supporting member and supported on the structure 6, the supporting unit is in the first state; when the passive supporting member 525 is away from the active supporting member, the supporting unit is detached from the structure 6 and is in the second state.

[0080] In some embodiments, reference Figure 3-Figure 5 As shown, the rope climbing mechanism 4 includes:

[0081] A fixed plate 41, the fixed plate 41 is mounted on one side of the working platform 3; a driving rope wheel 42 is rotatably mounted on the fixed plate 41; an arc track 43 is provided on the fixed plate 41 and close to the driving rope wheel 42, the arc track 43 has a first end relatively close to the driving rope wheel 42 and a second end relatively far from the driving rope wheel; a first slider 44 and a second slider 45 are slidably provided in the arc track 43;

[0082] A tension wheel 46, wherein the tension wheel 46 is rotatably mounted on the first slider 44;

[0083] A pressure wheel 47, wherein the pressure wheel 47 is rotatably mounted on the second sliding block 45;

[0084] A rope climbing driving unit, the rope climbing driving unit is used to drive the rope driving wheel 42 to rotate;

[0085] Among them, a lever arm is provided between the first slider 44 and the second slider 45, and the end of the driving rope away from the rope driving mechanism 2 passes through the pressure wheel 47, the rope driving wheel 42 and the tension wheel 46 in sequence, and is fixed above the three-dimensional space.

[0086] Furthermore, the first slider 44 is arranged close to the driving pulley 42 relative to the second slider 45, that is, the first slider 44 is arranged close to the first end of the arc track 43;

[0087] Furthermore, a spring is provided at a second end of the second sliding block 45 close to the arc track 43 , and the spring is used to provide a pre-tightening force in an initial state.

[0088] Furthermore, the rope climbing drive unit includes a turbine reduction motor, which is powered by a battery and is used to drive the rope driving wheel 42 to rotate.

[0089] Furthermore, rope grooves are provided on the rope driving wheel 42, the tension wheel 46 and the pressure wheel 47;

[0090] Working principle: Figure 3-Figure 5 As shown, one end of the driving rope away from the rope driving mechanism 2 successively bypasses the pressure wheel 47, the rope driving wheel 42 and the tension wheel 46 and extends out of the rope climbing mechanism 4, and is then fixedly arranged above the three-dimensional space; the driving rope transmits the changes in tension and tension angle through the tension wheel 46, and the tension wheel 46 and the pressure wheel 47 are connected by a lever arm between the first slider 44 and the second slider 45, and the tension is transmitted to the pressure wheel 47 through the lever arm. The first slider 44 and the second slider 45 slide in the arc track 43 due to the changes in tension and tension angle, so that the center distance between the tension wheel and the pressure wheel relative to the rope driving wheel 42 is reduced, thereby causing the driving rope to generate sufficient friction. This structure can adapt to different inclination angles and different loads, and can not only ensure slipping under heavy load conditions, but also reduce rope wear.

[0091] In some embodiments, a guide wheel 48 is rotatably provided on the fixed plate 41 , and the guide wheel 48 is used to guide the driving rope in the rope climbing mechanism 4 .

[0092] It can be understood that if the driving rope is directly transmitted from the two ends of the rope climbing mechanism 4, the driving rope is in an oblique and straightened state at its two ends, and there are friction sharp angles between the driving rope and the rope climbing mechanism 4, which causes the driving rope to wear; in order to reduce wear, in this example, a guide wheel 48 is added to the rope climbing mechanism 4 to prevent large friction sharp angles and increase the service life of the driving rope.

[0093] Furthermore, the guide wheel 48 is connected to an encoder for recording the number of rotations of the guide wheel.

[0094] In some embodiments, guide mechanisms 49 are provided at both ends of the fixing plate 41 to guide the driving rope extending from the rope climbing mechanism 4. By providing the guide mechanism 49, the driving rope extending from the rope climbing mechanism 4 can be better guided.

[0095] In some embodiments, reference Figure 6 As shown, the guide mechanism 49 includes:

[0096] A guide housing 491, wherein both ends of the guide housing 491 are open;

[0097] First guide rods 492, two first guide rods 492 are provided and are parallel to each other, and the first guide rods 492 are installed in the guide housing 491;

[0098] Second guide rods 493, two second guide rods 493 are provided and are parallel to each other, and the second guide rods 493 are installed in the guide housing 491;

[0099] There is a preset angle between the first guide rod 492 and the second guide rod 493 , and a guide channel for the driving rope to pass through is formed between the two first guide rods 492 and the two second guide rods 493 .

[0100] Further, the preset angle is 90°;

[0101] Furthermore, there is a preset gap between the first guide rod 492 and the second guide rod 493 .

[0102] By using the above-mentioned four guide rods and distributing them in a layered clamping manner in groups of two, it is possible to adapt to changes in large inclination angles, overcome excessive friction between the drive rope and the rope climbing mechanism 4, and reduce wear and aging of the drive rope.

[0103] In some embodiments, the three-dimensional space operation system further includes a sensor and a controller;

[0104] The sensor is disposed on the passive supporting member 525 and / or the active supporting member 524 , the sensor is connected to the input end of the controller, and the output end of the controller is connected to the supporting driving unit.

[0105] Specifically, the sensor includes a pressure sensor and an infrared sensor installed on the side where the passive supporting component 525 and / or the active supporting component 524 are close to each other; when the drone 7 drives the fixing device 5 to fall onto the structure 6, the infrared sensor is blocked by the structure 6, and a blocking signal is sent to the controller. The pressure sensor is used to send a pressure signal between the passive supporting component 525 and the active supporting component 524 to the controller.

[0106] The controller is configured to:

[0107] In response to the blocking signal, the holding driving unit is controlled to drive the passive holding member 525 and the active holding member 524 to approach each other at a first rotation speed;

[0108] In response to the pressure signal, the supporting drive unit is controlled to drive the passive supporting member 525 and the active supporting member 524 to approach each other at a second rotation speed until the shaft rotation angle of the supporting drive unit is less than or equal to a preset value. The shaft rotation angle is detected by an encoder, and the preset value can be set according to demand. In principle, it can be zero or close to zero, for example, it can be 0-1°; further, the first rotation speed is less than the second rotation speed.

[0109] Working principle:

[0110] When the drone 7 drives the fixing device 5 to fall onto the structure 6, the infrared sensor is blocked by the structure 6. At this time, the controller controls the supporting drive unit to drive the passive supporting component 525 and the active supporting component 524 to approach each other at a relatively slow speed; when the passive supporting component 525 and the active supporting component 524 are supported on the structure 6, the pressure sensor detects the pressure value. At this time, the controller controls the supporting drive unit to drive the passive supporting component 525 and the active supporting component 524 to approach each other at a relatively fast speed. When it is impossible to continue tightening, that is, when the shaft rotation angle of the supporting drive unit is less than the preset value, it stops, thereby achieving the effect of rapid tightening.

[0111] In some embodiments, the rope driving mechanism 2 includes a rotatable drum 21 and a drum driving unit 22 for driving the drum 21 to rotate; one end of the driving rope is installed on the drum 21; a cable guide 23 is provided on the drum 21 for guiding the driving rope.

[0112] Furthermore, the reel driving unit 22 includes a motor, a gear box and an encoder, the motor is used to drive the reel 21 to rotate, and the gear box is used to control the torque and speed of the motor;

[0113] Furthermore, the functional vehicle is equipped with a built-in battery power supply for power supply.

[0114] In some examples, the controller is also used to centrally control the movement of the drone 7, the rope driving device, and the rope climbing mechanism 4; the controller is installed on one of the rope driving devices and marks it as the main rope driving device; the controller is also used to obtain the current position of the drone 7 and the rope climbing mechanism 4;

[0115] In some instances, the controller may also be configured to be remotely controlled or manually controlled;

[0116] In some embodiments, Figure 7As shown, the rope driving mechanism 2 includes a rotatable drum 21 and a drum driving unit 22 for driving the drum 21 to rotate; one end of the driving rope is installed on the drum 21; a cable guide 23 is provided on the drum 21 for guiding the driving rope.

[0117] In order to facilitate implementation by those skilled in the art, the overall work arrangement process is further described below:

[0118] Control the rope climbing mechanism 4 to descend, driving the working platform 3 to descend to the ground; control the rope driving device to be in a state of releasing the driving rope; tie the driving rope to the corresponding fixing device 5, and control the drone 7 to drive the two fixing devices 5 to move to the upper left and upper right of the three-dimensional space; during the movement of the drone 7, since the driving rope is in a released state, the load of the drone can be reduced; after moving to the specified position, the supporting unit supports the structure to complete the fixing of the top of the driving rope;

[0119] The two rope-driving devices are controlled to move to two target positions at the lower left and lower right respectively. At this time, the positions of the four points have been determined. The position of the mobile platform 3 in the three-dimensional space can be controlled by the rope-driving device retracting and releasing the driving rope, the movement of the driving device along the second direction, and the rope climbing and lifting movement of the rope climbing mechanism 4.

[0120] By arranging the rope climbing mechanism 4 on both sides of the working platform 3, and the left and right rope climbing mechanisms 4 are responsible for the up and down movement on the two driving ropes respectively, the working platform 3 can realize more flexible mobile operation in a complex three-dimensional space after the rope climbing mechanism 4 coordinates the movement on the two driving ropes. At the same time, it can also cooperate with the position of the rope driving device and the retracted and released state of the driving rope to realize the free movement of the mobile platform in space without relying on the traditional multi-rope frame, simplifying the overall setting, and significantly improving the system's operating efficiency and flexibility in large-span spaces. At the same time, the coordination of the rope driving device and the rope climbing mechanism can further speed up the arrangement of the ropes, ensuring that the system can quickly enter the working state and adapt to efficient response scenarios such as emergency rescue; the four arrangement nodes can be adjusted according to actual needs, which improves the flexibility of the arrangement.

[0121] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A working system for a three-dimensional space, characterized in that: include: A rope driving device, wherein two rope driving devices are arranged in a first direction below the three-dimensional space, wherein the first direction is parallel to the horizontal direction; the rope driving device comprises a walking mechanism (1) and a rope driving mechanism (2), wherein the walking mechanism (1) is used to drive the rope driving device to move in a second direction, wherein the second direction is parallel to the first direction; the rope driving mechanism (2) is connected to one end of a driving rope, wherein the other end of the driving rope is fixedly arranged above the three-dimensional space, and the rope driving mechanism (2) is used to retract and release the driving rope; A working platform (3) having a working plane on the top thereof, the working platform (3) being provided with two rope climbing mechanisms (4) arranged in an array along the first direction, the rope climbing mechanisms (4) moving on driving ropes on corresponding sides thereof to achieve the lifting and lowering of the working platform (3).

2. The three-dimensional space operation system according to claim 1, characterized in that: Also includes: A fixing device (5), the fixing device (5) being used to be fixed on a structure (6) arranged above the three-dimensional space, and one end of the driving rope away from the rope driving mechanism is arranged above the three-dimensional space through the fixing device (5); A drone (7), wherein the drone (7) is used to drive the fixing device (5) to move above the three-dimensional space.

3. The three-dimensional space operation system according to claim 2, characterized in that: The fixing device (5) comprises: A tether unit (51), the tether unit (51) being used to be connected to the driving rope; A holding unit, the holding unit comprising two holding members, the holding unit having a first state and a second state; when the holding unit is in the first state, the two holding members are close to each other to hold and fix on the structure, and when the holding unit is in the second state, the two holding members are away from each other to release the fixation with the structure; A supporting driving unit, wherein the supporting driving unit is used to drive the supporting unit to switch between the first state and the second state.

4. The three-dimensional space operation system according to claim 1, characterized in that: The rope climbing mechanism (4) comprises: A fixed plate (41), the fixed plate (41) being mounted on one side of the working platform (3); a driving rope wheel (42) being rotatably mounted on the fixed plate (41); an arc track (43) being provided on the fixed plate (41) and close to the driving rope wheel (42), the arc track (43) having a first end relatively close to the driving rope wheel (42) and a second end relatively far from the driving rope wheel; a first slider (44) and a second slider (45) being slidably provided in the arc track (43); A tension wheel (46), the tension wheel (46) being rotatably mounted on the first slider (44); a pressure wheel (47), the pressure wheel (47) being rotatably mounted on the second sliding block (45); A rope climbing drive unit, the rope climbing drive unit being used to drive the rope driving wheel (42) to rotate; A lever arm is provided between the first slider (44) and the second slider (45), and the end of the driving rope away from the rope driving mechanism (2) passes through a pressure wheel (47), a rope driving wheel (42) and a tension wheel (46) in sequence, and is fixedly arranged above the three-dimensional space.

5. The three-dimensional space operation system according to claim 4, characterized in that: A guide wheel (48) is rotatably provided on the fixed plate (41), and the guide wheel (48) is used to guide the driving rope in the rope climbing mechanism (4).

6. The three-dimensional space operation system according to claim 4, characterized in that: Guide mechanisms (49) are provided at both ends of the fixing plate (41) to guide the driving rope extending from the rope climbing mechanism (4).

7. The three-dimensional space operation system according to claim 4, characterized in that: The guiding mechanism (49) comprises: A guide housing (491), wherein both ends of the guide housing (491) are open; First guide rods (492), two first guide rods (492) are provided and are parallel to each other, and the first guide rods (492) are installed in the guide housing (491); A second guide rod (493), wherein two second guide rods (493) are provided and are parallel to each other, and the second guide rods (493) are installed in the guide housing (491); A preset angle is formed between the first guide rod (492) and the second guide rod (493), and a guide channel for the driving rope to pass through is formed between the two first guide rods (492) and the two second guide rods (493).

8. The three-dimensional space operation system according to claim 3, characterized in that: The supporting unit further comprises: A supporting shell (521), wherein a slide groove (522) is provided on the supporting shell (521); A threaded rod (523), wherein the threaded rod (523) is rotatably mounted on the supporting housing (521), and the threaded rod (523) is arranged in a direction parallel to the slide groove (522); The two supporting members are respectively an active supporting member (524) and a passive supporting member (525); the passive supporting member (525) is fixedly mounted on the supporting shell (521), and the active supporting member (524) is threadedly connected to the threaded rod (523) and slidably mounted in the slide groove (522); the supporting driving unit is used to drive the threaded rod (523) to rotate so as to switch between the first state and the second state.

9. The three-dimensional space operation system according to claim 8, characterized in that: Also includes sensors and controllers; The sensor is arranged on the passive supporting member (525) and / or the active supporting member (524), the sensor is connected to the input end of the controller, and the output end of the controller is connected to the supporting drive unit.

10. The three-dimensional space operation system according to any one of claims 1 to 9, characterized in that: The rope driving mechanism (2) comprises a rotatable drum (21) and a drum driving unit (22) for driving the drum (21) to rotate; one end of the driving rope is mounted on the drum (21); and a cable guide (23) is provided on the drum (21) for guiding the driving rope.

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