CN106703430B - Anti-falling device for aerial working robot - Google Patents

Anti-falling device for aerial working robot Download PDF

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Publication number
CN106703430B
CN106703430B CN201611197473.0A CN201611197473A CN106703430B CN 106703430 B CN106703430 B CN 106703430B CN 201611197473 A CN201611197473 A CN 201611197473A CN 106703430 B CN106703430 B CN 106703430B
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China
Prior art keywords
sensor
winch
driving motor
controller
travelling
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CN201611197473.0A
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CN106703430A (en
Inventor
慕国良
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Rizhao Jiebang Internet Of Things Technology Co ltd
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Rizhao Jiebang Internet Of Things Technology Co ltd
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    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04GSCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/32Safety or protective measures for persons during the construction of buildings
    • E04G21/3204Safety or protective measures for persons during the construction of buildings against falling down

Abstract

The application discloses a falling prevention device of an overhead working robot, which belongs to the field of overhead working safety devices and is used for guaranteeing operation of an overhead outer wall robot, and comprises a steel wire rope hanging rope, a travelling trolley, a winch, a controller, travelling wheels, an inductor and an elastic mechanism, wherein the winch, the controller and the travelling wheels are all positioned on the travelling trolley; the controller is connected with the driving motor and the inductor respectively. In view of the technical scheme, the high-altitude outer wall operation robot can safely and stably operate under the condition that normal operation is not affected, and falling accidents are prevented.

Description

Anti-falling device for aerial working robot
Technical Field
The application belongs to the field of safety devices for aloft work, and particularly relates to a falling prevention device for an aloft work robot.
Background
With the popularization of urban cities, high-rise buildings are gradually increased, and most high-rise buildings adopt glass curtain walls as a part of building construction. The outer surfaces of the glass curtain walls and the walls of the high-rise buildings are attached with dust, soil and the like along with the use time, or the outer walls need to be subjected to re-spraying operation so as to ensure the overall attractive appearance of the buildings.
The high-altitude outer wall operation robot is an auxiliary tool for replacing manual high-altitude operation, which is raised in recent years, and the personal safety threat possibly brought by manual operation is greatly reduced. However, the high-altitude outer wall operation robot may cause falling accidents due to self faults or insufficient climbing power, not only causes property loss, but also threatens the safety of people who walk down the building.
Disclosure of Invention
The application aims to provide an anti-falling device for an overhead working robot, which can realize safe and stable operation of the overhead outer wall working robot and prevent falling accidents under the condition of not affecting normal operation.
In order to achieve the above purpose, the application is realized by the following technical scheme:
the application relates to a falling prevention device of an aerial working robot, which comprises a steel wire rope hanging rope, a travelling trolley, a winch, a controller, travelling wheels, an inductor and an elastic mechanism, wherein the winch, the controller and the travelling wheels are all positioned on the travelling trolley; the controller is connected with the driving motor and the inductor respectively.
Furthermore, the walking trolley is also provided with a water tank and/or a paint tank.
Further, the travelling trolley is also provided with a pressure pump.
Further, the pulley is arranged on the telescopic rod, and the bottom of the telescopic rod is fixed on the travelling trolley.
Further, the sensor in the application is a radar distance sensor or an infrared distance sensor or a laser distance sensor.
Furthermore, the steel wire rope sling disclosed by the application can adopt a water pipe with high tensile resistance.
Further, the travelling wheels are driven by a motor or a gas engine, and the motor or the gas engine is positioned on the travelling trolley.
Compared with the prior art, the application has the beneficial effects that:
the application can move along with the movement of the aerial working robot, and can adjust the speed of the winch according to the distance between the aerial working robot and the sensor, and the winch can be stopped in time under the condition that the aerial working robot has faults, thereby preventing falling accidents.
Drawings
Fig. 1 is a schematic view of the structure of the traveling carriage of the present application.
Fig. 2 is a schematic structural diagram of the sensor and the elastic mechanism in the present application.
In the figure: 1. a walking trolley; 2. a controller; 3. a walking wheel; 4. a telescopic rod; 5. a pulley; 6. a driving motor; 7. a pressure pump; 8. a speed reducer; 9. a reel; 10. an inductor; 11. an elastic mechanism; 12. an aerial working robot.
Detailed Description
The technical scheme of the application is further described and illustrated below with reference to the accompanying drawings and the embodiments.
Example 1: the anti-falling device of the aerial working robot comprises a wire rope hanging rope, a travelling trolley 1, a winch, a controller 2, travelling wheels 3, an inductor 10 and an elastic mechanism 11, wherein the winch, the controller 2 and the travelling wheels 3 are all positioned on the travelling trolley 1, the winch comprises a driving motor 6, a speed reducer 8 and a winding drum 9, the driving motor 6 is connected with the winding drum 9 through the speed reducer 8, the winding drum 9 is connected with the inductor 10 through a pulley 5 and the wire rope hanging rope, and the elastic mechanism 11 is arranged below the inductor 10; the controller 2 is respectively connected with the driving motor 6 and the inductor 10.
Example 2: an aerial working robot anti-falling device, wherein a water tank and/or a paint tank 13 is/are also arranged on the travelling trolley 1; the travelling trolley 1 is also provided with a pressure pump 7. The pulley 5 is arranged on the telescopic rod 4, and the bottom of the telescopic rod 4 is fixed on the travelling trolley 1. The sensor 10 is a radar range sensor or an infrared range sensor or a laser range sensor. The steel wire rope sling can adopt a water pipe with high tensile resistance. The travelling wheel 3 is driven by a motor or a gas engine, and the motor or the gas engine is positioned on the travelling trolley 1. The remaining unrecited structure is the same as that described in example 1.
In view of the above embodiments, the working process of the present application when in use is as follows:
the application is connected with the aerial working robot 12 through the elastic mechanism 11, the sensor 10 is positioned at the other end of the elastic mechanism 11, and in the initial state, the sensor 10 can sense the distance relative to the aerial working robot 12 and transmit the distance signal to the controller 2. The sensor 10 is one of a radar range sensor or an infrared range sensor or a laser range sensor that are commercially available.
After receiving the signal transmitted back by the sensor 10, the controller 2 feeds back the processed signal to the driving motor 6 in the winch, and adjusts the rotation speed of the driving motor 6. The rotation speed is adjusted as follows: (1) if the distance signal sensed by the sensor 10 and the distance signal in the initial state are kept within the range allowed by the set error, the driving motor 6 in the winch keeps the original rotating speed; (2) if the sensor 10 senses that the distance signal between the sensor 10 and the aerial working robot 12 is smaller than the signal in the initial state within the set error allowable range, the driving motor 6 in the winch increases the rotating speed, and the plate body where the sensor 10 is positioned is driven to ascend through the wire rope sling, so that the wire rope sling is ensured to be in the effective pulling force acting range for the aerial working robot 12; (3) if the sensor 10 senses that the distance signal between the sensor and the aerial working robot 12 suddenly increases and is larger than the signal in the initial state within the set error allowable range, the driving motor 6 in the winch reduces the rotating speed or stops working, and the state indicates that the aerial working robot may be in a fault state; (4) if the sensor 10 senses that the distance between the sensor 10 and the aerial working robot 12 is slowly increased within a set short time and the increased distance is larger than the set error allowable range, the controller 2 controls the driving motor 6 in the winch to put down the steel wire rope hoist at a constant speed, so that the sensor 10 and the aerial working robot 12 are in a relative initial state position.
A fence or a rail is often arranged at the top end of the building, so that the telescopic rod 4 is also arranged in the application, the top end of the telescopic rod 4 is provided with a pulley 5, and the wire rope sling bypasses the fence or the rail through the pulley 5 and the telescopic rod 4 to realize the connection of the aerial working robot 12.

Claims (2)

1. The utility model provides a high altitude construction robot anti-falling device, includes wire rope sling, its characterized in that: the automatic lifting device is characterized by further comprising a travelling trolley (1), a winch, a controller (2), travelling wheels (3), an inductor (10) and an elastic mechanism (11), wherein the winch, the controller (2) and the travelling wheels (3) are all positioned on the travelling trolley (1), the winch comprises a driving motor (6), a speed reducer (8) and a winding drum (9), the driving motor (6) is connected with the winding drum (9) through the speed reducer (8), the winding drum (9) is connected with the inductor (10) through a pulley (5) and a steel wire rope, and the elastic mechanism (11) is arranged below the inductor (10); the controller (2) is respectively connected with the driving motor (6) and the inductor (10); the walking trolley (1) is also provided with a water tank and/or a paint tank (13); a pressure pump (7) is also arranged on the travelling trolley (1); the pulley (5) is arranged on the telescopic rod (4), and the bottom of the telescopic rod (4) is fixed on the travelling trolley (1); the sensor (10) is a radar distance sensor or an infrared distance sensor or a laser distance sensor; the steel wire rope sling adopts a water pipe with high tensile resistance; after receiving the signal transmitted back by the sensor (10), the controller (2) feeds back the processed signal to a driving motor (6) in the winch, and adjusts the rotating speed of the driving motor (6); the rotation speed is adjusted as follows: (1) if the distance signal sensed by the sensor (10) and the distance signal in the initial state are kept within the range allowed by the set error, the driving motor (6) in the winch keeps the original rotating speed; (2) if the sensor (10) senses that the distance signal between the sensor and the overhead working robot (12) is smaller than the signal in the initial state within the set error allowable range, a driving motor (6) in the winch increases the rotating speed, and the plate body where the sensor (10) is positioned is driven to ascend by the wire rope sling, so that the wire rope sling is ensured to be in the effective pulling force acting range on the overhead working robot (12); (3) if the sensor (10) senses that the distance signal between the sensor and the aerial working robot (12) suddenly increases and is larger than the signal in the initial state within the set error allowable range, the rotation speed of the driving motor (6) in the winch is reduced or the working is stopped; (4) if the sensor (10) senses that the distance between the sensor (10) and the aerial working robot (12) is slowly increased within a set short time and the increased distance is larger than a set error allowable range, the controller (2) controls the driving motor (6) in the winch to put down the wire rope hoist at a constant speed, so that the sensor (10) and the aerial working robot (12) are in opposite initial state positions.
2. The aerial work robot fall arrest device of claim 1, wherein: the travelling wheel (3) is driven by a motor or a gas engine, and the motor or the gas engine is positioned on the travelling trolley (1).
CN201611197473.0A 2016-12-22 2016-12-22 Anti-falling device for aerial working robot Active CN106703430B (en)

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

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CN106703430A CN106703430A (en) 2017-05-24
CN106703430B true CN106703430B (en) 2023-08-18

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Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN206507903U (en) * 2016-12-12 2017-09-22 慕国良 Go straight up to high-altitude exterior wall multi-function robot

Citations (6)

* Cited by examiner, † Cited by third party
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
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

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR200454118Y1 (en) * 2008-10-29 2011-06-16 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

Patent Citations (6)

* Cited by examiner, † Cited by third party
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
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

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