Anti-falling system of wall-climbing robot

Abstract

The utility model provides a wall-climbing robot anti-falling system which comprises a wall-climbing robot, the wall-climbing robot is attracted to a working face, a winding device is arranged at the final position of the working face and used for winding and unwinding a cable, and an electromagnetic attraction assembly attracted to the working face is further arranged between the wall-climbing robot and the winding device. Two first cables are connected between the electromagnetic adsorption assembly and the winding device and can move along the working surface under the traction of the winding device; a second cable is connected between the electromagnetic adsorption assembly and the wall-climbing robot, and the wall-climbing robot can be lifted through the second cable when the wall-climbing robot falls; the electromagnetic adsorption assembly is arranged between the winding device and the wall-climbing robot, the electromagnetic adsorption assembly can move along the working face along with the wall-climbing robot, and compared with a traditional anti-falling system, the electromagnetic adsorption assembly can provide continuous anti-falling guarantee when the wall-climbing robot climbs over the right angle on the working face; and when the wall-climbing robot falls, the wall-climbing robot can be lifted through the second cable.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wall-climbing robots, and particularly relates to a wall-climbing robot anti-falling system. BACKGROUND

[0002] With the rapid development of modern society and science and technology, wall-climbing robots are increasingly applied to various complex environments, however, the wall-climbing robots are prone to falling from the working plane during the operation process, causing damage, and the existing technology generally avoids the above situation by setting an anti-falling structure; however, the existing anti-falling system structure is generally applied to a single plane, and it is difficult to meet the anti-falling requirements of complex working surfaces, and the risk of accidental falling is greater when the wall-climbing robot crosses complex planes, especially when it passes through an inner or outer right angle between two planes, and the existing anti-falling structure cannot provide anti-falling protection for the wall-climbing robot in such a situation. CONTENT OF THE UTILITY MODEL

[0003] The present application aims to solve the above problems, and provides a wall-climbing robot anti-falling system, comprising:

[0004] a wall-climbing robot, which is adsorbed on a working surface;

[0005] a winding device, which is arranged at an end position of the working surface and is used for winding and unwinding a cable;

[0006] an electromagnetic adsorption assembly, which is adsorbed on the working surface and is located between the wall-climbing robot and the winding device, two first cables are connected between the electromagnetic adsorption assembly and the winding device, and the electromagnetic adsorption assembly can move along the working surface under the traction of the winding device; a second cable is connected between the electromagnetic adsorption assembly and the wall-climbing robot, and the wall-climbing robot can be lifted by the second cable when falling.

[0007] According to the technical scheme provided by some embodiments of the present application, the electromagnetic adsorption assembly comprises an adsorption mechanism, which can be adsorbed on the working surface and is fixed with one end of the second cable; two connecting blocks are arranged at two ends of the adsorption mechanism, one end of two first cables is connected to the two connecting blocks respectively, and a traveling wheel is rotatably connected to a side of each connecting block away from the other connecting block, and the winding device can control the winding of the two first cables synchronously, thereby driving the electromagnetic adsorption assembly to move along the working surface.

[0008] According to the technical scheme provided by some embodiments of the present application, the adsorption mechanism comprises a wire winder, which is fixed with one end of the second cable and is used for winding and unwinding the second cable, and electromagnets are fixed on two sides of the wire winder, and the two electromagnets are used for adsorbing the electromagnetic adsorption assembly on the working surface.

[0009] According to the technical scheme provided by some embodiments of the present application, the electromagnet is in a columnar structure, and the shape of the electromagnet projected along the direction of the rotation axis of the walking wheel is a Luer triangle.

[0010] According to the technical scheme provided by some embodiments of the present application, the diameter of the walking wheel is greater than the maximum diameter of the electromagnet projected along the direction of the rotation axis of the walking wheel.

[0011] According to the technical scheme provided by some embodiments of the present application, the control box is arranged on the ground and is electrically connected to the electromagnetic adsorption assembly through a wire.

[0012] According to the technical scheme provided by some embodiments of the present application, the pulleys are fixed to the working surface at positions close to the winding device and at the same height, and the two first cables are connected to the electromagnetic adsorption assembly after passing through the two pulleys.

[0013] Compared with the prior art, the present application has the following beneficial effects: the wall-climbing robot anti-falling system provided by the present application comprises a wall-climbing robot, the wall-climbing robot is adsorbed on a working surface, an end position of the working surface is provided with a winding device for winding and unwinding a cable, an electromagnetic adsorption assembly adsorbed on the working surface is arranged between the wall-climbing robot and the winding device, two first cables are connected between the electromagnetic adsorption assembly and the winding device, and the wall-climbing robot can move along the working surface under the traction of the winding device; a second cable is connected between the electromagnetic adsorption assembly and the wall-climbing robot, and the wall-climbing robot can be lifted by the second cable when the wall-climbing robot falls. By arranging the electromagnetic adsorption assembly between the winding device and the wall-climbing robot, the electromagnetic adsorption assembly can move along the working surface together with the wall-climbing robot, compared with the traditional anti-falling system, the electromagnetic adsorption assembly can provide continuous anti-falling protection when the wall-climbing robot climbs over a right angle on the working surface, and the wall-climbing robot can be lifted by the second cable when the wall-climbing robot falls.

[0014] It should be understood that the description of technical features, technical schemes, beneficial effects or similar language in the present application does not imply that all features and advantages can be achieved in any single embodiment. On the contrary, it can be understood that the description of a feature or a beneficial effect means that the specific technical feature, technical scheme or beneficial effect is included in at least one embodiment. Therefore, the description of technical features, technical schemes or beneficial effects in the present specification does not necessarily refer to the same embodiment. Furthermore, the technical features, technical schemes and beneficial effects described in the present embodiments can be combined in any appropriate manner. Those skilled in the art will understand that the embodiments can be implemented without one or more specific technical features, technical schemes or beneficial effects of a particular embodiment. In other embodiments, additional technical features and beneficial effects can be identified in specific embodiments that do not embody all embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description only represent some of the embodiments of the present application, and all other drawings obtained by those skilled in the art without any creative effort based on these drawings should also belong to the protection scope of the present application.

[0016] Figure 1 A structural schematic diagram of a wall-climbing robot anti-falling system provided by the embodiments of the present application;

[0017] Figure 2 A structural schematic diagram of an electromagnetic adsorption assembly of a wall-climbing robot anti-falling system provided by the embodiments of the present application;

[0018] Figure 3 A structural schematic diagram of an electromagnet of a wall-climbing robot anti-falling system provided by the embodiments of the present application.

[0019] The text annotations in the drawings represent:

[0020] 1, wall-climbing robot; 2, winding device; 3, electromagnetic adsorption assembly; 4, first cable; 5, second cable; 6, control box; 7, wire; 8, pulley; 31, connecting block; 32, wire winder; 33, electromagnet; 34, walking wheel; 331, iron core; 332, coil. DETAILED DESCRIPTION

[0021] In order to make the skilled in the art better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings, and the description in this part is only exemplary and explanatory, and should not have any limiting effect on the protection scope of the present application. Specifically, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without any creative effort should belong to the protection scope of the present application.

[0022] It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In addition, the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0023] As mentioned in the background, to solve the problems in the prior art, the embodiment provides a wall climbing robot anti-falling system, which comprises:

[0024] a wall climbing robot 1, which is adsorbed on a working surface;

[0025] a winding device 2, which is arranged at an end position of the working surface and is used for winding and unwinding a cable;

[0026] an electromagnetic adsorption assembly 3, which is adsorbed on the working surface and is located between the wall climbing robot 1 and the winding device 2, and two first cables 4 are connected between the electromagnetic adsorption assembly 3 and the winding device 2, so that the electromagnetic adsorption assembly 3 can move along the working surface under the traction of the winding device 2; a second cable 5 is connected between the electromagnetic adsorption assembly 3 and the wall climbing robot 1, so that the wall climbing robot 1 can be lifted by the second cable 5 when falling.

[0027] As shown in Figure 1 , the anti-falling system provided by the embodiment is mainly applied to scenes with metal surfaces such as steel walls, steel frame structures or large platforms, the wall climbing robot 1 is a magnetic adsorption type robot, a permanent magnet or an electromagnet 33 is arranged on the wall climbing robot 1 for adsorption on the working surface, and the wall climbing robot 1 can move along the working surface; the winding device 2 is arranged at a top position of the working platform and is used for winding or unwinding the cable; the electromagnetic adsorption assembly 3 is also adsorbed on the working surface by magnetic force, and the two ends of the electromagnetic adsorption assembly 3 are connected to the winding device 2 through the first cables 4, the first cables 4 are wound by the winding device 2, the electromagnetic adsorption assembly 3 can be tractioned to move smoothly along the working surface, and the second cable 5 is connected between the electromagnetic adsorption assembly 3 and the wall climbing robot 1, so that the wall climbing robot 1 can be lifted by the second cable 5 when falling; during use, the winding device 2 winds the first cables 4 at a rate corresponding to the moving speed of the wall climbing robot 1 along the working surface, traction the electromagnetic adsorption assembly 3, so that the electromagnetic adsorption assembly 3 moves synchronously with the wall climbing robot 1, if the wall climbing robot 1 falls off the working surface, the electromagnetic adsorption assembly 3 can be used as a fixed point on the working surface to lift the wall climbing robot 1 by the second cable 5, and the electromagnetic adsorption assembly 3 is always located close to the wall climbing robot 1, so that the swing amplitude of the wall climbing robot 1 in the air can be reduced when falling, and the wall climbing robot 1 can be prevented from colliding with and damaging the working surface due to the too large swing amplitude after falling.

[0028] By arranging the electromagnetic adsorption assembly 3 between the winding device 2 and the wall climbing robot 1, the electromagnetic adsorption assembly 3 can move along the working surface together with the wall climbing robot 1, compared with the traditional anti-falling system, the electromagnetic adsorption assembly 3 can provide continuous anti-falling protection when the wall climbing robot 1 climbs over a right angle on the working surface, and the wall climbing robot 1 can be lifted by the second cable 5 when falling.

[0029] In a preferred embodiment, the electromagnetic adsorption assembly 3 comprises an adsorption mechanism which can be adsorbed on the working surface and is fixed with one end of the second cable 5; the two ends of the adsorption mechanism are respectively provided with a connecting block 31, and one end of the two first cables 4 is connected to the two connecting blocks 31 respectively, and the sides away from each other of the two connecting blocks 31 are respectively rotatably connected with a walking wheel 34; the winding device 2 can control the winding of the two first cables 4 synchronously, thereby driving the electromagnetic adsorption assembly 3 to move along the working surface.

[0030] As shown in Figure 2 , the adsorption mechanism can generate a magnetic force after being powered on, thereby enabling the electromagnetic adsorption assembly 3 to be adsorbed on the working surface; one end of the second cable 5 is fixed on the adsorption mechanism, and the other end is fixed with the wall-climbing robot 1; the two ends of the adsorption mechanism are respectively fixed with a connecting block 31, and one end of the first cable 4 is fixed with the connecting block 31; the sides away from each other of the two connecting blocks 31 are respectively rotatably connected with a walking wheel 34; by simultaneously winding the two first cables 4 by the winding device 2, the electromagnetic adsorption assembly 3 can be smoothly moved along a straight line on the working surface, avoiding turning or deviation during movement.

[0031] In a preferred embodiment, the adsorption mechanism comprises a wire winder 32, which is fixed with one end of the second cable 5 and is used for winding and unwinding the second cable 5; the two sides of the wire winder 32 are respectively fixed with an electromagnet 33, and the two electromagnets 33 are used for adsorbing the electromagnetic adsorption assembly 3 on the working surface.

[0032] As shown in Figure 2 , the wire winder 32 comprises a housing, a driving motor is arranged in the housing, and a winding shaft is rotatably connected to the housing; the winding shaft can be rotated under the driving of the driving motor; a strip-shaped hole is formed on the housing, and the second cable 5 can be fixed on the winding shaft through the strip-shaped hole; the driving motor drives the winding shaft to rotate, thereby winding or unwinding the second cable 5, and adjusting the length of the second cable 5 between the electromagnetic adsorption assembly 3 and the wall-climbing robot 1; the two sides of the housing are respectively fixed with an electromagnet 33, and the magnetic force generated by the electromagnet 33 after being powered on can adsorb the electromagnetic adsorption assembly 3 on the working surface.

[0033] In a preferred embodiment, the electromagnet 33 is a column structure, and the projection of the electromagnet 33 along the rotation axis direction of the walking wheel 34 is a Löllë triangle.

[0034] As shown in Figure 3As shown, the electromagnet 33 includes an iron core 331, which adopts a prism structure with a Reuleaux triangle cross-section. A coil 332 is wound on the iron core 331. When the coil 332 is energized, it can generate a magnetic field, which can then be attracted to the working surface. By designing the electromagnet 33 as a prism structure with a Reuleaux triangle cross-section, when the electromagnetic adsorption component 3 is attracted to the working surface, the sides of the electromagnet 33 closest to the working surface have a shorter straight-line distance compared to electromagnets 33 of other shapes. This allows the electromagnetic adsorption device to have a greater adsorption force, ensuring that it can be stably attracted to the working surface.

[0035] In a preferred embodiment, the diameter of the traveling wheel 34 is greater than the maximum diameter projected by the electromagnet 33 along the rotation axis of the traveling wheel 34.

[0036] like Figure 2 As shown, the diameter of the traveling wheel 34 is greater than the maximum diameter projected along the rotation axis of the electromagnet 33, that is, greater than the outer circle diameter of the cross-sectional shape of the electromagnet 33. When the electromagnetic adsorption device moves on the working surface, there is always a gap between the outer periphery of the electromagnet 33 and the working surface, so as to avoid obstacles such as screws and welding protrusions on the working surface from interfering with the electromagnet 33 when the electromagnetic adsorption assembly 3 moves.

[0037] In a preferred embodiment, a control box 6 is also included. The control box 6 is located on the ground and is electrically connected to the electromagnetic adsorption assembly 3 via a wire 7.

[0038] like Figure 1 As shown, the control box 6 is located on the ground and is electrically connected to the electromagnetic adsorption component 3 via the wire 7. It is used to supply power to the electromagnet 33 so that it generates a magnetic field after being energized. It can also adjust the length of the second cable 5 between the electromagnetic adsorption component 3 and the wall-climbing robot 1 by controlling the start and stop of the drive motor.

[0039] In a preferred embodiment, it also includes pulleys 8. Two pulleys 8 are fixed on the working surface near the winding device 2 and are at the same height. The two first cables 4 pass through the two pulleys 8 respectively and are then connected to the electromagnetic adsorption assembly 3.

[0040] like Figure 1 As shown, the pulley 8 is located at the outer right angle of the top of the working surface. The first cable 4 passes through the pulley 8 from the winding device 2 and is connected to the electromagnetic adsorption component 3. By using the pulley 8 at the top right angle for transition, the friction between the first cable 4 and the right angle position of the working surface during use is avoided for a long time, which can effectively prevent the first cable 4 from wearing and breaking.

[0041] Working principle: the winding device 2 is arranged at the top position of the working platform, a pulley 8 is arranged at the top right angle of the working surface, two first cables 4 are fixed with corresponding connecting blocks 31 after passing through corresponding pulleys 8 respectively from the winding device 2, and the two ends of the second cable 5 are fixed on the winding device 32 and the wall climbing robot 1 respectively; in use, the wall climbing robot 1 moves along the working surface, the winding device 2 winds the first cable 4 at the rate of the wall climbing robot 1 moving along the working surface, pulls the electromagnetic adsorption assembly 3, so that it moves synchronously with the wall climbing robot 1, if the wall climbing robot 1 falls off the working surface, the electromagnetic adsorption assembly 3 can be used as a fixed point on the working surface, the wall climbing robot 1 is lifted through the second cable 5, and the electromagnetic adsorption assembly 3 is always in a position close to the wall climbing robot 1, so that the swing amplitude of the wall climbing robot 1 in the air can be reduced when it falls, and the wall climbing robot 1 is prevented from being damaged due to the too large swing amplitude after falling and colliding with the working surface.

[0042] The principles and implementation manners of the present application are described by using specific examples in the present application, and the above examples are only used to help understand the method of the present application and its core idea. The above description is only the preferred implementation manner of the present application, and it should be pointed out that, due to the limitation of language expression, there are infinite specific structures, and the ordinary skilled in the art can make some improvements, decorations or changes without departing from the principles of the present application, or the above technical features can be combined in a proper way; the improvements, decorations, changes or combinations, or the direct application of the inventive concept and technical scheme to other occasions without improvement, shall be regarded as the protection scope of the present application.

Claims

1. A wall-climbing robot anti-falling system, characterized in that, The utility model relates to a wall climbing robot system, which comprises: a wall climbing robot (1) that is adsorbed on a working surface; a winding device (2) that is arranged at the terminal position of the working surface and is used for winding and unwinding a cable; an electromagnetic adsorption assembly (3) that is adsorbed on the working surface and is located between the wall climbing robot (1) and the winding device (2), wherein two first cables (4) are connected between the electromagnetic adsorption assembly (3) and the winding device (2) and can move along the working surface under the traction of the winding device (2); and a second cable (5) is connected between the electromagnetic adsorption assembly (3) and the wall climbing robot (1) and can be used to hoist the wall climbing robot (1) through the second cable (5) when the wall climbing robot (1) falls.

2. The wall-climbing robot anti-falling system according to claim 1, wherein, The electromagnetic adsorption assembly (3) comprises an adsorption mechanism that can be adsorbed on the working surface and is fixed to one end of the second cable (5); two connecting blocks (31) are arranged at the two ends of the adsorption mechanism, respectively; one end of each of the two first cables (4) is connected to the connecting blocks (31) that are away from each other, respectively; and a traveling wheel (34) is rotatably connected to the side of each of the connecting blocks (31) that is away from each other, respectively; and the winding device (2) can synchronously control the winding of the two first cables (4) to drive the electromagnetic adsorption assembly (3) to move along the working surface.

3. The wall-climbing robot anti-falling system according to claim 2, characterized in that, The adsorption mechanism comprises a wire winder (32) that is fixed to one end of the second cable (5) and is used for winding and unwinding the second cable (5); and electromagnets (33) are fixed to the two sides of the wire winder (32), respectively; and the electromagnets (33) are used for adsorbing the electromagnetic adsorption assembly (3) on the working surface.

4. The wall-climbing robot anti-falling system according to claim 3, characterized in that, The electromagnets (33) are in the shape of a Luro triangle when projected along the axis of rotation of the traveling wheels (34).

5. The wall-climbing robot anti-falling system according to claim 3, wherein, The diameter of the traveling wheels (34) is greater than the maximum diameter of the electromagnets (33) when projected along the axis of rotation of the traveling wheels (34).

6. The wall-climbing robot anti-falling system according to claim 1, wherein, The utility model further comprises a control box (6) that is arranged on the ground and is electrically connected to the electromagnetic adsorption assembly (3) through wires (7).

7. The wall-climbing robot anti-falling system according to claim 1, wherein, The utility model further comprises pulleys (8) that are fixed to the working surface at a position close to the winding device (2) and are located at the same height, and the two first cables (4) pass through the pulleys (8) and are connected to the electromagnetic adsorption assembly (3).

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