CN106703430A - Fall-preventing device for high-altitude-operation robot - Google Patents
Fall-preventing device for high-altitude-operation robot Download PDFInfo
- Publication number
- CN106703430A CN106703430A CN201611197473.0A CN201611197473A CN106703430A CN 106703430 A CN106703430 A CN 106703430A CN 201611197473 A CN201611197473 A CN 201611197473A CN 106703430 A CN106703430 A CN 106703430A
- Authority
- CN
- China
- Prior art keywords
- inductor
- high above
- work high
- controller
- ground robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/32—Safety or protective measures for persons during the construction of buildings
- E04G21/3204—Safety or protective measures for persons during the construction of buildings against falling down
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a fall-preventing device for a high-altitude-operation robot and belongs to the field of high-altitude-operation safety devices. The fall-preventing device used for protecting the high-altitude external-wall-operation robot comprises a steel wire rope sling, a traveling trolley, a winch, a controller, traveling wheels, a sensor and an elastic mechanism, wherein the winch, the controller and the traveling wheels are located on the traveling trolley, the winch comprises a drive motor, a reducer and a winding drum, the drive motor is connected with the winding drum through the reducer, the winding drum is connected with the sensor through a pulley and the steel wire rope sling, and the elastic mechanism is arranged below the sensor; the controller is respectively connected with the drive motor and the sensor. By the arrangement, the fall-preventing device has the advantages that safe and stable operation of the high-altitude external-wall-operation robot can be achieved while normal operation is unaffected, and fall accidents are prevented.
Description
Technical field
The invention belongs to high-altitude working safety device field, specifically, more particularly to a kind of work high above the ground machine people's air defense
Drop device.
Background technology
With the popularization of urbanization, city middle-high building gradually increases, and most skyscraper uses glass curtain wall
As a part for building composition.These skyscrapers can adhere to ash with the time glass curtain wall for using and the outer surface of wall
Dirt soil etc., or exterior wall needs to carry out spraying operation again, to ensure the overall appearance of architectural appearance.
High-altitude outer wall operation robot is the aid of the artificial work high above the ground of replacement of rising in recent years, is greatly reduced
The personal safety that manual work may be brought is threatened.But, high-altitude outer wall operation robot due to faults itself or may be climbed
Rise and be short of power and cause the generation of falling accident, not only cause any property loss, and personal security to being passed by under building is made
Into threat.
The content of the invention
It is an object of the invention to provide a kind of work high above the ground robot falling proof device, it can not influence normal work
In the case of industry, the safe and stable operation of high-altitude outer wall operation robot is realized, prevent the generation of falling accident.
To reach above-mentioned purpose, the present invention is achieved by the following technical solutions：
Heretofore described work high above the ground robot falling proof device, including wire rope sling, also including walking dolly,
Hoist engine, controller, road wheel, inductor, elastic mechanism, wherein hoist engine, controller, road wheel are respectively positioned on walking dolly
On, the hoist engine includes motor, reductor, reel, and motor is connected by reductor with reel, and reel is by sliding
The connection of wheel, wire rope sling and inductor, is provided with elastic mechanism below inductor；The controller respectively with motor and
Inductor is connected.
Further speaking, water tank and/or coating case are also equipped with heretofore described walking dolly.
Further speaking, it is also equipped with compression pump on heretofore described walking dolly.
Further speaking, heretofore described pulley is installed on expansion link, and it is small that walking is fixed in the bottom of expansion link
Che Shang.
Further speaking, heretofore described inductor is distance by radar inductor or infrared distance-sensor or swashs
Electrical distance inductor.
Further speaking, heretofore described wire rope sling can be using the water pipe of high tensile power.
Further speaking, heretofore described road wheel is driven by motor or gas engine, and motor or gas engine are located at
On walking dolly.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention can be moved with the movement of work high above the ground robot, and can be according to work high above the ground robot and sense
Answer the distance between device to adjust the speed of hoist engine, stop hoist engine in time in the case where work high above the ground robot breaks down
Work, prevents the generation of falling accident.
Brief description of the drawings
Fig. 1 is the structural representation of walking dolly in the present invention.
Fig. 2 is the structural representation of inductor and elastic mechanism in the present invention.
In figure：1st, walking dolly；2nd, controller；3rd, road wheel；4th, expansion link；5th, pulley；6th, motor；7th, pressure
Pump；8th, reductor；9th, reel；10th, inductor；11st, elastic mechanism；12nd, work high above the ground robot.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment is described further to technical scheme described herein.
Embodiment 1：A kind of work high above the ground robot falling proof device, including wire rope sling, also including walking dolly 1,
Hoist engine, controller 2, road wheel 3, inductor 10, elastic mechanism 11, wherein hoist engine, controller 2, road wheel 3 are respectively positioned on row
Walk on dolly 1, the hoist engine includes motor 6, reductor 8, reel 9, motor 6 is connected by reductor 8 with reel 9
Connect, reel 9 is connected by pulley 5, wire rope sling and inductor 10, and the lower section of inductor 10 is provided with elastic mechanism 11；It is described
Controller 2 is connected with motor 6, inductor 10 respectively.
Embodiment 2：A kind of work high above the ground robot falling proof device, wherein being also equipped with water tank on the walking dolly 1
And/or coating case 13；Compression pump 7 is also equipped with the walking dolly 1.The pulley 5 is installed on expansion link 4, expansion link 4
Bottom be fixed on walking dolly 1.The inductor 10 is distance by radar inductor or infrared distance-sensor or laser
Distance-sensor.The wire rope sling can be using the water pipe of high tensile power.The road wheel 3 is driven by motor or gas engine
Dynamic, motor or gas engine are located on walking dolly 1.The structure that remaining is not addressed is identical with the structure described in embodiment 1.
In view of above-described embodiment, when in use, its course of work is as follows for the present invention：
The present invention is connected by elastic mechanism 11 with work high above the ground robot 12, and inductor 10 is located at the another of elastic mechanism 11
One end, in an initial condition, inductor 10 can be sensed relative to the distance between work high above the ground robot 12, and will be above-mentioned
Distance signal is transferred to controller 2.Distance by radar inductor or infrared distance perspective that inductor 10 is sold using existing market
Answer the one kind in device or laser distance inductor.
After controller 2 receives the signal that inductor 10 is passed back to, the signal through treating feeds back to the drive in hoist engine
Dynamic motor 6, adjusts the rotating speed of motor 6.The situation for adjusting rotating speed is as follows：The distance signal that 1. if inductor 10 is sensed with
Distance signal under original state is maintained at when in the range of the permission of the error of setting, and the motor 6 in hoist engine keeps former
Some rotating speeds；If 2. inductor 10 senses that signal is permitted less than the error of setting the distance between with work high above the ground robot 12 for it
During signal under the original state in the range of perhaps, the motor 6 in hoist engine improves rotating speed, by wire rope sling dynamic
The plate body residing for device 10 is answered to rise, it is ensured that wire rope sling is in the pulling force effect scope effective to work high above the ground robot 12
It is interior；If 3. inductor 10 senses that signal increases suddenly and more than the mistake of setting the distance between with work high above the ground robot 12 for it
When differing from the signal under the original state in allowed band, the motor 6 in hoist engine reduces rotating speed or is stopped, this state
Illustrate that work high above the ground robot is likely to be at malfunction；If 4. inductor 10 senses that it makees with high-altitude in the short time of setting
The distance between industry robot 12 is slowly increased, and increased distance is more than the error allowed band of setting, then controller 2 is controlled
Motor 6 in hoist engine at the uniform velocity puts down wire rope sling, it is ensured that locate between inductor 10 and work high above the ground robot 12
In relative original state position.
Enclosure wall or fence are often additionally provided with the top of building, therefore are also equipped with expansion link 4 in the present invention, stretched
The top of contracting bar 4 is provided with pulley 5, and wire rope sling bypasses enclosure wall by pulley 5 and expansion link 4 or fence is realized to work high above the ground
The connection of robot 12.
Claims (6)
1. a kind of work high above the ground robot falling proof device, including wire rope sling, it is characterised in that：Also include walking dolly
(1), hoist engine, controller (2), road wheel (3), inductor (10), elastic mechanism (11), wherein hoist engine, controller (2),
Road wheel (3) is respectively positioned on walking dolly (1), and the hoist engine includes motor (6), reductor (8), reel (9), is driven
Motor (6) is connected by reductor (8) with reel (9), and reel (9) is connected by pulley (5), wire rope sling and inductor (10)
Connect, elastic mechanism (11) is provided with below inductor (10)；The controller (2) respectively with motor (6), inductor (10)
Connection.
2. work high above the ground robot according to claim 1 falling proof device, it is characterised in that：The walking dolly (1)
On be also equipped with water tank and/or coating case (13).
3. work high above the ground robot according to claim 1 falling proof device, it is characterised in that：The walking dolly (1)
On be also equipped with compression pump (7).
4. work high above the ground robot according to claim 1 falling proof device, it is characterised in that：The pulley (5) is installed
In on expansion link (4), the bottom of expansion link (4) is fixed on walking dolly (1).
5. work high above the ground robot according to claim 1 falling proof device, it is characterised in that：The inductor (10) is
Distance by radar inductor or infrared distance-sensor or laser distance inductor.
6. the work high above the ground robot falling proof device according to any claim in claim 1 to 5, its feature exists
In：The wire rope sling uses the water pipe of high tensile power.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611197473.0A CN106703430B (en) | 2016-12-22 | 2016-12-22 | Anti-falling device for aerial working robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611197473.0A CN106703430B (en) | 2016-12-22 | 2016-12-22 | Anti-falling device for aerial working robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106703430A true CN106703430A (en) | 2017-05-24 |
| CN106703430B CN106703430B (en) | 2023-08-18 |
Family
ID=58939547
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611197473.0A Active CN106703430B (en) | 2016-12-22 | 2016-12-22 | Anti-falling device for aerial working robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106703430B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018107804A1 (en) * | 2016-12-12 | 2018-06-21 | 慕国良 | Working-at-height robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08225295A (en) * | 1995-02-17 | 1996-09-03 | Kobe Steel Ltd | Control method and device for driving winch of crane |
| KR20100004733U (en) * | 2008-10-29 | 2010-05-10 | 대우조선해양 주식회사 | A safety winch equipment for high place works |
| CN201686429U (en) * | 2010-05-25 | 2010-12-29 | 中国建筑科学研究院建筑机械化研究分院 | Portable steel wire rope hoisting mechanism |
| CN201770381U (en) * | 2010-08-02 | 2011-03-23 | 浙江吉利汽车有限公司 | Lifter with high-speed falling prevention |
| CN104803250A (en) * | 2015-04-23 | 2015-07-29 | 重庆工业自动化仪表研究所 | Anti-falling monitoring device, monitoring system and method for elevator |
| CN205177264U (en) * | 2015-10-27 | 2016-04-20 | 国网山东省电力公司济宁供电公司 | Training is fallen with circuit high altitude and is physically felt device |
| CN205528882U (en) * | 2016-01-20 | 2016-08-31 | 宝山钢铁股份有限公司 | Locking device that falls is prevented to converter sublance lift dolly |
| CN206942177U (en) * | 2016-12-22 | 2018-01-30 | 慕国良 | Work high above the ground robot falling proof device |
-
2016
- 2016-12-22 CN CN201611197473.0A patent/CN106703430B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08225295A (en) * | 1995-02-17 | 1996-09-03 | Kobe Steel Ltd | Control method and device for driving winch of crane |
| KR20100004733U (en) * | 2008-10-29 | 2010-05-10 | 대우조선해양 주식회사 | A safety winch equipment for high place works |
| CN201686429U (en) * | 2010-05-25 | 2010-12-29 | 中国建筑科学研究院建筑机械化研究分院 | Portable steel wire rope hoisting mechanism |
| CN201770381U (en) * | 2010-08-02 | 2011-03-23 | 浙江吉利汽车有限公司 | Lifter with high-speed falling prevention |
| CN104803250A (en) * | 2015-04-23 | 2015-07-29 | 重庆工业自动化仪表研究所 | Anti-falling monitoring device, monitoring system and method for elevator |
| CN205177264U (en) * | 2015-10-27 | 2016-04-20 | 国网山东省电力公司济宁供电公司 | Training is fallen with circuit high altitude and is physically felt device |
| CN205528882U (en) * | 2016-01-20 | 2016-08-31 | 宝山钢铁股份有限公司 | Locking device that falls is prevented to converter sublance lift dolly |
| CN206942177U (en) * | 2016-12-22 | 2018-01-30 | 慕国良 | Work high above the ground robot falling proof device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018107804A1 (en) * | 2016-12-12 | 2018-06-21 | 慕国良 | Working-at-height robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106703430B (en) | 2023-08-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105015640B (en) | A kind of wall surface detection rescue robot and its control method | |
| CN107875549A (en) | Explosion-proof fire inspection firefighting robot and method of work | |
| CN2698763Y (en) | Lifting safety device for tower crane | |
| CN109171543A (en) | A kind of high altitude operation robot | |
| CN107469243A (en) | Skyscraper external rescue throwing extension system | |
| CN206942177U (en) | Work high above the ground robot falling proof device | |
| CN106703430A (en) | Fall-preventing device for high-altitude-operation robot | |
| CN203663309U (en) | Building | |
| CN208883321U (en) | A kind of traction separate type driving crane hoisting mechanism transmission system | |
| CN209136420U (en) | A kind of high altitude operation robot | |
| CN109011276A (en) | A kind of building intelligence fire-fighting system and its fire-fighting mode | |
| CN203663308U (en) | Building | |
| CN203663310U (en) | Building | |
| CN104606814A (en) | Fire-extinguishing rescue rope-releasing equipment for building | |
| CN207061730U (en) | Possesses the hoist engine of suspension hook supervising device | |
| CN203663260U (en) | Rubber hose for fire-extinguishing spray gun | |
| CN104606824A (en) | Fire-extinguishing rescue method and matched equipment of building | |
| CN104606801A (en) | Fire rescue method and matched equipment | |
| CN212669023U (en) | Multifunctional intelligent fire-fighting flying dust tower crane | |
| CN104606835A (en) | Building | |
| CN203989533U (en) | A kind of building with fire fighting and rescue function | |
| CN109019328A (en) | A kind of traction separate type driving crane hoisting mechanism transmission system | |
| CN104606826A (en) | Building | |
| CN107934806A (en) | A kind of movable arm type tower crane aids in luffing device | |
| CN205031782U (en) | Put rope equipment with rescue function of putting out a fire |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20230106 Address after: 276500 east side of c1-3 building, No. 1, Yantai Road, Rizhao Economic Development Zone, Shandong Province Applicant after: Rizhao Jiebang Internet of things Technology Co.,Ltd. Address before: 276500 No. 105, mujiazhuangzi street, Chengyang Town, Ju county, Rizhao City, Shandong Province Applicant before: Mu Guoliang |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |