Wall-climbing robot falling protection device

Abstract

The invention relates to a wall-climbing robot falling protection device, and belongs to the technical field of robot protection equipment, the wall-climbing robot falling protection device comprises a mounting frame, a winding motor is fixedly arranged on the mounting frame, a wire spool is fixedly arranged on an output shaft of the winding motor, a protection cable is wound on the wire spool, and a wall-climbing robot is hung at the free end of the protection cable; an output shaft of the coiling motor penetrates through the outside of the mounting frame and is fixedly provided with a main gear, the upper side of the main gear is connected with an electronic anti-falling mechanism triggered through sensing equipment, the electronic anti-falling mechanism is arranged on the upper side of the main gear, a mechanical protection mechanism is arranged on the lower side of the main gear, and a dual anti-falling system of'electronic priority and mechanical bottom covering 'is formed; the electronic anti-falling mechanism can quickly respond to brake when the sensing equipment detects a falling signal, the mechanical protection mechanism can automatically trigger brake through centrifugal force when the electronic anti-falling mechanism fails, the risk that the robot falls due to failure of a single anti-falling mechanism is avoided through double guarantee, and the reliability of the protection device is improved.

Description

A fall protection device for wall-climbing robots Technical Field

[0001] This invention relates to the field of robot protection equipment technology, and specifically to a fall protection device for a wall-climbing robot. Background Technology

[0002] With the increasing application of wall-climbing robots in high-altitude wall operations (such as building exterior wall inspection, curtain wall cleaning, and high-altitude maintenance), their operational safety has become a core issue that urgently needs to be addressed. Currently, the fall protection devices of existing wall-climbing robots generally have many defects and are difficult to meet the safety requirements of high-altitude operations: First, most protective devices only have a single fall protection mechanism, either using a purely electronic fall protection structure or a purely mechanical fall protection structure. Once a single mechanism malfunctions (such as power failure of electronic components or jamming of mechanical parts), the protection will fail, and the wall-climbing robot is very likely to fall, resulting in extremely low reliability of the protection. Second, some protective devices do not have a cable adjustment mechanism. During the extension and retraction process, the protective cable is prone to accumulate on one side of the winding reel, resulting in severe friction and wear between the cables. This not only shortens the service life of the cables but may also affect the normal ascent and descent of the wall-climbing robot due to cable jamming, and may even cause the risk of cable breakage. Summary of the Invention

[0003] This invention addresses the technical problems existing in the prior art by providing a fall protection device for wall-climbing robots.

[0004] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A fall protection device for a wall-climbing robot includes a mounting frame, a winding motor is fixedly mounted on the mounting frame, a winding reel is fixedly mounted on the output shaft of the winding motor, a protective cable is wound on the winding reel, a wall-climbing robot is suspended from the free end of the protective cable, the output shaft of the winding motor passes through the outside of the mounting frame and is fixedly mounted with a main gear, an electronic fall protection mechanism triggered by a sensing device is connected to the upper side of the main gear, and a mechanical protection mechanism is provided on the lower side of the main gear to provide bottom protection when the electronic fall protection mechanism malfunctions, such as a sudden drop.

[0005] Preferably, the electronic fall arrestor includes a protective inner shell fixedly mounted on the outer wall of the mounting bracket on the side away from the winding motor. A shaft is rotatably mounted on the protective inner shell, and a locking gear and an electric lock gear are fixedly mounted on the shaft. The electric lock gear meshes with the main gear, and the teeth of the locking gear abut against the locking teeth.

[0006] Preferably, the locking tooth is rotatably mounted on the corresponding mounting position on the protective inner shell, and a push rod and push block are fixedly mounted on the other side of the locking tooth. The push rod and push block abut against the extended end of the electromagnetic push rod. An auxiliary plate is fixedly mounted on the protective inner shell on the side of the locking tooth away from the locking tooth mating wheel. A push spring is fixedly mounted on the auxiliary plate. The other end of the push spring is fixedly connected to the locking tooth. The electromagnetic push rod is electrically connected to the sensing device inside the wall-climbing robot.

[0007] Preferably, the electronic anti-fall mechanism is an electronic brake assembly, which is used to lock the drive shaft in the power-off state to prevent the load from slipping.

[0008] Preferably, the mechanical protection mechanism includes a locking gear that meshes with the main gear on the lower side. The locking gear is fixedly connected to a short shaft, which is rotatably connected to the outer wall of the mounting bracket on the side away from the winding motor. The short shaft is also fixedly connected to a centrifugal disc.

[0009] Preferably, the centrifuge disc is provided with a sliding groove, in which a sliding rod is slidably arranged. A centrifuge locking block is fixedly arranged at the outer end of the sliding rod. The outer side of the centrifuge locking block is provided with locking teeth, which can cooperate with the inner teeth of the fixed inner gear ring. The fixed inner gear ring is fixedly arranged on the mounting frame. A locking block return spring is fixedly arranged on the centrifuge locking block. The other end of the locking block return spring is fixedly arranged inside the centrifuge disc to ensure that the centrifuge locking block retracts and separates from the fixed inner gear ring at the initial stage.

[0010] Preferably, the device includes a lifting machine, which is a scissor-type or telescopic lifting mechanism, with its main components fixed to the lifting plate of the lifting machine.

[0011] Preferably, a cable adjustment mechanism is included, which includes a guide rod fixedly disposed at the edge of the mounting frame. One end of the guide rod is slidably disposed on the guide rod, and the other end of the movable rod is threadedly connected to a screw. The screw is rotatably disposed on the mounting frame, and one end of the screw extends out of the mounting frame and is connected to an adjustment motor output shaft. The adjustment motor is fixedly disposed on the mounting frame.

[0012] Preferably, a rope outlet ring is also fixedly provided on the movable rod, and the cable extends out from the rope outlet ring.

[0013] Preferably, the electronic fall arrestor and the mechanical protection mechanism are covered by a protective cover, the protective cover is detachably connected to the mounting bracket, and the sensing device is fixedly mounted on the wall-climbing robot at the end of the protection cable.

[0014] The beneficial effects of this invention are as follows: 1. This application sets an electronic anti-fall mechanism on the upper side of the main gear and a mechanical protection mechanism on the lower side, forming a dual anti-fall system of "electronic priority and mechanical backup". The electronic anti-fall mechanism can quickly respond and brake when the sensor detects a fall signal. The mechanical protection mechanism can automatically trigger braking through centrifugal force when the electronic anti-fall mechanism fails (such as power failure or jamming). This dual protection avoids the risk of robot falling due to the failure of a single anti-fall mechanism, greatly improving the reliability of the protective device and meeting the safety requirements for high-altitude operations; 2. This application sets a cable adjustment mechanism. By adjusting the motor to drive the screw to rotate, the guide rod guides the movable rod to move, thereby driving the rope ring to move synchronously, guiding the protective cable to be evenly wound on the winding reel. This effectively avoids the problem of cable accumulation on one side, reduces friction and wear between cables, extends the service life of the cable, and ensures smooth cable winding and unwinding by the winding motor. It also prevents cable jamming from affecting the normal lifting and lowering of the climbing robot and eliminates the risk of cable breakage. 3. This application fixes the sensing device to the climbing robot at the end of the protective cable, which can directly and quickly capture the robot's fall signal (such as sudden descent speed, attitude deviation), and promptly trigger the electronic anti-fall mechanism to start braking, avoiding the problem of untimely anti-fall caused by sensing lag, minimizing the robot's fall distance, and reducing the risk of robot damage; 4. The electronic anti-fall mechanism of this application provides two implementation forms: the tooth-locking type uses the cooperation of "electromagnetic push rod + push spring", which can quickly push the tooth to lock into the tooth-locking wheel after the thrust is lost, achieving precise locking; the electronic brake assembly triggers the spring to rebound when the power is cut off, so that the friction plate quickly presses against the brake disc, with fast braking response and large braking force, which can quickly achieve braking in the early stage of robot fall, further improving the reliability of anti-fall. Attached Figure Description

[0015] Figure 1 is a schematic diagram of the overall structure of the "telescopic lift" of the present invention; Figure 2 is a schematic diagram of the overall structure of the "scissor lift" of the present invention; Figure 3 is a schematic diagram of the overall structure of Figure 1 after removing the "protective cover"; Figure 4 is a schematic diagram of the overall structure of Figure 3 after removing the "protective inner shell"; Figure 5 is a front view of Figure 1; Figure 6 is an enlarged schematic diagram of the structure at "A" in Figure 3; Figure 7 is an enlarged schematic diagram of the structure at "B" in Figure 4.

[0016] The components represented by each number in the attached diagram are listed below: winding motor 10, mounting bracket 11, winding reel 12, protective cable 13, protective cover 14, adjusting motor 15, screw 16, movable rod 17, rope output ring 18, mounting base plate 19, main gear 23, mechanical lock gear 24, short shaft 25, fixed internal gear ring 26, centrifugal locking block 27, locking block return spring 28, centrifugal disc 29, electric lock gear 30, push rod push block 31, electromagnetic push rod 32, locking tooth mating wheel 33, locking tooth 34, auxiliary plate 35, push spring 36, protective inner shell 37, guide rod 38. Detailed Implementation

[0017] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0018] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0019] In the description of this application, the term "for example" is used to mean "used as an example, illustration, or description." Any embodiment described as "for example" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use the invention. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that the invention can be made without using these specific details. In other instances, well-known structures and processes will not be described in detail to avoid obscuring the description of the invention with unnecessary detail. Therefore, the invention is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0020] Referring to Figures 1-7, a fall protection device for a wall-climbing robot includes a mounting frame as the core support base, integrating components such as a cable reel mechanism, an electronic fall arrest mechanism, a mechanical protection mechanism, a lifting mechanism, a cable adjustment mechanism, and a protective cover, forming a complete protection system of "active adjustment - dual fall arrest - auxiliary protection". The cable reel mechanism is used to achieve the lifting and lowering of the wall-climbing robot and its position adaptation; the electronic fall arrest mechanism serves as the primary fall arrest barrier, rapidly responding and braking when the wall-climbing robot shows signs of falling; the mechanical protection mechanism acts as a backup protection, activating when the electronic fall arrest mechanism fails to ensure fall arrest reliability; the lifting mechanism is used to adjust the overall height of the device to adapt to different operating scenarios; and the cable adjustment mechanism prevents the protective cable from accumulating and wearing out.

[0021] The core support and winding mechanism, including a mounting frame 11, a winding motor 10, a winding reel 12, and a protective cable 13, forms the basis for the device to suspend and lift the wall-climbing robot. In specific implementation, the winding motor 10 is fixedly mounted on the mounting frame 11, with its output shaft passing through the frame and fixedly connected to the winding reel 12 and the main gear 23. The protective cable 13 is wound on the winding reel 12, and the wall-climbing robot is suspended from the free end of the protective cable 13. Sensing devices are fixedly mounted on the wall-climbing robot at the end of the protective cable 13 to monitor the robot's operating status in real time (e.g., whether a fall or positional shift has occurred).

[0022] The electronic fall arrestor offers two specific implementation methods, which can be flexibly selected according to the actual operation scenario. Both methods are electrically connected to the sensing devices on the wall-climbing robot to achieve signal linkage.

[0023] One embodiment (tooth engagement type): includes a protective inner shell 37, a shaft, a tooth engagement wheel 33, an electric lock gear 30, a tooth 34, a push rod and push block 31, an electromagnetic push rod 32, an auxiliary plate 35, and a push spring 36. In specific implementation, the protective inner shell 37 is fixed on the outer wall of the mounting bracket 11 away from the winding motor 10. The shaft is rotatably mounted on the protective inner shell 37. The toothed engagement wheel 33 and the electric lock gear 30 are coaxially fixed on the shaft. The electric lock gear 30 meshes with the main gear 23. The toothed gear 34 is rotatably mounted on the corresponding mounting position of the protective inner shell 37. Its teeth abut against the teeth of the toothed engagement wheel 33. A push rod and push block 31 are fixed on one side of the toothed gear 34. The push rod and push block 31 abut against the extended end of the electromagnetic push rod 32. The auxiliary plate 35 is fixed on the protective inner shell 37 away from the toothed engagement wheel 33. One end of the push spring 36 is fixed on the auxiliary plate 35, and the other end is fixedly connected to the toothed gear 34. The electromagnetic push rod 32 is electrically connected to the sensing device.

[0024] The second implementation (electronic brake assembly): The electronic brake assembly is directly connected to the drive shaft of the electric lock gear 30 and is used to lock the drive shaft in the power-off state to prevent the load from slipping. It is electrically connected to the sensing device, and the sensing device controls the on and off of the electromagnetic coil.

[0025] The inner protective shell 37 provides dust and collision protection for precision components such as the locking teeth, gears, and push rods, preventing external impurities or accidental impacts from causing jamming or damage, thus ensuring the stability of the mechanism. The electric lock gear 30 meshes with the main gear 23 to achieve power linkage. When the electronic anti-fall mechanism is activated, the main gear 23 can be indirectly locked by locking the electric lock gear 30, thereby preventing the winding reel 12 from rotating and achieving rapid braking with high transmission efficiency and precise locking. The mechanism adopts a "magnetic push rod + push spring" cooperation structure. Under normal conditions, the electromagnetic push rod 32 extends and pushes the locking teeth 34 through the push rod push block 31, causing the locking teeth 34 to separate from the locking tooth mating wheel 33, without affecting the normal operation of the winding motor 10 to drive the winding reel 12 to take in and out the wire. When the sensor detects a robot fall, the electromagnetic push rod 32 is de-energized and retracted, and the push rod push block 31 loses its thrust, pushing the reel 12 back into place. Under the action of elastic restoring force, the spring 36 quickly pushes the locking tooth 34 into the tooth gap of the locking tooth mating wheel 33 to achieve emergency locking. The response speed is fast and the braking effect is reliable. The auxiliary plate 35 is used to fix the push spring 36 to ensure the stability of the installation position of the push spring 36 and prevent it from shifting during the extension and retraction process, thus ensuring the reset accuracy of the locking tooth 34. Two implementation forms are provided to adapt to different operation requirements: the locking tooth mating type has a simple structure and is easy to maintain, making it suitable for conventional operation scenarios; the electronic brake assembly has a large braking force and stronger stability, making it suitable for heavy-load or high-altitude high-risk operation scenarios, thus improving the versatility of this application; the electronic fall protection mechanism is electrically linked with the sensing device to realize the automated process of "detection-trigger-braking" without manual intervention. It can start braking the instant the robot shows signs of falling, minimizing the distance the robot falls and reducing the risk of damage.

[0026] The mechanical protection mechanism serves as a backup for the electronic fall arrest mechanism. When the electronic fall arrest mechanism malfunctions (such as power failure, component jamming, or sensor failure) and cannot brake properly, it triggers braking through physical centrifugal force to ensure the climbing robot does not fall. Specifically, the mechanical protection mechanism includes a locking gear 24, a short shaft 25, a centrifugal disc 29, a centrifugal locking block 27, a fixed internal gear ring 26, and a locking block return spring 28. The mechanical locking gear 24 meshes with the main gear 23 on the lower side. The mechanical locking gear 24 is fixedly connected to the short shaft 25. The short shaft 25 is rotatably connected to the outer wall of the mounting frame 11 on the side away from the winding motor 10. The centrifugal disc 29 is fixed on the short shaft 25. A sliding groove is provided on the centrifugal disc 29. The sliding rod is slidably disposed in the sliding groove. The centrifugal locking block 27 is fixed on the outer end of the sliding rod. It has locking teeth on its outer side, which can cooperate with the inner teeth of the fixed inner gear ring 26. The fixed inner gear ring 26 is fixed on the mounting frame 11. One end of the locking block return spring 28 is fixed on the centrifugal locking block 27, and the other end is fixed inside the centrifugal disc 29. Under normal conditions, the centrifugal locking block 27 retracts and separates from the fixed inner gear ring 26.

[0027] This mechanism employs a "main gear-mechanical lock gear" meshing transmission structure, ensuring that the main gear 23 can synchronously drive the short shaft 25 and the centrifugal disk 29 to rotate when it rotates. The transmission is continuous and requires no additional power; it is triggered solely by the robot's inertia during a fall. The structure is simple and highly reliable. The sliding groove and sliding rod on the centrifugal disk 29 provide guidance for the sliding of the centrifugal locking block 27, ensuring that the centrifugal locking block 27 can smoothly extend along the groove under centrifugal force, preventing deviation that would prevent engagement with the fixed internal gear ring 26. The locking block return spring 28 allows the centrifugal locking block 27 to retract in normal conditions (when the robot is operating normally and there is no fall), separating it from the fixed internal gear ring 26 without affecting the normal rotation of the winding motor 10. The winding and unwinding operations of the winding reel 12 avoid interfering with the normal operation of the robot. The outer teeth of the centrifugal locking block 27 engage with the inner teeth of the fixed inner gear ring 26, using a tooth-meshing locking method. The locking force is strong and can effectively lock the centrifugal reel 29. In turn, the main gear 23 is restricted from rotating through the mechanical locking gear 24, preventing the winding reel 12 from unwinding and achieving emergency braking. This mechanism does not require electric drive and is triggered entirely by physical centrifugal force. It is not affected by factors such as electronic component failure or power outage. As a backup protection for the electronic fall protection mechanism, it greatly improves the reliability of the entire protective device and avoids the risk of the robot falling due to the failure of a single fall protection mechanism. It forms a "double fall protection" protection system and meets the safety requirements for high-altitude operations.

[0028] The lifting machine is used to adjust the height of the entire protective device to adapt to the needs of wall operations at different heights. In specific implementation, the lifting machine is composed of a scissor-type or telescopic lifting mechanism. The main components of the device (mounting frame 11, winding motor 10, etc.) are all fixed on the lifting plate of the lifting machine. Choosing either a scissor-type or telescopic lifting machine is a mature existing technology with stable structure, strong load-bearing capacity, convenient maintenance, and low cost, making it suitable for industrial applications. Fixing the main components of the device to the lifting plate of the lifting machine allows for synchronous adjustment of the height of the entire protective device without the need to adjust the position of each component individually, making operation convenient. At the same time, it ensures that the relative positions of each component remain unchanged during the adjustment process, avoiding loosening of component connections and transmission failure due to height adjustment, and ensuring the stability of device operation.

[0029] The cable adjustment mechanism is used to adjust the winding and unwinding position of the protective cable 13 on the winding reel 12, preventing the cable from piling up on one side and causing wear, tangling, or jamming. In specific implementation, the cable adjustment mechanism includes a guide rod 38, a movable rod 17, a screw 16, an adjustment motor 15, and a cable outlet ring 18. The guide rod 38 is fixed to the edge of the mounting frame 11. One end of the movable rod 17 is slidably mounted on the guide rod 38, and the other end is threadedly connected to the screw 16. The screw 16 is rotatably mounted on the mounting frame 11, with one end extending out of the mounting frame 11 and connected to the output shaft of the adjustment motor 15. The adjustment motor 15 is fixed on the mounting frame 11, and the cable outlet ring 18 is fixed on the movable rod 17. The protective cable 13 extends out from the cable outlet ring 18.

[0030] This mechanism uses a guide rod 38 to slide against the movable rod 17, providing precise guidance for the movement of the movable rod 17 and preventing it from shifting or tilting during movement. This ensures a smooth trajectory for the rope outlet ring 18, thereby guaranteeing the stability of the cable 13's winding and unwinding direction. The movable rod 17 is threadedly connected to the screw 16. When the adjusting motor 15 drives the screw 16 to rotate, the motor's rotational motion is converted into linear motion of the movable rod 17. This provides high adjustment precision and allows for accurate control of the rope outlet ring 18's position, thus precisely adjusting the cable 13's winding and unwinding position on the winding reel 12. The rope outlet ring 18... Fixed to the movable rod 17, it moves synchronously with the movable rod 17, guiding the protective cable 13 to be evenly wound on the winding reel 12, preventing the cable from piling up on one side, reducing friction and wear between the cables, extending the cable's service life, and preventing jamming caused by cable accumulation. This ensures smooth cable winding and unwinding by the winding motor 10, without affecting the normal lifting and lowering of the wall-climbing robot. The adjustable motor 15 can control the rotation direction of the screw 16 by forward and reverse rotation, thereby controlling the movement direction of the movable rod 17. It is easy to operate and can be flexibly adjusted according to the winding condition of the winding reel 12 to adapt to different winding and unwinding speeds and cable winding requirements.

[0031] The protective cover 14 is installed on the outside of the electronic fall arrest mechanism and the mechanical protection mechanism, and is detachably connected to the mounting bracket 11. The protective cover 14 can effectively prevent dust, debris, water droplets, etc. from entering the electronic fall arrest mechanism and the mechanical protection mechanism, avoiding problems such as gear jamming, push rod failure, and centrifugal structure failure caused by these impurities, protecting the normal operation of the core fall arrest components, and extending the service life of the components; it can also prevent accidental collisions and scratches during operation from damaging the fall arrest mechanism, and play a physical protection role.

[0032] Working principle: When the wall-climbing robot is working on the wall, the lifting platform of the hoist is raised to a suitable height. Both scissor-type and telescopic hoists are existing technologies. The platform is then connected to the wall-climbing robot from a high position via the end of the protective cable 13. Sensor data is used to adjust the forward and reverse rotation of the winding motor 10. When the winding motor 10 rotates, it drives the winding reel 12 to reel in and unwind the protective cable 13, ensuring the connection section is of appropriate length. If the wall-climbing robot malfunctions and falls, the relevant sensors will trigger the electronic fall arrest mechanism, thereby activating the electromagnetic push rod 32. The action of the electromagnetic push rod 32 will cause the extended end to retract, thereby causing the push rod push block 31 to lose its thrust. This will cause the locking tooth 34 to extend into the locking tooth engagement wheel 33 under the elastic action of the push spring 36. The locking tooth engagement wheel 33 will be locked by the locking tooth 34, thereby locking the coaxial electric lock gear 30, and thus preventing the main gear 23 from rotating, achieving the purpose of emergency braking. When the electronic anti-fall mechanism is an electronic brake assembly, the current of the electromagnetic coil will be cut off when it is triggered, thereby causing the magnetic field to disappear and the armature to lose its attraction, which in turn causes the spring to rebound quickly and press the friction plate against the brake disc. This causes the output shaft of the electric lock gear 30 to be braked and locked. When the electronic fall arrest mechanism malfunctions and cannot function properly, the robot will simultaneously pull the protective cable 13 during its descent, causing the winding disc 12 to drive the main gear 23 to rotate. The rotation of the main gear 23 will drive the mechanical lock gear 24 to rotate the centrifugal disc 29 on the short shaft 25. Under the action of centrifugal force, the centrifugal disc 29 overcomes the elastic force of the locking block return spring 28 and is thrown out, thereby causing the outer teeth of the centrifugal locking block 27 to mesh with the inner teeth of the fixed inner gear ring 26. Thus, the centrifugal locking block 27 locks the centrifugal disc 29, thereby restricting the rotation of the main gear 23 by the mechanical lock gear 24, completing the emergency braking and fall arrest. When the winding motor 10 is winding and unwinding, in order to prevent the protective cable 13 from piling up on one side, the adjusting motor 15 can be started to drive the screw 16 to rotate, so that the threaded end of the movable rod 17 moves along the set direction under the guidance of the guide rod 38. During the movement, since the outlet end of the protective cable 13 passes through the outlet ring 18, which is fixedly set on the movable rod 17, the outlet ring 18 will move with the movement of the movable rod 17. Then, by controlling the rotation direction of the adjusting motor 15, the position of the outlet ring 18 is adjusted along the screw 16, thereby controlling the winding and unwinding position of the protective cable 13 on the winding reel 12, thus avoiding the problem of cable piling up.

[0033] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0034] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A fall protection device for a wall-climbing robot, comprising a mounting frame (11), wherein a winding motor (10) is fixedly mounted on the mounting frame (11), a winding reel (12) is fixedly mounted on the output shaft of the winding motor (10), a protective cable (13) is wound on the winding reel (12), and a wall-climbing robot is suspended from the free end of the protective cable (13), characterized in that, The output shaft of the winding motor (10) passes through the outside of the mounting frame (11) and is fixedly provided with a main gear (23). An electronic fall arrest mechanism triggered by a sensing device is connected to the upper side of the main gear (23), and a mechanical protection mechanism that can provide bottom protection when the electronic fall arrest mechanism malfunctions, such as a sudden drop, is provided on the lower side of the main gear (23).

2. The fall protection device for a wall-climbing robot according to claim 1, characterized in that, The electronic fall arrestor includes a protective inner shell (37) fixedly mounted on the outer wall of the mounting bracket (11) on the side away from the winding motor (10). A shaft is rotatably mounted on the protective inner shell (37), and a toothed engagement wheel (33) and an electric lock gear (30) are fixedly mounted on the shaft. The electric lock gear (30) meshes with the main gear (23), and the teeth of the toothed engagement wheel (33) abut against the toothed teeth (34).

3. A fall protection device for a wall-climbing robot according to claim 2, characterized in that, The clasp (34) is rotatably mounted on the corresponding mounting position on the protective inner shell (37). A push rod and push block (31) are fixedly mounted on the other side of the clasp (34). The push rod and push block (31) abuts against the extended end of the electromagnetic push rod (32). An auxiliary plate (35) is fixedly mounted on the protective inner shell (37) on the side of the clasp (34) away from the clasp mating wheel (33). A push spring (36) is fixedly mounted on the auxiliary plate (35). The other end of the push spring (36) is fixedly connected to the clasp (34). The electromagnetic push rod (32) is electrically connected to the sensing device inside the wall-climbing robot.

4. The fall protection device for a wall-climbing robot according to claim 1, characterized in that, The electronic anti-fall mechanism is an electronic brake assembly, which is used to lock the drive shaft in the power-off state to prevent the load from slipping.

5. A fall protection device for a wall-climbing robot according to claim 1, characterized in that, The mechanical protection mechanism includes a locking gear (24) that meshes with the main gear (23) on the lower side. The locking gear (24) is fixedly connected to a short shaft (25). The short shaft (25) is rotatably connected to the outer wall of the mounting bracket (11) on the side away from the winding motor (10). The short shaft (25) is also fixedly connected to a centrifugal disc (29).

6. A fall protection device for a wall-climbing robot according to claim 5, characterized in that, The centrifuge disc (29) is provided with a sliding groove, and a sliding rod is slidably arranged in the sliding groove. A centrifuge locking block (27) is fixedly arranged at the outer end of the sliding rod. The centrifuge locking block (27) is provided with locking teeth on the outer side, and the locking teeth can cooperate with the inner teeth of the fixed inner gear ring (26). The fixed inner gear ring (26) is fixedly arranged on the mounting frame (11). A locking block return spring (28) is fixedly arranged on the centrifuge locking block (27). The other end of the locking block return spring (28) is fixedly arranged inside the centrifuge disc (29) to ensure that the centrifuge locking block (27) retracts and separates from the fixed inner gear ring (26) at the beginning.

7. A fall protection device for a wall-climbing robot according to claim 1, characterized in that, This includes a lifting machine, which is composed of a scissor-type or telescopic lifting mechanism, with the main components fixed to the lifting plate of the lifting machine.

8. A fall protection device for a wall-climbing robot according to claim 1, characterized in that, The cable adjustment mechanism includes a guide rod (38) fixedly disposed at the edge of the mounting frame (11). One end of a movable rod (17) is slidably disposed on the guide rod (38). The other end of the movable rod (17) is threadedly connected to a screw (16). The screw (16) is rotatably disposed on the mounting frame (11). One end of the screw (16) extends out of the mounting frame (11) and is connected to the output shaft of an adjustment motor (15). The adjustment motor (15) is fixedly disposed on the mounting frame (11).

9. A fall protection device for a wall-climbing robot according to claim 8, characterized in that, A rope outlet ring (18) is also fixedly installed on the movable rod (17), and the cable extends out from the rope outlet ring (18).

10. A fall protection device for a wall-climbing robot according to claim 1, characterized in that, The electronic fall arrestor and the mechanical protection mechanism are covered by a protective cover (14). The protective cover (14) is detachably connected to the mounting bracket (11), and the sensing device is fixedly mounted on the wall-climbing robot at the end of the protective cable (13).

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