Wall-climbing robot and safety protection device and safety protection system thereof
By installing loop ropes and safety protection mechanisms on the wall-climbing robot, the problem of falls caused by the failure of the suction force has been solved, resulting in a longer service life and greater safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- BEIJING HUADIAN TIANREN ELECTRIC POWER CONTROL TECH
- Filing Date
- 2026-03-26
- Publication Date
- 2026-06-16
AI Technical Summary
Wall-climbing robots are prone to losing their grip during operation, leading to falls, reduced lifespan, and reduced safety.
It employs a loop rope and safety protection mechanism, including a power component and a winding component, to limit or shorten the length of the loop rope during a fall, and to tighten the loop rope to prevent a fall.
Effectively reduces the risk of wall-climbing robots falling, and improves their service life and safety.
Smart Images
Figure CN122211484A_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of robotics technology, specifically to a wall-climbing robot and its safety protection device and system. Background Technology
[0002] With the development of science and technology, robots have been widely developed and applied in various industries. Wall-climbing robots, as a type of special-purpose robot, are automated mechanical devices that utilize adsorption technology to perform specific tasks in harsh and dangerous high-altitude environments. They are mainly used in the power, petrochemical, and shipbuilding industries. Furthermore, wall-climbing robots can climb vertical or near-vertical walls, as well as horizontal walls, such as those suspended from ceilings. The application scenarios for wall-climbing robots are also very broad, especially in work scenarios where the working surface at height is circular or near-circular, such as wind turbine towers, blades, and chemical pipelines.
[0003] Currently, in related technologies, wall-climbing robots typically rely on the suction force generated by an adsorption mechanism, either directly or indirectly, to counteract the robot's weight. However, during operation, the suction force can easily fail. This can cause the robot to fall off the wall, damaging the equipment and significantly reducing its lifespan. Furthermore, the robot may even injure pedestrians or robot operators, compromising its safety. Summary of the Invention
[0004] The purpose of this disclosure is to provide a wall-climbing robot and its safety protection device and system that can overcome at least one of the technical defects in the above-mentioned related technologies.
[0005] Another objective of this disclosure is to improve the lifespan and safety of wall-climbing robots.
[0006] To achieve the above objectives, this disclosure provides a safety protection device for a wall-climbing robot, comprising: The loop rope is used to be attached to the construction equipment of the wall-climbing robot. A safety protection mechanism, driven and connected to the loop rope and mounted on the wall-climbing machine, is used to limit the extension of the loop rope and / or shorten the length of the loop rope to tighten it in the event of a fall by the wall-climbing robot.
[0007] In some possible implementations, the security protection mechanism includes: A power component is mounted on the wall-climbing robot; A winding member is disposed on the output part of the power member, and the loop rope is wound on it. It is used to brake the winding member by the power member in the event of a fall of the wall-climbing robot, and / or to drive the loop rope to rotate and receive the loop rope in the event of a fall of the wall-climbing robot.
[0008] In some possible implementations, the winding member includes a first winding roller and a second winding roller; and, The loop rope includes a first rope body and a second rope body, one end of the first rope body is wound around the first winding roller, and one end of the second rope body is wound around the second winding roller; and... The other end of the first rope is wound around the construction equipment and connected to the other end of the second rope; or, The other end of the first rope is connected to another wall-climbing robot on an adjacent side, and the other end of the second rope is wound around the construction equipment and connected to that other wall-climbing robot; or, The other end of the first rope is connected to another wall-climbing robot on the adjacent side, and the other end of the second rope is connected to yet another wall-climbing robot on the adjacent other side.
[0009] In some possible implementations, the security protection mechanism further includes: A protective shell is disposed on the wall-climbing robot, and both the power component and the winding component are disposed within the protective shell; furthermore... The other ends of the first rope and the other ends of the second rope extend out of the protective shell in opposite directions.
[0010] In some possible implementations, the construction equipment extends along a first direction, the loop rope is used to be sleeved on the construction equipment along the first direction, and the directions in which the first rope and the second rope pass through the protective shell are both used to be arranged along a second direction perpendicular to the first direction.
[0011] In some possible implementations, the ends of the first rope and the second rope that are connected to each other are detachably connected by shackles.
[0012] In some possible implementations, the power component includes a first winding motor and a second winding motor, the first winding motor being driven and connected to the first winding roller, and the second winding motor being driven and connected to the second winding roller; or, The power component includes a first winding motor, which is droningly connected to the first winding roller and the second winding roller; or... The power component includes a first winding motor, the first winding roller is connected to the second winding roller, and the first winding roller and the second winding roller are coaxially arranged. The first winding motor is drivenly connected to the first winding roller or the second winding roller.
[0013] In some possible implementations, the security protection mechanism further includes: A fall detection component is installed on the wall-climbing robot to detect whether the wall-climbing robot has fallen.
[0014] This disclosure also provides a wall-climbing robot, which includes the aforementioned safety protection device for the wall-climbing robot.
[0015] This disclosure also provides a safety protection system, which includes the aforementioned wall-climbing robot; and, The number of wall-climbing robots is set to multiple, and the multiple wall-climbing robots are connected in series on the loop rope through the safety protection mechanism.
[0016] Through the above technical solution, the safety protection device for the wall-climbing robot disclosed herein allows the loop rope to be fitted onto the construction equipment used by the wall-climbing robot. In the event of a fall by the wall-climbing robot, the safety protection mechanism within the device can limit the extension of the loop rope and / or shorten the length of the loop rope fitted onto the construction equipment to tighten it. Furthermore, the loop rope can tightly secure the wall-climbing robot to the construction equipment through the safety protection mechanism, effectively reducing the risk of the wall-climbing robot falling and thus improving its service life and operational safety.
[0017] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description
[0018] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram illustrating an application scenario of the security protection system provided in the exemplary embodiments of this disclosure; Figure 2 yes Figure 2 Enlarged view of position A in the image; Figure 3 This is one of the structural schematic diagrams of the wall-climbing robot provided in the exemplary embodiments of this disclosure; Figure 4 This is a schematic diagram of the structure of the safety protection device provided in the exemplary embodiments of this disclosure; Figure 5This is a schematic diagram of the structure of the shackle of the safety protection device provided in the exemplary embodiments of this disclosure; Figure 6 This is the second structural schematic diagram of the wall-climbing robot provided in the exemplary embodiments of this disclosure.
[0019] Explanation of reference numerals in the attached figures: 100. Wall-climbing robot; 110. Wall-climbing shell; 120. Adsorption mechanism; 200. Safety protection device; 210. Loop rope; 211. First rope body; 212. Second rope body; 220. Safety protection mechanism; 221. Power component; 2211. First winding motor; 2212. Second winding motor; 2213. Motor bracket; 222. Winding component; 2221. First winding roller; 2222. Second winding roller; 230. Protective housing; 240. Shackle; 250. Fall detection component; 251. Torque sensor; 260. Electrical control box; 300. Tower. Detailed Implementation
[0020] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.
[0021] In this disclosure, terms such as “lateral,” “length,” “back,” “vertical,” “bottom,” “inner,” and “outer,” indicating direction or positional relationship, may be used with reference to the orientation of the described figures. Since components of the described device can be positioned in multiple different orientations, these directional terms are for illustrative purposes and not for limitation. It should be understood that other aspects may be utilized and structural or logical changes may be made without departing from the concept of this disclosure. Therefore, the following detailed description should not be considered limiting.
[0022] It should be understood that, unless otherwise specifically indicated, features of various embodiments of this disclosure described herein can be combined with each other. As used herein, the term “and / or” includes any one of the relevant listed items and any combination of any two or more; similarly, “at least one of…” includes any one of the relevant listed items and any combination of any two or more.
[0023] It should be understood that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "setting," etc., used in the embodiments of this disclosure should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms herein according to the specific circumstances.
[0024] Furthermore, the term "above" as used herein with respect to components, elements, or material layers formed or located "above" a surface may be used to indicate that the component, element, or material layer is "indirectly" positioned (e.g., placed, formed, deposited, etc.) on the surface such that one or more additional components, elements, or layers are arranged between the surface and the component, element, or material layer. However, the term "above" as used with respect to components, elements, or material layers formed or located "above" a surface may also optionally have a specific meaning: that the component, element, or material layer is "directly" positioned (e.g., placed, formed, deposited, etc.) on the surface, for example, in direct contact with the surface.
[0025] Although terms such as “first,” “second,” and “third” may be used herein to describe various components, parts, regions, layers, or sections, these components, parts, regions, layers, or sections are not limited to these terms. Rather, these terms are used only to distinguish one component, part, region, layer, or section from another. Therefore, without departing from the teachings of the examples described herein, the first component, part, region, layer, or section mentioned in the examples may also be referred to as the second component, part, region, layer, or section. Furthermore, 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 at least one of that feature. In the description herein, “a plurality” means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0026] The following is combined Figures 1 to 5 The safety protection device of the wall-climbing robot in this embodiment will be described in detail.
[0027] Reference Figure 1 and Figure 2 In this embodiment, the safety protection device 200 of the wall-climbing robot 100 may include a loop rope 210 and a safety protection mechanism 220.
[0028] The loop rope 210 is used to be attached to the construction equipment of the wall-climbing robot 100.
[0029] The safety protection mechanism 220 is driven and connected to the loop rope 210, and the safety protection mechanism 220 is installed on the wall climbing machine. The safety protection mechanism 220 is used to limit the elongation of the loop rope 210 and / or shorten the length of the loop rope 210 to tighten the loop rope 210 in the event of a fall of the wall climbing robot 100.
[0030] Through the above technical solution, the loop rope 210 in the safety protection device 200 of the wall-climbing robot 100 disclosed herein can be sleeved on the construction equipment where the wall-climbing robot 100 is working. In the event of a fall by the wall-climbing robot 100, the safety protection mechanism 220 in the safety protection device 200 can limit the elongation of the loop rope 210 and / or shorten the length of the loop rope 210 sleeved on the construction equipment to tighten the loop rope 210, so that the wall-climbing robot 100 is tightly bound to the construction equipment. This can effectively reduce the risk of the wall-climbing robot 100 falling, thereby improving the service life and safety of the wall-climbing robot 100.
[0031] In this embodiment, the loop rope 210 can be a (stainless) steel wire rope or a rope made of other materials such as glass fiber.
[0032] In this embodiment, the outer layer of the loop rope 210 is provided with a wear-resistant layer to improve the service life of the loop rope 210. The wear-resistant layer can be a manganese-based or zinc-manganese-based phosphate layer, or it can be a plastic coating layer.
[0033] Reference Figure 3 and Figure 4 In this embodiment, the safety protection mechanism 220 may include a power component 221 and a winding component 222.
[0034] The power component 221 is mounted on the wall-climbing robot 100.
[0035] The winding member 222 is disposed on the output part of the power member 221. A loop rope 210 is wound on the winding member 222. The winding member 222 is used to brake the winding member 222 by the power member 221 in the event of a fall of the wall-climbing robot 100, and / or the winding member 222 is used to rotate and store the loop rope 210 by the power member 221 in the event of a fall of the wall-climbing robot 100.
[0036] Understandably, the aforementioned arrangement of the power component 221 and the winding component 222 can cause the safety protection mechanism 220 to limit the elongation of the loop rope 210 and / or shorten the length of the loop rope 210 in the event of a fall by the wall-climbing robot 100, in order to tighten the loop rope 210.
[0037] Reference Figure 3 and Figure 4 In this embodiment, the winding member 222 may include a first winding roller 2221 and a second winding roller 2222; and the loop rope 210 may include a first rope body 211 and a second rope body 212, with one end of the first rope body 211 wound around the first winding roller 2221 and one end of the second rope body 212 wound around the second winding roller 2222.
[0038] Reference Figure 3 and Figure 4 In one embodiment of this example, when a wall-climbing robot 100 is performing construction operations on a construction device, the other end of the first rope 211 is wrapped around the construction device and connected to the other end of the second rope 212.
[0039] It is understood that the loop rope 210 can be configured to have a first rope body 211 and a second rope body 212 respectively connected to the first winding roller 2221 and the second winding roller 2222, and the other ends of the first rope body 211 and the second rope body 212 can be connected to each other around the construction equipment so that the loop rope 210 and the safety protection mechanism 220 can be looped around the construction equipment. Furthermore, the rotation of the first winding roller 2221 and the second winding roller 2222 can cause the safety protection mechanism 220 to shorten and lengthen the loop rope 210.
[0040] Reference Figure 2 , Figure 3 and Figure 4 In another embodiment of this example, when two wall-climbing robots 100 are performing construction operations on the same construction equipment, the other end of the first rope 211 is connected to the second rope 212 of another wall-climbing robot 100 on the adjacent side, and the other end of the second rope 212 is wrapped around the construction equipment and connected to the first rope 211 of the other wall-climbing robot 100.
[0041] At this point, the loop rope 210 can be configured as a connecting unit between the first rope body 211 and the second rope body 212 on the two wall-climbing robots 100, so that the loop rope 210 and the two wall-climbing robots 100 can be looped around the construction equipment. When one of the wall-climbing robots 100 falls, both wall-climbing robots 100 will be secured to the construction equipment.
[0042] In another embodiment of this example, when three or more wall-climbing robots 100 are performing construction operations on the same construction equipment, the other end of the first rope 211 is connected to the second rope 212 of another wall-climbing robot 100 on the adjacent side, and the other end of the second rope 212 is connected to the first rope 211 of yet another wall-climbing robot 100 on the adjacent side.
[0043] Understandably, the loop rope 210 can also be configured as a connecting unit for the first rope body 211 and the second rope body 212 on multiple wall-climbing robots 100, so that the loop rope 210 and multiple wall-climbing robots 100 can be looped around the construction equipment. When one of the wall-climbing robots 100 falls, multiple wall-climbing robots 100 will be secured to the construction equipment.
[0044] Reference Figure 3 and Figure 4 In this embodiment, the safety protection mechanism 220 may further include a protective housing 230.
[0045] The protective housing 230 is mounted on the wall-climbing robot 100, and the power component 221 and the winding component 222 are both mounted inside the protective housing 230.
[0046] The other end of the first rope 211 and the other end of the second rope 212 pass through the protective shell 230 in opposite directions.
[0047] Understandably, the protective housing 230 can house the power component 221 and the winding component 222 in a relatively independent and relatively sealed space to ensure that the power component 221 and the winding component 222 can operate normally and to ensure the service life of the power component 221 and the winding component 222.
[0048] Furthermore, by having the first rope 211 and the second rope 212 extend out of the protective shell 230 in opposite directions, it is possible to effectively prevent the first rope 211 and the second rope 212 from becoming entangled in the protective shell 230. Moreover, by having the other end of the first rope 211 and the other end of the second rope 212 extend out of the protective shell 230 in opposite directions, the portions of the first rope 211 and the second rope 212 extending out of the protective shell 230 can be arranged along the outer wall of the construction equipment, thereby allowing the first rope 211 and the second rope 212 (i.e., the loop rope 210) to be smoothly retracted or released, ensuring that the safety protection device 200 can operate normally.
[0049] In addition, the protective housing 230 has a first through hole and a second through hole on its two opposite side walls, which allow the first rope 211 and the second rope 212 to pass through the protective housing 230.
[0050] In this embodiment, the protective housing 230 can be made of aluminum alloy, titanium alloy, steel, etc., to reduce its weight while ensuring its structural strength. When the protective housing 230 is made of aluminum alloy, it can be anodized to extend its service life.
[0051] Reference Figures 1 to 4 In this embodiment, the construction equipment extends along the first direction, the loop rope 210 is used to be sleeved on the construction equipment along the first direction, and the directions in which the first rope body 211 and the second rope body 212 pass through the protective shell 230 are both used to be arranged along the second direction perpendicular to the first direction.
[0052] It should be understood that the first and second directions defined above can be determined in conjunction with the specific application scenario of the safety protection device 200 in this embodiment. For example, if the construction equipment is a vertically extending wind power generation tower 300, then the first direction can be vertical and the second direction can be horizontal. As another example, if the construction equipment is a horizontally extending pipe, then the first direction can be horizontal and the second direction can be vertical.
[0053] Reference Figure 2 and Figure 5 In this embodiment, the ends of the first rope 211 and the second rope 212 that are connected to each other are detachably connected by a shackle 240.
[0054] It is understood that the safety protection device 200 of this embodiment can be applied to the wall-climbing robot 100 that performs construction on large construction equipment, such as on a tower 300 or pipe with a large diameter. Furthermore, compared to the case where the first rope 211 and the second rope 212 are configured to be integrally connected, in this embodiment, the loop rope 210 is configured such that the ends of the first rope 211 and the second rope 212 are detachably connected by a shackle 240, which enables the loop rope 210 to be quickly fitted onto the construction equipment, thereby improving the assembly speed of the safety protection device 200.
[0055] In addition, it should be noted that, Figure 2 The connection method between the safety protection devices of two adjacent wall-climbing robots is shown. Furthermore, the scheme described in this embodiment, in which the first rope 211 and the second rope 212 are detachably connected via shackles 240, includes a scenario where a wall-climbing robot is working on construction equipment, and the first rope 211 and the second rope 212 of the same wall-climbing robot are wound around and connected to the construction equipment. The connection ends of the first rope 211 and the second rope 212 of the wall-climbing robot are detachably connected via shackles 240.
[0056] Reference Figure 3 and Figure 4 In one embodiment of the power component 221 in this example, the power component 221 includes a first winding motor 2211 and a second winding motor 2212. The first winding motor 2211 is driven and connected to the first winding roller 2221, and the second winding motor 2212 is driven and connected to the second winding roller 2222.
[0057] In another embodiment of the power component 221 in this example, the power component 221 includes a first winding motor 2211, which is drivenly connected to the first winding roller 2221 and the second winding roller 2222 via a transmission assembly.
[0058] In another embodiment of the power component 221 in this example, the power component 221 includes a first winding motor 2211, a first winding roller 2221 connected to a second winding roller 2222, and the first winding roller 2221 and the second winding roller 2222 are coaxially arranged. The first winding motor 2211 is drivenly connected to the first winding roller 2221 or the second winding roller 2222.
[0059] It should be understood that the power component 221 can be a wound motor, and the number of wound motors can be flexibly configured according to their output power value and the power design requirements of the wall-climbing robot 100. All three embodiments of the power component 221 described above can drive the first wound roller 2221 and the second wound roller 2222 to rotate, so as to shorten or lengthen the loop rope 210 (or retract or release the first rope 211 and the second rope 212).
[0060] Reference Figure 3 and Figure 4 In this embodiment, the wound motor can be mounted on the rear wall of the protective housing 230 via the motor bracket 2213.
[0061] In a modified embodiment, the difference from the above embodiment is that the safety protection mechanism 220 may further include a rope brake (for example, it may include multiple brake plates that clamp the rope, the brake plates may be in the shape of a straight plate or a semi-tubular shape, the multiple brake plates clamp the rope when it is necessary to brake the rope, and the multiple brake plates release the rope when it is necessary to release the rope), the loop rope 210 may be placed inside the protective housing 230, and the brake is connected to the inner wall of the protective housing 230 and is arranged adjacent to the through hole.
[0062] In this modified embodiment, the safety protection mechanism 220 may further include a telescopic mechanism that can drive a brake. When it is necessary to retract the portion of the loop rope 210 located outside the protective housing 230, the brake clamps the rope, and the telescopic mechanism extends to drive the brake to move in the opposite direction (or in a direction where the angle between the loop rope 210 and the protective housing 230 is less than or equal to 90°) to shorten the length of the portion of the loop rope 210 located outside the protective housing 230.
[0063] The above-described modified embodiments can also enable the safety protection mechanism 220 to limit the elongation of the loop rope 210 and / or shorten the length of the loop rope 210 to tighten the loop rope 210 in the event of a fall by the wall-climbing robot 100.
[0064] Reference Figure 4 In this embodiment, the safety protection mechanism 220 may also include a fall detection component 250.
[0065] A fall detection component 250 is installed on the wall-climbing robot 100 and is used to detect whether the wall-climbing robot 100 has fallen.
[0066] Understandably, when the safety protection mechanism 220 detects that the wall-climbing robot 100 has fallen, it can send an electrical signal to the controller and other components of the safety protection mechanism 220. The controller and other components can send a control signal to the winding motor (first winding motor 2211 and / or second winding motor 2212) to configure the winding motor to operate and shorten the loop rope 210.
[0067] Reference Figure 4 In one embodiment of the fall detection component in this example, the fall detection component 250 may include a torque sensor 251.
[0068] A torque sensor 251 is disposed between the output part of the power component 221 and the winding component 222. The torque sensor 251 is used to obtain the tension value on the loop rope 210.
[0069] Understandably, the torque sensor 251 can detect the tension value on the loop rope 210 in real time. When the wall-climbing robot 100 is working, the winding motor can adjust itself according to the force value fed back by the torque sensor 251, so that the loop rope 210 maintains a preload force that does not affect the normal operation of the wall-climbing robot 100. This allows the loop rope 210 to remain taut during normal operation of the wall-climbing robot 100 to assist in adsorption, while not restricting the autonomous movement of the wall-climbing robot 100. When the wall-climbing robot 100's adsorption force fails, and the torque sensor 251 detects that the tension value on the loop rope 210 exceeds a preset safety threshold, the winding motor is configured to immediately perform emergency braking and / or reverse tightening of the loop rope 210 to slow down or prevent the wall-climbing robot 100 from falling.
[0070] Reference Figure 4 In this embodiment, the torque sensor 251 can be mounted on the motor shaft of the wound motor.
[0071] In another embodiment of the fall detection device in this example, the fall detection mechanism may include an acceleration sensor.
[0072] An acceleration sensor is installed inside the protective housing 230. The acceleration sensor is used to detect the acceleration value of the wall-climbing robot 100 when it falls downwards.
[0073] Understandably, the accelerometer can detect the acceleration value of the wall-climbing robot 100 in real time. When the wall-climbing robot 100 falls and the accelerometer detects that the downward acceleration value exceeds a preset safety threshold, the wound motor is configured to immediately perform emergency braking and / or reverse tighten the loop rope 210 to slow down or prevent the wall-climbing robot 100 from falling.
[0074] In this embodiment, the acceleration sensor can be a triaxial acceleration sensor.
[0075] Reference Figure 4 In this embodiment, an electrical control box 260 may be provided inside the protective housing 230. The aforementioned controller and other components may be placed inside the electrical control box 260 to prevent these controller components from being damaged and to improve the service life of the safety protection device 200.
[0076] In this embodiment, the material of the electrical control box 260 can be aluminum alloy, titanium alloy, steel, etc., to reduce the weight of the protective shell 230 while ensuring the structural strength of the electrical control box 260. When the material of the electrical control box 260 is aluminum alloy, it can be anodized to improve the service life of the electrical control box 260.
[0077] In this embodiment, the controller and other components may include a microprocessor, motor driver, signal conditioning circuit, etc., configured within the control box 260. The control box 260 may be equipped with a power supply interface and a communication interface. The power supply interface provides power to the entire device; the communication interface uses a CAN bus (Controller Area Network) for real-time communication with the main controller of the wall-climbing robot 100, receiving work commands and uploading device status. The accelerometer sensor can be soldered onto the control board.
[0078] In an alternative embodiment, the difference from the above embodiment is that the power component 221 can specifically be a spring mechanism, and the output of the spring mechanism is connected to the winding rollers (first winding roller 2221 and / or second winding roller 2222) via a transmission component (e.g., a gear); and the fall detection mechanism can be replaced by a locking mechanism disposed on the transmission component and connected to the loop rope 210 (e.g., it can include a limiting plate rotatably connected to the protective housing 230, and the limiting plate is provided with teeth that can mesh with the gear. When the locking structure is in the locked state, the limiting plate is in the position of meshing with the gear and restricting the rotation of the gear. When the locking mechanism is in the unlocked state, the limiting plate is pulled away from the gear by the action of the loop rope 210). When the wall-climbing robot 100 falls, it pulls the locking mechanism through the loop rope 210 and causes the locking mechanism to release the transmission component. Then, the spring mechanism moves to cause the winding rollers to rotate, restricting the extension of the loop rope 210 or shortening the loop rope 210. Similarly, when the wall-climbing robot 100 falls due to a failure of its suction force, the winding mechanism can be rotated, causing the loop rope 210 to tighten. Of course, if the power component 221 is still a winding motor, the unlocked and locked states of the locking mechanism's limit plate can be interchanged. Furthermore, when the wall-climbing robot 100 falls due to a failure of its suction force, the loop rope 210 pulls the limit plate, locking it onto the gear and restricting gear rotation, thereby braking the winding component 222 and limiting the extension of the loop rope 210.
[0079] The following is combined Figure 2 , Figure 3 and Figure 6 The wall-climbing robot 100 of this embodiment will be described in detail below.
[0080] In this embodiment, the wall-climbing robot 100 includes the safety protection device 200 of the wall-climbing robot 100 described in the above embodiment.
[0081] It is understood that since the wall-climbing robot 100 of this embodiment includes the safety protection device 200 of the wall-climbing robot 100 of the above embodiment, the wall-climbing robot 100 of this embodiment also possesses the beneficial technical effects of the safety protection device 200 of the wall-climbing robot 100 of the above embodiment.
[0082] Reference Figure 3 and Figure 6In this embodiment, the wall-climbing robot 100 includes a wall-climbing shell 110, and a safety protection device 200 can be disposed on the wall-climbing shell 110. Specifically, a protective shell 230 is connected to the wall-climbing shell 110. Furthermore, the protective shell 230 and the wall-climbing shell 110 can be an integral structure; alternatively, they can be detachably connected via holes and connectors, enabling the safety protection device 200 to be adapted to other or different wall-climbing robots 100, thus improving the compatibility of the safety protection device 200. Additionally, the protective shell 230 can be connected to the wall-climbing shell 110 via its rear wall.
[0083] Reference Figure 6 In this embodiment, the wall-climbing robot 100 also includes an adsorption mechanism 120 disposed on the wall-climbing shell 110 for adsorbing onto the outer wall of the construction equipment.
[0084] Reference Figure 6 In this embodiment, the adsorption mechanism 120 and the safety protection device 200 can be respectively arranged on both sides of the climbing shell 110 body to further enhance the protective effect of the safety protection device 200 on the climbing robot 100, and improve the safety and service life of the climbing robot.
[0085] The following is combined Figure 1 and Figure 2 The security protection system of this embodiment will be described in detail below.
[0086] Reference Figure 1 and Figure 2 In this embodiment, the safety protection system includes the wall-climbing robot 100 described in the above embodiment.
[0087] It is understood that since the safety protection system of this embodiment includes the wall-climbing robot 100 of the above embodiment, the safety protection system of this embodiment also possesses the beneficial technical effects of the wall-climbing robot 100 of the above embodiment.
[0088] In addition, in related technologies, construction equipment is generally quite large, and therefore, multiple wall-climbing robots 100 are usually configured on the construction equipment to work together to improve the construction efficiency of the wall-climbing robots 100.
[0089] Therefore, referring to Figure 1 and Figure 2 The number of wall-climbing robots 100 can be set to multiple, and multiple wall-climbing robots 100 are connected in series on the loop rope 210 through the safety protection mechanism 220. Thus, the safety protection system of this embodiment can simultaneously ensure the service life and safety of multiple wall-climbing robots 100.
[0090] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.
[0091] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.
[0092] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.
Claims
1. A safety protection device for a wall-climbing robot, characterized in that, include: The loop rope is used to be attached to the construction equipment of the wall-climbing robot. A safety protection mechanism, driven and connected to the loop rope and mounted on the wall-climbing machine, is used to limit the extension of the loop rope and / or shorten the length of the loop rope to tighten it in the event of a fall by the wall-climbing robot.
2. The safety protection device for the wall-climbing robot according to claim 1, characterized in that, The security protection mechanism includes: A power component is mounted on the wall-climbing robot; A winding member is disposed on the output part of the power member, and the loop rope is wound on it. It is used to brake the winding member by the power member in the event of a fall of the wall-climbing robot, and / or to drive the loop rope to rotate and receive the loop rope in the event of a fall of the wall-climbing robot.
3. The safety protection device for the wall-climbing robot according to claim 2, characterized in that, The winding component includes a first winding roller and a second winding roller; and... The loop rope includes a first rope body and a second rope body, one end of the first rope body is wound around the first winding roller, and one end of the second rope body is wound around the second winding roller; and... The other end of the first rope is wound around the construction equipment and connected to the other end of the second rope; or, The other end of the first rope is connected to another wall-climbing robot on an adjacent side, and the other end of the second rope is wound around the construction equipment and connected to that other wall-climbing robot; or, The other end of the first rope is connected to another wall-climbing robot on the adjacent side, and the other end of the second rope is connected to yet another wall-climbing robot on the adjacent other side.
4. The safety protection device for the wall-climbing robot according to claim 3, characterized in that, The security protection mechanism also includes: A protective shell is disposed on the wall-climbing robot, and both the power component and the winding component are disposed within the protective shell; furthermore... The other ends of the first rope and the other ends of the second rope extend out of the protective shell in opposite directions.
5. The safety protection device for the wall-climbing robot according to claim 4, characterized in that, The construction equipment extends along a first direction, and the loop rope is used to be sleeved on the construction equipment along the first direction. The directions in which the first rope and the second rope pass through the protective shell are both used to be arranged along a second direction perpendicular to the first direction.
6. The safety protection device for the wall-climbing robot according to claim 3, characterized in that, The ends of the first rope and the second rope that are connected to each other are detachably connected by shackles.
7. The safety protection device for the wall-climbing robot according to claim 3, characterized in that, The power component includes a first winding motor and a second winding motor, wherein the first winding motor is driven and connected to the first winding roller, and the second winding motor is driven and connected to the second winding roller; or... The power component includes a first winding motor, which is droningly connected to the first winding roller and the second winding roller; or... The power component includes a first winding motor, the first winding roller is connected to the second winding roller, and the first winding roller and the second winding roller are coaxially arranged. The first winding motor is drivenly connected to the first winding roller or the second winding roller.
8. The safety protection device for the wall-climbing robot according to claim 1, characterized in that, The security protection mechanism also includes: A fall detection component is installed on the wall-climbing robot to detect whether the wall-climbing robot has fallen.
9. A wall-climbing robot, characterized in that, Includes the safety protection device for the wall-climbing robot according to any one of claims 1 to 8.
10. A security protection system, characterized in that, Including the wall-climbing robot according to claim 9; and, The number of wall-climbing robots is set to multiple, and the multiple wall-climbing robots are connected in series on the loop rope through the safety protection mechanism.