Anti-falling safety protection mechanism for external wall cleaning robot

Abstract

The utility model relates to the technical field of outer wall cleaning, disclose outer wall cleaning robot is with anti -fall safety protection mechanism, including outer wall cleaning robot casing, the left and right sides symmetry fixed mounting of outer wall cleaning robot casing have a plurality of connecting casing, and a plurality of connecting casing top all wear and tear are equipped with the anti -falling rope of activity, the inside of anti -falling rope is provided with anti -fall protection mechanism, the anti -fall protection mechanism includes arc -shaped seat, clamping block, main push rod, main shaft, push link, big gear, motor, pinion and acceleration sensor, the inboard wall fixed mounting of anti -falling rope has arc -shaped seat, the inside of anti -falling rope is provided with clamping block, the one side fixed mounting of clamping block has main push rod, the device is through acceleration sensor initiative monitoring weightlessness state, cooperation motor drive's gear -link drive mechanism can realize the quick locking response, and the overall stability is good, has effectively promoted the locking reliability.

Description

Technical Field

[0001] This application belongs to the field of exterior wall cleaning technology, specifically a fall protection mechanism for exterior wall cleaning robots. Background Technology

[0002] An exterior wall cleaning robot is an automated device suitable for cleaning the exterior walls of high-rise buildings. It typically uses vacuum adsorption or magnetic adsorption to adhere to the wall surface. Equipped with cleaning brushes, spraying devices, and drive wheels, it can move autonomously along the wall and complete a series of cleaning operations such as spraying water, brushing, and drying. It can replace manual labor for efficient and safe exterior wall cleaning in high-altitude environments and is widely used for the maintenance of building exterior surfaces such as glass curtain walls and stone walls.

[0003] Currently, fall protection for exterior wall cleaning robots mostly relies on a single safety rope connection scheme, which involves rigidly connecting the robot body to a fixed point on the roof using a high-strength rope. Although some devices are equipped with a simple mechanical locking mechanism to trigger a locking action in case of abnormal situations such as rope breakage, these mechanical locking mechanisms mostly rely on passive triggering based on changes in rope tension. This results in a slow response speed and difficulty in dealing with emergency fall scenarios such as sudden weightlessness. Consequently, they cannot provide stable and timely safety guarantees for robots operating at heights. Therefore, a fall protection mechanism for exterior wall cleaning robots is provided. Utility Model Content

[0004] The purpose of this application is to provide a fall protection mechanism for exterior wall cleaning robots in order to solve the problems mentioned above.

[0005] The technical solution adopted in this application is as follows: a fall protection mechanism for an exterior wall cleaning robot, including an exterior wall cleaning robot shell, multiple connecting shells are symmetrically fixedly installed on the left and right sides of the exterior wall cleaning robot shell, and fall protection ropes are movably threaded through the top surface of the multiple connecting shells, and a fall protection mechanism is provided inside the fall protection ropes.

[0006] The fall protection mechanism includes an arc-shaped seat, a clamping block, a main push rod, a main shaft, a push connecting rod, a large gear, a motor, a small gear, and an acceleration sensor. An arc-shaped seat is fixedly installed on the inner wall of the fall protection rope. A clamping block is installed inside the fall protection rope. A main push rod is fixedly installed on one side of the clamping block. A main shaft is rotatably connected inside the shell of the exterior wall cleaning robot. A push connecting rod is hinged to the outer surface of the main shaft. The end of the push connecting rod away from the main shaft is hinged to one end of the main push rod. A large gear is fixedly installed on the outer surface of the main shaft near its top. A motor is fixedly installed on the top surface of the exterior wall cleaning robot shell. The drive end of the motor extends into the interior of the exterior wall cleaning robot shell. A small gear is fixedly installed on the drive end of the motor, meshing with the large gear. An acceleration sensor is fixedly installed on the rear side of the exterior wall cleaning robot shell near its bottom. The acceleration sensor is electrically connected to the motor via a controller.

[0007] In a preferred embodiment, two circular covers are fixedly installed on the rear side of the exterior wall cleaning robot housing, and a fan is fixedly installed inside each of the two circular covers.

[0008] In a preferred embodiment, protective sliding sleeves are fixedly installed on the top and bottom surfaces of the connecting housing, and the anti-fall rope passes through the interior of the protective sliding sleeves.

[0009] In a preferred embodiment, two lifting rings are fixedly installed on the top surface of the exterior wall cleaning robot housing.

[0010] In a preferred embodiment, a plurality of limiting seats are fixedly installed on the inner side wall of the exterior wall cleaning robot housing, and a limiting sleeve is fixedly installed on one side of each of the plurality of limiting seats, and one end of the main push rod passes through the middle of the limiting sleeve.

[0011] In a preferred embodiment, a friction plate is fixedly installed at the end of the clamping block away from the main push rod.

[0012] In summary, due to the adoption of the above technical solution, the beneficial effects of this application are:

[0013] 1. In this application, due to the adoption of the above-mentioned solution, when the suspension rope breaks during the robot's operation and movement, the shell will experience sudden weightlessness. At this time, the acceleration sensor will detect this state and start the motor through the controller. The motor drives the small gear to rotate, which in turn drives the large gear and the main shaft to rotate synchronously. The main shaft pushes the main push rod to move linearly along the limit slide sleeve through the push linkage, so that the clamping block moves closer to the arc-shaped seat. This allows the clamping block and the arc-shaped seat to cooperate with each other to firmly clamp the anti-fall suspension rope. The strong friction locks the anti-fall suspension rope, preventing the robot from continuing to fall. This device can achieve a fast locking response by actively monitoring the weightlessness state and cooperating with the motor-driven gear and linkage transmission mechanism, and has good overall stability. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of this application;

[0015] Figure 2 This is a schematic diagram of the connecting shell structure of this application;

[0016] Figure 3 This is a schematic diagram of the internal structure of the connecting housing in this application;

[0017] Figure 4 This is a schematic diagram of the circular cover structure of this application;

[0018] Figure 5 This is a schematic diagram of the spindle structure before it is installed in this application.

[0019] The diagram shows the following components: 1. Exterior wall cleaning robot housing; 2. Connecting housing; 3. Anti-fall rope; 4. Anti-fall protection mechanism; 401. Arc-shaped seat; 402. Clamping block; 403. Main push rod; 404. Main shaft; 405. Push linkage; 406. Large gear; 407. Motor; 408. Small gear; 409. Acceleration sensor; 5. Circular cover; 6. Fan; 7. Protective sliding sleeve; 8. Lifting ring; 9. Limiting seat; 10. Limiting sliding sleeve; 11. Friction plate. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the embodiments of this application. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0021] refer to Figures 1-5As shown, the fall protection mechanism for the exterior wall cleaning robot includes a robot housing 1. Two lifting rings 8 are fixedly installed on the top surface of the robot housing 1, and two circular covers 5 are fixedly installed on the rear side of the robot housing 1. A fan 6 is fixedly installed inside each of the two circular covers 5. The two lifting rings 8 facilitate the connection between the rooftop winding and unwinding equipment and the housing, enabling the housing to move up and down, thus facilitating subsequent exterior wall cleaning. The two circular covers 5 facilitate the installation of the fan 6, which consists of a motor and fan blades. When the fan 6 is running, it not only dissipates heat from the fall protection mechanism components inside the housing, preventing the motor and other components from being affected by high temperatures and thus maintaining operational stability, but also generates a certain suction force, allowing the housing to fit more tightly against the exterior wall. Simultaneously, the exterior wall cleaning robot housing 1 contains a cleaning mechanism. This mechanism rotates through a drive motor in conjunction with gears and pulleys, enabling efficient completion of exterior wall cleaning operations. This type of cleaning mechanism is quite common in existing exterior wall cleaning robots, so it will not be described in detail.

[0022] refer to Figures 1-5 As shown, multiple connecting shells 2 are symmetrically fixedly installed on the left and right sides of the outer wall cleaning robot shell 1. Anti-fall ropes 3 are movably threaded through the top surface of each connecting shell 2. Protective sliding sleeves 7 are fixedly installed on the top and bottom surfaces of the connecting shells 2, and the anti-fall ropes 3 pass through the interior of the protective sliding sleeves 7. An anti-fall protection mechanism 4 is installed inside the anti-fall ropes 3. By having the anti-fall ropes 3 pass through the interior of the protective sliding sleeves 7, the protective sliding sleeves 7 can reduce friction between the anti-fall ropes 3 and the connecting shells 2, extending the rope's service life. The anti-fall protection mechanism 4 inside the anti-fall ropes 3 enables active anti-fall protection, avoiding reliance on passive protection from a single rope.

[0023] refer to Figures 1-5 As shown, the fall protection mechanism 4 includes an arc-shaped seat 401, a clamping block 402, a main push rod 403, a main shaft 404, a push connecting rod 405, a large gear 406, a motor 407, a small gear 408, and an acceleration sensor 409. The arc-shaped seat 401 is fixedly installed on the inner wall of the fall protection rope 3. A clamping block 402 is provided inside the fall protection rope 3. A main push rod 403 is fixedly installed on one side of the clamping block 402. A friction plate 11 is fixedly installed at the end of the clamping block 402 away from the main push rod 403. (Exterior wall cleaning machine) Multiple limiting seats 9 are fixedly installed on the inner wall of the robot shell 1, and a limiting sleeve 10 is fixedly installed on one side of each of the multiple limiting seats 9. One end of the main push rod 403 passes through the middle of the limiting sleeve 10. The friction plate 11 can increase the friction when in contact with the fall arrest rope 3, thereby improving the clamping and locking effect. The limiting sleeve 10 can restrict the movement trajectory of the main push rod 403, ensuring that the clamping block 402 accurately aligns with the arc-shaped seat 401, which facilitates the subsequent clamping of the fall arrest rope 3.

[0024] refer to Figures 1-5 As shown, a main shaft 404 is rotatably connected inside the shell 1 of the exterior wall cleaning robot. A push rod 405 is hinged to the outer surface of the main shaft 404. The end of the push rod 405 away from the main shaft 404 is hinged to one end of the main push rod 403. A large gear 406 is fixedly installed on the outer surface of the main shaft 404 near the top. A motor 407 is fixedly installed on the top surface of the shell 1. The drive end of the motor 407 extends into the interior of the shell 1. A small gear 408 is fixedly installed on the drive end of the motor 407. The small gear 408 meshes with the large gear 406. An acceleration sensor 409 is fixedly installed on the rear side of the shell 1 near the bottom. The acceleration sensor 409 is electrically connected to the motor 407 via a controller. The connection is made so that the driving torque can be amplified through gear transmission to ensure that the clamping block 402 clamps quickly. When the acceleration sensor 409 detects that the shell 1 of the exterior wall cleaning robot is in a state of weightlessness, it can be determined that the robot is falling. At this time, the acceleration sensor 409 triggers the motor 407 to start through the controller. The motor 407 drives the main shaft 404 to rotate. When the main shaft 404 rotates, it pushes the connecting rod 405 to push the main push rod 403 and the clamping block 402 to move forward, so that the clamping block 402 and the arc-shaped seat 401 cooperate with each other to firmly clamp the anti-fall rope 3, thereby effectively achieving the anti-fall effect of the robot. The acceleration sensor 409 can monitor the robot's movement status in real time and realize the active triggering of the anti-fall mechanism. It is an existing structure and will not be described in detail here.

[0025] The implementation principle of the fall protection mechanism embodiment for the exterior wall cleaning robot in this application is as follows: The user can first connect the robot's shell 1 to the rooftop hoisting equipment, enabling the robot to perform exterior wall cleaning operations normally. When the hoisting rope breaks during operation, the shell 1 will experience sudden weightlessness (such as abnormal acceleration during free fall). At this time, the acceleration sensor 409 will detect this state and start the motor 407 through the controller. The motor 407 drives the pinion 408 to rotate, which in turn drives the meshing large gear 406 and the main shaft 404 to rotate synchronously. The main shaft 404 drives the connecting... Rod 405 pushes the main push rod 403 to move linearly along the limiting slide sleeve 10, causing the clamping block 402 to move closer to the arc-shaped seat 401. This allows the clamping block 402 and the arc-shaped seat 401 to cooperate in firmly clamping the anti-fall rope 3. The friction plate 11 on the clamping block 402 will be tightly attached to and clamped to the arc-shaped seat 401 on the inner side of the anti-fall rope 3. The strong friction force locks the anti-fall rope 3, preventing the robot from falling further. This device actively monitors the weightlessness state through the acceleration sensor 409. With the help of the gear-link transmission mechanism driven by the motor, it can achieve a fast locking response and has good overall stability, effectively improving the locking reliability.

[0026] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A fall protection mechanism for an exterior wall cleaning robot, comprising an exterior wall cleaning robot housing (1), characterized in that: Multiple connecting shells (2) are symmetrically fixedly installed on the left and right sides of the outer wall cleaning robot shell (1), and a fall protection rope (3) is movably threaded through the top surface of each of the multiple connecting shells (2). A fall protection mechanism (4) is provided inside the fall protection rope (3). The fall protection mechanism (4) includes an arc-shaped seat (401), a clamping block (402), a main push rod (403), a main shaft (404), a push connecting rod (405), a large gear (406), a motor (407), a small gear (408), and an acceleration sensor (409). The arc-shaped seat (401) is fixedly installed on the inner wall of the fall protection rope (3). The clamping block (402) is provided inside the fall protection rope (3). The main push rod (403) is fixedly installed on one side of the clamping block (402). The main shaft (404) is rotatably connected inside the shell (1) of the exterior wall cleaning robot. The push connecting rod (405) is hinged to the outer surface of the main shaft (404). One end away from the main shaft (404) is hinged to one end of the main push rod (403). A large gear (406) is fixedly installed on the outer surface of the main shaft (404) near the top. A motor (407) is fixedly installed on the top surface of the outer wall cleaning robot housing (1). The drive end of the motor (407) extends into the interior of the outer wall cleaning robot housing (1). A small gear (408) is fixedly installed on the drive end of the motor (407). The small gear (408) meshes with the large gear (406). An acceleration sensor (409) is fixedly installed on the rear side of the outer wall cleaning robot housing (1) near the bottom. The acceleration sensor (409) is electrically connected to the motor (407) through a controller.

2. The fall protection mechanism for an exterior wall cleaning robot as described in claim 1, characterized in that: Two circular covers (5) are fixedly installed on the rear side of the shell (1) of the exterior wall cleaning robot, and a fan (6) is fixedly installed inside each of the two circular covers (5).

3. The fall protection mechanism for an exterior wall cleaning robot as described in claim 1, characterized in that: Protective sliding sleeves (7) are fixedly installed on the top and bottom surfaces of the connecting housing (2), and the anti-fall rope (3) passes through the inside of the protective sliding sleeves (7).

4. The fall protection mechanism for an exterior wall cleaning robot as described in claim 1, characterized in that: Two lifting rings (8) are fixedly installed on the top surface of the shell (1) of the exterior wall cleaning robot.

5. The fall protection mechanism for an exterior wall cleaning robot as described in claim 1, characterized in that: The inner side wall of the outer wall cleaning robot housing (1) is fixedly installed with multiple limiting seats (9), and a limiting sleeve (10) is fixedly installed on one side of each of the multiple limiting seats (9). One end of the main push rod (403) passes through the middle of the limiting sleeve (10).

6. The fall protection mechanism for an exterior wall cleaning robot as described in claim 1, characterized in that: A friction plate (11) is fixedly installed at the end of the clamping block (402) away from the main push rod (403).

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