A locking device for a wire reel, a wire winding and unwinding device and a window cleaning robot base station

Abstract

A locking device for a winding reel, a winding and unwinding device and a window cleaning robot base station relates to the technical field of cleaning equipment. The locking device comprises two supports which are arranged at intervals and have low-position channels through which a rope passes, the two low-position channels being at the same horizontal height; a movable member which is arranged between the two supports and has a high-position channel through which the rope passes or an arc-shaped top supporting surface which supports the rope, and the high-position channel or the arc-shaped top supporting surface has a vertex which is higher than the line connecting the two low-position channels, so that the rope forms an inverted V-shaped bending with the vertex pointing upward; a first elastic member which provides an upward supporting force to the movable member to maintain the bending state and generates a restoring force when the movable member moves downward; and a locking mechanism which is linked with the movable member and is triggered by the displacement of the movable member to lock the winding reel when the acceleration of the rope reaches or exceeds a preset threshold. The device adopts a pure mechanical structure and can automatically trigger a locking action when the rope abnormally accelerates during the unwinding of the winding reel, thereby achieving fast response and reliable locking.

Description

Technical Field

[0001] This utility model relates to the field of cleaning equipment technology, and in particular to a locking device for a cable reel, a cable winding and unwinding device, and a window cleaning robot base station. Background Technology

[0002] In reel-type rope retrieval systems, especially in safety-critical areas such as window cleaning robots and aerial work platforms, reliable locking devices are core components ensuring the safety of equipment and personnel. Existing locking technologies have significant shortcomings: mechanical centrifugal devices rely on rotational speed for triggering, making it difficult to effectively detect linear acceleration changes during sudden falls; while electronic sensing systems can detect acceleration changes, they require a continuous power supply and their reliability decreases significantly in humid environments. These technical solutions fail to meet the fundamental requirements of window cleaning robots for purely mechanical, instantaneous locking—that is, rapid response in the event of a fall while maintaining long-term operational reliability without relying on a power source. Utility Model Content

[0003] One of the purposes of this invention is to provide a locking device for a cable reel. This device adopts a purely mechanical structure and can automatically trigger a locking action when the rope accelerates abnormally during the cable unwinding process, thus achieving rapid response and reliable locking.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A locking device for a cable reel on which a rope is wound, the locking device comprising: Two support members are spaced apart and have low channels for ropes to pass through, with the two low channels at the same horizontal level; The movable component is located between two support components and has a high channel for the rope to pass through or an arc-shaped top support surface for supporting the rope. The apex of the high channel or arc-shaped top support surface is higher than the line connecting the two low channels, so that the rope forms an inverted V-shaped bend with the apex facing upward. The first elastic element is used to provide an upward supporting force to the movable element to maintain the bent state, and to generate a restoring force when the movable element moves downward. The locking mechanism, linked to the movable component, is configured to lock the reel when the rope acceleration reaches or exceeds a preset threshold, triggered by the displacement of the movable component.

[0005] The preset threshold can be determined by the stiffness coefficient of the first elastic element, the mass of the moving part, and the friction coefficient between the rope and the channel (or the arc-shaped top support surface).

[0006] Furthermore, the winding reel is provided with a locking groove; The locking mechanism includes an inclined block, a locking block, and a second elastic element. The inclined block is fixed to the movable part and has a first inclined surface. The locking block has a second inclined surface that cooperates with the first inclined surface. The second elastic element is used to drive the locking block to reset. When the movable part moves down, the first inclined surface and the second inclined surface cooperate, causing the locking block to extend and insert into the locking groove to achieve locking; When the movable part is reset, the second elastic element drives the locking block to exit the locking groove and release the lock.

[0007] Furthermore, the locking groove is a one-way locking groove, including a locking sidewall and a guide sidewall; The locking sidewall is a plane perpendicular to the rotation direction of the winding reel, and the guide sidewall is an inclined surface or arc surface that is inclined toward the rotation direction of the winding reel. The front end of the locking block is provided with a plane parallel to the locking sidewall; When the reel rotates in the direction the rope is pulled out, the plane at the front end of the locking block abuts against the locking sidewall to achieve locking; When the reel rotates in the reverse direction, the locking block slides out of the locking groove along the guide sidewall and is released from the lock.

[0008] Furthermore, the locking device also includes a base on which a sliding groove is provided; The locking block is slidably installed in the slide groove and can move linearly along the slide groove; The front end of the slide is provided with an opening for the front end of the locking block to extend out.

[0009] Furthermore, the bottom of the chute is provided with a limiting groove in the same direction as its extension, and the limiting groove has an open end; The locking block has a downwardly extending protrusion at the position corresponding to the opening end; The second elastic element is disposed in the limiting groove, with one end connected to the limiting groove and the other end extending out to the opening and connected to the protrusion.

[0010] Furthermore, the locking device also includes a mounting base; The two support members are fixedly installed on the mounting base; The movable component is movably mounted on the mounting base; The first elastic element is disposed between the movable element and the mounting base, or between the movable element and the base.

[0011] Furthermore, the mounting base or base is provided with a guide channel; The movable component is provided with a guide shaft that slides in conjunction with the guide channel; The guide shaft is coaxially or parallel to the first elastic element.

[0012] Furthermore, a wire guide wheel assembly is provided at the low-position channel, the wire guide wheel assembly comprising three wire guide wheels arranged in an equilateral triangle.

[0013] The second objective of this utility model is to provide a winding and unwinding device, which includes a winding reel and a rope wound on the winding reel, as well as a driving device and the aforementioned locking device. The driving device is used to drive the winding reel to rotate in order to achieve the winding operation.

[0014] The third objective of this utility model is to provide a window cleaning robot base station, which includes a base station body, on which the aforementioned cable retraction and extension device is provided. The end of the cable is connected to the window cleaning robot and is controlled by the cable retraction and extension device.

[0015] The locking device of this invention adopts a purely mechanical structure design. By staggering the relative positions of the lower channels of the two support members and the upper channel (or arc-shaped top support surface) of the movable member, the rope forms an inverted V-shaped bend with the apex pointing upwards. This staggered arrangement of relative positions ensures the accurate execution of the locking action by controlling the degree of rope bending, while maintaining a compact and reasonable overall structure.

[0016] The first elastic element provides upward support to the movable element, maintaining the rope's preset bending state. When the movable element moves downward, it generates a restoring force opposite to the direction of displacement, thus maintaining the mechanism's ready state. During the unwinding process of the reel, when the rope acceleration reaches or exceeds a preset threshold, the rope's thrust overcomes the support force of the first elastic element, driving the movable element to displace, thereby triggering the locking mechanism and locking the reel.

[0017] The entire device relies entirely on the mechanical interference caused by the relative misalignment of the low-level channel and the high-level channel (or the arc-shaped top support surface) and the resetting action of the first elastic element to achieve automatic locking. It requires no power supply and has high environmental adaptability and operational stability. Attached Figure Description

[0018] Figure 1 Three-dimensional for wire take-up and unwinding device Figure 1 The moving parts are equipped with a high-level channel; Figure 2 Side view of the take-up and undo device Figure 1 The moving parts are equipped with a high-level channel; Figure 3 Side view of the take-up and undo device Figure 2 The moving parts are equipped with a high-level channel; Figure 4 Three-dimensional for wire take-up and unwinding device Figure 2 The movable parts are designed with an arc-shaped top support surface; Figure 5 Side view of the take-up and undo device Figure 3 The movable parts are designed with an arc-shaped top support surface; Figure 6 Side view of the take-up and undo device Figure 4 The movable parts are designed with an arc-shaped top support surface; Figure 7 Three-dimensional for wire take-up and unwinding device Figure 3 Support components and moving parts are omitted; Figure 8 This is a schematic diagram showing the interaction between the reel and the locking block; Figure 9 A three-dimensional view of the base; Figure 10 This is a 3D view of the locking block; Figure 11 A 3D view of the cable reel; Figure 12 A three-dimensional view of the movable components for a high-level access channel; Figure 13 A three-dimensional view of a movable component with an arc-shaped top support surface.

[0019] In the picture: 1—Roller 1a—Locking groove 1a1—Locking sidewall 1a2—Guide sidewall 2—Rope 3—Support component 3a – Low-level channel; 4 – Moving part; 4a – High-level channel 4b – Arc-shaped top support surface; 4c – Guide shaft; 5 – First elastic element 6a – Inclined block; 6a1 – First inclined plane; 6b – Locking block 6b1 – Second inclined surface; 6b2 – Protrusion; 6b3 – Limiting hole 6c—Second elastic element; 7—Base; 7a—Slide groove 7b – Limiting groove; 8 – Mounting seat; 8a – Guide sleeve 8b – Mounting slot; 9 – Wire guide wheel; 10 – Drive unit 11 - Limiting post. Detailed Implementation

[0020] To facilitate a clearer understanding of the concept of this utility model by those skilled in the art, it will be further described below in conjunction with embodiments and accompanying drawings. Please refer to the accompanying drawings for details. Figure 1-13 . Example 1

[0021] This embodiment provides a locking device with a purely mechanical structure. This device can automatically trigger a locking action when the rope 2 accelerates abnormally due to the equipment falling during the unwinding process of the reel 1, thereby achieving rapid response and reliable locking.

[0022] Specifically, such as Figure 1-13As shown, the locking device mainly includes a support member 3, a movable member 4, a first elastic member 5, and a locking mechanism. The support member 3 can be a plate structure, and there are two of them, spaced apart (usually arranged in parallel). Each of the two support members 3 has a low-level channel 3a for the rope 2 to pass through, and the two low-level channels 3a are at the same horizontal level. The movable member 4 is located between the two support members 3, and the movable member 4 has a high-level channel 4a for the rope 2 to pass through (see...). Figure 1-3 and Figure 12 ) or the arc-shaped support surface 4b of the support rope 2 (see Figure 4-6 and Figure 13 The distance between the movable part 4 and the two supporting parts 3 can be the same or different. For example... Figure 1 , 2 As shown in Figures 4 and 5, in the initial state, the apex of the high-position channel 4a (usually referring to its lowest point) or the arc-shaped top support surface 4b is higher than the line connecting the two low-position channels 3a (such as the horizontal line connecting the lowest points of the two low-position channels 3a), causing the rope 2 to form an inverted V-shaped bend with the apex facing upward when it passes through or slides against the surface. The first elastic element 5 is used to provide an upward supporting force to the movable element 4 to maintain the bend state, and to generate a restoring force opposite to the displacement direction when the movable element 4 moves downward. The first elastic element 5 can be a compression spring or a tension spring, preferably a compression spring. The locking mechanism is linked to the movable element 4 and is configured to lock the reel 1 by the displacement of the movable element 4 when the acceleration of the rope 2 reaches or exceeds a preset threshold. Specifically, when the acceleration of rope 2 is less than a preset threshold, the movable part 4 remains stationary under the supporting force of the first elastic element 5, and the locking mechanism is in an unlocked state; when the acceleration of rope 2 reaches or exceeds the preset threshold, rope 2 pushes the movable part 4 to move against the supporting force of the first elastic element 5, reducing the bending and triggering the locking mechanism to lock the reel 1. The entire process is achieved entirely by mechanical structure, featuring rapid response and reliable operation.

[0023] The locking device in this embodiment uses a purely mechanical triggering mechanism to achieve automatic locking. Under normal operating conditions, when the acceleration of rope 2 is less than a preset threshold (i.e., the trigger threshold), the movable part 4 remains stationary under the supporting force of the first elastic element 5, the locking mechanism is in an unlocked state, and the reel 1 can rotate freely to achieve normal winding and unwinding of rope 2. When an abnormal situation occurs (such as equipment falling) causing the acceleration of rope 2 to reach or exceed the preset threshold, the bent rope 2 tends to straighten under inertia, pushing the movable part 4 to overcome the supporting force of the first elastic element 5 and generate displacement (downward movement), thereby triggering the locking mechanism to perform the locking action, causing the reel 1 to immediately stop rotating and effectively preventing rope 2 from being pulled out further. This locking process relies entirely on the mechanical structure, and only a short time is required from the abnormal acceleration of rope 2 to the completion of locking, exhibiting characteristics of rapid response and reliable action. This device requires no additional detection functions, relying entirely on the automatic response of the mechanical structure to achieve locking. In practical applications, the trigger threshold of the locking device can be controlled by adjusting the preload of the first elastic element 5 to adapt to the safety protection requirements under different working conditions. The entire device requires no external power supply, has a simple and compact structure, and is particularly suitable for applications requiring rapid and safe response, such as window cleaning robots and high-altitude work equipment.

[0024] The trigger threshold (i.e., the critical acceleration for locking action) of the locking device in this embodiment is determined by three key parameters: the stiffness coefficient of the first elastic element 5, the mass parameter of the movable element 4, and the coefficient of dynamic friction between the rope 2 and the channel (or the arc-shaped top support surface 4b). It works based on the principle of inertial triggering. When the acceleration of the rope 2 reaches or exceeds the threshold, the movable element 4 overcomes the supporting force of the first elastic element 5 under the action of inertial force and generates displacement, thereby triggering the locking mechanism to perform the locking action. This purely mechanical triggering method has technical advantages such as short response time (significantly faster than manual intervention speed), trigger sensitivity can be controlled by mechanical parameters, and no external energy is required (detection is achieved by relying on the system's own inertia). It can effectively prevent safety accidents such as the loss of control of the winding reel.

[0025] In this embodiment, as Figure 11 As shown, the winding reel 1 is provided with a locking groove 1a that cooperates with the locking mechanism. Wherein, as... Figure 8-10 and Figure 12-13 As shown, the locking mechanism includes a ramp block 6a, a locking block 6b, and a second elastic element 6c. Specifically, the ramp block 6a is fixed to the movable member 4 and has a first ramp 6a1; the locking block 6b has a second ramp 6b1 that cooperates with the first ramp 6a1; the second elastic element 6c is used to drive the locking block 6b to reset. The second elastic element 6c can be a compression spring or a tension spring, preferably a compression spring.

[0026] The working principle of this locking mechanism is as follows: Locking process: When the movable part 4 is pushed down by the rope 2, the first inclined surface 6a1 of the inclined block 6a interacts with the second inclined surface 6b1 of the locking block 6b, pushing the locking block 6b to extend and insert into the locking groove 1a of the winding reel 1, thereby achieving locking; Unlocking process: When the movable part 4 is reset by the reset force of the first elastic element 5, the second elastic element 6c drives the locking block 6b to exit the locking groove 1a, thus releasing the locking state.

[0027] The locking device in the locked state can be found in [reference needed]. Figure 3 , 6 The locking device in the unlocked state can be found in [reference]. Figure 2 , 5 .

[0028] In this embodiment, as Figure 11 As shown, the locking groove 1a is a one-way locking groove, and its structure includes a locking sidewall 1a1 and a guide sidewall 1a2. The locking sidewall 1a1 is a plane perpendicular to the rotation direction of the winding reel 1; the guide sidewall 1a2 is an inclined surface or arc surface that is inclined towards the rotation direction of the winding reel 1. The locking block 6b is provided with a mating structure: the front end of the locking block 6b is provided with a plane parallel to the locking sidewall 1a1, which is used to realize the one-way locking function.

[0029] The working process of the locking groove 1a and the locking block 6b is as follows: Locking process: When the reel 1 rotates in the direction of pulling out the rope 2, the plane of the locking block 6b abuts tightly against the locking side wall 1a1, preventing the reel 1 from continuing to rotate and achieving reliable locking; Unlocking process: When the reel 1 rotates in the reverse direction, the locking block 6b slides out of the locking groove 1a along the inclined or arc surface of the guide side wall 1a2, allowing the reel 1 to rotate freely.

[0030] The locking device in this embodiment also includes a base 7 and a mounting base 8. The base 7 has a groove 7a, within which the locking block 6b is slidably mounted and can move linearly. The groove 7a has an opening at its front end, allowing the locking block 6b to extend and mechanically lock when the locking groove 1a of the winding reel 1 is aligned. A second elastic member 6c connects the locking block 6b to the base 7, ensuring automatic reset upon unlocking. The mounting base 8 serves as a mounting support, with two support members 3 rigidly connected to it to form a stable working reference. The movable member 4 is movably mounted on the mounting base 8, and its guide shaft 4c forms a sliding pair with the guide channel on the mounting base 8 (or base 7), ensuring vertical displacement. In this embodiment, the mounting base 8 has a guide sleeve 8a, whose inner cavity serves as a guide channel. The first elastic member 5 can be flexibly positioned between the movable member 4 and the mounting base 8 or base 7 as needed, providing stable support for the system. The guide shaft 4c and the first elastic element 5 are arranged coaxially or parallel, which improves the force distribution and gives the device a faster response speed and higher operational reliability. Specifically, each of the two support members 3 has a guide wheel assembly at its channel (i.e., at the lower channel 3a), and each guide wheel assembly includes three guide wheels 9 arranged in an equilateral triangle. This arrangement not only disperses the load on the rope 2 and reduces localized wear, but also ensures the smooth passage of the rope 2 and maintains a stable bending angle, thereby guaranteeing the sensitivity and reliability of the locking device.

[0031] In this embodiment, the reset mechanism of the locking block 6b is as follows: a limiting groove 7b with the same extension direction as the slide groove 7a is provided at the bottom of the slide groove 7a, and the limiting groove 7b has an open end; a downwardly extending protrusion 6b2 is provided on the locking block 6b corresponding to the open end; a second elastic member 6c is disposed in the limiting groove 7b, one end of which is connected to the limiting groove 7b, and the other end extends out of the open end and is connected to the protrusion 6b2 of the locking block 6b. The specific implementation varies depending on the type of the second elastic member 6c selected: when a compression spring is used (see...) Figure 9 The opening end of the limiting groove 7b is located at its rear end, and the protrusion 6b2 of the locking block 6b is also located at its rear end. The front end of the compression spring is fixedly connected to or abuts against the limiting groove 7b, and the rear end extends out to connect with the protrusion 6b2. When a tension spring is used, the opening end of the limiting groove 7b is located at its front end, and the protrusion 6b2 of the locking block 6b is also located at its front end. The rear end of the tension spring is fixed to the limiting groove 7b, and the front end extends out to connect with the protrusion 6b2. This design achieves precise control through a three-stage guiding mechanism: the main direction is provided by the slide groove 7a, the limiting groove 7b assists in positioning, and the second elastic element 6c ensures reliable reset. This structural design not only ensures the accuracy of the linear movement of the locking block 6b, but also effectively avoids jamming during the movement, thereby significantly improving the overall reliability of the locking device.

[0032] In addition, such as Figure 8-10 As shown, a limiting post 11 can be provided in the slide groove 7a, and a limiting hole 6b3 is provided on the locking block 6b in the same direction as the extension of the slide groove 7a. The limiting post 11 is installed in the limiting hole 6b3, thereby restricting the movement of the locking block 6b and preventing it from sliding out of the slide groove 7a.

[0033] In this embodiment, a compression spring is preferably used as the first elastic element 5, and two installation structure schemes are provided: The first scheme is to coaxially sleeve the compression spring on the outside of the guide shaft 4c, with its two ends forming an abutment or fixed connection with the lower end of the movable element 4 and the upper end of the base 7, respectively; the second scheme is to provide an installation groove 8b at the lower end of the mounting base 8 (see...). Figure 7 The movable part 4 is installed in the groove with a clearance fit. A guide channel is opened at the bottom of the mounting groove 8b for the guide shaft 4c to pass through. At the same time, a corresponding through hole is provided on the base 7. The compression spring is coaxially sleeved on the outside of the guide shaft 4c and placed in the mounting groove 8b. Its two ends are respectively abutted or fixedly connected to the lower end of the movable part 4 and the bottom of the mounting groove 8b. Both of these mounting structure designs can ensure the stable operation of the first elastic element 5 and provide continuous and reliable support for the movable part 4.

[0034] In this embodiment, the structural design of the mounting groove 8b adopts the following two forms: one is a composite cavity structure combining rectangular and cylindrical cross-sections (see...). Figure 7 The second type is a prism-shaped cavity structure with a single rectangular cross-section. The outer contour of the movable part 4 matches the inner cavity of the mounting groove 8b. This matching structure restricts the movable part 4 to linear displacement only in the vertical direction. This matching design can effectively limit the degree of freedom of movement of the movable part 4, ensuring that it can only move in the vertical direction and avoiding the possibility of rotation around the axis.

[0035] In this embodiment, the two support members 3 adopt an integral structure design that is molded together with the mounting base 8. This design can enhance the connection strength between components. The movable member 4 is movably mounted on the mounting base 8 through a sliding fit and achieves reciprocating motion under the action of the first elastic member 5. This structural design ensures that the support system has sufficient overall rigidity while ensuring the flexibility of movement of the movable member 4, so that the locking device maintains stable working performance during long-term use.

[0036] The locking device in this embodiment adopts a fully mechanical structure design, achieving automatic locking through the mechanical linkage between the movable part 4 and the locking mechanism. When the acceleration of the rope 2 reaches or exceeds a preset threshold (i.e., the trigger threshold) during the unwinding process of the reel 1, the device can respond quickly and reliably execute the locking action. This device relies entirely on mechanical components to achieve the locking function, requiring no external power supply, and exhibits high operational stability and environmental adaptability. The device uses the staggered relative positions of the lower channel 3a of the two support members 3 and the higher channel 4a (or the arc-shaped top support surface 4b) of the movable part 4 to create an inverted V-shaped bend with the apex facing upwards. This design not only ensures accurate triggering and execution of the locking action but also maintains a simple and compact overall structure, facilitating installation and maintenance while meeting the requirements for long-term stable operation. Example 2

[0037] like Figure 1-13 As shown, this embodiment provides a cable winding and unwinding device, including a cable reel 1 (equivalent to a reel of a cable winder), a rope 2 wound on the cable reel 1, a drive device 10, and a locking device as described in Embodiment 1. The drive device 10 is preferably a motor, used to drive the cable reel 1 to rotate and achieve the cable winding operation of the rope 2. The locking device is configured in conjunction with the cable reel 1 to automatically lock when the rope 2 accelerates abnormally.

[0038] The other structures of the take-up and release device can adopt conventional designs in the field. Its specific construction and working principle are similar to those of existing take-up and release devices, so they will not be described in detail here. Example 3

[0039] This embodiment provides a window cleaning robot base station, including a base station body and a cable retraction device as described in Embodiment 2. The end of the cable 2 is connected to the window cleaning robot, and the cable 2 is controllably retracted and extended via the cable retraction device. The cable 2 can be a fiber rope or a composite rope structure, with the composite rope having a built-in power supply circuit to provide power to the connected window cleaning robot. The base station body can have a built-in battery pack, enabling the device to operate autonomously. This power supply design eliminates the need for an external power source, improving the device's mobility.

[0040] The other structures of the window cleaning robot base station can adopt conventional designs in this field, and their specific construction is similar to that of existing window cleaning robot base stations, so they will not be described in detail here.

[0041] The above embodiments are preferred implementations of this utility model. Any obvious substitutions without departing from the concept of this technical solution are within the protection scope of this utility model.

Claims

1. A locking device for a reel on which a rope (2) is wound, characterized in that include: Two support members (3) are spaced apart and have low channels (3a) through which ropes (2) pass, and the two low channels (3a) are at the same horizontal height; The movable part (4) is located between the two support parts (3) and has a high channel (4a) for the rope (2) to pass through or an arc-shaped top support surface (4b) for supporting the rope (2). The apex of the high channel (4a) or the arc-shaped top support surface (4b) is higher than the line connecting the two low channels (3a), so that the rope (2) forms an inverted V-shaped bend with the apex facing upward. The first elastic element (5) is used to provide an upward supporting force to the movable element (4) to maintain the bent state, and to generate a restoring force when the movable element (4) moves downward; The locking mechanism, which is linked to the movable part (4), is configured to lock the reel (1) by the displacement of the movable part (4) when the acceleration of the rope (2) reaches or exceeds a preset threshold.

2. The locking device for a winding reel according to claim 1, characterized in that: The winding reel (1) is provided with a locking groove (1a); The locking mechanism includes a ramp block (6a), a locking block (6b), and a second elastic member (6c). The ramp block (6a) is fixed to the movable member (4) and has a first ramp (6a1). The locking block (6b) has a second ramp (6b1) that cooperates with the first ramp (6a1). The second elastic member (6c) is used to drive the locking block (6b) to reset. When the movable part (4) moves down, the first inclined surface (6a1) and the second inclined surface (6b1) cooperate to make the locking block (6b) extend and insert into the locking groove (1a) to achieve locking; When the movable part (4) is reset, the second elastic element (6c) drives the locking block (6b) to exit the locking groove (1a) and release the lock.

3. The locking device for a winding reel according to claim 2, characterized in that: The locking groove (1a) is a one-way locking groove, including a locking sidewall (1a1) and a guide sidewall (1a2). The locking sidewall (1a1) is a plane perpendicular to the rotation direction of the winding reel (1), and the guide sidewall (1a2) is an inclined surface or arc surface that is inclined toward the rotation direction of the winding reel (1). The front end of the locking block (6b) is provided with a plane parallel to the locking sidewall (1a1); When the reel (1) rotates in the direction of pulling out the rope (2), the plane at the front end of the locking block (6b) abuts against the locking sidewall (1a1) to achieve locking; When the winding reel (1) rotates in the opposite direction, the locking block (6b) slides out of the locking groove (1a) along the guide sidewall (1a2) and is released from the lock.

4. The locking device for a winding reel according to claim 2 or 3, characterized in that: It also includes a base (7) on which a groove (7a) is provided; The locking block (6b) is slidably installed in the slide groove (7a) and can move linearly along the slide groove (7a); The front end of the slide (7a) is provided with an opening for the front end of the locking block (6b) to extend out.

5. The locking device for a winding reel according to claim 4, characterized in that: The bottom of the slide (7a) is provided with a limiting groove (7b) in the same direction as its extension, and the limiting groove (7b) has an open end; The locking block (6b) has a downwardly extending protrusion (6b2) corresponding to the position of the opening end. The second elastic member (6c) is disposed in the limiting groove (7b), with one end connected to the limiting groove (7b) and the other end extending out to the opening end and connected to the protrusion (6b2).

6. The locking device for a winding reel according to claim 4, characterized in that: It also includes a mounting base (8); The two support members (3) are fixedly installed on the mounting base (8); The movable part (4) is movably mounted on the mounting base (8); The first elastic element (5) is disposed between the movable element (4) and the mounting base (8), or between the movable element (4) and the base (7).

7. The locking device for a winding reel according to claim 6, characterized in that: The mounting base (8) or base (7) is provided with a guide channel; The movable part (4) is provided with a guide shaft (4c) that slides with the guide channel; The guide shaft (4c) is coaxially or parallel to the first elastic element (5).

8. The locking device for a winding reel according to claim 1, characterized in that: A wire guide wheel assembly is provided at the low-position channel (3a); The guide roller assembly includes three guide rollers (9) arranged in an equilateral triangle.

9. A cable winding and unwinding device, comprising a cable reel (1) and a rope (2) wound on the cable reel (1), characterized in that: It also includes a drive device (10) and a locking device for the reel as described in any one of claims 1-8, the drive device (10) being used to drive the reel (1) to rotate.

10. A window cleaning robot base station, comprising a base station body, characterized in that: The base station body is equipped with a cable retraction and deployment device as described in claim 9, and the end of the cable (2) is connected to a window cleaning robot and is retracted and deployed by the cable retraction and deployment device.

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