CN214136121U - Wall-climbing robot protection system - Google Patents
Wall-climbing robot protection system Download PDFInfo
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- CN214136121U CN214136121U CN202120101383.7U CN202120101383U CN214136121U CN 214136121 U CN214136121 U CN 214136121U CN 202120101383 U CN202120101383 U CN 202120101383U CN 214136121 U CN214136121 U CN 214136121U
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Abstract
The application provides a wall climbing robot protection system relates to the robotechnology field. The method comprises the following steps: the wall climbing robot comprises a wall climbing robot body, a controller, a protection cable and a tension acquisition module; a motor is arranged on the wall-climbing robot body; one end of the protection cable is connected with the controller, the tension acquisition module is arranged at the connection position of the controller and the protection cable, and the tension acquisition module is in communication connection with the controller; the other end of the protection cable is connected with the wall-climbing robot body, and the controller is in communication connection with a motor of the wall-climbing robot body through the protection cable and controls the wall-climbing robot body to move; the tension acquisition module is used for acquiring a tension value generated by pulling the protective cable by the wall-climbing robot body and sending the tension value to the controller; the controller is used for judging whether the pulling force value is greater than the pulling force threshold value or not, and if the pulling force value is greater than the pulling force threshold value and the times that the pulling force value is greater than the pulling force threshold value reach the preset times, the wall-climbing robot body is controlled to stop moving. The scheme can improve the safety of the wall-climbing robot operation.
Description
Technical Field
The utility model relates to a robotechnology field particularly, relates to a wall climbing robot protection system.
Background
A wall-climbing robot is an automatic robot which can perform operations such as detection, welding, polishing and the like on equipment such as storage tanks, spherical tanks, pipeline cambered surfaces and the like with metal structures. Wall climbing robot mainly includes: wall climbing robot body, controller, protection cable. Wherein, the controller uses the protection cable to carry out communication connection with wall climbing robot body for the controller can be through protection cable to wall climbing robot body transmission control command, transmission electric power and connecting device etc. in order to ensure that wall climbing robot can normally work.
At present, at the operation in-process of wall climbing robot, can not real-time detection wall climbing robot to the drag force that the protection cable produced, when the distance of wall climbing robot walking is far away, can take place the risk that the protection cable is torn apart, can cause falling of wall climbing robot body even to the security and the efficiency that lead to wall climbing robot operation receive the influence.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a wall climbing robot protection system to the not enough among the above-mentioned prior art to improve the security and the efficiency of wall climbing robot operation.
In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:
the application provides a wall climbing robot protection system includes: the wall climbing robot comprises a wall climbing robot body, a controller, a protection cable and a tension acquisition module; wherein the protection cable comprises: the wall-climbing robot comprises at least one pull fuse, wherein a motor is arranged on a wall-climbing robot body;
one end of the protection cable is connected with the controller, the tension acquisition module is arranged at the connection position of the controller and the protection cable, and the tension acquisition module is in communication connection with the controller;
the other end of the protection cable is connected with a motor of the wall-climbing robot body, and the controller is in communication connection with the wall-climbing robot body through the protection cable and controls the wall-climbing robot body to move;
the tension acquisition module is used for acquiring a tension value generated by the wall-climbing robot body pulling the protection cable and sending the tension value to the controller;
the controller is used for judging whether the pulling force value is greater than a pulling force threshold value or not, and if the pulling force value is greater than the pulling force threshold value and the times that the pulling force value is greater than the pulling force threshold value reach preset times, controlling the wall-climbing robot body to stop moving.
Optionally, the controller is further configured to output first alarm information when the pulling force value is greater than the pulling force threshold and the number of times that the pulling force value is greater than the pulling force threshold reaches a preset number of times, where the first alarm information is used to prompt a user to replace the pulling fuse.
Optionally, the system further comprises: a distance measurement module;
the distance measuring module is arranged at the connection position of the controller and the protection cable, and is in communication connection with the controller;
the distance measuring module is used for measuring a distance value between the controller and the wall-climbing robot body and sending the distance value to the controller;
the controller is further used for judging whether the distance value is larger than a rated distance value or not, if so, controlling the wall-climbing robot body to stop moving and outputting second alarm information; and the second alarm information is used for prompting the user that the wall-climbing robot body stops moving.
Optionally, the system further comprises: a signal receiver corresponding to the ranging module;
the signal receiver is arranged at the connecting position of the wall-climbing robot body and the protection cable;
the distance measuring module is used for sending signals to the signal receiver and measuring the distance value between the controller and the wall-climbing robot body according to the feedback information of the signal receiver.
Optionally, the system further comprises: an alarm module;
the alarm module is in communication connection with the controller and used for receiving first alarm information or second alarm information output by the controller and outputting a first alarm signal corresponding to the first alarm information or a second alarm signal corresponding to the second alarm information.
Optionally, the alarm module comprises: indication, display screen or sound box.
Optionally, the tension collecting module comprises: a tension sensor.
Optionally, the tension sensor is connected to the controller via an aviation plug.
Optionally, the system further comprises: a control cable;
the control cable is used for connecting the controller with an execution component in the wall-climbing robot body.
Optionally, the tension fuse is three.
The beneficial effect of this application is:
to sum up, the embodiment of the present application provides a wall-climbing robot protection system, and this wall-climbing robot protection system includes: the wall climbing robot comprises a wall climbing robot body, a controller, a protection cable and a tension acquisition module; wherein, the protection cable includes: at least one tension fuse; one end of the protection cable is connected with the controller, the tension acquisition module is arranged at the connection position of the controller and the protection cable, and the tension acquisition module is in communication connection with the controller; the other end of the protection cable is connected with the wall-climbing robot body, and the controller is in communication connection with the wall-climbing robot body through the protection cable and controls the wall-climbing robot body to move; the tension acquisition module is used for acquiring a tension value generated by pulling the protective cable by the wall-climbing robot body and sending the tension value to the controller; the controller is used for judging whether the pulling force value is greater than the pulling force threshold value or not, and if the pulling force value is greater than the pulling force threshold value and the times that the pulling force value is greater than the pulling force threshold value reach the preset times, the wall-climbing robot body is controlled to stop moving. In this scheme, the pulling force value that wall climbing robot body tractive protection cable produced is gathered through the pulling force collection module that sets up, and send the pulling force value to the controller, make the controller judge whether the pulling force value is greater than the pulling force threshold value, and reach preset number of times when the pulling force value is greater than the pulling force threshold value, then control wall climbing robot body stop motion, in order to prevent the risk that the protection cable is torn apart, and then avoid wall climbing robot body to take place the danger of unexpected falling, simultaneously, be connected with the motor of wall climbing robot body through the pulling force fuse, even when the protection cable is torn, can control pulling force fuse to break off and be connected with the motor, make the motor in the wall climbing robot body lose the power supply, realize the purpose of controlling wall climbing robot body stop motion, the security of wall climbing robot operation has effectively been improved.
In addition, wall climbing robot protection system still includes: the distance measuring module is in communication connection with the controller, can be used for measuring a distance value between the controller and the wall-climbing robot body and sending the distance value to the controller, and the controller judges whether the distance value is larger than a rated distance value or not, and if yes, the wall-climbing robot body is controlled to stop moving and second alarm information is output. Therefore, when the distance between the wall-climbing robot body and the controller is larger than the length of the protection cable, the wall-climbing robot body still continues to move to enable the protection cable to be broken, the danger that the wall-climbing robot body accidentally falls can be effectively avoided, and the safety of the wall-climbing robot operation is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a wall-climbing robot protection system according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of another wall-climbing robot protection system provided in an embodiment of the present application;
fig. 3 is a schematic structural diagram of another wall-climbing robot protection system provided in the embodiment of the present application;
fig. 4 is a schematic structural diagram of another wall-climbing robot protection system according to an embodiment of the present application.
Icon: 100-wall climbing robot protection system; 101-a wall climbing robot body; 102-a controller; 103-protective cables; 104-a tension acquisition module; 105-an electric machine; 106-pull fuse; 201-a ranging module; 202-a signal receiver; 301-alarm module; 401-control cable.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Fig. 1 is a schematic structural diagram of a wall-climbing robot protection system according to an embodiment of the present disclosure; as shown in fig. 1, the wall-climbing robot protection system 100 includes: the wall climbing robot comprises a wall climbing robot body 101, a controller 102, a protection cable 103 and a tension acquisition module 104.
In this embodiment, the wall-climbing robot body 101 may be an automatic robot capable of performing operations such as detection, welding, polishing, and the like on equipment such as a storage tank, a spherical tank, a pipeline arc surface, and the like of a metal structure.
For example, the controller 102 may be a control module in a control cabinet, that is, the controller 102 may control the motion state of the wall-climbing robot body 101 according to different received information, where the motion state may include: stop motion, start motion.
Wherein the protection cable 103 includes: at least one tension fuse and an outer sheath. For convenience of illustration, only one tension fuse 106 is shown in fig. 1, and when the protection cable 103 is pulled by the wall-climbing robot body 101, a buffering tension can be generated by the tension fuse 106 to protect the motor 105 and other components of the wall-climbing robot body 101 disposed inside the wall-climbing robot body.
The pull fuse 106 may be made of an aluminum antimony alloy.
One end of the protection cable 103 is connected with the controller 102, the tension collecting module 104 is arranged at the connection position of the controller 102 and the protection cable 103, and the tension collecting module 104 is in communication connection with the controller 102.
The other end of protection cable 103 is connected with wall climbing robot body 101, and controller 102 is connected with wall climbing robot body 101 communication through protection cable 103, for example, is connected with the motor 105 that sets up in wall climbing robot body 101 inside through pulling force fuse 106 to carry the electric energy to motor 105, reach the pivoted effect of control motor 105, and then realize the control to wall climbing robot body 101 motion.
In an implementation manner, when the protection cable 103 is pulled, the pull fuse 106 is pulled to break, so that the connection between the pull fuse 106 and the motor 105 is broken, that is, the motor 105 in the wall-climbing robot body 101 loses power supply, and the wall-climbing robot body 101 stops moving, so that the risk of accidental falling of the wall-climbing robot body 101 can be avoided.
In another realizable manner, when the protection cable 103 is not pulled, and the protection cable 103 is not in a state of being unbent, and the tension fuse 106 is not broken, the tension collecting module 104 may be configured to collect a tension value generated when the wall-climbing robot body 101 pulls the protection cable 103, so that the controller 102 determines whether the tension value is greater than a tension threshold, and the number of times that the tension value is greater than the tension threshold reaches a preset number of times, so as to control the wall-climbing robot body to stop moving. The method comprises the following specific steps:
the tension collecting module 104 is configured to collect a tension value generated when the wall-climbing robot body 101 pulls the protection cable 103, and send the tension value to the controller 102.
The controller 102 is configured to determine whether the pulling force value is greater than a pulling force threshold, and if the pulling force value is greater than the pulling force threshold and the number of times that the pulling force value is greater than the pulling force threshold reaches a preset number of times, control the wall-climbing robot body 101 to stop moving.
Wherein, the pulling force threshold value and the preset times can be set according to the actual situation of the site.
For example, the threshold of the pulling force is 150N, and the predetermined number of times is 3. When the pulling force collecting module 104 collects that the pulling force value generated by the wall-climbing robot body 101 pulling protection cable 103 is 180N, the controller 102 judges that the received pulling force value 180N is really greater than the pulling force threshold value 150N, and determines that the collected pulling force value is greater than the pulling force threshold value in the fourth judgment, it can be determined that the pulling force fuse 106 is in the broken critical state, at this moment, the controller 102 controls the wall-climbing robot body 101 to stop moving to prevent the pulling force fuse 106 from being broken, so that the danger that the wall-climbing robot body 101 accidentally falls is avoided, and the safety of the wall-climbing robot operation is improved.
To sum up, the embodiment of the present application provides a wall-climbing robot protection system, and this wall-climbing robot protection system includes: the wall climbing robot comprises a wall climbing robot body, a controller, a protection cable and a tension acquisition module; wherein, the protection cable includes: at least one tension fuse; one end of the protection cable is connected with the controller, the tension acquisition module is arranged at the connection position of the controller and the protection cable, and the tension acquisition module is in communication connection with the controller; the other end of the protection cable is connected with the wall-climbing robot body, and the controller is in communication connection with the wall-climbing robot body through the protection cable and controls the wall-climbing robot body to move; the tension acquisition module is used for acquiring a tension value generated by pulling the protective cable by the wall-climbing robot body and sending the tension value to the controller; the controller is used for judging whether the pulling force value is greater than the pulling force threshold value or not, and if the pulling force value is greater than the pulling force threshold value and the times that the pulling force value is greater than the pulling force threshold value reach the preset times, the wall-climbing robot body is controlled to stop moving. In this scheme, the pulling force value that wall climbing robot body tractive protection cable produced is gathered through the pulling force collection module that sets up, and send the pulling force value to the controller, make the controller judge whether the pulling force value is greater than the pulling force threshold value, and reach preset number of times when the pulling force value is greater than the pulling force threshold value, then control wall climbing robot body stop motion, in order to prevent the risk that the protection cable is torn apart, and then avoid wall climbing robot body to take place the danger of unexpected falling, simultaneously, be connected with the motor of wall climbing robot body through the pulling force fuse, make even when the protection cable is torn, can control the pulling force fuse to break off and be connected with the motor, make the motor in the wall climbing robot body lose the power supply, realize the purpose of controlling wall climbing robot body stop motion, the security of wall climbing robot operation has effectively been improved.
Optionally, the controller 102 is further configured to output first alarm information when the pulling force value is greater than the pulling force threshold and the number of times that the pulling force value is greater than the pulling force threshold reaches a preset number of times, where the first alarm information is used to prompt a user to replace the pulling fuse.
On the basis of the above embodiment, after the controller 102 controls the wall-climbing robot body 101 to stop moving, the first alarm information is output, so that the user can replace the tensile fuse 106 to be torn off in time according to the received first alarm information, the risk that the tensile fuse 106 is torn off is prevented, the danger that the wall-climbing robot body accidentally falls is avoided, and the safety of the operation of the wall-climbing robot is improved.
Further, in addition to the above two cases, there is another case. That is, when the protection cable 103 is not pulled and the tension fuse 106 is not broken, but the distance between the wall-climbing robot body 101 and the controller 102 is short to the length of the protection cable 103, the protection cable 103 is at risk of being pulled. In the present embodiment, in order to solve this problem, a distance measuring module 201 and a signal receiver 202 corresponding to the distance measuring module are provided to detect the distance value between the controller 102 and the wall-climbing robot body 101 in real time. The method comprises the following specific steps:
fig. 2 is a schematic structural diagram of another wall-climbing robot protection system provided in an embodiment of the present application; as shown in fig. 2, the wall-climbing robot protection system 100 further includes: a ranging module 201 and a signal receiver 202 corresponding to the ranging module.
The distance measuring module 201 is arranged at the connection position of the controller 102 and the protection cable 103, and correspondingly, the signal receiver 202 is arranged at the connection position of the wall-climbing robot body 101 and the protection cable 103.
The distance measuring module 201 is configured to send a signal to the signal receiver 202, and measure a distance value between the controller 102 and the wall-climbing robot body 101 according to feedback information of the signal receiver 202.
The distance measuring module 201 is in communication connection with the controller 102, so that the distance measuring module 201 can also be used for measuring a distance value between the controller 102 and the wall-climbing robot body 101 and sending the distance value to the controller 102.
The controller 102 is further configured to determine whether the distance value is greater than a rated distance value, and if so, control the wall-climbing robot body to stop moving and output second alarm information, where the second alarm information is used to prompt the user to stop moving the wall-climbing robot body 101.
For example, the length of the protection cable 103 is 100 meters, a rated distance value is set to be 95 meters, when the distance measuring module 201 measures that the distance value between the controller 102 and the wall-climbing robot body 101 is 98 meters, the controller determines that the distance value is 98 meters greater than the rated distance value of 95 meters, it may be determined that the protection cable 103 is in a critical state of being pulled apart, then the controller 102 controls the wall-climbing robot body 101 to stop moving, and outputs a second alarm message, where the second alarm message is used to prompt a user that the wall-climbing robot body 101 has stopped moving.
Therefore, when the distance between the wall-climbing robot body 101 and the controller 102 is greater than the length of the protection cable 103, the wall-climbing robot body 101 still continues to move to break the protection cable 103, the risk that the wall-climbing robot body 101 accidentally falls can be effectively avoided, and the safety of the wall-climbing robot operation is improved.
Fig. 3 is a schematic structural diagram of another wall-climbing robot protection system provided in the embodiment of the present application; as shown in fig. 3, the wall-climbing robot protection system 100 further includes: an alarm module 301.
The alarm module 301 is in communication connection with the controller 102, and configured to receive first alarm information or second alarm information output by the controller 102, and output a first alarm signal corresponding to the first alarm information or a second alarm signal corresponding to the second alarm information.
For example, the first alarm signal may be in a form of voice alarm, prompting the user to change the tension insurance in time, so as to ensure that the wall-climbing robot can continue normal operation; the second alarm signal can be in the form of an alarm lamp, and prompts a user to stop moving the wall-climbing robot body, so that the user can receive alarm information in time and take danger avoiding measures.
Optionally, the alarm module 301 comprises: indication, display screen or sound box. For example, the first alarm information or the second alarm information output by the controller 102 may be broadcasted in the form of a buzzer, an alarm lamp, sound, characters, and the like, so that the user can receive the alarm information in time and take a risk avoidance measure.
Optionally, the tension collecting module 104 comprises: tension sensor, the pulling force value that wall climbing robot body 101 tractive protection cable 103 produced is gathered in real time to the pulling force value that will gather transmits to controller 102, makes controller 102 can carry out corresponding judgement operation according to the pulling force value received, improves the accuracy of gathering the pulling force value.
Optionally, the tension sensor is connected with the controller 102 through an aviation plug to ensure the stability of the connection between the tension sensor and the controller, so as to improve the reliability of the protection system of the wall-climbing robot.
Fig. 4 is a schematic structural diagram of another wall-climbing robot protection system according to an embodiment of the present application. The wall-climbing robot protection system 100 further includes: a control cable 401.
A control cable 401 for connecting the controller with an executing component in the wall-climbing robot body 101, where the executing component may be a blower, a welding arm component or other components provided in the wall-climbing robot body 101, and is not specifically described herein.
In one realizable manner, for example, the control cable 401 may be disposed inside the protection cable 103, i.e., the protection cable 103 includes: at least one tension fuse 106 and a control cable 401.
When the distance between the wall-climbing robot body 101 and the controller 102 is smaller than the rated distance value, the control cable 401 may be in a relatively slack state. However, when the protection cable 103 is pulled, the pull fuse 106 is broken, which results in the disconnection between the pull fuse 106 and the motor 105, so that the motor 105 in the wall-climbing robot body 101 loses power supply, and further the wall-climbing robot body 101 is controlled to stop moving, so as to protect the control cable 401 from being broken, avoid the danger of accidental falling of the wall-climbing robot body 101, and improve the safety of the operation of the wall-climbing robot.
Optionally, the tension fuse is three. For example, only one tension fuse 106 is shown in the protection cable 103 shown in fig. 1, and a larger number than one, such as two, three, etc., may be provided, or another number may be provided. Optionally, the number of the tension fuses may be set according to actual requirements, and is not particularly limited herein.
Set up many pulling force fuses simultaneously for control cable 401 can produce multistage buffer power when being broken by the pulling, can effectively avoid climbing the danger that wall robot body 101 takes place the accident and falls, thereby improves the security of climbing the operation of wall robot.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A wall-climbing robot protection system, comprising: the wall climbing robot comprises a wall climbing robot body, a controller, a protection cable and a tension acquisition module; wherein the protection cable comprises: the wall-climbing robot comprises at least one pull fuse, wherein a motor is arranged on a wall-climbing robot body;
one end of the protection cable is connected with the controller, the tension acquisition module is arranged at the connection position of the controller and the protection cable, and the tension acquisition module is in communication connection with the controller;
the other end of the protection cable is connected with a motor of the wall-climbing robot body, and the controller is in communication connection with the wall-climbing robot body through the protection cable and controls the wall-climbing robot body to move;
the tension acquisition module is used for acquiring a tension value generated by the wall-climbing robot body pulling the protection cable and sending the tension value to the controller;
the controller is used for judging whether the pulling force value is greater than a pulling force threshold value or not, and if the pulling force value is greater than the pulling force threshold value and the times that the pulling force value is greater than the pulling force threshold value reach preset times, controlling the wall-climbing robot body to stop moving.
2. The system of claim 1, wherein the controller is further configured to output first alarm information when the pulling force value is greater than the pulling force threshold value and the number of times that the pulling force value is greater than the pulling force threshold value reaches a preset number of times, and the first alarm information is used to prompt a user to replace the pulling fuse.
3. The system of claim 1, further comprising: a distance measurement module;
the distance measuring module is arranged at the connection position of the controller and the protection cable, and is in communication connection with the controller;
the distance measuring module is used for measuring a distance value between the controller and the wall-climbing robot body and sending the distance value to the controller;
the controller is further used for judging whether the distance value is larger than a rated distance value or not, if so, controlling the wall-climbing robot body to stop moving and outputting second alarm information; and the second alarm information is used for prompting the user that the wall-climbing robot body stops moving.
4. The system of claim 3, further comprising: a signal receiver corresponding to the ranging module;
the signal receiver is arranged at the connecting position of the wall-climbing robot body and the protection cable;
the distance measuring module is used for sending signals to the signal receiver and measuring the distance value between the controller and the wall-climbing robot body according to the feedback information of the signal receiver.
5. The system according to any one of claims 1-4, further comprising: an alarm module;
the alarm module is in communication connection with the controller and used for receiving first alarm information or second alarm information output by the controller and outputting a first alarm signal corresponding to the first alarm information or a second alarm signal corresponding to the second alarm information.
6. The system of claim 5, wherein the alarm module comprises: indication, display screen or sound box.
7. The system of claim 6, wherein the tension collection module comprises: a tension sensor.
8. The system of claim 7, wherein the tension sensor is connected to the controller by an aviation plug.
9. The system of claim 8, further comprising: a control cable;
the control cable is used for connecting the controller with an execution component in the wall-climbing robot body.
10. The system of claim 9, wherein the tension fuses are three.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120101383.7U CN214136121U (en) | 2021-01-12 | 2021-01-12 | Wall-climbing robot protection system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120101383.7U CN214136121U (en) | 2021-01-12 | 2021-01-12 | Wall-climbing robot protection system |
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| CN214136121U true CN214136121U (en) | 2021-09-07 |
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| GR01 | Patent grant |