CN205031189U - Clean robot with prevent mechanism of falling - Google Patents
Clean robot with prevent mechanism of falling Download PDFInfo
- Publication number
- CN205031189U CN205031189U CN201520699741.3U CN201520699741U CN205031189U CN 205031189 U CN205031189 U CN 205031189U CN 201520699741 U CN201520699741 U CN 201520699741U CN 205031189 U CN205031189 U CN 205031189U
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- parachute
- clean robot
- clean
- umbrella
- controller
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Abstract
The utility model discloses a clean robot with prevent mechanism of falling, including clean host computer and establish be used for helping launching the parachute, be used for placeeing the umbrella cabin, the umbrella cabin cover that is used for sealing the umbrella cabin that launch the parachute, be used for the current gesture of perception clean robot to launch the controller of parachute parachute -opening with control of falling on clean host computer, the bottom of clean host computer has the mechanism of cleaning, the clean robot falls if being out of control, controller control launch parachute follow umbrella under -deck and launch out, implement the parachute -opening, reduce the tenesmus speed of clean robot, the utility model discloses a controller gather in real time the clean robot the gesture and according to the gesture condition of clean robot control launch the parachute, if the clean robot is out of control to fall, the controller launches the parachute according to the attitude control that falls of clean robot and launches out from the umbrella under -deck, implements the parachute -opening, reduces the tenesmus speed of clean robot to the protection clean robot, the emergence of reduction accident.
Description
Technical field
The utility model relates to a kind of clean robot, is specifically related to a kind of clean robot being provided with anti-falling overhead mechanism.
Background technology
Clean robot is when external wall of high-rise building carries out cleaning operation, sucker is only relied on to be absorbed and fixed on exterior wall by clean main frame, if there is the bad weather of the malfunctioning or strong wind and heavy rain of adsorption function in sucker, clean robot can fall from exterior wall, to ground, pedestrian causes security threat, likely brings loss to ground staff and property.
Utility model content
The purpose of this utility model is that proposing one for above-mentioned technical problem can slow down the speed of falling, and makes slowly to drop from the clean robot of falling from high altitude, avoids the clean robot with anti-falling mechanism injured.
The utility model solves the problems of the technologies described above adopted technical scheme: a kind of clean robot with anti-falling mechanism, comprise clean main frame and be located on clean main frame for help fall ejection parachute, for put ejection parachute umbrella cabin, for the umbrella hatchcover in closed umbrella cabin, for perception clean robot current pose to control the controller of ejection parachute parachute-opening, the bottom of described clean main frame has cleaning agency and described umbrella hatchcover is positioned at the sidepiece of clean main frame; Fall if clean robot is out of control, described controller perception clean robot is free falling body state, and described controller controls described ejection parachute and ejects in umbrella cabin, implements parachute-opening, reduces the lapse rate of clean robot.
In the utility model, be provided with vacuum motor in described clean main frame and this vacuum motor by connect tracheae be communicated with described umbrella cabin, described connection tracheae is provided with the magnetic valve be electrically connected with described controller, by solenoid control connection tracheae break-make.
In the utility model, described umbrella cabin is the barrel-like structure that opening is located at the side of clean main frame, and described umbrella hatchcover is the opening part that interference fit is located at described umbrella cabin.
In the utility model, described controller is acceleration transducer.
In the utility model, between the bottom in described ejection parachute and umbrella cabin, be provided with the ejection-spring for being ejected in umbrella cabin by described ejection parachute.
The utility model passes through the attitude of controller Real-time Collection clean robot and controls ejection parachute according to the attitude situation of clean robot; fall if clean robot is out of control; controller ejects in umbrella cabin according to the gesture stability ejection parachute that falls of clean robot; implement parachute-opening; reduce the lapse rate of clean robot; thus protection clean robot, the generation of minimizing accident.
Accompanying drawing explanation
Fig. 1 is the schematic diagram after the parachute-opening of anti-falling mechanism in the utility model one embodiment;
Fig. 2 is the internal structure schematic diagram of the anti-falling mechanism in the utility model one embodiment;
Fig. 3 is the installation site schematic diagram of the anti-falling mechanism in the utility model one embodiment.
Detailed description of the invention
In order to be illustrated more clearly in the technical solution of the utility model, below in conjunction with drawings and Examples, the technical solution of the utility model is further elaborated, apparently, the following describes is only embodiments more of the present utility model, for those of ordinary skill in the art, under the prerequisite not paying creative work, other embodiment can also be obtained according to these embodiments.
With reference to Fig. 1, Fig. 2, a kind of clean robot with anti-falling mechanism, comprise clean main frame 1 and be located on clean main frame 1 for help fall ejection parachute 2, for put ejection parachute 2 umbrella cabin 3, for the umbrella hatchcover 4 in closed umbrella cabin 3, for perception clean robot current pose to control the controller of ejection parachute 2 parachute-opening, the bottom of clean main frame 1 has cleaning agency and umbrella hatchcover is positioned at the sidepiece of clean main frame 1.Preferably, this controller is acceleration transducer, can the acceleration situation of perception clean robot.If there is situation of falling out of control in the bad weathers such as cleaning machine mhuman failure or strong wind and heavy rain; clean robot is from falling from high altitude; according to the acceleration situation of clean robot, controller judges that clean robot is free falling body state; controller sends parachute-opening instruction control ejection parachute 2 and ejects in umbrella cabin 3; implement parachute-opening; reduce the lapse rate of clean robot, thus protection clean robot, the generation of minimizing accident.
In one embodiment, with reference to Fig. 2, the anti-falling mechanism of clean robot adopts Compressed Gas as the ejection power of ejection parachute 2, concrete, be provided with vacuum motor 7 in clean main frame 1 and this vacuum motor 7 is communicated with umbrella cabin 3 by connecting tracheae 5, connection tracheae 5 is provided with the magnetic valve 6 be electrically connected with controller.After controller sends parachute-opening instruction, magnetic valve 6 is opened, and connects tracheae 5 and is communicated with, and air enters in umbrella cabin 3 by connecting tracheae 5 after vacuum motor 7 supercharging, is backed down by umbrella hatchcover 4 and is ejected by ejection parachute 2, implementing parachute-opening.
In one embodiment, with reference to Fig. 3, clean robot is attached on exterior wall and carries out cleaning operation, therefore, also be generally in the attitude almost parallel with exterior wall when falling, for ensureing smooth parachute-opening, the barrel-like structure of side of clean main frame 1 for opening is located at, umbrella cabin 3, umbrella hatchcover 4 is located at the opening part in umbrella cabin 3 in interference fit.Preferably, the offside being provided with the side in umbrella cabin 3 is the maximum side of whole clean main frame 1 quality, and the side ensureing to be provided with umbrella cabin 3 in tenesmus process, ensures smooth parachute-opening upward.
In one embodiment, with reference to Fig. 2, may there is catching phenomenon in ejection parachute 2, for ensureing that ejection parachute 2 can eject okay, be provided with for by ejection parachute 2 auxiliary ejection-spring 8 ejected in umbrella cabin 3 between the bottom in ejection parachute 2 and umbrella cabin 3 in umbrella cabin 3.Ejection-spring 8 is that compressive state is located between the bottom in ejection parachute 2 and umbrella cabin 3 time flat, once umbrella hatchcover 4 is opened, ejection-spring 8 resets and promotes ejection parachute 2 from ejection in umbrella cabin 3.
The utility model passes through the attitude of controller Real-time Collection clean robot and controls ejection parachute according to the attitude situation of clean robot; fall if clean robot is out of control; controller ejects in umbrella cabin according to the gesture stability ejection parachute that falls of clean robot; implement parachute-opening; reduce the lapse rate of clean robot; thus protection clean robot, the generation of minimizing accident.
The above is only preferred embodiment of the present utility model; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the utility model principle; can also make some improvements and modifications, these improvements and modifications also should be considered as protection domain of the present utility model.
Claims (5)
1. one kind has the clean robot of anti-falling mechanism, it is characterized in that, comprise clean main frame and be located on clean main frame for help fall ejection parachute, for put ejection parachute umbrella cabin, for the umbrella hatchcover in closed umbrella cabin, for perception clean robot current pose to control the controller of ejection parachute parachute-opening, the bottom of described clean main frame has cleaning agency and described umbrella hatchcover is positioned at the sidepiece of clean main frame.
2. a kind of clean robot with anti-falling mechanism as claimed in claim 1, it is characterized in that, be provided with vacuum motor in described clean main frame and this vacuum motor by connect tracheae be communicated with described umbrella cabin, described connection tracheae is provided with the magnetic valve be electrically connected with described controller.
3. a kind of clean robot with anti-falling mechanism as claimed in claim 1, it is characterized in that, described umbrella cabin is the barrel-like structure that opening is located at the side of clean main frame, and described umbrella hatchcover is the opening part that interference fit is located at described umbrella cabin.
4. a kind of clean robot with anti-falling mechanism as claimed in claim 1, it is characterized in that, described controller is acceleration transducer.
5. a kind of clean robot with anti-falling mechanism as claimed in claim 1, is characterized in that, being provided with the ejection-spring for being ejected in umbrella cabin by described ejection parachute between the bottom in described ejection parachute and umbrella cabin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520699741.3U CN205031189U (en) | 2015-09-10 | 2015-09-10 | Clean robot with prevent mechanism of falling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520699741.3U CN205031189U (en) | 2015-09-10 | 2015-09-10 | Clean robot with prevent mechanism of falling |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205031189U true CN205031189U (en) | 2016-02-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520699741.3U Active CN205031189U (en) | 2015-09-10 | 2015-09-10 | Clean robot with prevent mechanism of falling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205031189U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115743560A (en) * | 2022-11-29 | 2023-03-07 | 青岛蔚海明祥科技有限公司 | Air-drop device for ocean equipment |
-
2015
- 2015-09-10 CN CN201520699741.3U patent/CN205031189U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115743560A (en) * | 2022-11-29 | 2023-03-07 | 青岛蔚海明祥科技有限公司 | Air-drop device for ocean equipment |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |