CN115214816B - Safety protection device of wall climbing robot - Google Patents
Safety protection device of wall climbing robot Download PDFInfo
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- CN115214816B CN115214816B CN202210956472.9A CN202210956472A CN115214816B CN 115214816 B CN115214816 B CN 115214816B CN 202210956472 A CN202210956472 A CN 202210956472A CN 115214816 B CN115214816 B CN 115214816B
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- winding roller
- climbing robot
- clutch plate
- wall climbing
- wire rope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/70—Other constructional features of yarn-winding machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H59/00—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators
- B65H59/10—Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by devices acting on running material and not associated with supply or take-up devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4481—Arrangements or adaptations for driving the reel or the material
- B65H75/4486—Electric motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/34—Handled filamentary material electric cords or electric power cables
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Textile Engineering (AREA)
- Manipulator (AREA)
Abstract
The application relates to the field of robots, in particular to a safety protection device of a wall climbing robot, which comprises a mounting frame, a winding roller rotatably connected to the mounting frame and a band-type brake system used for locking the winding roller, wherein a steel wire rope is wound on the winding roller, the free end of the steel wire rope is used for being connected with the wall climbing robot, a torque motor used for providing resistance for the rotation of the winding roller so as to ensure that the steel wire rope is in a tensioning state is mounted on the mounting frame, a torque sensor is mounted on an output shaft of the torque motor, and the band-type brake system is configured to lock the winding roller when the torque detected by the torque sensor suddenly increases. The application has the effect of protecting the wall climbing robot.
Description
Technical Field
The application relates to the field of robots, in particular to a safety protection device of a wall climbing robot.
Background
At present, robots are widely developed and applied in various industries, and a wall climbing robot is used as one of special robots, is an automatic mechanical device which can perform specific work in severe, dangerous and other high-altitude environments by utilizing an adsorption technology, and is mainly used in the fields of petrochemical industry, nuclear industry, shipbuilding industry, fire fighting industry and the like.
The wall climbing robot climbs a wall surface which is vertical or near vertical, or a horizontal wall surface, such as hanging on a ceiling for crawling. Either way, the gravity of the robot is offset directly or indirectly by the adsorption force generated by the adsorption mechanism. In the working process of the wall climbing robot, if the adsorption force fails, the wall climbing robot falls from the wall surface, so that equipment is damaged, pedestrians can be even crashed, and the risk is high. Therefore, how to realize the protection of the wall climbing robot is the key point of the current research.
Disclosure of Invention
In order to realize the protection of the wall climbing robot and reduce the probability of damaging or smashing pedestrians caused by falling on the ground, the application provides a safety protection device of the wall climbing robot.
The application provides a safety protection device of a wall climbing robot, which adopts the following technical scheme:
the utility model provides a wall climbing robot's safety device, is in including installing frame, rotation connection wire winding roller and be used for right on the installing frame the wire winding roller carries out the band-type brake system that locks, the winding has wire rope on the wire winding roller, the wire rope free end is used for being connected with wall climbing robot, install on the installing frame and be used for right the rotation of wire winding roller provides the resistance in order to guarantee that wire rope is in the moment motor of tensioning state, install torque sensor on torque motor's the output shaft, the band-type brake system is configured to work as the moment that torque sensor detected is suddenly increased when locking of wire winding roller.
Through adopting above-mentioned technical scheme, during the use, directly place this safety device in suitable position, then fix wire rope free end on climbing wall robot, when climbing wall robot removes, will rotate through wire rope pulling wire winding roller to pay out wire rope. Meanwhile, the moment motor can also provide a resistance for the winding roller to prevent the winding roller from rotating, so that the wall climbing robot overcomes the resistance applied by the moment motor on the winding roller and then drives the winding roller to rotate, the steel wire rope can be ensured to be in a tensioning state all the time, and the winding roller is prevented from continuously rotating under the influence of inertia when the steel wire rope drives the winding roller to rotate, so that the steel wire rope is loosened. When the wall climbing robot normally operates, the force of the wall climbing robot pulling the winding roller to rotate through the steel wire rope is constant, namely the force applied to the torque motor by the winding roller detected by the torque sensor is constant. When wall climbing robot adsorption affinity inefficacy, wall climbing robot falls and gives the moment of a surge for the wire winding roller through wire rope, the numerical value that moment sensor detected increases this moment, when moment sensor detected moment surge, band-type brake system will lock the wire winding roller, avoid the wire winding roller to continue to rotate to avoid wire rope to continue to pay out, can fix wall climbing robot's position through wire rope this moment, avoid wall climbing robot to continue to fall, reduce wall climbing robot and continue to fall to ground and lead to wall climbing robot damage or smash the probability of injuring the pedestrian, realize the protection to wall climbing robot.
Optionally, the installation frame is further provided with a driving motor for driving the winding roller to rotate so as to pull up or put down the wall climbing robot, a power transmission component for transmitting power of the driving motor to the winding roller is arranged between the driving motor and the winding roller, a reversing component for changing the connection state of the power transmission component and the winding roller is arranged between the power transmission component and the winding roller, and the reversing component is used for enabling the power of the driving motor to be transmitted to the winding roller or not to be transmitted to the winding roller by changing the connection state of the power transmission component and the winding roller.
Through adopting above-mentioned technical scheme, under the normality, when wall climbing robot normal operating, the switching-over subassembly changes the connected state of power transmission subassembly and winding roller for driving motor's power can't transmit to the winding roller, and power motor can't drive the winding roller and rotate this moment, overcomes the resistance that torque motor applyed on the winding roller through wall climbing robot and drives the winding roller and rotate, realizes paying out wire rope. When the wall climbing robot falls, after the winding roller is held by the band-type brake system, the reversing assembly switches the connection state of the power transmission assembly and the winding roller, so that the power of the driving motor can be transmitted to the winding roller. At the moment, the winding roller can be driven to rotate by the driving motor, so that the wall climbing robot is pulled up or put down at a constant speed.
Optionally, the power transmission assembly includes a first driving wheel fixedly connected to an output shaft of the driving motor, a first driven wheel rotatably connected to the winding roller, and a first transmission belt/chain sleeved between the first driving wheel and the first driven wheel.
By adopting the technical scheme, when the driving motor is started, the first driving wheel on the output shaft of the driving motor drives the first driven wheel to rotate through the first transmission belt/chain, so that power transmission is realized.
Optionally, the reversing component includes the rigid coupling be in first clutch plate from driving wheel one side and sliding connection be in on the winding roller and with the synchronous pivoted second clutch plate of winding roller, first clutch plate with the relative one side joint cooperation of second clutch plate, be provided with on the installing frame and be used for driving the second clutch plate slides on the winding roller in order to change first clutch plate with the operating component of second clutch plate joint state.
Through adopting above-mentioned technical scheme, when first clutch plate and second clutch plate separation, will drive first follow the driving wheel rotation when driving motor starts, and first follow the driving wheel and will rotate on the winding roller, can't drive the synchronous rotation of winding roller. When the first clutch plate and the second clutch plate are clamped together, the first driven wheel rotates at the moment, and the first driven wheel can drive the second clutch plate to rotate through the first clutch plate. Through operating second clutch plate and sliding on the winding roller so that first clutch plate and second clutch plate joint or separation, whether can change the power on the driving motor and transmit to the winding roller.
Optionally, the operation subassembly is in including the rigid coupling is in mount pad and the middle part of mounting frame one side are articulated the drive pole on the mount pad, drive pole one end is provided with the drive pole around with the articulated shaft pivoted linear drive spare of mount pad, the drive pole other end with the second clutch plate is kept away from one side of first clutch plate articulates in order to drive the second clutch plate is in slide on the winding roller.
Through adopting above-mentioned technical scheme, when the one end that the drive pole was kept away from to the second clutch plate is rotated to first clutch plate place direction to the drive piece, the one end that the drive pole is close to the second clutch plate will drive the second clutch plate to slide to one side that keeps away from first clutch plate for the separation of first clutch plate and second clutch plate. When the linear driving piece drives one end of the driving rod, which is far away from the second clutch plate, to rotate in the direction away from the first clutch plate, one end of the driving rod, which is close to the second clutch plate, drives the second clutch plate to slide towards one side, which is close to the first clutch plate, so that the first clutch plate is clamped with the second clutch plate. The linear driving piece is operated to drive the end part of the driving rod to reciprocate, so that the clamping state of the first clutch plate and the second clutch plate can be automatically changed, and the operation is more convenient.
Optionally, the linear driving piece comprises an electric push rod fixedly connected to the mounting frame, and the length direction of the electric push rod is consistent with the length direction of the winding roller.
Through adopting above-mentioned technical scheme, can drive the rod end through sharp promotion and carry out reciprocating rectilinear motion, realize driving the pole and rotate around the articulated shaft with the mount pad.
Optionally, a guiding wheel for guiding the wire rope is arranged on the mounting frame, and the guiding wheel can slide back and forth along the length direction of the winding roller.
By adopting the technical scheme, the guide wheel can play a role in guiding the steel wire rope.
Optionally, a reciprocating screw rod is fixedly connected to the mounting frame, and the guide wheel is sleeved on the reciprocating screw rod and is in threaded connection with the reciprocating screw rod.
Through adopting above-mentioned technical scheme, when wall climbing robot removes and drives wire rope and pay out from the winding roller, wire rope also drives the leading wheel rotation, and the leading wheel also drives the leading wheel reciprocating motion on reciprocating screw at pivoted in-process to adapt to the position of wire rope on the winding roller.
Optionally, a placing groove for embedding the steel wire rope is formed in the circumference of the guide wheel, and a limiting wheel for fixing the position of the steel wire rope in the placing groove is arranged on the guide wheel.
Through adopting above-mentioned technical scheme, can be with wire rope spacing in the standing groove through spacing wheel, avoid wire rope to slide out from the standing groove.
Optionally, the spacing wheel cover is established on the leading wheel and be provided with two at least, two spacing wheels are followed reciprocating screw's axis interval sets up, two rotate between the spacing wheel and be connected with the fifth wheel, the fifth wheel encircles the axis interval of spacing wheel is provided with a plurality of, and is a plurality of spacing wheels all are located the outer lane of leading wheel.
Through adopting above-mentioned technical scheme, the fifth wheel can connect fixedly a plurality of spacing wheels, and when wire rope cover was established on the fifth wheel simultaneously, wire rope will reach the standing groove from between two adjacent spacing wheels. When the steel wire rope drives the guide wheel to rotate, the steel wire rope passes through the space between the two adjacent limit wheels, so that the steel wire rope can prevent the connecting wheel from synchronously rotating through the limit wheels close to the steel wire rope, and the limit wheels abutted with the steel wire rope are driven by the steel wire rope to rotate.
In summary, the present application includes at least one of the following beneficial technical effects:
1. according to the application, the steel wire rope and the torque motor connected with the winding roller are arranged, so that the torque motor can provide a resistance for the rotation of the winding roller, and the steel wire rope is always in a tensioning state; when the wall climbing robot normally operates, a constant pulling force is given to the winding roller through the steel wire rope, so that the value detected by the moment sensor is a fixed value; when the wall climbing robot falls, the wall climbing robot provides a sudden increase force for the winding roller through the steel wire rope, and the numerical value detected by the moment sensor is suddenly increased at the moment, so that the fault of the wall climbing robot can be detected, the winding roller is locked when the numerical value detected by the moment sensor is suddenly increased by the band-type brake system, the steel wire rope is prevented from continuously paying out from the winding roller, and the wall climbing robot is pulled and held through the steel wire rope, so that the wall climbing robot is protected; the probability that the wall climbing robot continuously falls to the ground to damage or smash pedestrians is greatly reduced;
2. according to the application, the driving motor is arranged, so that after the wire rope pulls the wall climbing robot, the wire winding roller can be driven to rotate by the driving motor so as to pull the wall climbing robot up or slowly put the wall climbing robot on the ground, and the wall climbing robot is ensured to be taken down smoothly;
3. the reversing assembly is arranged, so that when the wall climbing robot works normally, the power of the driving motor is not transmitted to the winding roller, and the influence on the normal work of the wall climbing robot when the driving motor drives the winding roller to rotate is reduced; when the wall climbing robot falls down, the power of the driving motor can be smoothly transmitted to the winding roller through the reversing assembly, so that the winding roller is driven to rotate through the driving motor, and the wall climbing robot is smoothly taken down.
Drawings
Fig. 1 is a schematic view of the overall structure of the present application.
Fig. 2 is a schematic view of the structure of the present application after one of the side plates is hidden.
Fig. 3 is a schematic view of another view angle shown after hiding one of the side plates and the electric cabinet according to the present application.
Fig. 4 is a partial schematic view of a reversing assembly and an operating assembly configuration.
FIG. 5 is a schematic view, partially cut-away, of a first clutch plate and a second clutch plate in mating relationship with a winding roller.
Reference numerals illustrate: 1. a mounting frame; 11. a bottom plate; 12. a side plate; 13. a walking wheel; 14. an electric control box; 2. a wire winding roller; 21. a wire rope; 3. a band-type brake system; 4. a torque motor; 41. a torque sensor; 5. an intermediate transmission member; 51. a second driving wheel; 52. a second driven wheel; 53. a second conveyor/chain; 6. a driving motor; 61. a power transmission assembly; 611. a first drive wheel; 612. a first driven wheel; 613. a first conveyor belt/chain; 62. a reversing assembly; 621. a first clutch plate; 6211. a clamping groove; 622. a second clutch plate; 6221. a clamping block; 63. a speed reducer; 64. an operating assembly; 641. a mounting base; 642. a drive rod; 643. a linear driving member; 6431. an electric push rod; 6432. an electromagnet; 6433. an electric lever; 6434. a return spring; 6435. a guide cylinder; 644. a mounting rod; 645. a mounting block; 71. a guide wheel; 711. a placement groove; 72. a reciprocating screw rod; 73. a limiting wheel; 74. and (5) connecting a wheel.
Detailed Description
The application is described in further detail below with reference to fig. 1-5.
The embodiment of the application discloses a safety protection device of a wall climbing robot. Referring to fig. 1 and 2, the safety device of the wall climbing robot includes a mounting frame 1, a winding roller 2 rotatably connected to the mounting frame 1, and a band brake system 3 for locking the winding roller 2.
The wire winding roller 2 is wound with a wire rope 21, one end of the wire rope 21 is fixedly connected with the wire winding roller 2, the other end of the wire rope 21 is wound on the wire winding roller 2 and then is connected with the wall climbing robot, the mounting frame 1 is also provided with a moment motor 4 for applying resistance to the wire winding roller 2 to ensure that the wire rope 21 is always in a tensioning state, and the output shaft of the moment motor 4 is provided with a moment sensor 41. When the wall climbing robot needs to be protected, the free end of the steel wire rope 21 is directly fixed on the wall climbing robot, meanwhile, the moment motor 4 also provides a resistance for the winding roller 2, when the wall climbing robot runs in a direction away from the installation frame 1, the wall climbing robot overcomes the resistance applied by the moment motor 4 on the winding roller 2 and then drives the winding roller 2 to rotate so as to pay out the steel wire rope 21, and the normal running of the wall climbing robot is ensured; when the wall climbing robot falls, the falling speed of the wall climbing robot is far greater than the normal running speed of the wall climbing robot, the force exerted on the winding roller 2 by the wall climbing robot through the steel wire rope 21 is suddenly increased, and the value detected by the moment sensor 41 is suddenly increased due to the fact that the output shaft of the moment motor 4 is connected with the winding roller 2, so that the falling of the wall climbing robot is detected. When the wall climbing robot falls, the band-type brake system 3 starts to hold the winding roller 2, so that the wire rope 21 is prevented from being continuously released, and the wall climbing robot is protected.
The band-type brake system 3 can be an electromagnetic band-type brake, and when the electromagnetic band-type brake is powered off, the electromagnetic band-type brake can band-type brake the winding roller 2 so as to prevent the winding roller 2 from rotating; when the electromagnetic band-type brake is electrified, the electromagnetic band-type brake is separated from the winding roller 2 to ensure that the winding roller 2 can rotate freely, and the electromagnetic band-type brake can be made of the existing products on the market, which is the prior art, and the specific structure of the band-type brake system 3 is not repeated in detail. Of course, the electromagnetic band-type brake can also be that when the band-type brake system 3 is electrified, the band-type brake system 3 can band-type brake the winding roller 2 so as to prevent the winding roller 2 from rotating; when band-type brake system 3 outage, band-type brake system 3 and wire winding roller 2 separation are in order to guarantee that wire winding roller 2 can freely rotate, as long as can realize when electromagnetic band-type brake is switching between circular telegram and outage, electromagnetic band-type brake can be in with wire winding roller 2 hug and with wire winding roller 2 separation between the conversion can.
Referring to fig. 2 and 3, the output shaft of the torque motor 4 may be directly connected to the winding roller 2, however, the output shaft of the torque motor 4 may also be indirectly connected to the winding roller 2 through the intermediate transmission member 5, and in order to reduce the overall length of the safety device, the present application will be described by taking the case that the output shaft of the torque motor 4 is indirectly connected to the winding roller 2 through the intermediate transmission member 5.
The torque motor 4 is mounted on the mounting frame 1, the output shaft of the torque motor 4 is parallel to the winding roller 2, and the intermediate transmission member 5 arranged between the torque motor 4 and the winding roller 2 comprises a second driving wheel 51 fixedly connected to the output shaft of the torque motor 4, a second driven wheel 52 fixedly connected to the winding roller 2, and a second transmission belt/chain 53 sleeved on the second driving wheel 51 and the second driven wheel 52 at the same time. The torque motor 4 output shaft applies a set resistance to the winding roller 2 through the second transmission belt/chain 53, and when the crawling robot operates, the crawling robot drives the winding roller 2 to rotate through the steel wire rope 21, and the force on the winding roller 2 is also transmitted to the torque motor 4 through the second transmission belt/chain 53. Wherein the second transmission belt/chain 53 may be a belt or a chain, and when the second transmission belt/chain 53 is a belt, the second driving wheel 51 and the second driven wheel 52 are both pulleys; when the second belt/chain 53 is a chain, the second driving wheel 51 and the second driven wheel 52 are both sprockets.
Referring to fig. 2 and 3, a driving motor 6 for driving the winding roller 2 to rotate is further provided on the mounting frame 1, the driving motor 6 may be directly connected to the winding roller 2, or the driving motor 6 may be indirectly connected to the winding roller 2, in the present application, a power transmission assembly 61 for transmitting power of the driving motor 6 to the winding roller 2 is provided between the driving motor 6 and the winding roller 2, and the driving motor 6 drives the winding roller 2 to rotate through the power transmission assembly 61. When the wall climbing robot falls, the driving motor 6 can drive the winding roller 2 to rotate so as to pull up or put down the wall climbing robot, and the wall climbing robot is safely taken down.
Meanwhile, in order to avoid that when the driving motor 6 is connected with the winding roller 2, the driving motor 6 affects the force applied to the winding roller 2 by the wall climbing robot, thereby affecting the accuracy of detection of the torque sensor 41, a reversing assembly 62 for changing the connection state of the power transmission assembly 61 and the winding roller 2 is arranged between the power transmission assembly 61 and the winding roller 2, and the connection state of the power transmission assembly 61 and the winding roller 2 can be changed through the reversing assembly 62 so that the power of the driving motor 6 can be transmitted to the winding roller 2 or not transmitted to the winding roller 2.
Referring to fig. 3, a driving motor 6 is installed in the installation frame 1 with an output shaft of the driving motor 6 parallel to the winding roller 2, and a decelerator 63 is installed on the output shaft of the driving motor 6 to reduce rotation of the driving motor 6. So that when the wall climbing robot falls, the driving motor 6 can drive the winding roller 2 to slowly rotate so as to drive the winding roller 2 to slowly pull up or put down the falling wall climbing robot.
The power transmission assembly 61 includes a first driving pulley 611 fixedly connected to an output shaft of the speed reducer 63, a first driven pulley 612 provided on the winding roller 2, and a first transmission belt/chain 613 simultaneously sleeved on the first driving pulley 611 and the first driven pulley 612. The reversing assembly 62 is disposed between the first driven wheel 612 and the winding roller 2, and is used for changing the connection state of the first driven wheel 612 and the winding roller 2, so that the first driven wheel 612 rotates relative to the winding roller 2 or rotates synchronously.
Referring to fig. 4 and 5, reversing assembly 62 includes a first clutch plate 621 fixedly attached to one side of first driven wheel 612 and a second clutch plate 622 slidably attached to winding roller 2, second clutch plate 622 being rotated in synchronization with winding roller 2 by a key. A clamping block 6221 is fixedly connected to one side of the second clutch plate 622 facing the first clutch plate 621, and a plurality of clamping blocks 6221 are arranged around the axis of the second clutch plate 622 at intervals; a clamping groove 6211 into which the clamping block 6221 is inserted is formed in a side of the first engaging plate 621 facing the second engaging plate 622. The second clutch plate 622 is operated to slide on the winding roller 2, so that the clamping block 6221 is embedded into the clamping groove 6211 to connect the first clutch plate 621 and the second clutch plate 622, or the clamping block 6221 is slid out of the clamping groove 6211 to separate the first clutch plate 621 from the second clutch plate 622.
Meanwhile, an operation assembly 64 for driving the second clutch plate 622 to slide on the winding roller 2 to change the clamping state of the first clutch plate 621 and the second clutch plate 622 is also arranged on the mounting frame 1.
Referring to fig. 4, the operating assembly 64 includes a mounting seat 641 fixedly connected to one side of the mounting frame 1 and a driving rod 642 with a middle portion hinged to the mounting seat 641, one end of the driving rod 642 faces the winding roller 2 and is connected with the second clutch plate 622, one end of the driving rod 642 away from the winding roller 2 is provided with a linear driving member 643 for driving the driving rod 642 to rotate around a hinge shaft with the mounting seat 641, and a driving direction of the linear driving member 643 is consistent with an axial direction of the winding roller 2. When the linear driving member 643 drives the driving rod 642 to move in the direction of the first engaging plate 621, the driving rod 642 drives the second engaging plate 622 to move in the direction away from the first engaging plate 621, so that the first engaging plate 621 is separated from the second engaging plate 622. When the linear driving member 643 is operated to drive the driving rod 642 to move away from the direction of the first clutch plate 621, the driving rod 642 will drive the second clutch plate 622 to move toward the direction of the first clutch plate 621, so that the first clutch plate 621 is engaged with the second clutch plate 622.
A kidney-shaped groove (not shown) into which the hinge shaft of the driving rod 642 slides is formed at one end of the driving rod 642 facing the linear driving member 643, so that the end of the driving rod 642 can be driven to move in an arc shape around the hinge shaft of the mounting seat 641 through the linear movement of the linear driving member 643 without jamming.
Meanwhile, a mounting rod 644 is hinged to one side, far away from the first clutch plate 621, of the second clutch plate 622, a mounting block 645 is fixedly connected to one side, far away from the second clutch plate 622, of the mounting rod 644, one end, far away from the linear driving piece 643, of the driving rod 642 is hinged to the mounting block 645, and the hinge shaft of the driving rod 642 and the mounting block 645 is arranged in a dislocation mode with the axis of the mounting rod 644, so that when the hinge shaft of the driving rod 642 and the mounting block 645 moves circumferentially around the hinge shaft of the driving rod 642 and the mounting seat 641, the mounting block 645 also rotates relative to the driving rod 642, and the second clutch plate 622 is driven to move linearly along the axis direction of the winding roller 2 through circular arc movement of the driving rod 642.
Referring to fig. 2, in an example of the present application, the linear driving device 643 includes an electric push rod 6431 fixed to the mounting frame 1, and the longitudinal direction of the electric push rod 6431 coincides with the longitudinal direction of the winding roller 2. When the electric push rod 6431 extends, the driving rod 642 drives the second clutch plate 622 to approach the first clutch plate 621, so that the first clutch plate 621 is clamped with the second clutch plate 622, and the driving motor 6 drives the winding roller 2 to rotate through the first clutch plate 621 and the second clutch plate 622. When the electric push rod 6431 is retracted, the driving rod 642 drives the second clutch plate 622 to move away from the first clutch plate 621, so that the first clutch plate 621 is separated from the second clutch plate 622, and the driving motor 6 cannot drive the winding roller 2 to rotate.
Referring to fig. 3, in another example of the present application, the linear driving element 643 may be an electromagnetic driving element, and specifically, the linear driving element 643 includes an electromagnet 6432 fixedly connected to the mounting frame 1, an electric rod 6433 slidingly connected to the mounting frame 1, and a return spring 6434 sleeved on the electric rod 6433, where the return spring 6434 is located between an outer wall of the mounting frame 1 and the driving rod 642, and the driving rod 642 is hinged to an end of the electric rod 6433 away from the electromagnet 6432. When the electromagnet 6432 is energized, the electric rod 6433 can be attracted to approach the direction of the electromagnet 6432, so that the end part of the driving rod 642 is driven to move towards the direction of the electromagnet 6432. When the electromagnet 6432 is powered off, the electric rod 6433 can be driven to move away from the direction where the electromagnet 6432 is located under the action of the elastic force of the return spring 6434, and the end part of the driving rod 642 can be driven to reciprocate by operating the electromagnet 6432 to energize or de-energize.
Meanwhile, in order to guide the electric rod 6433, a guide cylinder 6435 is fixedly connected to one end of the electromagnet 6432 facing the electric rod 6433, and the electric rod 6433 is slidably connected to the guide cylinder 6435
Referring to fig. 1, in order to facilitate the smooth release of the wire rope 21 from the winding roller 2 when the wire rope 21 is driven by the wall climbing robot, a guide wheel 71 for guiding the wire rope 21 is further provided on the mounting frame 1.
Specifically, a reciprocating screw rod 72 is fixedly connected to the mounting frame 1, the axis of the reciprocating screw rod 72 is parallel to the axis of the winding roller 2, a guide wheel 71 is in threaded connection with the reciprocating screw rod 72, and the steel wire rope 21 can be connected with the wall climbing robot after encircling the guide wheel 71. When the wall climbing robot drives the steel wire rope 21 to move, the steel wire rope 21 also drives the winding roller 2 to rotate and the steel wire rope 21 on the winding roller 2 is released, and meanwhile, the steel wire rope 21 also drives the guide wheel 71 to rotate, so that the guide wheel 71 moves back and forth along the length direction of the reciprocating screw rod 72 to correspond to the position of the steel wire rope 21 on the reciprocating screw rod 72.
Meanwhile, in order to avoid the wire rope 21 from being separated from the guide wheel 71, a placing groove 711 for embedding the wire rope 21 is further arranged on the guide wheel 71, and a limiting wheel 73 for fixing the position of the wire rope 21 in the placing groove 711 is further arranged on the guide wheel 71. Specifically, the limiting wheels 73 are sleeved on the guide wheels 71 and are rotationally connected with the guide wheels 71, two limiting wheels 73 are arranged, a connecting wheel 74 is rotationally connected between the two limiting wheels 73, a plurality of limiting wheels 73 are arranged around the axis of the limiting wheels 73 at intervals, and the plurality of limiting wheels 73 are all located on the outer ring of the guide wheels 71. So that the space for embedding the wire rope 21 is enclosed between the guide wheel 71, the two limit wheels 73 and the connecting wheels 74, and the wire rope 21 can reach the inside of the placing groove 711 from the position between the two adjacent connecting wheels 74. When the wall climbing robot drives the steel wire rope 21 to move, the steel wire rope 21 also drives the guide wheel 71 to rotate through the inner wall of the placing groove 711, at this time, the limiting wheel 73 cannot rotate due to the arrangement of the connecting wheel 74, and at this time, the guide wheel 71 rotates in the middle of the limiting wheel 73.
In order to ensure that the guide wheel 71 can smoothly rotate in the middle of the limiting wheel 73, a bearing (not shown in the figure) can be arranged between the guide wheel 71 and the limiting wheel 73, the inner ring of the bearing is fixedly connected with the outer wall of the guide wheel 71, and the inner ring of the bearing is fixedly connected with the inner wall of the limiting wheel 73.
In order to facilitate the steel wire rope 21 to smoothly drive the guide wheel 71 to rotate, the section of the placement groove 711 may be triangular, the steel wire rope 21 is located at the bottom of the placement groove 711, and the steel wire rope 21 is firmly embedded into the bottom of the placement groove 711 along with the tensioning of the steel wire rope 21.
At the same time, anti-skid patterns are processed at two opposite groove walls of the placing groove 711 so as to increase friction between the steel wire rope 21 and the guide wheel 71 and ensure that the guide wheel 71 rotates along with the movement of the steel wire rope 21.
Referring to fig. 1, the mounting frame 1 includes a base plate 11 and two side plates 12 fixedly coupled to the base plate 11, and the wire winding roller 2 is rotatably coupled between the two side plates 12. A travelling wheel 13 is also provided on the underside of the base plate 11 to facilitate movement of the safety device.
An electric cabinet 14 is also provided on the base plate 11 to enable electrical installation of the safety device.
The implementation principle of the safety protection device of the wall climbing robot provided by the embodiment of the application is as follows: in use, the safety protection device is directly placed at a proper position, and then the steel wire rope 21 reaches the placing groove 711 from between two adjacent connecting wheels 74, passes out after winding the guide wheel 71 for one circle and is fixedly connected on the wall climbing robot to be protected. When the wall climbing robot runs in a direction away from the winding roller 2, the wall climbing robot drives the winding roller 2 to rotate through the steel wire rope 21 so as to overcome the resistance of the torque motor 4 and pay out the steel wire rope 21 on the winding roller 2. When the wall climbing robot falls, the wall climbing robot gives a sudden force to the winding roller 2 through the steel wire rope 21 so as to drive the winding roller 2 to rapidly rotate, the winding roller 2 also transmits the force to the torque motor 4, and the torque sensor 41 detects the sudden force at the moment so as to obtain the falling information of the robot. When the moment sensor 41 detects the suddenly increased force, the band-type brake system 3 locks the winding roller 2, prevents the winding roller 2 from continuing to rotate, and protects the wall climbing robot. Then reversing assembly 62 will move and make first clutch plate 621 and second clutch plate 622 joint, band-type brake system 3 releases the fixed to wire winding roller 2 then, can drive wire winding roller 2 through driving motor 6 and rotate to slowly pull up or put down wall climbing robot, realize wall climbing robot's protection, reduced wall climbing robot and fallen and damage or smash the probability of injuring the pedestrian on ground.
The above embodiments are not intended to limit the scope of the present application, so: all equivalent changes in structure, shape and principle of the application should be covered in the scope of protection of the application.
Claims (6)
1. The utility model provides a wall climbing robot's safety device which characterized in that: the automatic locking device comprises a mounting frame (1), a winding roller (2) rotatably connected to the mounting frame (1) and a band-type brake system (3) used for locking the winding roller (2), wherein a steel wire rope (21) is wound on the winding roller (2), the free end of the steel wire rope (21) is used for being connected with a wall climbing robot, a torque motor (4) used for providing resistance to rotation of the winding roller (2) so as to ensure that the steel wire rope (21) is in a tensioning state is mounted on the mounting frame (1), a torque sensor (41) is mounted on an output shaft of the torque motor (4), and the band-type brake system (3) is configured to lock the winding roller (2) when the torque detected by the torque sensor (41) suddenly increases; the mounting frame (1) is also provided with a driving motor (6) for driving the winding roller (2) to rotate so as to pull up or put down the wall climbing robot, a power transmission component (61) for transmitting the power of the driving motor (6) to the winding roller (2) is arranged between the driving motor (6) and the winding roller (2), a reversing component (62) for changing the connection state of the power transmission component (61) and the winding roller (2) is arranged between the power transmission component (61) and the winding roller (2), and the reversing component (62) changes the connection state of the power transmission component (61) and the winding roller (2) so that the power of the driving motor (6) can be transmitted to the winding roller (2) or cannot be transmitted to the winding roller (2); the power transmission assembly (61) comprises a first driving wheel (611) fixedly connected to an output shaft of the driving motor (6), a first driven wheel (612) rotatably connected to the winding roller (2), and a first transmission belt/chain (613) sleeved between the first driving wheel (611) and the first driven wheel (612); the reversing assembly (62) comprises a first clutch plate (621) fixedly connected to one side of the first driven wheel (612) and a second clutch plate (622) slidingly connected to the winding roller (2) and synchronously rotating with the winding roller (2), the first clutch plate (621) is in clamping fit with one side opposite to the second clutch plate (622), and the mounting frame (1) is provided with an operation assembly (64) for driving the second clutch plate (622) to slide on the winding roller (2) so as to change the clamping state of the first clutch plate (621) and the second clutch plate (622); the operation assembly (64) comprises a mounting seat (641) fixedly connected to one side of the mounting frame (1) and a driving rod (642) hinged to the mounting seat (641), one end of the driving rod (642) is provided with a linear driving piece (643) which drives the driving rod (642) to rotate around a hinge shaft of the mounting seat (641), and the other end of the driving rod (642) is hinged to one side, away from the first clutch plate (621), of the second clutch plate (622) so as to drive the second clutch plate (622) to slide on the winding roller (2).
2. The safety shield apparatus for a wall climbing robot of claim 1, wherein: the linear driving part (643) comprises an electric push rod (6431) fixedly connected to the mounting frame (1), and the length direction of the electric push rod (6431) is consistent with the length direction of the winding roller (2).
3. The safety shield apparatus for a wall climbing robot of claim 1, wherein: the wire winding machine is characterized in that a guide wheel (71) used for guiding the wire rope (21) is arranged on the mounting frame (1), and the guide wheel (71) can slide back and forth along the length direction of the wire winding roller (2).
4. A safety shield apparatus for a wall climbing robot according to claim 3, wherein: the mounting frame (1) is fixedly connected with a reciprocating screw rod (72), and the guide wheel (71) is sleeved on the reciprocating screw rod (72) and is in threaded connection with the reciprocating screw rod (72).
5. The safety shield apparatus of a wall climbing robot of claim 4, wherein: the circumference of the guide wheel (71) is provided with a placing groove (711) for embedding the steel wire rope (21), and the guide wheel (71) is provided with a limiting wheel (73) for fixing the position of the steel wire rope (21) in the placing groove (711).
6. The safety shield apparatus of a wall climbing robot of claim 5, wherein: the limiting wheels (73) are sleeved on the guide wheels (71) and at least two limiting wheels (73) are arranged along the axis of the reciprocating screw rod (72) at intervals, connecting wheels (74) are connected between the limiting wheels (73) in a rotating mode, a plurality of limiting wheels (73) are arranged around the axis of the limiting wheels (73) at intervals, and the limiting wheels (73) are located on the outer ring of the guide wheels (71).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210956472.9A CN115214816B (en) | 2022-08-10 | 2022-08-10 | Safety protection device of wall climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210956472.9A CN115214816B (en) | 2022-08-10 | 2022-08-10 | Safety protection device of wall climbing robot |
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| CN115214816B true CN115214816B (en) | 2023-10-20 |
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| CN214001875U (en) * | 2020-12-24 | 2021-08-20 | 北京博清科技有限公司 | Anti-falling device of wall-climbing robot and wall-climbing robot system |
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|---|---|---|---|---|
| KR20130005083A (en) * | 2011-07-05 | 2013-01-15 | 표영진 | Wood remove apparatus with wire winding guide |
| KR101672334B1 (en) * | 2016-04-19 | 2016-11-04 | 대광기업 주식회사 | A wire rope spool device provided to the tension adjusting |
| CN209442549U (en) * | 2018-12-20 | 2019-09-27 | 中国水利水电第十二工程局有限公司 | Sync pulling machine |
| CN211034996U (en) * | 2019-07-22 | 2020-07-17 | 自然资源部第一海洋研究所 | Portable gasoline engine power winch |
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| CN115214816A (en) | 2022-10-21 |
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