A fall arrestor and an automatic fall arrestor intelligent robot

Abstract

This invention belongs to the field of high-altitude maintenance fall protection technology, and particularly relates to a fall arrestor and an automatic fall arrestor intelligent robot. It includes a gear meshing with a guide rail rack, a cavity housing with a cavity for mounting an automatic fall arrestor structure shaft-connected to the gear, and an automatic fall arrestor structure that automatically fixes the entire fall arrestor to the guide rail rack via the gear when the descent speed of the cavity housing exceeds a set threshold. This invention features instantaneous automatic fall arrest, rapid manual fall arrest, and automatic adjustment of the descent speed of the entire lifting device after the fall arrest action, achieving the technical effect of completely ensuring the personal safety of technicians. The overall structure is simple, the mechanical transmission safety factor is high, and it is less affected by the environment.

Description

Technical Field

[0001] This invention relates to the field of high-altitude maintenance and fall protection technology, specifically to a fall arrestor and an automatic fall-prevention intelligent robot. Background Technology

[0002] Currently, most high-voltage power transmission uses large transmission towers as the supporting foundation for power transmission. The towers are often over 10 meters high. During routine maintenance or construction inspection, it is often necessary to use lifting equipment to reach the maintenance or construction inspection position using the tower.

[0003] Existing intelligent lifting robots used for facilities such as high-voltage power grid towers, wind turbine towers, and bridge piers can help maintenance workers reduce climbing time and physical exertion, reserving more time and energy for subsequent maintenance work. Because climbing heights are typically quite high, it not only consumes the physical strength of technicians, but also poses a risk of sudden descent of the lifting equipment during ascent or descent, or during maintenance, endangering the personal safety of maintenance personnel. Therefore, worker safety during climbing is paramount, and appropriate fall protection designs are essential to handle emergencies and ensure safety.

[0004] In summary, how to solve the problem of sudden failure of maintenance lifting equipment or robots during high-altitude operations such as iron towers and power towers, which could lead to rapid descent and endanger personal safety, is an urgent technical issue that needs to be addressed. Summary of the Invention

[0005] First, in view of the problem that existing lifting robots do not have an effective automatic fall protection design, this invention proposes a fall protection device and an automatic fall protection intelligent robot. When the intelligent robot climbing the tower suddenly fails and descends rapidly, it can use centrifugal inertia to activate the automatic fall protection structure within 0.05 seconds through the engagement of ratchet and pawl, so that the entire intelligent robot can stop on the tower or guide rail, ensuring the personal safety of maintenance personnel.

[0006] Secondly, addressing the issue of how to safely descend to the ground after a fall arrest in existing technologies, this invention incorporates a turbine worm gear engagement structure within the fall arrestor. This allows for a slow, safe descent via hand-cranking the worm gear after automatic or manual fall arrest, driven by the user's own judgment.

[0007] Finally, in response to potential technical defects in automatic fall arresters that could lead to untimely or ineffective automatic fall arrests, this invention provides a manual emergency stop structure for a fall arrester. By setting an external toothed ratchet coaxial with the internal toothed ratchet of the automatic fall arrester and a structure for the external toothed ratchet to engage with the pawl, the emergency stop button can be pressed quickly in the event of a dangerous descent, causing the ratchet to engage with the external toothed ratchet to achieve the technical effect of rapid manual fall arrest.

[0008] In summary, this invention features instantaneous automatic fall prevention, rapid manual fall prevention, and automatic adjustment of the descent speed of the entire lifting device after the fall prevention action, achieving the technical effect of completely ensuring the personal safety of technicians. The overall structure is simple, the mechanical transmission safety factor is high, and it is less affected by the environment.

[0009] To address the aforementioned technical problems, according to one aspect of the present invention, the present invention provides the following technical solution:

[0010] A fall arrestor includes a gear meshing with a guide rail rack, comprising:

[0011] Cavity housing 1, with a cavity for installing an automatic anti-fall structure connected to the gear shaft;

[0012] The automatic fall arrestor structure automatically fixes the entire fall arrestor to the rack of the guide rail via the gear when the descent speed of the cavity shell exceeds a set threshold.

[0013] Furthermore, the fall arrestor includes a second cavity housing that matches the first cavity housing, and a support is fixed on the second cavity housing; the automatic fall arrestor structure includes:

[0014] A rotating shaft is rotatably mounted between the first cavity housing and the second cavity housing; and the rotating shaft is rotatably connected to the first cavity housing and the second cavity housing via a rolling bearing 1 disposed on the first cavity housing and a rolling bearing 2 disposed on the support.

[0015] One end of the rotating shaft is fixedly connected to the gear by a key;

[0016] An internal toothed ratchet is provided on the cavity housing, which is coaxial (lined) with the rotating shaft;

[0017] The rotating shaft is fixedly connected to a rear linkage rotating plate by a key; a front linkage rotating plate is sleeved on the rear linkage rotating plate; a pawl 1 and a pawl 2 are provided between the rear linkage rotating plate and the front linkage rotating plate to engage with the internal tooth ratchet.

[0018] Furthermore, the internal toothed ratchet has a cantilever;

[0019] A buffer spring is provided on one side of the rotating shaft inside the cavity housing. One end of the buffer spring is fixed to the upper inner wall of the cavity housing, and the other end is fixed to the cantilever.

[0020] Furthermore, a turbine is fixed to the rotating shaft by a key; a worm gear perpendicular to the axis of the rotating shaft and to be engaged with the turbine is provided inside the cavity housing.

[0021] Furthermore, an external toothed ratchet is connected to the rotating shaft via a key;

[0022] The cavity housing 2 is rotatably provided with a pawl 3 that is to engage with the external toothed ratchet.

[0023] Furthermore, the distance between the front linkage plate and the rear linkage plate is set to be greater than the thickness of the first pawl and the second pawl;

[0024] Pawl 1 and Pawl 2 are connected to the rear linkage plate and the front linkage plate by rotating bolts; Pawl 1 and Pawl 2 are respectively connected to tension spring 1, and the other end of tension spring 1 is fixed to the rear linkage plate; a pressure plate for fixing rolling bearing 1 is fixed on the outside of cavity housing 1; cavity housing 1 and cavity housing 2 are connected by bolts.

[0025] Furthermore, the worm gear has a hollow structure and a compression spring is installed inside; a guide is fixed to the cavity shell; the other end of the guide is inserted into the hollow structure of the worm gear; a limiting rod located at the lower part of the worm gear is fixed to the inner wall of the cavity shell; and a crank is inserted into the outer end of the worm gear.

[0026] Furthermore, a fixed rotating shaft and a tension spring are provided on the cavity housing two; the pawl three is provided on the fixed rotating shaft and connected to one end of the tension spring two;

[0027] The pawl three has an integrally formed opening connecting plate; the cavity housing two is provided with an emergency stop button that can move up and down on its housing; the lower part of the emergency stop button has an opening contact connection with the opening connecting plate; the cavity housing two is equipped with spring ball plungers located on both sides of the emergency stop button.

[0028] Furthermore, the set threshold is that when the fall arrestor's descent speed exceeds 0.5 meters per second, the automatic fall arrestor structure activates and stops the descent. This set threshold refers to a pre-designed and calculated condition where the centrifugal force during descent is greater than the tension of the spring-loaded pawls one and two, or the pressing force is greater than the tension of spring two. Specifically, it is designed so that when the descent speed exceeds 0.5 meters per second, the manual pressing force of the emergency stop button is greater than the tension of spring two on pawl three, and a suitable spring two is selected to ensure that pawl three can engage the teeth of the external ratchet during rapid descent.

[0029] Based on the above-mentioned fall protection structure, the present invention provides an automatic fall protection intelligent robot, the automatic fall protection intelligent robot including the fall protector;

[0030] At least one of the aforementioned fall arresters is fixed to the intelligent lifting robot with bolts;

[0031] And: the gear of the fall arrestor is engaged with the rack of the guide rail to be climbed.

[0032] It should be noted that the lifting equipment in this application refers to a device used for high-altitude operations that enables maintenance equipment and personnel to reach a predetermined position, including but not limited to elevators, intelligent lifting robots, etc.; to use the fall arrestor structure of the present invention, it is only necessary to leave bolt holes in the lifting equipment and fix the fall arrestor to the lifting equipment with bolts, and then mesh the gear of the fall arrestor structure with the track gear of the lifting equipment.

[0033] The structures not fully shown in this invention are existing connection structures or constructions, which can be fully understood by those skilled in the art through their own knowledge.

[0034] Compared with the prior art, the advantages and technical effects of the present invention are as follows:

[0035] 1. The fall arrestor in this embodiment, after being fixed with a lifting device (such as an intelligent maintenance robot), enables the lifting device to have an automatic fall arrest function, preventing maintenance personnel from falling due to weightlessness and causing personal injury or death, thus ensuring the personal safety of maintenance personnel; further, a fall arrestor in this embodiment includes a gear meshing with a guide rail rack, a cavity housing, and a cavity for installing an automatic fall arrestor structure shaft-connected to the gear; the automatic fall arrestor structure automatically fixes the entire fall arrestor structure to the guide rail via the gear when the descent speed threshold of the cavity housing is greater than a set value. The automatic fall arrestor structure of this application embodiment has gears that mesh with the guide rail to be climbed. Through an automatically designed fall arrestor mechanism cleverly installed within the cavity housing, the automatic fall arrestor structure activates when the descent speed of the lifting equipment exceeds 0.5 meters per second, stopping the descent and causing the gears meshing with the guide rail to stop rotating. This effectively secures the entire lifting equipment and maintenance personnel to the guide rail, preventing them from falling to the ground. Furthermore, the preferred internal gear ratchet design includes a cantilever, and the cavity housing has a buffer spring connected to the cantilever at one end. This effectively filters and buffers the inertial jolts of the entire equipment during the automatic fall arrestor activation, further ensuring the safety of maintenance personnel and equipment. The ingeniously designed mechanical mechanism of this application embodiment not only instantly activates the fall arrestor function when the lifting equipment speed (descent speed or acceleration) exceeds a set value, but also filters the inertial jolts generated during the fall arrest process, ensuring a safe and stable fall arrest process.

[0036] 2. The fall arrestor structure in this application embodiment includes a turbine fixed on the rotating shaft;

[0037] Furthermore, the worm gear, which engages with the turbine within the cavity housing two, enables technicians to manually and slowly lower the lifting equipment equipped with this fall protection structure to the ground safely after the fall protection mechanism is activated. Preferably, the worm gear is a hollow structure with a compression spring inside; a guide member is fixed to the cavity housing two; the other end of the guide member is inserted into the hollow structure of the worm gear; the compression spring transmits a directional force to the worm gear through the guide member, ensuring that the worm gear and turbine are separated when not in use, thus ensuring normal operation of the equipment; in case of an emergency requiring descent, the manual crank-press handle is applied towards the guide member, causing the worm gear and turbine to engage, thus achieving a slow descent. The structural design is practical, scientific, and reasonable, with the technical effect of operating according to actual conditions; more preferably, a limiting rod located at the lower part of the worm gear is fixed to the inner wall of the cavity housing two; the limiting rod is a lateral limiting rod with a compression spring two installed at one end; a crank handle is inserted into the outer end of the worm gear. The crank handle is inserted into the worm gear and connected by a key. The annular limiting groove on the worm gear is aligned with the transverse limiting rod, causing the transverse limiting rod to move outward under the action of the compression spring. The annular groove on the transverse limiting rod (such as...) Figure 2 (As shown) It engages in the annular groove on the worm gear. When the worm gear rotates, the lateral limiting rod restricts its movement, causing it to rotate within a defined position, ensuring stable descent. This provides the advantage of flexible engagement when needed and easy disengagement when not in use.

[0038] 3. In the fall arrestor structure described in this application embodiment, an external toothed ratchet is connected to the rotating shaft via a key; a pawl three is rotatably mounted on the cavity housing second, engaging with the external toothed ratchet. Preferably, this application embodiment features an external toothed ratchet and a manually controlled pawl three within the cavity housing. This can serve as a supplement in emergency situations or when the automatic fall arrestor is untimely or malfunctions. Furthermore, the design of the pawl three and the external toothed ratchet is scientifically aligned with the subconscious action habits of humans in emergency situations, enabling a rapid response and the pressing of the emergency stop button. This allows the pawl three to quickly engage with the external toothed ratchet, stopping the rotation of the rotating shaft and thus securing the entire lifting device. This ensures that technicians and maintenance personnel are not subjected to rapid descent, providing rapid braking, convenient operation, and prevention of personnel injury and equipment damage. Attached Figure Description

[0039] Figure 1 This is a schematic diagram showing the assembly of the present invention.

[0040] Figure 2 For the present invention Figure 1 Structural breakdown diagram;

[0041] Figure 3 This is a schematic diagram of the automatic fall protection function of the present invention;

[0042] Figure 4 This is a schematic diagram of the manual fall protection function of the present invention;

[0043] Figure 5 This is a schematic diagram of the hand-cranked descent function of the present invention;

[0044] Figure 6 This is a cross-sectional view showing the connection position between the present invention and the rotating shaft connecting component;

[0045] Figure 7 This is a schematic diagram of the internal structure of the cavity structure II of the present invention.

[0046] Explanation of reference numerals in the attached figures:

[0047] 1. Cavity housing one, 2. Cavity housing two, 3. Gear, 4. Rotating shaft, 5. Rolling bearing one, 6. Rolling bearing two, 7. Support, 8. Key one, 9. Internal gear ratchet, 10. Rear linkage rotating plate, 11. Front linkage rotating plate, 12. Pad one, 13. Pad two, 14. Bolt, 15. Tension spring one, 16. Pressure plate, 17. Cantilever, 18. Buffer spring, 19. External gear ratchet, 20. Pad three, 21. Fixed rotating shaft, 22. Tension spring two, 23. Opening connecting plate, 24. Emergency stop button, 25. Spring ball plunger, 26. Turbine, 27. Worm gear, 28. Compression spring one, 29. Guide component, 30. Limiting rod, 31. Crank handle, 32. Annular limiting groove, 33. Compression spring two. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0049] Example 1:

[0050] A fall arrestor of the present invention, such as Figure 1-7 As shown, the device includes a gear 3 that meshes with a guide rail rack, and also includes a cavity housing 1, which has a cavity for installing an automatic anti-fall structure that is connected to the shaft of the gear 3; the cavity housing 1 is prefabricated according to the installation requirements.

[0051] The automatic anti-fall structure automatically fixes the entire anti-fall structure to the guide rail rack via the gear 3 when the descent speed of the cavity shell exceeds a set threshold.

[0052] The set threshold refers to the pre-designed and calculated centrifugal force during descent being greater than the tension of spring-15 on pawl-12 or pawl-213. Specifically, it is designed that when the descent speed is greater than 0.5 meters per second, the centrifugal force generated is greater than the tension of the two springs-15 on pawl-12 or pawl-213 respectively. The selected spring-15 is chosen to ensure that pawl-12 and pawl-213 can engage the teeth of the internal ratchet 9 during rapid descent.

[0053] Furthermore, the fall arrestor A includes a cavity housing 2 that matches the cavity housing 1, and a support 7 is fixed on the cavity housing 2;

[0054] The automatic fall protection structure includes:

[0055] A rotating shaft 4 is rotatably installed between the cavity housing 1 and the cavity housing 2; and the rotating shaft 4 is rotatably connected to the cavity housing 1 and the cavity housing 2 (within) via a rolling bearing 5 provided on the cavity housing 1 and a rolling bearing 6 provided on the support 7.

[0056] The rotating shaft 4 has a keyway F axially formed; one end of the rotating shaft 4 is fixedly connected to the gear 3 by a key 8 set in the keyway F;

[0057] An internal toothed ratchet 9, coaxial with the rotating shaft 4, is provided on the cavity housing 1.

[0058] The rotating shaft 4 is fixedly connected to the rear linkage rotating plate 10 by key 8; the rear linkage rotating plate 10 is sleeved with the front linkage rotating plate 11; pawl 12 and pawl 2 13 are provided between the rear linkage rotating plate 10 and the front linkage rotating plate 11 to engage with the internal tooth ratchet 9.

[0059] Furthermore, the front linkage plate 11 and the rear linkage plate 10 are spaced apart and the distance is greater than the thickness of the first pawl 12 and the second pawl 13 respectively; the first pawl 12 and / or the second pawl 13 are installed between the rear linkage plate 10 and the front linkage plate 11 by a set of bolts 14.

[0060] Pad 12 and Pad 2 13 are rotatably connected to the rear linkage plate 10 and the front linkage plate 11 by a set of bolts 14. Pad 12 and Pad 2 13 are each connected to a tension spring 15, and the other end of the tension spring 15 is fixed to the rear linkage plate 10. A pressure plate 16 for fixing the rolling bearing 5 is fixed to the outside of the cavity housing 1. The pressure plate 16 presses down on the outer ring of the rolling bearing 5. The cavity housing 1 and the cavity housing 2 are connected by bolts. Pad 12 and Pad 2 13 can rotate freely around the bolts 14. Pad 12 and Pad 2 13 are preferably arranged along the circumferential direction.

[0061] Furthermore, the selection parameters for the pawl and the tension spring can specifically be:

[0062] Pad 1.12 or Pad 2.13 Weight: 0.024Kg

[0063] Pawl 12 or Pawl 23 rotation radius: 0.02m

[0064] The centrifugal force generated by pawl 12 or pawl 23 at a normal descent speed of V1 is 0.075N. The centrifugal force generated by pawl 12 or pawl 23 at an automatic fall arrestor trigger speed of V2 is 0.3N.

[0065] Tension spring 15 specifications: wire diameter 0.3mm, spring pitch diameter: 2.7mm, number of coils: 14, material: stainless steel.

[0066] Tension spring 15 stiffness: 0.2706 N / mm

[0067] The elongation of tension spring -15 at a normal descent speed of V1 is: (0.024*9.8+0.075) / 0.2706=1.146mm

[0068] When the automatic fall arrestor trigger speed is V2, the elongation of tension spring -15 is: (0.024*9.8+0.3) / 0.2706=1.977mm

[0069] The radial distance between pawl 12 or pawl 2 13 and the internal ratchet 9 is: 1.977 - 1.146 = 0.831 mm.

[0070] The weight of pawl 12 or pawl 213, the straight specification of tension spring 15, and the stiffness of tension spring 15 can be adapted according to different trigger speed values ​​to meet the requirements of normal driving speed and fall protection speed.

[0071] Furthermore, when the descent speed exceeds the set value of 0.5 meters per second, the automatic anti-fall structure will activate and the descent will stop when the associated parameters, such as gravitational acceleration, exceed 9.8 m / s² or the rapid descent distance exceed 12.7 millimeters.

[0072] In this embodiment, the fall arrestor A is quickly connected to the intelligent lifting robot via bolts through threaded holes in its cavity housing 1 or cavity housing 2.

[0073] When the intelligent lifting robot rises: Gear 3 rotates counterclockwise.

[0074] When the intelligent lifting robot descends: Gear 3 rotates clockwise.

[0075] The safety protection of the fall arrestor A is that, whether the intelligent lifting robot is rising or falling, it will stop the gear 3 from rotating clockwise when it suddenly falls.

[0076] When the intelligent lifting robot is ascending or descending, due to unexpected situations, the intelligent lifting robot suddenly drops rapidly. At this time, the rotating shaft 4 rotates rapidly clockwise. The rotating shaft 4 drives the rear linkage rotating plate 10 and the front linkage rotating plate 11 to rotate clockwise together, and then drives the pawl one 12 and the pawl two 13 to rotate clockwise (spin). The centrifugal force generated by the rotation causes the pawl one 12 and the pawl two 13 to rotate outward through the bolt 14. When the rotation speed is greater than the rotation speed during the normal descent of the intelligent lifting robot, the pawl one 12 and the pawl two 13 engage with the internal gear ratchet 9 due to the centrifugal force during descent. At the same time, the internal gear ratchet 9 rotates clockwise. During the rotation process, the cantilever 17 of the internal gear ratchet 9 presses on the buffer compression spring 18, causing the buffer compression spring 18 to compress and absorb energy, buffering the vibration caused by the sudden stop, and improving safety.

[0077] The principle of the present invention is: Since the intelligent lifting robot has a certain speed during normal descent, the speed direction is downward, and the speed direction of the sudden drop is also downward. Therefore, the speed during the automatic anti-fall action must be greater than the normal descent speed to ensure that the intelligent lifting robot works properly during normal descent. The set parameters are as follows:

[0078] Normal descent speed: V1 = 15 m / min = 0.25 m / s

[0079] Automatic anti-fall trigger speed V2 = 30 m / min = 0.5 m / s

[0080] 1. The transition from the ascending process to the sudden drop can be divided into 2 types:

[0081] a. During the ascending process, it transitions to a sudden drop. The speed drops from the initial upward direction to 0 and then turns downward and accelerates to the automatic anti-fall action. At this time, the intelligent lifting robot stops.

[0082] b. At the initial stage of ascending, it transitions to a sudden drop. It can be considered that the speed starts from 0 and directly accelerates downward to the automatic anti-fall action. At this time, the intelligent lifting robot stops.

[0083] Among the above 2 types, the most dangerous is the second case (b), because the required safe descent distance is the longest. As long as it is ensured that the intelligent lifting robot does not deviate from the track in the second case (b), the intelligent lifting robot will not deviate from the track, and thus the safety protection function is achieved.

[0084] 2. The transition from the descending process to the sudden drop can be divided into 2 types:

[0085] a. During the descending process, it transitions to a sudden drop. At this time, the speed accelerates from 0 < V3 < 15 m / min to the automatic anti-fall action threshold.

[0086] b. At the initial stage of descending, it transitions to a sudden drop. It can be considered that the speed starts from 0 and accelerates to the automatic anti-fall action.

[0087] Of the two scenarios above, scenario b is the most dangerous because it requires the longest safe descent distance. As long as the intelligent lifting robot does not deviate from the track in scenario b, it will not leave the track and will thus provide a safety protection function.

[0088] In summary, the safe descent distance required during a rapid fall is the distance from when the speed starts from 0 and accelerates to the point where the automatic fall arrest mechanism kicks in.

[0089] The time taken for the speed to accelerate from 0 to the automatic anti-fall action is: T1 = V2 / g = 0.5 / 9.8 = 0.051s;

[0090] g is the acceleration due to gravity: 9.8 m / s²;

[0091] Descent distance: S1 = g * t² / 2 = 9.8 * 0.05¹² / 2 = 12.7 mm

[0092] The safe distance is set to S2>S1, at which point the automatic fall arrestor can provide safety protection.

[0093] The fall arrestor A in this embodiment, after being fixed with a lifting device (such as an intelligent maintenance robot), enables the lifting device to have an automatic fall arrest function, preventing maintenance personnel from falling due to weightlessness and causing personal injury or death, thus ensuring the personal safety of maintenance personnel. Furthermore, a fall arrestor A in this embodiment includes a gear meshing with a guide rail rack, a cavity housing, and a cavity for installing an automatic fall arrestor structure shaft-connected to the gear. When the descent speed of the cavity housing exceeds a set threshold value, the automatic fall arrestor structure automatically fixes the entire fall arrestor structure to the guide rail via the gear. The anti-fall mechanism in this embodiment of the application has gears that mesh with the guide rail to be climbed. Furthermore, an automatic anti-fall mechanism cleverly designed within the cavity housing activates when the descent speed of the lifting equipment exceeds 0.5 meters per second. This stops the descent, causing the gears meshing with the guide rail to stop rotating, thus securing the entire lifting equipment and maintenance personnel to the guide rail and preventing them from falling to the ground. The ingeniously designed mechanical mechanism of this embodiment not only instantly activates the anti-fall function when the lifting equipment speed (descent speed or acceleration) exceeds a set value, but also filters out the inertial jolts generated during the anti-fall process, ensuring a safe and stable anti-fall process.

[0094] Example 2:

[0095] Based on Example 1, such as Figure 1-7As shown in the embodiment of this application, the internal toothed ratchet 9 further has a cantilever 17; a buffer spring 18 is provided on one side of the inner rotating shaft 4 of the cavity housing - 1, one end of the buffer spring 18 is fixed to the inner upper wall of the cavity housing - 1, and the other end is fixed to the cantilever 17.

[0096] The preferred embodiment of this application features an internal toothed ratchet with a cantilever and a cavity housing with a buffer spring connected to the cantilever at one end. When the rotational speed of pawl one or pawl two exceeds the rotational speed of the intelligent lifting robot during normal descent, pawl one and pawl two engage with the internal toothed ratchet, causing the internal toothed ratchet to rotate clockwise. During rotation, the cantilever of the internal toothed ratchet presses against the buffer spring, causing the buffer spring to compress and absorb energy, buffering the vibration caused by sudden stops. This effectively filters and buffers the inertial jolts of the entire device during automatic fall protection, further ensuring the safety of maintenance personnel and equipment and improving safety.

[0097] Example 3:

[0098] See attached document Figure 1-7 Based on Embodiments 1 and 2, the difference from Embodiment 1 is that: further, an external toothed ratchet 19 is connected to the rotating shaft 4 via a key C;

[0099] The cavity housing 2 is rotatably provided with a pawl 3 20 that is to engage with the external toothed ratchet 19.

[0100] Furthermore, the cavity housing 2 is provided with a fixed rotating shaft 21 and a tension spring 22; the pawl 3 20 is provided on the fixed rotating shaft 21 and connected to one end of the tension spring 22;

[0101] The pawl 3 20 has an integrally formed opening connecting plate 23; the cavity housing 2 is provided with an emergency stop button 24 that can move vertically within the housing; the lower part of the emergency stop button 24 is in contact with the opening B of the opening connecting plate 23; the cavity housing 2 is equipped with spring ball plungers 25 located on both sides of the emergency stop button 24. The spring ball plungers 25 serve as a limit to prevent the emergency stop button 24 from moving axially after being activated.

[0102] When the intelligent lifting robot is rising or falling, under normal circumstances, pawl 3 20 is engaged with external tooth ratchet 19 under the action of tension spring 22. When a sudden situation causes the intelligent lifting robot to fall rapidly, the emergency stop button 24 can be pressed quickly. At this time, when the pressing force of pawl 3 20 is greater than the tension of tension spring 22, pawl 3 20 and external tooth ratchet 19 are quickly engaged. Since pawl 3 20 rotates on a fixed axis, external tooth ratchet 19 cannot rotate after engagement, which causes shaft 4 to also not rotate. The intelligent lifting robot cannot continue to fall and is fixed in a certain position.

[0103] When the intelligent lifting robot rises or falls to the designated working position, pressing the emergency stop button 24 provides further protection, based on the same principle as above. The preferred direction of action for the emergency stop button 24 is downward, because pressing downward is the easiest action for a person in an emergency.

[0104] The preferred embodiment of this application features an external toothed ratchet and a manually controlled pawl three within the cavity housing. This serves as a supplement in emergency situations or when the automatic anti-fall mechanism is untimely or malfunctions. Furthermore, the design of the pawl three and the external toothed ratchet is scientifically aligned with the subconscious action habits of humans in emergency situations. This allows for a rapid response and the pressing of the emergency stop button, enabling the pawl three to quickly engage with the external toothed ratchet to stop the rotation of the shaft and thus secure the entire lifting device. This ensures that technicians and maintenance personnel are not subjected to rapid descent, providing the technical benefits of rapid braking, convenient operation, and prevention of personnel injury and equipment damage.

[0105] Example 4

[0106] Based on Examples 1-3, further, referring to the appendix... Figure 1-7 The turbine 26 is fixed on the keyway F (inner) of the rotating shaft 4 by key D (key D can actually be the same key as key C);

[0107] The cavity housing 2 is provided with a worm gear 27 that is perpendicular to the axis of the rotating shaft 4 and is to mesh with the turbine 26.

[0108] Furthermore, the worm gear 27 has a hollow structure and a compression spring 28 is installed inside; a guide 29 is fixed to the cavity shell 2; the other end of the guide 29 is inserted into the hollow structure of the worm gear 27 and has a built-in keyway (not shown in the figure); a limiting rod 30 located at the lower part of the worm gear 27 is fixed to the inner wall of the cavity shell 2; the limiting rod 30 is for lateral limiting and a compression spring 33 is installed at one end; a crank handle 31 is inserted into the outer end of the worm gear 27. The crank handle 31 is inserted into the worm gear 27 and connected by a key F. The worm gear 27 is provided with an annular limiting groove 32; the annular limiting groove 32 is to contact the limiting rod 30.

[0109] The crank handle is detachable. When the intelligent lifting robot is working normally, the crank handle can be removed and placed elsewhere to reduce the width dimension.

[0110] If the fall protection device is activated due to an emergency during the ascent or descent of the intelligent lifting robot, the robot needs to be manually lowered to the ground.

[0111] Simply cranking the handle 31 clockwise causes the worm gear 27 to rotate clockwise. Under the action of the compression spring 28, the rotating worm gear 27 will not move (as shown in the figure). Therefore, while rotating, a certain force needs to be applied along the axial direction of the worm gear 27. At this time, the worm gear 27 meshes with the turbine 26. Under the action of rotation, the worm gear 27 gradually moves towards the guide member 29. When the left end face of the worm gear 27 contacts the stepped end face of the guide member 29, the worm gear 27 no longer moves to the left (towards the guide member). At this time, since the annular limiting groove 32 on the worm gear 27 is directly opposite the transverse limiting rod 30, the annular groove of the limiting rod 30 is in contact with the annular limiting groove 32 (engaged), thus limiting the displacement and free rotation of the worm gear 27 along its axis. Similarly, when the worm gear 27 needs to rotate counterclockwise, the transverse limiting rod 30 engages with the annular limiting groove 32 on the worm gear 27. When the worm gear 27 rotates counterclockwise, the lateral limit rod 30 restricts the movement of the worm gear 27 along its axis.

[0112] After the automatic or manual fall protection device is activated, the external ratchet 19 and the pawl 3 20 are engaged, resulting in a large force between them. Therefore, it is necessary to first rotate the worm gear 27 counterclockwise to disengage the external ratchet 19 and the pawl 3 20, and then turn the rocker handle 31 clockwise to allow the intelligent lifting robot to descend smoothly to the ground.

[0113] The fall protection structure in this embodiment, by fixing a turbine on the rotating shaft and setting a worm gear inside the cavity housing 2 to engage with the turbine, enables technicians to slowly and manually lower the lifting equipment equipped with this fall protection structure to the ground safely according to the actual situation after the fall protection mechanism is activated. Preferably, the worm gear is a hollow structure with a compression spring inside; a guide is fixed to the cavity housing 2; the other end of the guide is inserted into the hollow structure of the worm gear 27; the compression spring 1 transmits a directional force to the worm gear through the guide, ensuring that the worm gear and turbine are separated when not in use, ensuring normal use of the equipment; when an emergency requires descent, the manual crank-press handle is used to apply force towards the guide, so that the worm gear and turbine engage, achieving a slow descent. The structural design is practical, scientific, and reasonable, with the technical effect of acting according to the actual situation; more preferably, a limiting rod located at the lower part of the worm gear is fixed to the inner wall of the cavity housing 2; the limiting rod is a lateral limiting rod and a compression spring 2 is installed at one end; a crank is inserted into the outer end of the worm gear. The crank is inserted into the worm gear and connected by a key. The annular limiting groove on the worm gear aligns with the transverse limiting rod, causing the transverse limiting rod to move outward under the action of the second compression spring, and engage with the groove on the worm gear. When the worm gear rotates counterclockwise, the transverse limiting rod restricts the worm gear from moving to the right, keeping the worm gear rotating in a limited position, ensuring stable descent, and providing the technical effect of engaging when needed and easily disengaging when not needed.

[0114] Example 5

[0115] Based on the above fall protection structure, refer to the appendix. Figure 1-7 The present invention provides an automatic fall-prevention intelligent robot, which includes the fall arrestor A in embodiments 1-4;

[0116] The first step is to fix at least one of the aforementioned fall arresters A to the intelligent lifting robot with bolts; if the device does not have a fixed position, bolt holes can be welded or drilled on its shell or bracket to achieve the goal of fixing it to the fall arrester A as a whole with bolts.

[0117] The second step is to engage the gear 3 of the fall arrestor A with the rack of the guide rail to be climbed. The gear 3 of the fall arrestor A is located outside the fall arrestor and can be replaced with a different model and size of power gear as needed; at the same time, if it is a non-gear meshing structure, the corresponding component (gear to chain) can be changed according to the actual situation to achieve the fixation of the entire lifting device.

[0118] In this embodiment, the automatic anti-fall, manual anti-fall, and safe and slow landing after the anti-fall action of the lifting equipment can be achieved in just two simple steps, maximizing the safety of personnel and equipment.

[0119] This invention features instantaneous automatic fall prevention, rapid manual fall prevention, and automatic adjustment of the descent speed of the entire lifting device after the fall prevention action, achieving the technical effect of completely ensuring the personal safety of technicians. The overall structure is simple, the mechanical transmission safety factor is high, and it is less affected by the environment.

[0120] Although the present invention has been described above with reference to embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the invention. In particular, as long as there is no structural conflict, the features in the disclosed embodiments can be combined with each other in any manner. The lack of an exhaustive description of these combinations in this specification is merely for the sake of brevity and resource conservation. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A fall arrestor, comprising a gear meshing with a guide rail rack, characterized in that: include: Cavity housing one, with a cavity for installing an automatic anti-fall structure connected to the gear shaft; The automatic fall arrestor structure automatically fixes the entire fall arrestor to the guide rail rack via the gear when the descent speed of the cavity shell exceeds a set threshold. The fall arrestor includes a second cavity housing that matches the first cavity housing, and a support is fixed on the second cavity housing; The automatic anti-fall structure includes: a rotating shaft, which is rotatably installed between the first cavity housing and the second cavity housing; Furthermore: the rotating shaft is rotatably connected to the cavity housing 1 and the cavity housing 2 via a rolling bearing 1 mounted on the cavity housing 1 and a rolling bearing 2 mounted on the support; one end of the rotating shaft is fixedly connected to the gear via a key 1; An internal toothed ratchet coaxial with the rotating shaft is provided on one of the cavity housings; The rotating shaft is fixedly connected to a rear linkage rotating plate by a key; a front linkage rotating plate is sleeved on the rear linkage rotating plate; a pawl 1 and a pawl 2 are provided between the rear linkage rotating plate and the front linkage rotating plate to mesh with the internal tooth ratchet. A turbine is fixed to the rotating shaft by a key, and a worm gear is provided inside the cavity housing II, which is perpendicular to the axis of the rotating shaft and is to be meshed with the turbine. The worm gear has a hollow structure and a compression spring is installed inside. A guide member is fixed to the cavity shell. The other end of the guide member is inserted into the hollow structure of the worm gear and has a built-in keyway. A limiting rod located at the lower part of the worm gear is fixed to the inner wall of the cavity shell. The limiting rod is lateral and has a compression spring installed at one end. A crank handle is inserted into the outer end of the worm gear. The crank handle is inserted into the worm gear and connected via key F. The worm gear has an annular limiting groove. The annular limiting groove is to contact the limiting rod. The internal toothed ratchet has a cantilever; a buffer spring is provided on one side of the rotating shaft inside the cavity housing, one end of which is fixed to the upper inner wall of the cavity housing and the other end is fixed to the cantilever. The distance between the front linkage plate and the rear linkage plate is set and is greater than the thickness of the first pawl and the second pawl; the first pawl and the second pawl are connected to the rear linkage plate and the front linkage plate by rotating bolts; the first pawl and the second pawl are respectively connected to a tension spring, and the other end of the tension spring is fixed to the rear linkage plate; a pressure plate for fixing the rolling bearing is fixed on the outside of the cavity housing.

2. The fall arrestor according to claim 1, characterized in that, An external toothed ratchet is connected to the rotating shaft by a key; a pawl is rotatably mounted on the cavity housing 2 to engage with the external toothed ratchet.

3. A fall arrestor according to claim 2, characterized in that, The cavity housing 2 is provided with a fixed rotating shaft and a tension spring 2; the pawl 3 is provided on the fixed rotating shaft and connected to one end of the tension spring 2; the pawl 3 has an open connecting plate integral with it; the cavity housing 2 is provided with an emergency stop button that can move up and down on its housing; the lower part of the emergency stop button has an open contact connection with the open connecting plate; the cavity housing 2 is equipped with spring ball plungers located on both sides of the emergency stop button.

4. The fall arrestor according to any one of claims 1-3, characterized in that, The threshold is set so that when the fall arrestor's descent speed is greater than 0.5 meters per second, the automatic fall arrestor structure will activate and the descent will stop.

5. An automatic fall-prevention intelligent robot, characterized in that, The automatic fall-prevention intelligent robot includes a fall arrester as described in any one of claims 1-4; Secure at least one of the aforementioned fall arresters to the intelligent lifting robot; And: Engage the gear of the fall arrestor with the rack of the guide rail to be climbed.

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