Anti-falling device and anti-falling system

Abstract

The invention discloses an anti-falling device and an anti-falling system. The anti-falling device comprises a support, a rotating piece, an anti-falling triggering piece, a contact piece, a connecting rod and a friction piece, the rotating piece is connected with an anti-falling target, and a rotating shaft of the rotating piece is fixed to the support; when the descending speed of the anti-falling target is larger than a speed threshold value, the rotating piece is connected with the anti-falling triggering piece and drives the anti-falling triggering piece to rotate; the contact piece is connected with the anti-falling trigger piece, and when the anti-falling trigger piece rotates, the contact piece moves; the connecting rod is used for amplifying the acting force of the anti-falling triggering piece on the contact piece; one face of the contact piece makes contact with the friction piece, and when the contact piece moves, the contact piece and the friction piece generate friction force larger than a set threshold value so as to slow down the descending speed of the anti-falling target till the anti-falling target stops descending. According to the anti-falling device, the friction force larger than the set threshold value is generated through the contact piece and the friction piece so as to slow down the descending speed of the anti-falling target till the anti-falling target stops descending, and the situation that the anti-falling target is damaged due to instant locking is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of anti-falling devices, and more specifically, to an anti-falling device and an anti-falling system. Background Art

[0002] For a robot that needs to perform lifting operations in a high-altitude environment, if the motor fails, or the transmission ropes, chains, or belts break, it will cause the robot to fall from a high altitude, leading to major safety accidents. To avoid this risk, a high-altitude anti-falling device is needed to protect the high-altitude operating robot. In the related art, an eccentric ratchet is used as the anti-falling device. After the anti-falling device is triggered, the eccentric ratchet will be instantly locked. Although it can play a certain anti-falling function, due to the large impact of instant locking, it is easy to damage the robot or affect the service life of the anti-falling device. Summary of the Invention

[0003] Embodiments of the present invention provide an anti-falling device and an anti-falling system.

[0004] Embodiments of the present invention provide an anti-falling device for an anti-falling target. The anti-falling device includes a bracket, a rotating member, an anti-falling trigger member, a connecting rod, a contact member, and a friction member; the rotating member is connected to the anti-falling target, and when the anti-falling target descends, it can drive the rotating member to rotate, and the rotating shaft of the rotating member is fixed on the bracket; the anti-falling trigger member is disposed around the rotating member, and when the descending speed of the anti-falling target is greater than a speed threshold, the rotating member is connected to the anti-falling trigger member and drives the anti-falling trigger member to rotate; the connecting rod includes a first part and a second part, the first end of the first part is connected to the anti-falling trigger member, the second end of the first part is connected to one end of the second part, and the other end of the second part is connected to the contact member. The length of the first part is greater than the length of the second part to amplify the force of the anti-falling trigger member on the contact member; the friction member is fixed on one side of the bracket, and one surface of the contact member contacts the friction member; when the anti-falling trigger member rotates, a force is applied to the contact member through the connecting rod, pulling the contact member to move on the friction member, and the contact member and the friction member rub against each other to generate frictional force to slow down the descending speed of the anti-falling target until the anti-falling target stops descending.

[0005] In this way, when the descending speed of the anti-falling target is greater than the speed threshold, the anti-falling trigger member rotates, and the anti-falling trigger member drives the contact member to move through the connecting rod. The connecting rod can amplify the force of the anti-falling trigger member on the contact member, so that a frictional force greater than a set threshold is generated between the contact member and the friction member to slow down the descending speed of the anti-falling target until the anti-falling target stops descending, while preventing the anti-falling target from falling and avoiding damage to the anti-falling target caused by instant locking.

[0006] In some embodiments, the anti-falling device includes: a connecting member; the rotating member includes: a limiting groove and a centrifugal trigger member; the rotating member is connected to the anti-falling target through the connecting member; when the anti-falling target moves, the connecting member follows the anti-falling target to move, so as to drive the rotating member to rotate; at least one of the limiting grooves is arranged on a surface of the rotating member away from the rotation axis; the centrifugal trigger member is arranged in the limiting groove, when the descending speed of the anti-falling target is greater than the speed threshold, the rotating speed of the rotating member is greater than the rotation speed threshold, so that the centrifugal trigger member leaves the limiting groove under the action of centrifugal force; a blocking member is fixedly arranged on a surface of the anti-falling trigger member close to the rotating member, when the centrifugal trigger member leaves the limiting groove, the centrifugal trigger member contacts the blocking member to drive the anti-falling trigger member to rotate.

[0007] In this way, when the anti-falling target descends rapidly, the centrifugal trigger member generates a displacement under the action of centrifugal force, contacts the blocking piece, and drives the blocking piece and the anti-falling trigger member to rotate, so as to trigger the anti-falling mechanism.

[0008] In some embodiments, the rotating member includes a torsion spring, one end of the torsion spring is fixedly arranged in the limiting groove, the other end of the torsion spring is connected to the centrifugal trigger member, the torsion spring is used to provide a pulling force for the centrifugal trigger member, when the rotating speed of the rotating member is greater than the rotation speed threshold, the pulling force of the torsion spring on the centrifugal trigger member is less than the centrifugal force received by the centrifugal trigger member, so that the centrifugal trigger member leaves the limiting groove, when the rotating speed of the rotating member is not greater than the rotation speed threshold, the pulling force of the torsion spring on the centrifugal trigger member is not less than the centrifugal force received by the centrifugal trigger member, so that the centrifugal trigger member does not leave the limiting groove.

[0009] In this way, the torsion spring is used to provide a pulling force for the centrifugal trigger member for limiting, so that the centrifugal trigger member will not displace outward when the centrifugal force is small; when the centrifugal force is greater than the pulling force, the centrifugal trigger member breaks through the restraint of the torsion spring, generates a displacement and contacts the blocking member, triggering the anti-falling trigger member to rotate.

[0010] In some embodiments, an annular gap is provided between the rotating member and the anti-falling trigger member, so that when the falling speed of the anti-falling target is not greater than the speed threshold, the rotating member rotates and the anti-falling trigger member does not rotate.

[0011] In this way, by arranging the rotating member, the anti-falling trigger member can be prevented from rotating when the anti-falling target is working normally, so as to avoid abnormally triggering the anti-falling mechanism during normal work and hindering the normal work of the anti-falling target.

[0012] In some embodiments, the anti-falling device further includes a damping member, which is connected to the anti-falling trigger member and provides damping to the anti-falling trigger member, so that when the descending speed of the anti-falling target is less than or equal to the speed threshold, the anti-falling trigger member does not rotate.

[0013] In this way, by providing damping to the anti-falling trigger member through the damping member, it is possible to prevent the anti-falling trigger member from rotating during the normal operation of the anti-falling target, which may cause the anti-falling mechanism to be triggered and affect the normal operation of the high-altitude operation equipment.

[0014] In some embodiments, the bracket includes a cross beam and two vertical beams. The vertical beams are used to support the cross beam. The anti-falling trigger member and the rotating member are arranged on the cross beam, the friction member is arranged on the vertical beam, the anti-falling device further includes a transmission rope and a guide pulley. One end of the transmission rope is connected to the anti-falling trigger member, and the other end of the transmission rope is connected to the connecting rod; the rotating shaft of the guide pulley is fixed on the bracket, and the guide pulley is arranged at one end where the cross beam is connected to the vertical beam where the friction member is located. The transmission rope bypasses the guide pulley to change the direction of the force exerted by the anti-falling trigger member on the connecting rod.

[0015] In this way, the anti-falling trigger member and the contact member are connected through the transmission rope and the transmission component, so that when the anti-falling trigger member rotates, the contact member moves; and the force exerted by the anti-falling trigger member on the contact member is amplified through the transmission component, so that the frictional force generated between the contact member and the friction member is greater than the set threshold, slowing down the descending speed of the anti-falling target and realizing the anti-falling of the anti-falling target.

[0016] In some embodiments, the anti-falling device further includes a sliding support, which is in contact connection with the friction member. The sliding support is provided with a connecting portion at the end far from the friction member. The second end of the first portion is connected to the connecting portion. When the descending speed of the anti-falling target is greater than the speed threshold, the connecting rod drives the contact member and the sliding support to rise synchronously.

[0017] In this way, the connecting portion of the sliding support can provide a fulcrum for the connecting rod to realize the force amplification function of the connecting rod, and when the anti-falling target is operating normally, the sliding support has a large static frictional force to maintain it in a fixed position, thereby keeping the connecting rod and the contact block in a fixed position.

[0018] In some embodiments, the connecting rod is an integrally formed structure, and the included angle between the length direction of the first portion and the length direction of the second portion is a set angle. When the anti-falling trigger member drives the connecting rod to move upward, the connecting rod rotates along the connecting portion to drive the contact member to contact the friction member, and the set angle is greater than 0° and less than 180°.

[0019] Thus, by setting the angle between the longitudinal direction of the first part and the longitudinal direction of the second part to a preset angle, the second part can follow the rotation of the first part and drive the contact member to rotate, so that the contact member contacts the friction member to generate frictional force.

[0020] In some embodiments, the anti-falling device further includes a tension spring. One end of the tension spring is connected to the sliding support, and the other end of the tension spring is connected to the first end of the first part. When the anti-falling trigger member does not rotate, the tension spring is used to fix the connecting rod at a preset position. When the connecting rod is in the preset position, the contact member and the friction member do not contact each other.

[0021] Thus, through the tension spring, when the anti-falling target is working normally, the connecting rod can be maintained at the preset position to separate the contact member and the friction member and prevent them from contacting each other, so as to avoid generating frictional force between the contact member and the friction member and prevent unnecessary wear of the contact member and the friction member.

[0022] An embodiment of the present invention provides an anti-falling system. The anti-falling system includes a robot and the anti-falling device according to any one of the above embodiments. The anti-falling target includes the robot, and the anti-falling device is used to prevent the robot from falling.

[0023] Thus, when the descending speed of the anti-falling target is greater than the speed threshold, the anti-falling trigger member rotates, and the anti-falling trigger member drives the contact member to move, so that a frictional force greater than the preset threshold is generated between the contact member and the friction member, and the descending speed of the anti-falling target is slowed down until the anti-falling target stops descending, thereby preventing the anti-falling target from falling and avoiding damage to the anti-falling target caused by instant locking.

[0024] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0026] Figure 1 is a schematic structural diagram of the anti-falling device according to an embodiment of the present invention;

[0027] Figure 2 is a schematic structural diagram of the gantry according to an embodiment of the present invention;

[0028] Figure 3 is a partial schematic structural diagram of the anti-falling device according to an embodiment of the present invention;

[0029] Figure 4 is a partial schematic structural diagram of the anti-falling device according to an embodiment of the present invention. Detailed Embodiments

[0030] The embodiments of the present invention will be described in detail below. The embodiments are shown in the accompanying drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0031] For a robot that needs to perform lifting operations in a high-altitude environment, if the motor fails, or the transmission ropes, chains, or belts break, it will cause the robot to fall from a high altitude, leading to major safety accidents. To avoid this risk, a high-altitude anti-fall device needs to be set up to protect the high-altitude operation robot. In the related art, an eccentric ratchet is used as the anti-fall device. After the anti-fall device is triggered, the eccentric ratchet will lock instantly. Although it can play a certain anti-fall function, due to the large impact of instant locking, it is easy to damage the robot or affect the service life of the anti-fall device 100.

[0032] Please refer to Figure 1 , an embodiment of the present invention provides an anti-fall device 100 for an anti-fall target 300. The anti-fall device 100 includes a bracket 10, a rotating member 30, an anti-fall trigger member 50, a contact member 90, a connecting rod 70, a contact member 90, and a friction member 110. The rotating member 30 is connected to the anti-fall target 300. When the anti-fall target 300 descends, it can drive the rotating member 30 to rotate. The rotating shaft of the rotating member 30 is fixed on the bracket 10; the anti-fall trigger member 50 is disposed around the rotating member 30. When the descending speed of the anti-fall target 300 is greater than the speed threshold, the rotating member 30 is connected to the anti-fall trigger member 50 and drives the anti-fall trigger member 50 to rotate; the connecting rod 70 includes a first part 71 and a second part 73. The first end of the first part 71 is connected to the anti-fall trigger member 50, the second end of the first part 71 is connected to one end of the second part 73, and the other end of the second part 73 is connected to the contact block. The length of the first part 71 is greater than the length of the second part 73 to amplify the acting force of the anti-fall trigger member 50 on the contact member 90; the friction member 110 is fixed on the vertical surface on one side of the bracket 10, and one surface of the contact member 90 contacts the friction member 110; when the anti-fall trigger member 50 rotates, an acting force is applied to the contact member 90 through the connecting rod 70 to pull the contact member 90 to move on the friction member 110. Friction occurs between the contact member 90 and the friction member 110 to generate a frictional force to slow down the descending speed of the anti-fall target 300 until the anti-fall target 300 stops descending.

[0033] Specifically, the anti-fall target 300 can be a high-altitude operation robot or a load platform that moves in the vertical direction. The load platform can carry heavy objects and move in the vertical direction. In this embodiment, the anti-fall target 300 is taken as an example of the load platform for illustration. Please refer to Figure 2, the support 10 can be a gantry. The carrier platform realizes vertical movement through the driving wheels 11, driven wheels 13 and the pulling rope 15. The two driving wheels 11 are respectively fixed at the bottoms of the left and right sides of the gantry, and the two driven wheels 13 are respectively fixed at the tops of the left and right sides of the gantry. The driving wheels 11 and the driven wheels 13 are connected by the pulling rope 15, and the carrier platform moves vertically as the pulling rope 15 moves. The anti-falling trigger 50 in the anti-falling device 100 is arranged directly above the carrier platform, and the friction member 110 and the contact member 90 are arranged on one side of the gantry. The friction member 110 can be fixedly arranged on the gantry in the vertical direction.

[0034] Among them, the friction member 110 includes a knurled friction strip or a friction plate. In this embodiment, the friction member 110 is taken as an example of a friction strip for description. When the cable connecting the anti-falling target 300 breaks or the motor fails, the anti-falling target 300 falls and descends rapidly. When the descending speed of the anti-falling target 300 is greater than the speed threshold, it can be determined that the anti-falling target 300 has an abnormal fall. The anti-falling trigger 50 rotates, driving the connecting rod 70 to move. When the connecting rod 70 moves, it drives the contact member 90 to move. One side of the contact member 90 contacts the friction member 110. When the contact member 90 moves, relative movement occurs between the contact member 90 and the friction member 110 to generate frictional force; the length of the first part 71 is greater than that of the second part 73, so that the lever arm at the first part 71 is larger than that at the second part 73, so that the force at the end of the first part 71 connected to the transmission member and the anti-falling trigger 50 is smaller than the force at the connection between the second part 73 and the contact block, realizing the function of amplifying the acting force generated by the anti-falling trigger 50 on the contact member 90, so that the frictional force generated by the contact member 90 and the frictional force is greater than the set threshold. The set threshold can be the sum of the gravity of the anti-falling target 300 and the gravity of the heavy objects it carries, so as to quickly slow down the descending speed of the anti-falling target 300 through the frictional force until the anti-falling target 300 stops descending, preventing the anti-falling target 300 from having an abnormal fall and causing serious collisions. In the related art, an eccentric ratchet is used as the anti-falling device 100. The eccentric ratchet has a large volume and occupies a large space, and is not suitable for a robot with a compact structure. The anti-falling device 100 of the embodiment of the present invention has a small volume, and the contact member 90 and the friction member 110 can be arranged at intervals with the anti-falling trigger 50, saving space and being suitable for an aerial work robot.

[0035] In this way, when the descending speed of the anti-falling target 300 is greater than the speed threshold, the anti-falling trigger 50 rotates, and the anti-falling trigger 50 drives the contact member 90 to move through the connecting rod 70. The connecting rod 70 can amplify the acting force of the anti-falling trigger 50 on the contact member 90, so that a frictional force greater than the set threshold is generated between the contact member 90 and the friction member 110, so as to slow down the descending speed of the anti-falling target 300 until the anti-falling target 300 stops descending, preventing the anti-falling target 300 from falling while avoiding damage to the anti-falling target 300 caused by instant locking.

[0036] Please refer to Figure 3 , in some embodiments, the fall prevention device 100 includes a connecting member 130; the rotating member 30 includes a limiting groove 31 and a centrifugal trigger member 33; the rotating member 30 is connected to the fall prevention target 300 through the connecting member 130; when the fall prevention target 300 moves, the connecting member 130 follows the movement of the fall prevention target 300 to drive the rotating member 30 to rotate; the centrifugal trigger member 33 is arranged in the limiting groove 31, when the descending speed of the fall prevention target 300 is greater than the speed threshold, the rotating speed of the rotating member 30 is greater than the rotating speed threshold, so that the centrifugal trigger member 33 leaves the limiting groove 31 under the action of centrifugal force; a blocking member 51 is fixedly arranged on the surface of the fall prevention trigger member 50 close to the rotating member 30, when the centrifugal trigger member 33 leaves the limiting groove 31, the centrifugal trigger member 33 contacts the blocking member 51 and drives the fall prevention trigger member 50 to rotate.

[0037] Specifically, the connecting member 130 can be a load-bearing rope, the rotating member 30 and the fall prevention trigger member 50 are coaxially arranged, the rotating member 30 can be a driven winch wheel, the fall prevention trigger member 50 can be a damping gear, and the centrifugal trigger member 33 and the blocking member 51 can be sheet-shaped. One end of the load-bearing rope is fixedly connected to the fall prevention target 300, the other end of the load-bearing rope is connected to the driven winch wheel, at least one limiting groove 31 is arranged at the end of the driven winch wheel far from the rotating shaft, a centrifugal trigger piece is arranged in the limiting groove 31, when the rotating speed of the driven winch wheel does not exceed the rotating speed threshold, the centrifugal trigger piece does not leave the limiting groove 31, the centrifugal trigger piece can slightly protrude from the limiting groove 31, but does not touch the blocking piece in the fall prevention trigger member 50 under normal circumstances. When the fall prevention target 300 moves in the vertical direction, the driven winch wheel rotates, and the centrifugal trigger piece moves around the rotating shaft following the rotation of the driven winch wheel and generates centrifugal force; when the descending speed of the fall prevention target 300 is greater than the speed threshold, the load-bearing rope drives the driven winch wheel to rotate rapidly, and makes the rotating speed of the driven winch wheel greater than the rotating speed threshold, so that the centrifugal trigger piece in the limiting groove 31 of the driven winch wheel generates a displacement away from the rotating shaft direction under the action of centrifugal force, contacts the blocking piece inside the damping gear, and drives the damping gear to rotate, thereby driving the contact member 90 to move and triggering the fall prevention mechanism.

[0038] Among them, the centrifugal trigger 33 may be provided with a first bending structure at one end away from the rotating shaft, and the blocking member 51 may be provided with a second bending structure at one end close to the rotating shaft. When the centrifugal trigger 33 contacts the blocking member 51 under the action of centrifugal force, the first bending structure and the second bending structure can be locked to fixedly connect the centrifugal trigger 33 and the blocking member 51. In addition, when the anti-falling target 300 triggers the anti-falling mechanism and stops descending under the frictional force of the friction member 110 and the contact member 90, the user can reverse the driven hoist pulley, that is, rotate the driven hoist pulley in the opposite direction to when the anti-falling is triggered. At this time, the centrifugal trigger 33 and the blocking member 51 are separated, and the centrifugal trigger 33 returns to the limit groove 31, realizing the reset of the anti-falling device 100. The reset method is simple, the anti-falling device 100 can be used repeatedly, and the service life is long.

[0039] In this way, when the anti-falling target 300 descends rapidly, the centrifugal trigger 33 generates a displacement under the action of centrifugal force and contacts the blocking piece, driving the blocking piece and the anti-falling trigger 50 to rotate, thereby triggering the anti-falling mechanism.

[0040] Please refer to Figure 3 , in some embodiments, the anti-falling device 100 further includes a torsion spring 150. One end of the torsion spring 150 is fixedly arranged in the limit groove 31, and the other end of the torsion spring 150 is connected to the centrifugal trigger 33. The torsion spring 150 is used to provide a pulling force for the centrifugal trigger 33. When the rotational speed of the rotating member 30 is greater than the speed threshold, the pulling force of the torsion spring 150 on the centrifugal trigger 33 is less than the centrifugal force received by the centrifugal trigger 33, so that the centrifugal trigger 33 leaves the limit groove 31. When the rotational speed of the rotating member 30 is not greater than the speed threshold, the pulling force of the torsion spring 150 on the centrifugal trigger 33 is not less than the centrifugal force received by the centrifugal trigger 33, so that the centrifugal trigger 33 does not leave the limit groove 31.

[0041] Specifically, one end of the torsion spring 150 is fixed in the limit groove 31, and the other end of the torsion spring 150 is fixedly connected to the centrifugal trigger 33. The torsion spring 150 provides a pulling force for the centrifugal trigger 33 to limit the centrifugal trigger 33 in the limit groove 31. When the rotational speed of the driven hoist pulley is less than or equal to the speed threshold, the centrifugal force of the centrifugal trigger 33 is equal to the pulling force of the torsion spring 150, and the torsion spring 150 limits the centrifugal trigger 33 in the limit groove 31; when the rotational speed of the driven hoist pulley is greater than the speed threshold, the centrifugal force of the centrifugal trigger 33 is greater than the pulling force of the torsion spring 150, and the centrifugal trigger 33 breaks through the restraint of the torsion spring 150 and generates a displacement in the direction away from the rotating shaft, leaving the limit groove 31 until it contacts the blocking piece, driving the blocking piece and the damping gear to rotate.

[0042] Thus, a torsion spring 150 is used to provide a pulling force to limit the centrifugal trigger member 33, so that the centrifugal trigger member 33 does not displace outward when the centrifugal force is small; when the centrifugal force is greater than the pulling force, the centrifugal trigger member 33 breaks through the restraint of the torsion spring 150, generates a displacement and contacts the blocking member 51, triggering the rotation of the anti-fall trigger member 50.

[0043] Please refer to Figure 3 , in some embodiments, an annular gap is provided between the rotating member 30 and the anti-fall trigger member 50, so that when the falling speed of the anti-fall target 300 is not greater than the speed threshold, the rotating member 30 rotates and the anti-fall trigger member 50 does not rotate.

[0044] Specifically, the rotating member 30 and the anti-fall trigger member 50 are coaxially arranged, and an annular gap is provided between the driven hoisting pulley and the anti-fall trigger member 50, so that when the falling speed of the anti-fall target 300 is less than or equal to the speed threshold, the driven hoisting pulley and the anti-fall trigger member 50 do not contact, so that when the driven hoisting pulley rotates following the anti-fall target 300, the anti-fall trigger member 50 does not rotate and does not trigger the anti-fall mechanism.

[0045] Thus, by providing the rotating member 30, the anti-fall trigger member 50 can be prevented from rotating when the anti-fall target 300 is working normally, so as to avoid abnormally triggering the anti-fall mechanism during normal work and hindering the normal work of the anti-fall target 300.

[0046] Please refer to Figure 3 , in some embodiments, the anti-fall device 100 further includes a damping member 170, and the damping member 170 is connected to the anti-fall trigger member 50 and provides damping to the anti-fall trigger member 50, so that when the falling speed of the anti-fall target 300 is less than or equal to the speed threshold, the anti-fall trigger member 50 does not rotate.

[0047] Specifically, the damping member 170 can be arranged below the anti-fall trigger member 50, and the damping member 170 is used to provide damping to the anti-fall trigger member 50, so that the anti-fall trigger member 50 does not rotate when the anti-fall target 300 is working normally, thereby avoiding friction between the contact member 90 and the friction member 110 caused by the rotation of the anti-fall trigger member 50 during the normal work of the anti-fall target 300 and affecting the work of the high school operation equipment.

[0048] Thus, by providing the damping member 170 to provide damping to the anti-fall trigger member 50, it is possible to prevent the anti-fall trigger member 50 from rotating when the anti-fall target 300 is working normally, resulting in triggering the anti-fall mechanism and affecting the normal work of the high school operation equipment.

[0049] Please refer to Figure 1 and Figure 2, in some embodiments, the bracket 10 includes a cross beam and two vertical beams. The vertical beams are used to support the cross beam. The anti-falling trigger 50 and the rotating member 30 are arranged on the cross beam, and the friction member 110 is arranged on the vertical beam. The anti-falling device 100 further includes a transmission rope 190 and a guide pulley 210. One end of the transmission rope 190 is connected to the anti-falling trigger 50, and the other end of the transmission rope 190 is connected to the connecting rod 70; the rotating shaft of the guide pulley 210 is fixed on the bracket 10, and the guide pulley 210 is arranged at one end where the cross beam is connected to the vertical beam where the friction member 110 is located. The transmission rope 190 bypasses the guide pulley 210 to change the direction of the force generated by the anti-falling trigger 50 on the connecting rod 70.

[0050] Specifically, the gantry is composed of a cross beam and two vertical beams. The two vertical beams are respectively connected to both ends of the cross beam. The vertical beams are used to support the cross beam. The anti-falling trigger 50 is arranged in the middle of the cross beam. One end of the transmission cable is connected to the anti-falling trigger 50, and the other end of the transmission cable is connected to the first end of the connecting rod 70. In addition, the middle part of the transmission cable abuts against the wheel surface of the guide pulley 210. The guide pulley 210 is arranged at a corner of the gantry, and the guide pulley 210 is arranged above the friction member 110. The guide pulley 210 is used to change the direction of the force generated by the anti-falling trigger 50 on the connecting rod 70, so that the anti-falling trigger 50 generates an upward acting force on the connecting rod 70. The friction strip can be vertically arranged on the vertical beam. When the anti-falling trigger 50 rotates, the contact member 90 is driven by the transmission cable to move vertically on the friction strip. The transmission assembly is used to amplify the force generated by the anti-falling trigger 50 on the contact member 90, so that a large frictional force is generated between the friction strip and the contact member 90, and the generated frictional force is greater than the set threshold value to slow down the falling speed of the anti-falling target 300 until it stops.

[0051] In this way, the anti-falling trigger 50 and the contact member 90 are connected through the transmission rope 190 and the transmission assembly, so that when the anti-falling trigger 50 rotates, the contact member 90 moves; and the force generated by the anti-falling trigger 50 on the contact member 90 is amplified through the transmission assembly, so that the frictional force generated between the contact member 90 and the friction member 110 is greater than the set threshold value, slowing down the falling speed of the anti-falling target 300 and realizing the anti-falling of the anti-falling target 300.

[0052] Please refer to Figure 4 , in some embodiments, the anti-falling device 100 further includes a sliding support 230. The sliding support 230 is in contact connection with the friction member 110. The sliding support 230 is provided with a connecting portion at the end far from the friction member 110. The second end of the first part 71 is connected to the connecting portion. When the falling speed of the anti-falling target 300 is greater than the speed threshold value, the connecting rod 70 drives the contact member 90 and the sliding support 230 to rise synchronously.

[0053] Specifically, one side of the sliding support 230 is in contact connection with the friction member 110, and there is a large static friction force between them to keep the sliding support 230 in a fixed position under normal circumstances; one end where the first part 71 and the second part 73 are connected is connected to the sliding support 230 through a connecting part, and the connection method with the connecting part can include hinged connection, that is, the connecting rod 70 can rotate relative to the sliding support 230. When the anti-falling trigger member 50 rotates, it drives the connecting rod 70 to rotate around the connecting part of the sliding support 230 through the transmission rope 190, so that the contact block contacts the friction member 110 and generates a large pulling force, breaking through the static friction force of the sliding support 230, pulling the sliding support 230 and the contact block to move upward, and generating a large friction force between the contact member 90 and the friction member 110 to slow down the falling speed of the anti-falling target 300.

[0054] In this way, the connecting part of the sliding support 230 can provide a fulcrum for the connecting rod 70 to realize the force amplification function of the connecting rod 70. When the anti-falling target 300 is working normally, the sliding support 230 has a large static friction force to stay in a fixed position, so as to keep the connecting rod 70 and the contact block in a fixed position.

[0055] Please refer to Figure 4 , in some embodiments, the connecting rod 70 is an integrally formed structure, and the included angle between the length direction of the first part 71 and the length direction of the second part 73 is a set angle. When the anti-falling trigger member 50 drives the connecting rod 70 to move upward, the connecting rod 70 rotates along the connecting part to drive the contact member 90 to contact the friction member 110. The set angle is greater than 0° and less than 180°.

[0056] Specifically, the connecting rod 70 is an integrally formed structure, which is divided into a first part 71 and a second part 73 by bending. The included angle between the first part 71 and the second part 73 is a set angle. The set angle can be an obtuse angle, an acute angle, or a right angle, and the set angle is not a flat angle. And the first part 71 and the second part 73 are relatively fixed. When the first part 71 rotates around the contact part, the second part 73 follows the first part 71 to rotate around the contact part. Thus, when the anti-falling trigger member 50 rotates, the anti-falling trigger member 50 drives the connection part of the first part 71 to move upward through the transmission rope 190. The first part 71 rotates around the connection part with the second part 73 and drives the second part 73 to rotate, so that the contact member 90 contacts the friction member 110. The contact member 90 moves upward following the connecting rod 70 and generates a large friction force with the friction member 110 to slow down the falling speed of the anti-falling target 300.

[0057] Thus, by setting the angle between the longitudinal direction of the first part 71 and the longitudinal direction of the second part 73 to a set angle, the second part 73 can follow the rotation of the first part 71 and drive the contact member 90 to rotate, so that the contact member 90 contacts the friction member 110 to generate frictional force.

[0058] Please refer to Figure 4 , in some embodiments, the anti-falling device 100 further includes a tension spring 250. One end of the tension spring 250 is connected to the sliding support 230, and the other end of the tension spring 250 is connected to the first end of the first part 71. When the anti-falling trigger member 50 does not rotate, the tension spring 250 is used to fix the connecting rod 70 at a set position. When the connecting rod 70 is in the set position, the contact member 90 and the friction member 110 do not contact.

[0059] Specifically, one end of the tension spring 250 is connected to the transmission assembly, and the other end of the tension spring 250 is connected. When the anti-falling target 300 is working normally, the tension spring 250 restricts one end of the first part 71 connected to the transmission rope 190 at a set point, so that the connecting rod 70 is fixed at the set position, and the second part 73 drives the contact member 90 and the friction member 110 to separate, and no frictional force is generated between them, so as to reduce the loss of the friction member 110 and the contact member 90 under normal conditions; the tension spring 250 can also be used to provide a pulling force for the sliding support 230, so that the sliding support 230 can have a large static frictional force when not sliding. When the anti-falling target 300 falls rapidly, the anti-falling trigger group rotates, drives the connecting rod 70 to move upward through the transmission rope 190, and at the same time the tension spring 250 is stretched; the connecting rod 70 rotates around the sliding support 230 under the pulling force of the transmission rope 190, so that the contact block and the friction member 110 are in close contact, and drives the sliding support 230 and the contact block to move upward together, and a large frictional force is generated between the friction member 110 and the contact block to slow down the falling speed of the anti-falling target 300.

[0060] Thus, through the tension spring 250, when the anti-falling target 300 is working normally, the connecting rod 70 can be kept at the set position to separate the contact member 90 and the friction member 110 and prevent them from contacting, so as to avoid generating frictional force between the contact member 90 and the friction member 110, thereby avoiding unnecessary loss of the contact member 90 and the friction member 110.

[0061] An embodiment of the present invention provides an anti-falling system, which includes the anti-falling device 100 of any of the above embodiments and a robot, and the anti-falling device 100 is used to prevent the robot from falling.

[0062] Thus, when the descending speed of the anti-falling target 300 is greater than the speed threshold, the anti-falling trigger 50 rotates, and the anti-falling trigger 50 drives the contact member 90 to move, so that a frictional force greater than the set threshold is generated between the contact member 90 and the friction member 110, to slow down the descending speed of the anti-falling target 300 until the anti-falling target 300 stops descending, while preventing the anti-falling target 300 from falling and avoiding damage to the anti-falling target 300 caused by instant locking.

[0063] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples" or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0064] In addition, the term "connection" should be understood in a broad sense. For example, it may include fixed connection, may also include detachable connection, or integral connection; it may include direct connection, may also be indirectly connected through an intermediate medium, and may also include the communication inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present invention can be understood according to specific situations.

[0065] In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0066] Any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment or part of the code including one or more executable instructions for implementing a specific logical function or process, and the scope of the preferred embodiments of the present invention includes additional implementations, where the functions may be executed in a substantially simultaneous manner or in a reverse order according to the involved functions, rather than in the order shown or discussed, which should be understood by those skilled in the technical field of the embodiments of the present invention.

[0067] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A fall prevention device, characterized in that, The anti - falling device includes: a bracket, a rotating member, an anti - falling trigger member, a connecting rod, a contact member, and a friction member; the rotating member, the rotating member is connected to the anti - falling target, and when the anti - falling target descends, it can drive the rotating member to rotate, and the rotating shaft of the rotating member is fixed on the bracket; the anti - falling trigger member, the anti - falling trigger member is arranged around the rotating member, when the descending speed of the anti - falling target is greater than the speed threshold, the rotating member is connected to the anti - falling trigger member and drives the anti - falling trigger member to rotate; the connecting rod, the connecting rod includes a first part and a second part, the first end of the first part is connected to the anti - falling trigger member, the second end of the first part is connected to one end of the second part, and the other end of the second part is connected to the contact member, and the length of the first part is greater than the length of the second part to amplify the acting force of the anti - falling trigger member on the contact member; the friction member, the friction member is fixed on one side of the bracket, and one surface of the contact member contacts the friction member; when the anti - falling trigger member rotates, an acting force is applied to the contact member through the connecting rod, pulling the contact member to move on the friction member, and the contact member and the friction member rub against each other to generate frictional force to slow down the descending speed of the anti - falling target until the anti - falling target stops descending.

2. The anti-falling device according to claim 1, wherein, The anti - falling device includes: a connecting member; the rotating member includes: a limiting groove, a centrifugal trigger member; the connecting member, the rotating member is connected to the anti - falling target through the connecting member; when the anti - falling target moves, the connecting member follows the anti - falling target to move to drive the rotating member to rotate; at least one of the limiting grooves is arranged on the surface of the rotating member away from the rotation axis; the centrifugal trigger member, the centrifugal trigger member is arranged in the limiting groove, when the descending speed of the anti - falling target is greater than the speed threshold, the rotation speed of the rotating member is greater than the rotation speed threshold, so that the centrifugal trigger member leaves the limiting groove under the action of centrifugal force; a blocking member is fixedly arranged on the surface of the anti - falling trigger member close to the rotating member, when the centrifugal trigger member leaves the limiting groove, the centrifugal trigger member contacts the blocking member and drives the anti - falling trigger member to rotate.

3. The anti-falling device according to claim 2, characterized in that, The rotating member includes: a torsion spring, one end of the torsion spring is fixedly arranged in the limiting groove, the other end of the torsion spring is connected to the centrifugal trigger member, the torsion spring is used to provide a pulling force for the centrifugal trigger member, when the rotation speed of the rotating member is greater than the rotation speed threshold, the pulling force of the torsion spring on the centrifugal trigger member is less than the centrifugal force received by the centrifugal trigger member, so that the centrifugal trigger member leaves the limiting groove, when the rotation speed of the rotating member is not greater than the rotation speed threshold, the pulling force of the torsion spring on the centrifugal trigger member is not less than the centrifugal force received by the centrifugal trigger member, so that the centrifugal trigger member does not leave the limiting groove.

4. The anti-falling device according to claim 1, wherein There is an annular gap between the rotating member and the anti - falling trigger member, so that when the falling speed of the anti - falling target is not greater than the speed threshold, the rotating member rotates and the anti - falling trigger member does not rotate.

5. The anti-falling device according to claim 1, characterized in that, The anti - falling device further includes: A damping member, which is connected to the anti-fall trigger member and provides damping to the anti-fall trigger member, so that when the descending speed of the anti-fall target is less than or equal to the speed threshold, the anti-fall trigger member does not rotate.

6. The anti-falling device according to claim 1, characterized in that, The bracket includes a cross beam and two vertical beams. The vertical beams are used to support the cross beam. The anti-fall trigger member and the rotating member are arranged on the cross beam. The friction member is arranged on the vertical beam. The anti-fall device further includes: A transmission rope, one end of the transmission rope is connected to the anti-fall trigger member, and the other end of the transmission rope is connected to the connecting rod; A guide pulley, the rotating shaft of the guide pulley is fixed on the bracket, the guide pulley is arranged at one end where the cross beam and the vertical beam where the friction member is located are connected, and the transmission rope bypasses the guide pulley to change the direction of the force generated by the anti-fall trigger member on the connecting rod.

7. The anti-falling device according to claim 6, characterized in that, The anti-fall device further includes: A sliding support, the sliding support is in contact connection with the friction member, the sliding support is provided with a connecting portion at the end far from the friction member, the second end of the first portion is connected to the connecting portion, and when the descending speed of the anti-fall target is greater than the speed threshold, the connecting rod drives the contact member and the sliding support to rise synchronously.

8. The anti-falling device according to claim 7, wherein, The connecting rod is an integrally formed structure, and the included angle between the length direction of the first portion and the length direction of the second portion is a set angle. When the anti-fall trigger member drives the connecting rod to move upward, the connecting rod rotates along the connecting portion to drive the contact member and the friction member to contact. The set angle is greater than 0° and less than 180°.

9. The anti-falling device according to claim 7, characterized in that, The anti-fall device further includes: A tension spring, one end of the tension spring is connected to the sliding support, and the other end of the tension spring is connected to the first end of the first portion. When the anti-fall trigger member does not rotate, the tension spring is used to fix the connecting rod at a set position. When the connecting rod is in the set position, the contact member and the friction member do not contact.

10. A fall prevention system, characterized in that, The anti-fall system includes a robot and the anti-fall device according to any one of claims 1-9. The anti-fall target includes the robot, and the anti-fall device is used to prevent the robot from falling.

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