CN208551641U - High altitude operation robot anti-fall device - Google Patents
High altitude operation robot anti-fall device Download PDFInfo
- Publication number
- CN208551641U CN208551641U CN201720962734.7U CN201720962734U CN208551641U CN 208551641 U CN208551641 U CN 208551641U CN 201720962734 U CN201720962734 U CN 201720962734U CN 208551641 U CN208551641 U CN 208551641U
- Authority
- CN
- China
- Prior art keywords
- contact roller
- rope
- high altitude
- altitude operation
- voltage operated
- 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.)
- Expired - Fee Related
Links
Abstract
The utility model proposes a kind of high altitude operation robot anti-fall devices, including robot body and at least one set of security component；The security component includes: fast pulley group, rope, contact roller, velocity sensor and voltage operated device；The fast pulley group holding does not turn；Between the fast pulley group and contact roller, the robot body is connected on the rope rope；The velocity sensor is arranged on the contact roller, and measures the speed of the rope or the contact roller, and speed signal is transferred to the voltage operated device；The voltage operated device is electrically connected the velocity sensor, and connects the contact roller, controls the contact roller according to the speed signal and the rope is pressed in the fast pulley group or is loosened.The high altitude operation robot anti-fall device of the utility model, plays the role of high altitude anti-falling, safer.
Description
Technical field
The utility model relates to robotic technology field more particularly to a kind of high altitude operation robot anti-fall devices.
Background technique
Modern heavy construction is had a preference for mostly using glass curtain wall, glass roof, and China creates curtain wall up to 90,000,000 squares every year
Rice.This has driven the development of cladding glass cleaning industry, and main still rely on manually is cleaned at present.And with glass material
Application prospect under construction will further extensively, and cleaning industry will also develop therewith.
Current cleaning relies primarily on " spider-man ", they protect the people in work by tying up two ropes with
Body safety, one is main rope, and for controlling lifting, another is safety rope, and for the safety vest with tying up to, there are also just
Position is fixed with sucker when being cleaning glass curtain wall, it is safer.But " spider-man " cleans the accident fallen down from the building when glass often
It appears in the newspapers.The annual number died because of high-altitude cleaning pendant is not peanut, and in addition to safety problem, using artificial cleaning, there is also costs
The defects of high, expensive.
It has thus also emerged in large numbers some using robot, artificial cleaning can have been replaced, however, robot is in high aerial work
When, there can be the case where lifting device breaks down, also will lead to robot from falling from high altitude, cause the damage of robot, also can
Cause the security risk to ground staff.
Utility model content
The technical problem to be solved by the utility model is to provide a kind of high altitude operation robot anti-fall devices, play high-altitude
Anti-fall effect, it is safer.
To solve the above problems, the utility model proposes a kind of high altitude operation robot anti-fall device, including robot sheet
Body and at least one set of security component；The security component includes: fast pulley group, rope, contact roller, velocity sensor and voltage-controlled dress
It sets；The fast pulley group holding does not turn；Between the fast pulley group and contact roller, the robot body connects the rope
It connects on the rope；The velocity sensor is arranged on the contact roller, and measures the rope or the contact roller
Speed signal is transferred to the voltage operated device by speed；The voltage operated device is electrically connected the velocity sensor, and described in connection
Contact roller controls the contact roller and the rope is pressed in the fast pulley group or is loosened according to the speed signal.
One embodiment according to the present utility model, the voltage operated device include: pushing mechanism, controller；The control
Device connects the velocity sensor and the pushing mechanism；The controller is more than setting value in response to the speed signal and controls
It makes the pushing mechanism to stretch out, so that the contact roller compresses；The controller is less than setting in response to the speed signal
It is worth and controls the pushing mechanism and retract, so that the contact roller loosens.
One embodiment according to the present utility model, the voltage operated device further include elastomeric element；The elastomeric element connects
It connects between the contact roller and pushing mechanism, the pushing mechanism stretches out and compresses the elastomeric element so that the contact roller
It compresses, the pushing mechanism retracts and loosens the elastomeric element so that the contact roller loosens.
One embodiment according to the present utility model, the voltage operated device further include pressure sensor, are arranged in the pressure
At the pressed parts of bearing up pulley, it is electrically connected the controller, is transmitted to measure the pressure of the pressing force, and by pressure signal
The controller；The controller controls the pushing mechanism according to the pressure signal and adjusts the flexible of the elastomeric element
Degree.
One embodiment according to the present utility model, the pushing mechanism are push-rod electric machine.
One embodiment according to the present utility model further includes rotating electric machine, connects the voltage operated device and the compression
Wheel is controlled by the voltage operated device and drives the contact roller rotation mobile to control rope, so that robot body phase
It should move.
One embodiment according to the present utility model further includes synchronous hoister, to rope described in folding and unfolding.
One embodiment according to the present utility model further includes synchronous sensor, is arranged on the contact roller, is controlled by
The voltage operated device, so that the rotation of the contact roller is synchronous with the folding and unfolding of synchronous hoister.
One embodiment according to the present utility model, the velocity sensor are that angular-rate sensor or linear velocity sense
Device.
One embodiment according to the present utility model, the robot body are glass curtain wall cleaning machine device people.
After adopting the above technical scheme, the utility model has the advantages that compared with prior art
The speed signal detected by velocity sensor obtains the movement speed of rope, voltage operated device is existed
It when rope movement speed is normal, controls and loosens between contact roller and fast pulley group, so that rope can be with normal movement, and in rope
When movement speed is too fast, control contact roller, close to rope to be locked between contact roller and fast pulley group, makes toward fast pulley group
It obtains robot body to be locked with the static of rope in situ, to prevent robot body stalled glide, it is ensured that safety.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the high altitude operation robot anti-fall device of an embodiment of the present invention.
Description of symbols in figure:
1- fast pulley group, 2- rope, 3- contact roller, 4- elastomeric element, 5- pushing mechanism.
Specific embodiment
To keep the above objects, features, and advantages of the utility model more obvious and easy to understand, with reference to the accompanying drawing to this
The specific embodiment of utility model is described in detail.
Many details are explained in the following description in order to fully understand the utility model.But this is practical new
Type can be implemented with being much different from other way described herein, and those skilled in the art can be practical new without prejudice to this
Similar popularization is done in the case where type intension, therefore the utility model is not limited by following public specific implementation.
Referring to Fig. 1, in one embodiment, high altitude operation robot anti-fall device includes that robot body (does not show in figure
Out) and at least one set of security component.Robot body can be existing robot, and specific configuration is unlimited.For example, robot sheet
Body is glass curtain wall cleaning machine device people, is also not necessarily limited to this certainly, is also possible to other high altitude operation robots.Security component packet
It includes: fast pulley group 1, rope 2, contact roller 3, velocity sensor (not shown) and voltage operated device.
The holding of fast pulley group 1 does not turn, and fast pulley group 1 may be mounted at a fixed position and remain stationary, in Fig. 1,
Fast pulley group 1 is about two fixed fast pulleys, naturally it is also possible to have more fast pulleys.
For rope 2 between fast pulley group 1 and contact roller 3, rope 2 can be pressed on two fixations by contact roller 3 completely
It on wheel, can also loosen completely, or rope 2 can also be pressed on two fast pulleys with certain pressure and may make rope 2
It continues to move to, the variation of state is realized by the movement of contact roller 3.Contact roller 3 is that can turn under incomplete impaction state
Dynamic, it can be by rotating axis connection voltage operated device.
Robot body is connected on rope 2, can connect in the lower end of rope 2, naturally it is also possible to be connected in rope 2
Between position, as long as robot body is enabled to be located at the lower section of fast pulley group 1 and contact roller 3.The upper end of rope 2 can connect
Draw off gear realizes folding and unfolding, which can enable robot body to move up and down, certainly, on robot body
Certain mobile device can be set, to realize movement, and using the draw off gear as ensuring robot body work safety
Safety device.Rope 2 for example can be wirerope.
Velocity sensor is arranged on contact roller 3, and measures the speed of rope 2 or contact roller 3, and speed signal is transferred to
Voltage operated device.Velocity sensor for example can be angular-rate sensor or linear velocity trans.Velocity sensor can be set
On the rotary part of contact roller 3, to can detecte the revolving speed of contact roller 3 in rotation to obtain the movement speed of rope 2, incite somebody to action
The speed signal detected is transferred to voltage operated device, and voltage operated device is enabled to control the fortune of contact roller 3 according to speed signal
It is dynamic.
Voltage operated device is electrically connected velocity sensor, receives the speed signal of velocity sensor.Voltage operated device also directly or
Connect mechanical connection contact roller 3.Voltage operated device controlled according to speed signal contact roller 3 rope 2 is pressed in fast pulley group 1 or
Loosen.
The speed signal detected by velocity sensor obtains the movement speed of rope 2, voltage operated device is existed
When 2 movement speed of rope is normal, controls and loosen between contact roller 3 and fast pulley group 1 so that rope 2 can with normal movement, and
When 2 movement speed of rope is too fast, control contact roller 3 is toward fast pulley group 1 close to rope 2 is locked at contact roller 3 and fast pulley
Between group 1, so that robot body is locked with the static of rope 2 in situ, to prevent robot body stalled glide, really
It ensures safety.
With continued reference to Fig. 1, voltage operated device may include: pushing mechanism 5, controller.Controller connection speed sensor and
Pushing mechanism 5.Controller is more than setting value in response to speed signal and controls pushing mechanism 5 and stretch out, so that contact roller 3 compresses.
Controller is less than setting value in response to speed signal and controls pushing mechanism 5 and retract, so that contact roller 3 loosens.In controller
The comparison module that the speed signal that one can will test is compared with setting value is set, and the output of comparison module is as control
Signal control pushing mechanism processed is stretched out or is retracted, which, which can be, arbitrarily can be realized the existing relatively mould for comparing output
Block, thus details are not described herein.
Further, with continued reference to Fig. 1, voltage operated device can also include elastomeric element 4.Elastomeric element 4 is connected to compression
Between wheel 3 and pushing mechanism 5, when controller control pushing mechanism 5 stretches out, pushing mechanism 5 compresses elastomeric element 4 so as to compress
Wheel 3 compresses, and pushing mechanism 5 retracts and loosens elastomeric element 4 so that contact roller 3 loosens.
Setting elastomeric element 4 is advantageous in that, when can be under 3 relaxation state of contact roller, in 2 moving process of rope,
It there may be pressure change between rope 2 and contact roller 3, and pass through the flexible of elastomeric element 4, it is ensured that contact roller 3
Pressure is adjusted, and can be stablized under constant pressure state, and appropriate tonicity is kept, and also functions to the effect of buffering.
Further, voltage operated device can also include pressure sensor.The compressed part of contact roller 3 is arranged in pressure sensor
At position, it is electrically connected controller, pressure sensor can be built in contact roller 3.Pressure sensor measures the pressure of contact roller 3,
And pressure signal is transmitted to controller.Controller controls pushing mechanism 5 according to pressure signal and adjusts the flexible of elastomeric element 4
Degree.For example, controller controls pushing mechanism 5 and retreats certain distance, so that bullet when pressure sensor detects that pressure is excessive
Property component 4 restore elongation respective distance, so that the pressure of pressure sensor accordingly reduces.It is coexisted in pressure signal and speed signal
When, speed signal preferential answering, in the case where speed signal is without departing from setting value, that is, contact roller 3 unclamps the shape of rope 2
Under state, controller response pressure signal again.
Preferably, pushing mechanism 5 is push-rod electric machine.It can certainly be other pushing mechanisms, e.g. can be ball
Lead screw, cylinder etc., it is specific unlimited, as long as contact roller 3 can be driven under the control of the controller.
In one embodiment, high altitude operation robot anti-fall device further includes rotating electric machine (not shown).Rotation
Motor connects voltage operated device and contact roller 3, and rotating electric machine is controlled by voltage operated device and contact roller is driven to rotate, to control rope shifting
Dynamic, so that robot body accordingly moves, rotating electric machine is specifically to connect and be controlled by controller.The rotating electric machine can be with
It drives contact roller 3 to rotate under 3 locking state of contact roller, so that rope 2 is mobile, can so make, robot body
In stall, it can be risen or fallen under the rotation of contact roller 3, installation land be realized, so that anti-fall device becomes simultaneously
Climbing mechanism.
In one embodiment, high altitude operation robot anti-fall device further includes synchronous hoister, to folding and unfolding rope.Together
Step hoist engine can play first layer protection to the folding and unfolding of rope to robot body, and contact roller 3 loosens the compression of rope
Second layer protection then is played to robot body.
When in use, synchronous hoister can be placed at the top of building, when synchronous hoister breaks down and robot sheet
When body stalled glide, when the velocity sensor on contact roller 3 measures 2 speed of rope more than setting value, pushing mechanism 5 is complete by moment
It pushes out and locks contact roller 3, robot body will be ensured in situ safety by instantaneous-locking, then start on contact roller 3
Rotating electric machine, contact roller 3 rotate and robot body are drop to ground or rises to top layer.
Further, high altitude operation robot anti-fall device can also include synchronous sensor.Synchronous sensor setting exists
On contact roller 3, it is controlled by voltage operated device, so that the rotation of contact roller 3 is synchronous with the folding and unfolding of synchronous hoister.Contact roller 3 and solid
Fixed wheel group 1 cooperates, so that the mobile folding and unfolding synchronous with synchronous hoister of the rope at the position, makes rope 2 keep appropriate tonicity.
Although the utility model is disclosed as above with preferred embodiment, it is not for limiting claim, Ren Heben
Field technical staff without departing from the spirit and scope of the utility model, can make possible variation and modification, therefore
The protection scope of the utility model should be subject to the range that the utility model claims are defined.
Claims (10)
1. a kind of high altitude operation robot anti-fall device, which is characterized in that including robot body and at least one set of security component；
The security component includes: fast pulley group, rope, contact roller, velocity sensor and voltage operated device；The fast pulley group is kept not
Turn；Between the fast pulley group and contact roller, the robot body is connected on the rope rope；The speed
It spends sensor to be arranged on the contact roller, and measures the speed of the rope or the contact roller, speed signal is transferred to
The voltage operated device；The voltage operated device is electrically connected the velocity sensor, and connects the contact roller, is believed according to the speed
Number and control the contact roller and the rope be pressed in the fast pulley group or loosened.
2. high altitude operation robot as described in claim 1 anti-fall device, which is characterized in that the voltage operated device includes: to push away
Motivation structure, controller；The controller connects the velocity sensor and the pushing mechanism；The controller is in response to described
Speed signal is more than setting value and controls the pushing mechanism and stretch out, so that the contact roller compresses；The controller in response to
The speed signal is less than setting value and controls the pushing mechanism and retract, so that the contact roller loosens.
3. high altitude operation robot as claimed in claim 2 anti-fall device, which is characterized in that the voltage operated device further includes bullet
Property component；The elastomeric element is connected between the contact roller and pushing mechanism, the pushing mechanism stretch out and described in compressing
So that the contact roller compresses, the pushing mechanism retracts and loosens the elastomeric element so that the contact roller is put elastomeric element
Pine.
4. high altitude operation robot as claimed in claim 3 anti-fall device, which is characterized in that the voltage operated device further includes pressure
Force snesor is arranged at the pressed parts of the contact roller, is electrically connected the controller, to measure the pressure of the contact roller
Power, and pressure signal is transmitted to the controller；The controller controls the pushing mechanism according to the pressure signal
Adjust the telescopic level of the elastomeric element.
5. high altitude operation robot as claimed in claim 2 anti-fall device, which is characterized in that the pushing mechanism is push rod electricity
Machine.
6. high altitude operation robot as described in claim 1 anti-fall device, which is characterized in that it further include rotating electric machine, connection
The voltage operated device and the contact roller are controlled by the voltage operated device and drive the contact roller rotation to control rope shifting
It is dynamic, so that robot body accordingly moves.
7. high altitude operation robot as described in claim 1 anti-fall device, which is characterized in that further include synchronous hoister, use
With rope described in folding and unfolding.
8. high altitude operation robot as claimed in claim 7 anti-fall device, which is characterized in that it further include synchronous sensor, if
It sets on the contact roller, is controlled by the voltage operated device, so that the rotation of the contact roller and the folding and unfolding of synchronous hoister are same
Step.
9. high altitude operation robot as described in claim 1 anti-fall device, which is characterized in that the velocity sensor is angle speed
Spend sensor or linear velocity trans.
10. the high altitude operation robot anti-fall device as described in any one of claim 1-9, which is characterized in that the machine
Device human body is glass curtain wall cleaning machine device people.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720962734.7U CN208551641U (en) | 2017-08-03 | 2017-08-03 | High altitude operation robot anti-fall device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720962734.7U CN208551641U (en) | 2017-08-03 | 2017-08-03 | High altitude operation robot anti-fall device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208551641U true CN208551641U (en) | 2019-03-01 |
Family
ID=65444531
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720962734.7U Expired - Fee Related CN208551641U (en) | 2017-08-03 | 2017-08-03 | High altitude operation robot anti-fall device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208551641U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110927063A (en) * | 2019-12-19 | 2020-03-27 | 长沙理工大学 | Working method of rope climbing robot |
| CN112843507A (en) * | 2021-01-15 | 2021-05-28 | 韩芳 | High-rise escape equipment |
| CN112843508A (en) * | 2021-01-15 | 2021-05-28 | 韩芳 | High-rise escape method |
| CN113926095A (en) * | 2021-09-22 | 2022-01-14 | 周口师范学院 | Building protection window with escape function |
| CN114602078A (en) * | 2022-03-14 | 2022-06-10 | 江西正强电瓷电器有限公司 | Electric power iron tower high altitude construction anti-falling device of reverse locking function |
-
2017
- 2017-08-03 CN CN201720962734.7U patent/CN208551641U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110927063A (en) * | 2019-12-19 | 2020-03-27 | 长沙理工大学 | Working method of rope climbing robot |
| CN110927063B (en) * | 2019-12-19 | 2021-12-24 | 长沙理工大学 | Working method of rope climbing robot |
| CN112843507A (en) * | 2021-01-15 | 2021-05-28 | 韩芳 | High-rise escape equipment |
| CN112843508A (en) * | 2021-01-15 | 2021-05-28 | 韩芳 | High-rise escape method |
| CN112843507B (en) * | 2021-01-15 | 2022-07-08 | 韩芳 | High-rise escape equipment |
| CN112843508B (en) * | 2021-01-15 | 2022-09-16 | 韩芳 | High-rise escape method |
| CN113926095A (en) * | 2021-09-22 | 2022-01-14 | 周口师范学院 | Building protection window with escape function |
| CN114602078A (en) * | 2022-03-14 | 2022-06-10 | 江西正强电瓷电器有限公司 | Electric power iron tower high altitude construction anti-falling device of reverse locking function |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208551641U (en) | High altitude operation robot anti-fall device | |
| CN106025922B (en) | A kind of robot for aerial high-voltage power transmission line inspection | |
| CN110048338B (en) | Four arm climbing formula inspection robot mechanical structure | |
| CN104612045B (en) | A kind of cable detection robot for cable-stayed bridge system | |
| US10408200B2 (en) | Flexible beam vertical pumping unit | |
| CN104894957A (en) | Regulable climbing device with deviation prevention function for detecting defect of bridge guy cable | |
| CN105881507A (en) | Intelligent manipulator control device | |
| CN108556948B (en) | Safe and reliable intelligent security robot suitable for severe weather | |
| CN107500182A (en) | A kind of interior architecture construction lowering or hoisting gear | |
| CN108394847A (en) | It is capable of the aerial work platform and its fast lifting method of fast lifting | |
| CN113106880B (en) | Reverse supporting device for bridge gap repair and implementation method thereof | |
| CN107188035A (en) | A kind of equipment of automatic transhipment pipe die | |
| CN207251073U (en) | A kind of municipal administration cable stringer | |
| CN201305425Y (en) | Screw rod follow-up supporting mechanism of hoisting device | |
| CN113003499A (en) | A aerify lift platform for construction in pit | |
| CN204941468U (en) | A kind of efficient direct-drive oil extractor | |
| CN205709746U (en) | A kind of improved elevating platform | |
| CN204941470U (en) | A kind of efficient direct-drive oil extractor with single action pulley and single fixed pulley | |
| CN204941467U (en) | A kind of efficient direct-drive oil extractor with single movable pulley | |
| CN105019866A (en) | High-efficiency direct drive type pumping unit with single movable pulley and single fixed pulley | |
| CN204941469U (en) | A kind of belt deceleration and the high-efficiency pumping unit with single movable pulley | |
| CN208995089U (en) | A kind of walking lift truck certainly for the transposition of high-altitude projection device | |
| CN204941471U (en) | The high-efficiency pumping unit that a kind of belt slows down | |
| CN213279402U (en) | Delayed contraction transmission mechanism | |
| CN107984635A (en) | A kind of brick cutting equipment for building |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190301 Termination date: 20210803 |