Falling protector locking, releasing and lifting device for wall-climbing cleaning robot

Abstract

The utility model discloses a falling protector locking, releasing and lifting device for a wall-climbing cleaning robot. Comprising a frame assembly, a hand-cranking lifting winch fixedly connected to the frame assembly, a steel wire rope fixedly connected to the hand-cranking lifting winch, a rear vertical pressing plate fixedly connected to the lower end face of the frame assembly, a rear clamping hook plate fixedly connected with the rear vertical pressing plate and a plurality of pulleys fixedly connected to the end, away from the hand-cranking lifting winch, of the frame assembly. The steel wire rope sequentially bypasses the plurality of pulleys and extends to the ground; a loading hook is fixedly connected to one end, far away from the hand-cranking lifting winch, of the steel wire rope; a plurality of fixing holes are formed in the rear vertical pressing plate, a plurality of vertical grooves are formed in the rear clamping hook plate, the vertical grooves correspond to the fixing holes, and the fixing position between the rear vertical pressing plate and the rear clamping hook plate can be adjusted through the vertical grooves and the fixing holes. According to the device disclosed by the invention, the robot can be easily landed on the ground, and the cleaning operation is recovered.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic devices, and particularly to an anti-falling lock release and lifting device for a wall-climbing cleaning robot. Background Art

[0002] When using a magnetic adsorption wall-climbing cleaning robot to clean the inner wall of a bulk carrier's cargo hold, the robot often falls off. Once it falls, the differential anti-falling device mounted on the robot will quickly lock the anti-falling rope and hang the robot. However, after the anti-falling device is locked, the robot will be suspended in the air and unable to move, and it is also very difficult to land the robot. Summary of the Invention

[0003] Aiming at the deficiencies existing in the prior art, the purpose of the present invention is to provide an anti-falling lock release and lifting device for a wall-climbing cleaning robot, which can easily lower the robot to the ground and resume the cleaning operation. To achieve the above-mentioned purpose and other advantages of the present invention, there is provided an anti-falling lock release and lifting device for a wall-climbing cleaning robot, including:

[0004] A frame assembly, a hand-cranked lifting winch fixedly connected to the frame assembly, a steel wire rope fixedly connected to the hand-cranked lifting winch, a rear vertical pressing plate fixedly connected to the lower end surface of the frame assembly, a rear clamping hook plate fixedly connected to the rear vertical pressing plate, and a plurality of pulleys fixedly connected to one end of the frame assembly away from the hand-cranked lifting winch. The steel wire rope sequentially passes around the plurality of pulleys and extends towards the ground;

[0005] One end of the steel wire rope away from the hand-cranked lifting winch is fixedly connected with a load hook;

[0006] A plurality of fixing holes are formed on the rear vertical pressing plate, a plurality of vertical grooves are formed on the rear clamping hook plate, the vertical grooves correspond to the fixing holes, and the relative position between the rear vertical pressing plate and the rear clamping hook plate can be adjusted through the vertical grooves and the fixing holes.

[0007] Preferably, the frame assembly includes a frame body. One end of the frame body close to the rear clamping hook plate is fixedly connected with a rear mounting flat plate, and an anti-falling safety hook is fixedly connected to the rear mounting flat plate.

[0008] Preferably, one end of the frame body close to the load hook is fixedly connected with a front mounting flat plate. An installation plate perpendicular to the front mounting flat plate is fixedly connected to the front end surface of the frame body, and a first pulley is fixedly connected to the installation plate.

[0009] Preferably, a second pulley and a third pulley are fixedly connected to the front mounting flat plate. The positions of the second pulley, the third pulley and the first pulley form a straight line, and the load hook sequentially passes through the first pulley, the second pulley and the third pulley.

[0010] Preferably, a steel wire rope limiting ring is fixedly connected below the first pulley on the mounting plate, and the load hook passes through the steel wire rope limiting ring.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: The rear vertical pressure plate and the rear clamping hook plate can be firmly clamped on the cabin. Through the hand winch and the steel wire rope, the anti-falling device of the robot in a locked state in mid-air during a fall can be quickly unlocked, and the wall-climbing cleaning robot can be quickly lowered to the ground and quickly resume work. It is labor-saving and time-saving, and the deployment is simple. At the same time, it also provides a second layer of protection for the robot against falling in addition to the anti-falling device. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 FIG. is a schematic structural diagram of an anti-falling device locking and unlocking lifting device for a wall-climbing cleaning robot according to the present invention;

[0013] Figure 2 FIG. is a schematic structural diagram of an anti-falling device locking and unlocking lifting device for a wall-climbing cleaning robot according to the present invention during use;

[0014] Figure 3 FIG. is a schematic structural diagram of an anti-falling device locking and unlocking lifting for a wall-climbing cleaning robot when the wall-climbing cleaning robot suddenly falls during operation. DETAILED DESCRIPTION OF THE INVENTION

[0015] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0016] Refer to Figures 1-3, An anti-falling lock release and lifting device for a wall-climbing cleaning robot, comprising: a frame assembly, a hand-cranked lifting winch 4 fixedly connected to the frame assembly, a steel wire rope 9 fixedly connected to the hand-cranked lifting winch 4, a rear vertical pressing plate 5 fixedly connected to the lower end face of the frame assembly, a rear clamping hook plate 6 fixedly connected to the rear vertical pressing plate 5, and a plurality of pulleys fixedly connected to one end of the frame assembly away from the hand-cranked lifting winch 4. The hand-cranked lifting winch 4 has a two-way self-locking function, and functions such as lifting or lowering and towing heavy objects can be performed through the crank on it. The steel wire rope 9 sequentially bypasses a plurality of pulleys and extends towards the ground; one end of the steel wire rope 9 away from the hand-cranked lifting winch 4 is fixedly connected with a load hook 10 for hanging the robot or other heavy objects that need to be lifted below; a plurality of fixing holes are provided on the rear vertical pressing plate 5, and a plurality of vertical grooves are provided on the rear clamping hook plate 6. The vertical grooves correspond to the fixing holes, and the relative position between the rear vertical pressing plate 5 and the rear clamping hook plate 6 can be adjusted through the vertical grooves and the fixing holes. The rear clamping hook plate 6 can hook the concave part on the outer wall of the cargo hold through the L-shaped hook at the lower part, firmly clamp the ship's hold when lifting heavy objects, and provide a force-bearing point. And it has a height adjustment groove b, and the vertical distance can be adjusted according to the actual structure of the ship's hold.

[0017] Further, the frame assembly includes a frame body 1. A rear mounting plate 2 is fixedly connected to one end of the frame body 1 close to the rear clamping hook plate 6. An anti-falling safety hook 3 is fixedly connected to the rear mounting plate 2. By adding a safety rope to the safety hook and then tying the safety rope to a secure location, the entire device can be prevented from falling, performing a safety anti-falling function. The hand-cranked lifting winch is fixed on the rear mounting plate 2, and its lower plane is parallel to the upper plane of the plate; a front mounting plate 11 is fixedly connected to one end of the frame body 1 close to the load hook 10. A mounting plate perpendicular to the front mounting plate 11 is fixedly connected to the front end face of the frame body 1, and a first pulley 7 is fixedly connected to the mounting plate. The frame assembly is a firm frame structure. The mounting plate, the rear vertical pressing plate 5 and the frame body 1 form an F-shaped clamp structure, which can be clamped on the cargo hold opening through the F-shaped structure. It can be clamped on the edge part of the cargo hold opening as shown in Figure 2 to fix the entire device to prevent shaking. Locking row holes a are arranged on the rear vertical pressing plate 5.

[0018] Furthermore, the front mounting plate 11 is fixedly connected with a second pulley 12 and a third pulley 13, wherein the positions of the second pulley 12, the third pulley 13 and the first pulley 7 form a straight line, and the load hook 10 passes through the first pulley 7, the second pulley 12 and the third pulley 13 in sequence. The centers of the first pulley 7, the second pulley 12 and the third pulley 13 are aligned with the center of the hand-cranked lifting winch 4 at the same time. The first pulley 7 is used to suspend the falling wire rope to avoid being released from the sharp right-angled parts, and to avoid the wire rope being damaged and broken during movement. The second pulley 12 is used to press the tensioned wire rope on this pulley, so that it can slide easily and avoid releasing the main frame. The third pulley 13 is used to pass the wire rope from the lower part of this pulley after tensioning, and the pulley 1 can alternately realize the tensioning and limiting of the wire rope, thereby achieving easy sliding.

[0019] Further, a wire rope limiting ring 8 is fixedly connected to the mounting plate below the first pulley 7, and the load hook 10 passes through the wire rope limiting ring 8. The wire rope limiting ring 8 limits the falling wire rope to prevent the wire rope from slipping out of the guide groove of the pulley when being obliquely pulled by the lower heavy object.

[0020] like Figure 1 As shown, the rear mounting plate 2 and the front mounting plate 11 are fixed to the rear and front sides of the frame body 1 by bolts, forming a firm frame structure. The rear vertical pressure plate 5 and the front pressure plate parallel to the front side are fixed to the rear lower side and front side of the above frame structure in the vertical direction through bolt holes. The two vertical plates and the frame form an F-type caliper structure, which can be clamped on the cargo hold opening through the F-type structure. The hand-cranked lifting winch 4 is fixed on the front mounting plate 2, and its lower plane is parallel to the upper plane of the plate. The second pulley 12 and the third pulley 13 are fixed on the front mounting plate 11, and their centers are aligned with the center of the hand-cranked winch at the same time, so that the wire rope can pass through. And the outer sides of the two pulleys are parallel. The first pulley 7 is fixed to the upper part of the front vertical plate, and its layout direction is perpendicular to the above two pulleys. The wire rope limit ring 8 is fixed to the front vertical plane at the same time as the first pulley 7, and the center position of the limit ring is aligned with the tangent of the outer diameter of the first pulley 7, so that the wire rope passes through the center of the limit ring. The anti-fall safety hook 3 is fixed on the upper plane of the rear mounting plate. The safety rope is put on the secondary hook and fixed to the firmly put-on position to prevent the entire device from suddenly falling to the bottom of the cabin. It plays a safety protection role. The wire rope 9 is wound on the hand winch, and after being led out, it is respectively inserted from the lower part of the third pulley 13, then passed from the upper part of the second pulley 12, and then pressed into the groove of the first pulley 7, and finally passed through the center of the wire rope limit ring; the end of the wire rope is tied with a load hook 10. Then the robot and other heavy objects are mounted on the hook.

[0021] Working principle Figure 2As shown, after adjusting the distance between the vertical plate 5 and the front parallel vertical plate, insert the F port into the cabin wall. Then fix the rear clamping hook plate 6. At the same time, utilize the locking row of holes a and the height adjustment groove b to adapt to the structure of the cargo hold, so that the whole device is firmly clamped on the cargo hold opening. Lower the steel wire rope to the bottom of the cabin and hang it on the hook of the wall-climbing cleaning robot.

[0022] As Figure 3 shown, when the wall-climbing cleaning robot suddenly falls during operation, the steel wire rope with a fall arrester is hung on the robot. The fall arrester quickly locks the steel wire rope within a very short distance, suspending the robot in the air and preventing it from falling. At this time, the robot is locked by the fall arrester and hanging in mid-air. The hook of this device has been pre-hung on the robot. Shake the handle of the manual lifting winch 4 to slowly lift the robot to a certain height to release the locked state of the fall arrester. Then, after the fall arrester releases the locked state, the robot can be slowly lowered to the bottom of the cargo hold to resume operation.

[0023] The equipment quantities and processing scales described here are used to simplify the description of the present invention. Applications, modifications, and variations of the present invention will be obvious to those skilled in the art.

[0024] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the field, additional modifications can be easily achieved. Therefore, without departing from the general concept defined by the claims and the equivalent scope, the present invention is not limited to specific details and the illustrated and described examples here.

Claims

1. A locking release lifting device for a wall-climbing cleaning robot, characterized in that: include: A frame assembly, a hand-cranked lifting winch (4) fixedly connected to the frame assembly, a steel wire rope (9) fixedly connected to the hand-cranked lifting winch (4), a rear vertical pressing plate (5) fixedly connected to the lower end surface of the frame assembly, a rear clamping hook plate (6) fixedly connected to the rear vertical pressing plate (5), and a plurality of pulleys fixedly connected to one end of the frame assembly away from the hand-cranked lifting winch (4), wherein the steel wire rope (9) passes around the plurality of pulleys in sequence and extends toward the ground; A load hook (10) is fixedly connected to one end of the steel wire rope (9) away from the hand-cranked lifting winch (4); A plurality of fixing holes are provided on the rear vertical pressure plate (5), and a plurality of vertical slots are provided on the rear clamping hook plate (6). The vertical slots correspond to the fixing holes, and the fixed positions of the rear vertical pressure plate (5) and the rear clamping hook plate (6) can be adjusted through the vertical slots and the fixing holes.

2. The locking release lifting device of the anti-fall device for the wall-climbing cleaning robot according to claim 1, characterized in that: The frame assembly comprises a frame body (1), a rear mounting plate (2) is fixedly connected to one end of the frame body (1) close to the rear clamping hook plate (6), and an anti-fall safety hook (3) is fixedly connected to the rear mounting plate (2).

3. The locking release lifting device of the anti-fall device for the wall-climbing cleaning robot according to claim 2, characterized in that: A front mounting plate (11) is fixedly connected to one end of the frame body (1) close to the load hook (10), and a mounting plate perpendicular to the front mounting plate (11) is fixedly connected to the front end surface of the frame body (1), and a first pulley (7) is fixedly connected to the mounting plate.

4. The locking release lifting device of the anti-fall device for the wall-climbing cleaning robot as claimed in claim 3, characterized in that: A second pulley (12) and a third pulley (13) are fixedly connected to the front mounting plate (11); the positions of the second pulley (12), the third pulley (13) and the first pulley (7) form a straight line, and the load hook (10) passes through the first pulley (7), the second pulley (12) and the third pulley (13) in sequence.

5. The locking and releasing lifting device of the anti-fall device for the wall-climbing cleaning robot as claimed in claim 4, characterized in that: A wire rope limiting ring (8) is fixedly connected to the mounting plate below the first pulley (7), and the load hook (10) passes through the wire rope limiting ring (8).

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