CN116143031B

CN116143031B - Anti-falling device, cargo carrying device and cargo carrying device control method

Info

Publication number: CN116143031B
Application number: CN202310420432.7A
Authority: CN
Inventors: 林武; 郭益泰; 巴青城
Original assignee: Contemporary Amperex Technology Co Ltd
Current assignee: Contemporary Amperex Technology Co Ltd
Priority date: 2023-04-19
Filing date: 2023-04-19
Publication date: 2023-09-08
Anticipated expiration: 2043-04-19
Also published as: CN116143031A

Abstract

The application discloses a falling prevention device, a cargo carrying device and a cargo carrying device control method. The anti-falling device comprises an objective table, a clamping mechanism, a first braking mechanism and a second braking mechanism. The objective table is used for movably arranging in the stand column of the cargo device through the driving rope, and the clamping mechanism is arranged on the objective table. The first braking mechanism is in transmission connection with the clamping mechanism, and the first braking mechanism is used for enabling the clamping mechanism to clamp the upright post under the condition that the driving rope is broken. The second braking mechanism is in transmission connection with the clamping mechanism, and the second braking mechanism is used for enabling the clamping mechanism to clamp the upright post under the condition that the movement speed of the objective table exceeds a preset threshold value. In case of breakage of the drive line, and in case of other resulting in overspeed lowering of the stage, the first and second braking mechanisms act alone or in combination, such that the stage brakes to reduce the risk and extent of damage of the stage.

Description

Anti-falling device, cargo carrying device and cargo carrying device control method

Technical Field

The application relates to the field of storage equipment, in particular to a falling prevention device, a cargo carrying device and a cargo carrying device control method.

Background

The stacker is also called a stacker crane, and is a lifting and transporting device used in warehouses, workshops and the like. The stacker travels back and forth in the aisle of the warehouse to remove the goods from the shelves or store the goods in the shelves.

The stacker includes motor, wire rope, stand and objective table, and wire rope is connected with the objective table, and motor drive wire rope pulls the objective table and reciprocates along the stand to can remove the goods from the eminence to the eminence through the objective table, perhaps remove the goods from the eminence to the eminence.

In the working process of the objective table, when the steel wire rope breaks or the motor fails and the like to cause the objective table to fall down at overspeed, the objective table can fall down at overspeed to strike the ground and damage, and the objective table is high in damage risk and high in damage degree.

Disclosure of Invention

In view of the above, the present application provides a fall protection device, a cargo carrying device, and a cargo carrying device control method, which can solve the problems of high risk of damage and high damage degree of an object stage to a certain extent.

In a first aspect, the present application provides a fall arrest device comprising: the device comprises an objective table, a clamping mechanism, a first braking mechanism and a second braking mechanism;

the object stage is used for being movably arranged on an upright post of the cargo carrying device through a driving rope, and the clamping mechanism is arranged on the object stage;

The first braking mechanism is in transmission connection with the clamping mechanism, and is used for enabling the clamping mechanism to clamp the upright post under the condition that the driving rope is broken;

the second braking mechanism is in transmission connection with the clamping mechanism, and the second braking mechanism is used for enabling the clamping mechanism to clamp the upright post under the condition that the movement speed of the objective table exceeds a preset threshold value.

According to the technical scheme, under the condition that the driving rope is broken, the first braking mechanism enables the clamping mechanism to clamp the upright post, so that the objective table is static relative to the upright post, the objective table is braked, and the objective table is prevented from impacting the ground after continuously moving downwards. Under the condition that the movement speed of the objective table exceeds a preset threshold value, the second braking mechanism enables the clamping mechanism to clamp the upright post, so that the objective table is static relative to the upright post, and is braked, and the objective table is prevented from continuously moving downwards and then hitting the ground. Therefore, under the condition that the driving rope is broken and under other conditions that the object stage is lowered in overspeed, the first braking mechanism and the second braking mechanism are independently or cooperatively acted, so that the object stage is braked, the object stage is protected, the damage risk and the damage degree of the object stage are reduced, and the safety performance of the object stage is improved.

In some embodiments, the clamping mechanism comprises a first clamping body and a second clamping body which are arranged at two sides of the upright post at intervals;

the first braking mechanism is in transmission connection with the first clamping body and is used for driving the first clamping body to move under the condition that the driving rope is broken, so that the first clamping body and the second clamping body clamp the upright post;

the second braking mechanism is in transmission connection with the first clamping body, and is used for driving the first clamping body to move under the condition that the movement speed of the objective table exceeds a preset threshold value, so that the first clamping body and the second clamping body clamp the upright post.

Based on the technical scheme, the first braking mechanism and the second braking mechanism drive the first clamping body to move so as to realize the clamping action of the clamping mechanism, and the structure is simple.

In some embodiments, the first braking mechanism comprises a sliding body in transmission connection with the first clamping body, the sliding body is connected with the driving rope, and the sliding body drives the first clamping body to move in a direction close to the second clamping body under the condition that the driving rope is broken, so that the first clamping body and the second clamping body clamp the upright post.

Based on the technical scheme, due to the arrangement of the sliding body, the first braking mechanism can be arranged at a position relatively far away from the first clamping body, so that the flexibility of the installation position of the first braking mechanism is improved.

In some embodiments, the first braking mechanism further comprises a pulley and a braking rope, the pulley is mounted on the sliding body, the braking rope is wound on the pulley, and two ends of the braking rope are respectively connected with the object stage and the first clamping body.

Based on the technical scheme, due to the arrangement of the pulley and the brake rope, when the first brake mechanism moves by one unit distance, at least the first clamping body can be driven to move by two unit distances, and the brake response speed is faster.

In some embodiments, the stage is provided with at least one guide wheel, and a brake rope wound around the pulley is wound around the guide wheel and then connected with the first clamping body.

Based on the technical scheme, the setting of leading wheel can improve the removal stability of brake rope, and is convenient for provide support and direction for the direction change of brake rope.

In some embodiments, the first braking mechanism further includes a first elastic member, where the first elastic member is installed between the sliding body and the stage, and the first elastic member is configured to push the sliding body to move to drive the first clamping body to move in a case that the driving rope breaks.

Based on the technical scheme, the first elastic piece can provide power for the movement of the sliding body, and the braking response speed of the first braking mechanism is improved.

In some embodiments, the first braking mechanism further includes a limiting cylinder, the limiting cylinder is sleeved outside the first elastic member, and the limiting cylinder is mounted on the objective table or the sliding body.

Based on the technical scheme, the limiting cylinder limits the maximum compression distance of the sliding body and the objective table to the first elastic piece, and the first elastic piece is prevented from being over-pressed.

In some embodiments, the stage is provided with a fixed seat, and the first elastic member is mounted between the sliding body and the fixed seat.

Based on the technical scheme, the setting of fixing base has increased the installation space of first elastic component on the objective table.

In some embodiments, the second braking mechanism comprises a speed limiter and a speed limiting rope, the speed limiter being connected to the speed limiter and the clamping mechanism, respectively, the speed limiter being adapted to limit movement of the speed limiting rope in case the speed of movement of the stage exceeds a preset threshold value, such that the clamping mechanism clamps the upright by the speed limiting rope.

Based on the technical scheme, the speed limiter and the speed limiting rope are arranged, so that the clamping mechanism can be driven under the condition that the movement speed of the objective table exceeds the preset threshold value.

In some embodiments, the second brake mechanism further comprises a connector, one end of the connector is rotatably connected with the clamping mechanism, the other end of the connector is rotatably connected with the stage, and the connector is connected with the speed limiting rope.

Based on the technical scheme, the arrangement of the connecting body is convenient for connecting the speed limiting rope and the clamping mechanism when the relative distance between the speed limiting rope and the clamping mechanism is far.

In some embodiments, the second brake mechanism further comprises a first link and a second link, one end of the first link is rotatably connected to the stage, and two ends of the second link are rotatably connected to the connector and the first link, respectively.

Based on the technical scheme, the first connecting rod and the second connecting rod are used for limiting the maximum moving distance of the connecting body.

In some embodiments, the stage is provided with an adjustment member, one end of which is in contact with the connector, the adjustment member being capable of adjusting the position of the connector to adjust the distance between the clamping mechanism and the upright.

Based on the technical scheme, the adjusting piece is used for adjusting the initial position of the connecting body, so that the distance between the clamping mechanism and the upright post is adjusted, namely the maximum space of the clamping area of the clamping mechanism is adjusted, and the adjusting piece is convenient to adapt to the upright posts with different sizes.

In some embodiments, the connector is provided with a slip aperture, and the clamping mechanism is slidably mounted in the slip aperture.

Based on the technical scheme, the sliding hole plays a role in guiding and limiting the clamping mechanism, so that the clamping mechanism can move relative to the connecting body in a certain range.

In some embodiments, the fall arrest device further comprises a rotatable member rotatably mounted to the gripping mechanism, the gripping mechanism being slidably mounted to the sliding aperture by the rotatable member.

Based on the technical scheme, the rotating piece can reduce friction between the clamping mechanism and the sliding hole.

In some embodiments, the stage is provided with a stop provided with a guide hole, and the clamping mechanism is slidably mounted in the guide hole, and moves along the guide hole to clamp or unclamp the column.

Based on the technical scheme, the guide holes play a role in guiding and limiting the clamping mechanism, so that the clamping mechanism can move relative to the objective table in a certain range, and the upright column can be clamped or loosened.

In some embodiments, clamping mechanisms are respectively arranged on two opposite sides of the object stage, and each clamping mechanism is respectively connected with a first braking mechanism and a second braking mechanism in a transmission way.

Based on the technical scheme, under the condition that the objective table falls, the upright posts are respectively clamped by the clamping mechanisms on two opposite sides, and the fixing range is relatively wider, so that deflection or shaking of the objective table, which occurs relative to the upright posts after braking, is reduced to a certain extent.

In some embodiments, the object table is provided with a sensor mechanism, which is triggered by the sliding body in the event of a breakage of the drive line, for signal connection to a drive of the load device and for feeding back a braking signal to the drive.

Based on the technical scheme, the sensor mechanism is arranged, so that the driver can stop driving the driving rope under the condition that the driving rope is broken, and the driver is protected.

In a second aspect, the present application also provides a cargo carrying device comprising: a fall arrest device according to any preceding claim.

Because the cargo carrying device comprises the anti-falling device, the anti-falling device has at least all the beneficial effects of the anti-falling device, and the anti-falling device is not described in detail herein.

In a third aspect, the present application further provides a cargo carrying device control method, which is applicable to the cargo carrying device, where the cargo carrying device control method includes:

the driving rope drives the objective table to move along the upright post;

under the condition that the driving rope is broken, the first braking mechanism enables the clamping mechanism to clamp the upright post so as to enable the objective table to stop moving relative to the upright post;

and under the condition that the movement speed of the objective table exceeds a preset threshold value, the second braking mechanism enables the clamping mechanism to clamp the upright post so as to enable the objective table to stop moving relative to the upright post.

According to the control method of the cargo carrying device, when the driving rope is broken, the first braking mechanism enables the clamping mechanism to clamp the upright post, so that the object stage is static relative to the upright post, the object stage is braked, and the object stage is prevented from impacting the ground after continuously moving downwards. Under the condition that the movement speed of the objective table exceeds a preset threshold value, the second braking mechanism enables the clamping mechanism to clamp the upright post, so that the objective table is static relative to the upright post, and is braked, and the objective table is prevented from continuously moving downwards and then hitting the ground. It is known from the above that, under the condition that the driving rope breaks, and under other conditions that cause the overspeed of the objective table to descend, the first braking mechanism and the second braking mechanism act independently or cooperatively, so that the objective table is braked, the objective table is protected, and the damage risk and the damage degree of the objective table are reduced.

In some embodiments, the clamping mechanism comprises a first clamping body and a second clamping body, and the first braking mechanism drives the first clamping body to move towards a direction close to the second clamping body under the condition that the driving rope is broken, and the first clamping body and the second clamping body clamp the upright post, so that the objective table stops moving relative to the upright post.

Based on the technical scheme, the first braking mechanism realizes the clamping operation of the clamping mechanism by driving the first clamping body, and the braking process is simple.

In some embodiments, the object table is provided with a sensing mechanism in signal connection with a driver of the cargo device, and in case of breakage of the driving rope, the sensing mechanism is triggered to cause the driver to stop driving the driving rope.

Based on the technical scheme, the driver is used for driving the driving rope, and the driver is stopped under the condition that the driving rope is broken, so that the driver can be protected.

In some embodiments, the clamping mechanism includes a first clamping body and a second clamping body, and the second braking mechanism drives the first clamping body to move in a direction approaching the second clamping body when the movement speed of the objective table exceeds a preset threshold value, so that the first clamping body and the second clamping body clamp the upright post to stop the objective table from moving relative to the upright post.

Based on the technical scheme, the second braking mechanism realizes the clamping operation of the clamping mechanism by driving the first clamping body, and the braking process is simple.

In some embodiments, the stage is mounted with a speed limiter that controls the speed limit line to move with the stage as the stage moves along the column;

under the condition that the movement speed of the objective table exceeds a preset threshold value, the speed limiter controls the speed limiting rope to stop moving, and the speed limiting rope drives the first clamping body to move towards the direction close to the second clamping body, so that the first clamping body and the second clamping body clamp the upright post.

Based on the technical scheme, the second braking mechanism realizes braking through the speed limiter and the speed limiting rope, and has a simple structure.

The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present application more readily apparent.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the accompanying drawings. In the drawings:

FIG. 1 is a schematic illustration of a cargo carrying device according to some embodiments of the application;

FIG. 2 is an enlarged view at A in FIG. 1;

FIG. 3 is a schematic view of a fall arrest device according to some embodiments of the present application at a first viewing angle;

FIG. 4 is a schematic view of a fall arrest device according to some embodiments of the present application in a second view;

FIG. 5 is an enlarged view at C in FIG. 4;

FIG. 6 is a schematic view of a fall arrest device according to some embodiments of the present application at a third viewing angle;

FIG. 7 is an enlarged view at E in FIG. 6;

FIG. 8 is an enlarged view at D in FIG. 4;

FIG. 9 is an enlarged view at B in FIG. 1;

FIG. 10 is a schematic view of a fall arrest device according to some embodiments of the present application in a fourth view and with a clamping mechanism in an open position;

fig. 11 is a schematic view of a fall protection device according to some embodiments of the present application in a fourth view and a clamping mechanism in a clamped state.

Reference numerals in the specific embodiments are as follows:

10. a column; 11. a fixed body; 12. a column structure; 20. a drive rope; 30. a walking wheel; 40. a guide rail;

100. an objective table; 110. a guide wheel; 120. a fixing seat; 130. an adjusting member; 131. a mounting plate; 140. a limiting piece; 141. a guide hole; 150. a sensing mechanism;

200. A clamping mechanism; 210. a first clamping body; 220. a second clamping body; 230. a rotating member;

300. a first braking mechanism; 310. a slip mass; 320. a pulley; 330. a brake rope; 340. a first elastic member; 350. a limiting cylinder;

400. a second brake mechanism; 410. a speed limiter; 420. a speed limiting rope; 430. a connecting body; 431. a main body; 432. an extension body; 433. a slip hole; 440. a first link; 450. a second link; 460. and a second elastic member.

Detailed Description

Embodiments of the technical scheme of the present application will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present application, and thus are merely examples, and are not intended to limit the scope of the present application.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description of the application and the claims and the description of the drawings above are intended to cover a non-exclusive inclusion.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

In describing embodiments of the present application, the term "plurality" refers to more than two (including two).

In the description of the embodiments of the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like should be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally formed; or may be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the embodiments of the present application will be understood by those of ordinary skill in the art according to specific circumstances.

Stacker, also known as stacker crane, is an important lifting and transporting device used in warehouses, workshops, etc. The stacker has the main functions of running back and forth in a channel of a warehouse to finish the work of picking up goods, transporting, lifting, delivering goods and the like. The stacker has higher transport speed and goods access speed, can accomplish goods and go out warehouse entry operation in the period of time to, along with the development of science and technology, current stacker has realized remote control function, and degree of automation is higher. With the rapid development of the modern society, the stacker is widely applied, and the height of the stacker is also higher.

The stacker mainly comprises a driver, a driving rope, a stand column and an objective table, wherein the driving rope is connected with the objective table, and the driver drives the driving rope so that the objective table moves up and down along the stand column to move cargoes from a high place to a low place or move cargoes from the low place to the high place through the objective table.

However, in the working process of the stacker, that is, in the process of driving the steel wire rope to move up and down along the upright post through the motor, the situation that the object stage drops at overspeed still occurs due to the reasons of breakage of the steel wire rope or motor failure, etc., after the object stage drops at overspeed, the object stage can strike the ground, so that the object stage is damaged, that is, the damage risk and the damage degree of the object stage are high.

Based on the above considerations, in order to solve the problems of high risk of stage damage and high damage degree in the prior art, a fall protection device is designed, which can be applied to a stacker, and includes a stage 100, a clamping mechanism 200, a first brake mechanism 300 and a second brake mechanism 400. The first braking mechanism 300 and the second braking mechanism 400 are respectively used for controlling the clamping mechanism 200 to clamp the upright post 10 under the condition that the objective table 100 falls down, so that the braking of the objective table 100 is realized, that is, the objective table 100 is prevented from striking the ground, the damage risk of the objective table 100 is reduced, and the damage degree is high.

As shown in fig. 1 to 4, the present embodiment provides a fall protection device applied to a cargo device for moving cargo, at least for moving cargo from a high position to a low position and/or moving cargo from a low position to a high position. The cargo carrying device may be a stacker. For ease of description, the fall arrest device will hereinafter be described as applied to a cargo carrying device, such as a stacker.

As shown in fig. 1, the stacker includes: the anti-falling device comprises an object stage 100, a clamping mechanism 200, a first braking mechanism 300 and a second braking mechanism 400, wherein the guide rail 40 is arranged along the horizontal direction, namely, any direction parallel to the horizontal plane. The extending direction of the guide rail 40 is referred to as a first direction, and the upright 10 is slidably mounted on the guide rail 40, and the upright 10 moves in the first direction relative to the guide rail 40, thereby driving the stage 100 slidably connected to the upright 10 to move in the first direction. At least one upright post 10 is respectively arranged at two sides of the object stage 100, the upright posts 10 are arranged in a extending manner along a second direction, and the second direction is inclined relative to the horizontal plane, so that the height of the object stage 100 changes when the object stage 100 moves along the upright posts 10.

Illustratively, the second direction is perpendicular to the horizontal plane, and the number of the columns 10 is two, which are respectively located on both sides of the stage 100 in the first direction. The traveling wheels 30 are respectively arranged on two sides of the object stage 100, the traveling wheels 30 are in contact with the upright post 10, and the traveling wheels 30 can roll relative to the upright post 10. The driving rope 20 is connected with the driver and the object stage 100 respectively, the driver drives the driving rope 20 to wind up to pay out or wind up the driving rope 20, so that the driving rope 20 drives the object stage 100 to move along the upright post 10, and the travelling wheel 30 rolls relative to the upright post 10 in the process of moving the object stage 100 relative to the upright post 10. The driving rope 20 may have a rope-like structure such as nylon rope, wire rope, and chain rope. Illustratively, the drive line 20 is a wire line. The driver can be installed at the bottom of the upright post 10, and then the steering wheel is installed at the top of the upright post 10, one end of the driving rope 20 is connected with the objective table 100, and the other end bypasses the steering wheel and then is connected with the driver. The drive may in particular comprise a rotating motor or may also comprise other drive mechanisms which may move the drive line 20.

In a fall arrest device, the object table 100 is intended to be movably arranged to the column 10 of the cargo device by means of a drive line 20. The holding mechanism 200 is mounted on the stage 100. The first brake mechanism 300 is in driving connection with the clamping mechanism 200, the first brake mechanism 300 being adapted to cause the clamping mechanism 200 to clamp the column 10 in case of a breakage of the drive rope 20. The second brake mechanism 400 is in driving connection with the clamping mechanism 200, and the second brake mechanism 400 is used for enabling the clamping mechanism 200 to clamp the upright 10 when the movement speed of the stage 100 exceeds a preset threshold.

The carrier 100 is a structure for carrying cargo, and the carrier 100 may be in the shape of a case, a rack, or other structure that may be used for carrying cargo.

As shown in fig. 4 and 5, a clamping mechanism 200 is mounted on the stage 100 and is used for clamping the column 10, the clamping mechanism 200 being a movable mechanism, the clamping mechanism 200 having a clamped state and an open state. The clamping mechanism 200 may be driven by the first brake mechanism 300 or the second brake mechanism 400 from an open state to a clamped state. When the clamping mechanism 200 is in the open state, the clamping mechanism 200 and the upright 10 can move relatively, i.e. the stage 100 can move relative to the upright 10. When the clamping mechanism 200 is in the clamped state, the clamping mechanism 200 clamps the upright post 10, and the objective table 100 can not move relative to the upright post 10 temporarily through the friction force between the clamping mechanism 200 and the upright post 10, that is, the objective table 100 is braked, so that the condition that the objective table 100 drops to the ground in an overspeed manner is reduced to a certain extent.

The clamping mechanism 200 is used for clamping the upright post 10, and the upright post 10 may include a column structure 12, where the column structure 12 may have a prismatic, cylindrical, elliptic cylindrical structure, etc. The clamping mechanism 200 may clamp onto the outer surface of the cylinder structure 12. Alternatively, as shown in fig. 2, the upright post 10 further includes a fixing body 11, the fixing body 11 is mounted on a side of the column structure 12 facing the stage 100, the fixing body 11 is disposed on an outer side surface of the column structure 12 in a second direction in an extending manner, and the fixing body 11 is fixedly connected or detachably connected with the column structure 12. The clamping mechanism 200 clamps the fixing body 11, thereby achieving relative fixation with the column 10. Illustratively, as shown in fig. 2, the upright post 10 includes a column structure 12 and a fixing body 11, the column structure 12 is a rectangular column structure, the fixing body 11 is a T-shaped structure, the fixing body 11 includes a first plate and a second plate, the first plate is perpendicular to the second plate and is mounted at the middle of the second plate in the width direction, the length direction of the second plate is a second direction, and in a plane perpendicular to the horizontal plane, the direction perpendicular to the second direction is the width direction of the second plate. The clamping mechanism 200 clamps on opposite sides of the first plate, thereby clamping the column 10.

In fig. 1, the moving direction of the column 10 relative to the guide rail 40 is a first direction, which is also the longitudinal direction of the stage 100, and is an X direction in fig. 1; the extending direction of the column 10 is the second direction, which is also the height direction of the stage 100, and is the Z direction in fig. 1; the width direction of the stage 100 is a third direction, which is perpendicular to the first direction and the second direction, respectively, and is the Y direction in fig. 1.

The first brake mechanism 300 is in driving connection with the clamping mechanism 200, i.e. the first brake mechanism 300 is connected with the clamping mechanism 200, and the first brake mechanism 300 can drive the clamping mechanism 200 to move so that the clamping mechanism 200 is switched between a clamped state and an open state. When the driving rope 20 breaks, the first braking mechanism 300 drives the gripping mechanism 200 to move, and the gripping mechanism 200 is changed from the opened state to the clamped state, so that the gripping mechanism 200 grips the column 10.

The second brake mechanism 400 is connected to the clamping mechanism 200, and when the movement speed of the stage 100 exceeds a preset threshold, that is, when the stage 100 moves at an overspeed, the second brake mechanism 400 drives the clamping mechanism 200 to move, and the clamping mechanism 200 is changed from the open state to the clamped state, so that the clamping mechanism 200 clamps the upright 10.

In the anti-falling device provided in this embodiment, when the driving rope 20 breaks or the movement speed of the objective table 100 exceeds the preset threshold, the clamping mechanism 200 is driven to move by the first braking mechanism 300 or the second braking mechanism 400, so that the clamping mechanism 200 clamps the upright post 10, and the objective table 100 cannot move relative to the upright post 10 temporarily, thereby reducing the possibility of overspeed falling of the objective table 100, and further reducing the damage risk and damage degree of the objective table 100.

The first brake mechanism 300 is used to drive the gripping mechanism 200 to grip the column 10 when the drive rope 20 breaks, and the second brake mechanism 400 is used to drive the gripping mechanism 200 to grip the column 10 when the movement speed of the stage 100 exceeds a preset threshold (hereinafter, simply referred to as overspeed movement). Since overspeed movement of the stage 100 occurs after a certain time after the driving rope 20 is broken, the first brake mechanism 300 and the second brake mechanism 400 jointly drive the clamping mechanism 200 to clamp the upright 10, so as to rapidly brake the stage 100.

The preset threshold value is the maximum value of the range of the motion speed of the objective table in the normal working state, and can be obtained through an actual simulation experiment or a simulation experiment, or can be manually judged and set according to the requirement of a user.

As shown in fig. 2, 3 and 5, in some embodiments, the clamping mechanism 200 includes a first clamping body 210 and a second clamping body 220 disposed at spaced apart locations on either side of the column 10. The first braking mechanism 300 is in transmission connection with the first clamping body 210, and the first braking mechanism 300 is used for driving the first clamping body 210 to move under the condition that the driving rope 20 breaks, so that the first clamping body 210 and the second clamping body 220 are matched to clamp the upright post 10. The second braking mechanism 400 is in driving connection with the first clamping body 210, and the second braking mechanism 400 is used for driving the first clamping body 210 to move when the movement speed of the objective table 100 exceeds a preset threshold value, so that the first clamping body 210 and the second clamping body 220 cooperate to clamp the upright post 10.

When the column 10 includes the column structure 12 and the fixing body 11, the first clamping body 210 and the second clamping body 220 may be disposed at opposite sides of the column structure 12, respectively, and in the clamped state, the first clamping body 210 and the second clamping body 220 clamp the column structure 12 from both sides, respectively. Alternatively, the first clamping body 210 and the second clamping body 220 may be disposed on opposite sides of the fixing body 11, respectively, and the first clamping body 210 and the second clamping body 220 clamp the fixing body 11 from both sides, respectively, in the clamped state.

The distance of the gap between the first clamping body 210 and the second clamping body 220 is a first pitch when the clamping mechanism 200 is in the open state, and the distance of the gap between the first clamping body 210 and the second clamping body 220 is a second pitch when the clamping mechanism 200 is in the clamped state, the second pitch being smaller than the first pitch. When the clamping mechanism 200 is switched from the open state to the clamped state, the gap between the first clamping body 210 and the second clamping body 220 is reduced, and the gap can be reduced by simultaneously moving the first clamping body 210 and the second clamping body 220 so that the first clamping body 210 and the second clamping body 220 both move in a direction approaching each other, or by moving only one of the first clamping body 210 and the second clamping body 220 so that the gap between the first clamping body 210 and the second clamping body 220 is reduced.

Illustratively, the first brake mechanism 300 and the second brake mechanism 400 are respectively in driving connection with the first clamping body 210, that is, when the first brake mechanism 300 or the second brake mechanism 400 brakes, the first clamping body 210 moves in a direction approaching the second clamping body 220 to reduce a gap between the first clamping body 210 and the second clamping body 220, thereby clamping the column 10. In this arrangement, the distance between the first clamping body 210 and the upright 10 is greater than the distance between the second clamping body 220 and the upright 10 when the clamping mechanism 200 is in the open state. In the open state, the distance between the second clamping body 220 and the pillar 10 may be zero or approach zero. When in the clamping state, the first clamping body 210 is pressed on one side of the upright 10 away from the second clamping body 220, and the upright 10 can be moved towards the direction approaching the second clamping body 220, so that the upright 10 contacts and abuts against the second clamping body 220, and the first clamping body 210 and the second clamping body 220 clamp the upright 10 from two sides of the upright 10 respectively.

In some alternative embodiments, the second clamping body 220 may contact a side of the upright 10 with a gap between the first clamping body 210 and the upright 10 when the clamping mechanism 200 is in the open state. In this way, on the one hand, after the first braking mechanism 300 or the second braking mechanism 400 drives the first clamping body 210 to move towards the direction approaching the second clamping body 220, the first clamping body 210 and the second clamping body 220 can rapidly clamp the upright 10, so as to rapidly brake the stage 100. On the other hand, by the engagement between the second clamping body 220 and the upright 10, a certain guiding effect is provided for the movement of the stage 100 relative to the upright 10, so that the movement of the stage 100 is relatively smooth.

In a specific embodiment, as shown in fig. 5, the first clamping body 210 and the second clamping body 220 are both mounted on the side of the stage 100 facing the upright 10, and the first braking mechanism 300 and the second braking mechanism 400 are respectively in driving connection with the first clamping body 210. Specifically, a sliding rail is installed on a side of the stage 100 facing the upright post 10, the first clamping body 210 is slidably installed on the sliding rail, and an extending direction of the sliding rail is disposed at an angle with a moving direction of the stage 100. For example, when the stage 100 moves along the second direction relative to the upright 10, the extending direction of the sliding rail is disposed at an angle relative to the second direction, such that the moving direction of the first clamping body 210 is disposed at an angle relative to the second direction, and the extending direction of the side surface of the second clamping body 220 facing the first clamping body 210 is the second direction. The angle between the moving direction of the first clamping body 210 and the second direction may be 15 °, 30 °, 35 °, 45 °, 55 °, etc. The first clamping body 210 and the second clamping body 220 are arranged at intervals along the width direction of the stage 100, and the upright 10 is positioned between the first clamping body 210 and the second clamping body 220. When the first brake mechanism 300 or the second brake mechanism 400 drives the first clamping body 210 to move, the first clamping body 210 moves along the sliding rail, so that the first clamping body 210 moves in a direction approaching the upright 10, and the upright 10 is clamped by the first clamping body 210 and the second clamping body 220. In this arrangement, the first braking mechanism 300 and the second braking mechanism 400 can provide a force parallel to the second direction or forming an angle with the second direction for the first clamping body 210, and the first clamping body 210 can be driven to move towards the direction close to the second clamping body 220 by the force itself or a component force parallel to the extending direction of the sliding rail, so that a force perpendicular to the second direction of the first clamping body 210 is not required to be provided, and the structure of the anti-falling device is simplified. For example, when the angle between the moving direction of the first clamping body 210 and the second direction is 15 °, in one case, a force parallel to the extending direction of the sliding rail, that is, a force parallel to the moving direction of the first clamping body 210, can be provided to the first clamping body 210 by the first braking mechanism 300 and the second braking mechanism 400, so as to drive the first clamping body 210 to move along the sliding rail, so that the first clamping body 210 approaches to or moves away from the second clamping body 220, and in this case, the direction of the force provided by the first braking mechanism 300 and the second braking mechanism 400 to the first clamping body 210 is set at an angle to the second direction. In another case, the first clamping body 210 can be provided with a force parallel to the second direction by the first and the second braking mechanism 400, which force has a component parallel to the extension direction of the rail, by means of which component the first clamping body 210 is moved along the rail. In yet another case, the first clamping body 210 may be provided with a force having an angle with the second direction, which is not 15 ° and having a component parallel to the extending direction of the sliding rail, by the first braking mechanism and the second braking mechanism 400, and the first clamping body 210 is driven to move along the sliding rail by the component.

As shown in fig. 6 and 7, in some embodiments, the first braking mechanism 300 includes a sliding body 310, where the sliding body 310 is in driving connection with the first clamping body 210, the sliding body 310 is connected with the driving rope 20, and in case that the driving rope 20 breaks, the sliding body 310 drives the first clamping body 210 to move towards the direction approaching the second clamping body 220, so that the first clamping body 210 and the second clamping body 220 clamp the upright 10.

During normal operation of the stage 100, the sliding body 310 cannot move relative to the stage 100, and when the driving rope 20 breaks, the sliding body 310 moves relative to the stage 100, so as to drive the first clamping body 210 to move relative to the stage 100, so that the first clamping body 210 moves in a direction approaching the second clamping body 220, and the first clamping body 210 and the second clamping body 220 clamp the upright 10.

As shown in fig. 5 and 7, in some embodiments, the first braking mechanism 300 includes a braking rope 330, and the sliding body 310 moves the first clamping body 210 through the braking rope 330. Alternatively, two ends of the brake cable 330 may be connected to the slider 310 and the first clamping body 210, respectively, such that the slider 310 pulls the brake cable 330 and the brake cable 330 pulls the first clamping body 210 to move when the slider 310 moves relative to the stage 100. The brake cable 330 may drivingly connect the slider 310 to the first clamp body 210 such that power transmission is achieved even if the slider 310 is spaced relatively far from the first clamp body 210.

In another embodiment, the sliding body 310 drives the brake rope 330 to move through the pulley 320, in this arrangement, the first brake mechanism 300 includes the sliding body 310, the pulley 320 and the brake rope 330, the pulley 320 is mounted on the sliding body 310, the brake rope 330 is wound around the pulley 320, and two ends of the brake rope 330 are respectively connected with the stage 100 and the first clamping body 210. In this embodiment, the pulley 320 mounted to the sliding body 310 can still rotate relative to the sliding body 310. When the drive line 20 breaks, the slider 310 moves relative to the stage 100 to move the pulley 320 relative to the stage 100, causing the brake line 330 to move about the axis of the pulley 320. Because pulley 320 is rotatable relative to slider 310, pulley 320 rotates as brake cable 330 moves relative to pulley 320, thus reducing friction between pulley 320 and brake cable 330 and reducing wear of brake cable 330. Meanwhile, in this arrangement, since the brake cable 330 is wound around the pulley 320, the pulley 320 is mounted on the slider 310, and when the slider 310 moves by the distance N relative to the stage 100, the brake cables 330 located at both sides of the pulley 320 move by the distance N, so that the brake cable 330 drives the first clamping member 210 to move by the distance 2N, and thus the first brake mechanism 300 can perform a braking response to the stage 100 more quickly. Illustratively, when the slider 310 moves by 1cm, the brake ropes 330 on both sides of the pulley 320 move by 1cm, and one end of the brake ropes 330 is connected to the stage 100, so that the relative position between the end of the brake ropes 330 and the stage 100 is unchanged, the end of the brake ropes 330 connected to the first clamping body 210 moves by 2cm, thereby driving the first clamping body 210 to move by 2cm. That is, the moving distance of the first clamping body 210 is 2 times that of the sliding body 310.

In an alternative embodiment, the sliding body 310 is connected to the driving rope 20, the stage 100 has a limit edge, the sliding body 310 is located below the limit edge, the top of the sliding body 310 is connected to the driving rope 20, and in the process that the driving rope 20 pulls the stage 100 to move up and down, the sliding body 310 is contacted with the bottom surface of the limit edge under the driving of the driving rope 20, so that the relative position between the sliding body 310 and the stage 100 is unchanged under the limit action of the limit edge. After the driving rope 20 breaks, the sliding body 310 falls under the action of self gravity, so that the sliding body 310 moves relative to the objective table 100, and the sliding body 310 drives the first clamping body 210 to move relative to the objective table 100, so that the first clamping body 210 moves towards the direction approaching to the second clamping piece.

In an alternative embodiment, the first clamping body 210 is slidably mounted on a sliding rail, the sliding rail is disposed with respect to the second clamping body 220 in a relatively inclined manner, a distance between a top of the sliding rail and the second clamping body 220 is relatively large, and a distance between a bottom of the sliding rail and the second clamping body 220 is relatively small, so that the distance between the first clamping body 210 and the second clamping body 220 gradually decreases during the process of sliding the first clamping body 210 obliquely downward along the sliding rail. In this arrangement, when the sliding body 310 moves downward relative to the stage 100 under the action of its own weight, the first clamping body 210 can be pulled downward, so that the distance between the first clamping body 210 and the second clamping body 220 gradually decreases in the process that the first clamping body 210 slides obliquely downward along the sliding rail.

Alternatively, as shown in fig. 5, in another alternative embodiment, the first clamping body 210 is slidably mounted on a sliding rail, the sliding rail is disposed with respect to the second clamping body 220 in a relatively inclined manner, the distance between the bottom of the sliding rail and the second clamping body 220 is relatively large, and the distance between the fixed portion of the sliding rail and the second clamping body 220 is relatively small, so that the distance between the first clamping body 210 and the second clamping body 220 gradually decreases during the process of sliding the first clamping body 210 obliquely upwards along the sliding rail.

As shown in fig. 7, to drive the first clamping body 210 to move obliquely upward relative to the slide rail, in some embodiments, the stage 100 is provided with at least one guide wheel 110, and a brake rope 330 that bypasses the pulley 320 is connected to the first clamping body 210 after being wound around the guide wheel 110. The guide wheel 110 mounted to the stage 100 is rotatable relative to the stage 100. In this arrangement, the brake rope 330 is wound around the guide wheel 110, so that on one hand, the brake rope 330 can be guided to move, and the movement process of the brake rope 330 is stable; on the other hand, the direction of the pulling force applied to the first clamping body 210 by the brake cable 330 can be changed, so that the moving direction of the first clamping body 210 is more varied. Specifically, the direction of the pulling force applied to the first clamping body 210 by the brake cable 330 may be set according to the actual position of the upright post 10 relative to the first clamping body 210. By arranging the guide wheel 110, the brake rope 330 pulls the first clamping body 210 upwards in the process of moving the sliding body 310 downwards, so that the distance between the first clamping body 210 and the second clamping body 220 is gradually reduced in the process of sliding the first clamping body 210 upwards along the sliding rail in an inclined manner.

The number of the guide wheels 110 may be one or more, and may be specifically set according to the relative position between the sliding body 310 and the first clamping body 210. When the distance between the sliding body 310 and the first clamping body 210 in the third direction is relatively short, the guide wheel 110 may be provided only one, and only the brake rope 330 is turned by one guide wheel 110, one end of the brake rope 330 is connected to the stage 100, and the other end of the brake rope 330 extends downward a distance and then upward around the lower portion of the pulley 320, extends a distance and then downward around the upper portion of the guide wheel 110 and is connected to the first clamping body 210. When the distance between the sliding body 310 and the first clamping body 210 in the third direction is relatively long, a plurality of guide wheels 110 may be disposed at intervals in the third direction to perform steering and guiding functions on the brake cable 330.

As shown in fig. 7, the number of the guide wheels 110 is two, the two guide wheels 110 are spaced apart along the third direction, one guide wheel 110 is located above the pulley 320, the other guide wheel 110 is located above the connection portion of the brake rope 330 and the first clamping body 210, one end of the brake rope 330 is connected with the stage 100, the other end of the brake rope 330 extends downward for a certain distance and then extends upward around the lower portion of the pulley 320, extends in the third direction after extending for a certain distance and then bypasses the upper portion of the guide wheel 110 located above the pulley 320, and the brake rope 330 extends downward and is connected with the first clamping body 210 after bypassing the other guide wheel 110.

In an alternative embodiment, the stage 100 is provided with a baffle plate above the guide wheel 110, a certain gap is provided between the baffle plate and the guide wheel 110, the brake cable 330 is located between the guide wheel 110 and the baffle plate, and the baffle plate plays a certain limiting role on the brake cable 330.

As shown in fig. 8, in some embodiments, the first braking mechanism 300 further includes a first elastic member 340, where the first elastic member 340 is installed between the sliding body 310 and the stage 100, and the first elastic member 340 is configured to push the sliding body 310 to move to drive the first clamping body 210 to move if the driving rope 20 breaks.

The first elastic member 340 has a structure with a certain elastic deformation capability, and may specifically be a spring or an elastic rubber member. The first elastic member 340 is installed between the slider 310 and the stage 100, that is, both ends of the first elastic member 340 are respectively contacted or connected with the slider 310 and the stage 100. When the stage 100 moves at a normal speed, the driving rope 20 pulls the slider 310 upward, so that the slider 310 pushes the first elastic member 340 upward, and the first elastic member 340 is in a compressed state between the stage 100 and the slider 310. When the driving rope 20 breaks, the first elastic member 340 pushes the sliding body 310 to move away from the stage 100 under the action of its own elastic force, so that a downward pushing force is applied to the sliding body 310, so that the sliding body 310 moves downward under the combined action of its own gravity and the elastic force of the first elastic member 340, and the downward moving speed of the sliding body 310 can be increased, thereby improving the response speed of the first braking mechanism 300 to brake the stage 100.

In some embodiments, as shown in fig. 7, the first braking mechanism 300 further includes a limiting cylinder 350, the limiting cylinder 350 is sleeved outside the first elastic member 340, and the limiting cylinder 350 is located between the stage 100 and the sliding body 310. Referring to fig. 7 and 8, the relative positional relationship between the stopper cylinder 350, the sliding body 310 and the stage 100 is shown in fig. 7, and since the first elastic member 340 is inside the stopper cylinder 350, the first elastic member 340 is not shown in fig. 7, and in order to facilitate viewing of the relative positional relationship between the first elastic member 340 and the stage 100, the stopper cylinder 350 and the sliding body 310 are hidden in fig. 8 so as to expose the first elastic member 340 inside the stopper cylinder 350.

The limiting cylinder 350 defines a minimum distance between the slider 310 and the stage 100, that is, defines a maximum compression distance between the slider 310 and the stage 100 for the first elastic member 340, and the first elastic member 340 is deformed within a proper deformation range by the setting of the limiting cylinder 350. The limiting cylinder 350 may be a circular cylindrical structure, a rectangular cylindrical structure, or a cylindrical structure with other cross-sectional shapes. The length of the first elastic member 340 when not subjected to an external force is a natural length, the length of the first elastic member 340 which is compressible to the minimum in the elastic range is the shortest length thereof, and the axial length of the limiting cylinder 350 is smaller than the natural length of the first elastic member 340 and larger than the shortest length of the first elastic member 340.

The stop cylinder 350 may be coupled to one of the sled 310 or the stage 100 and may contact the other. Alternatively, the limiting cylinder 350 may be not connected to the sliding body 310 and the stage 100, but only located between the sliding body 310 and the stage 100, and when the stage 100 is in normal operation, the driving rope 20 pulls the sliding body 310 upward, and the sliding body 310 moves in a direction close to the stage 100, so that two ends of the limiting cylinder 350 are respectively abutted to the sliding body 310 and the stage 100.

In one possible embodiment, the bottom of the stopper cylinder 350 is connected to the top of the sled 310, and the top of the stopper cylinder 350 is capable of contacting the stage 100. So configured, when the drive line 20 breaks, the limiter cylinder 350 moves downward with the slider 310, providing greater tension to the brake line 330.

In some embodiments, the stage 100 may be restrained by its own restraining edge glide 310. The limit edge may be a flange of the stage 100.

In other embodiments, as shown in fig. 7, the stage 100 is provided with a fixed base 120, and a first elastic member 340 is installed between the sliding body 310 and the fixed base 120. In this arrangement, the stage 100 is limited to the sled 310 by the holder 120. The difference between the fixing base 120 and the limiting edge is that the fixing base 120 may not be disposed in the edge region of the stage 100.

The fixed seat 120 and the sliding body 310 are arranged at intervals along the second direction on the side surface of the objective table 100, the fixed seat 120 is positioned above the sliding body 310, the fixed seat 120 is fixedly connected with the objective table 100 relatively, the fixed seat 120 and the objective table 100 can be fixedly connected or detachably connected, the fixed seat 120 and the objective table 100 can also be in an integrated structure, and the integrated structure is manufactured by an integrated molding process.

When the first braking mechanism 300 includes the limiting cylinder 350, the limiting cylinder 350 is located between the fixed base 120 and the sliding body 310, and the first elastic member 340 is located inside the limiting cylinder 350. During normal operation of the stage 100, the two ends of the limiting cylinder 350 are respectively abutted to the slider 310 and the fixed seat 120 under the pulling of the driving rope 20.

As shown in fig. 8, in some embodiments, the subject table 100 is equipped with a sensing mechanism 150, the sensing mechanism 150 being triggered by the skid 310 in the event of a breakage of the drive line 20, the sensing mechanism 150 being adapted to be in signal connection with and feed back a braking signal to the drive of the cargo device.

The sensing mechanism 150 may be mounted on the stage 100, and when the fixing base 120 is mounted on the stage 100, the sensing mechanism 150 may also be mounted on the fixing base 120.

The sensing mechanism 150 may be any one or a combination of a touch sensor, a photoelectric sensor, an infrared sensor, etc. When the sensing mechanism 150 is a contact sensor, the detection end of the contact sensor is located between the fixed seat 120 and the sliding body 310, and in a state in which the stage 100 is in normal operation, the detection end of the contact sensor contacts with the sliding body 310, and after the driving rope 20 breaks, the stage 100 moves downward, so that the detection end of the contact sensor is separated from the sliding body 310, the contact sensor triggers, and the driver stops operating after receiving the signal of the contact sensor, and stops driving the driving rope 20. The contact sensor can be directly connected with the driver through signals, or the contact sensor and the driver are respectively connected with a controller through signals, and the controller is used for controlling the driver to stop running after the contact sensor is triggered. The controller can be a chip, a singlechip, a PLC and other devices with control functions.

Due to the provision of the sensing mechanism 150, in case of breakage of the drive cord 20, the drive of the drive cord 20 may be stopped by the drive, to reduce the risk of the drive idling, protecting the drive.

As shown in fig. 9 to 11, in some embodiments, the second brake mechanism 400 includes a speed limiter 410 and a speed limiting rope 420, the speed limiter 420 is connected to the speed limiter 410 and the clamping mechanism 200, respectively, and the speed limiter 410 is used for limiting the movement of the speed limiting rope 420 when the movement speed of the stage 100 exceeds a preset threshold value, so that the speed limiting rope 420 drives the clamping mechanism 200 to move to clamp the upright 10.

The speed limiting rope 420 is connected with the speed limiter 410 and the object stage 100 respectively, the speed limiting rope 420 is also connected with the clamping mechanism 200, the winding speed of the speed limiting rope 420 is the same as the winding speed of the driving rope 20 in the normal moving process of the object stage 100, and the speed limiter 410 detects the moving speed of the object stage 100 by detecting the moving speed of the speed limiting rope 420. When the movement speed of the stage 100 is changed excessively, so that the movement speed of the speed-limiting rope 420 is changed excessively (exceeds a preset threshold), in this case, the speed limiter 410 fixes the speed-limiting rope 420, and generates an instantaneous pulling force on the speed-limiting rope 420, so that the speed-limiting rope 420 generates an instantaneous drawing motion and drives the clamping mechanism 200 to move, so that the clamping mechanism 200 clamps the upright post 10, thereby realizing the braking of the stage 100.

In one possible embodiment, governor 410 includes a jaw (not shown) that grips speed limit rope 420 such that speed limit rope 420 stops moving if the speed of movement of speed limit rope 420 exceeds a preset threshold.

Based on the above-mentioned technical solution, the speed limiter 410 and the speed limiting rope 420 are arranged, so that the driving of the clamping mechanism 200 is facilitated when the movement speed of the stage 100 exceeds the preset threshold.

In some embodiments, as shown in fig. 9 to 11, the second brake mechanism 400 further includes a connector 430, one end of the connector 430 is rotatably connected to the clamping mechanism 200, the other end of the connector 430 is rotatably connected to the stage 100, and the connector 430 is connected to the speed limiting rope 420.

The connector 430 is used to connect the speed limit rope 420 and the clamping mechanism 200, so as to connect the speed limit rope 420 and the clamping mechanism 200 when the speed limit rope 420 and the clamping mechanism 200 are relatively far apart. In addition, since the connecting body 430 is rotationally connected with the stage 100, after the speed limiting rope 420 pulls the connecting body 430, the driving direction of the connecting body 430 to the clamping mechanism 200 is a fixed direction, and compared with the direction that the speed limiting rope 420 directly pulls the clamping mechanism 200 to move, the direction that the connecting body 430 drives the clamping mechanism 200 to move is convenient to control.

In one possible embodiment, connecting body 430 includes a main body 431 and an extension 432, main body 431 is connected to extension 432, and main body 431 is connected to speed limit rope 420 through extension 432. The main body 431 is a plate-shaped structure, the extension body 432 is connected to a region between two ends of the main body 431, and a plate surface of the extension body 432 is disposed obliquely with respect to the plate surface of the main body 431. A through hole may be provided in the extension body 432 for the speed limiting string 420 to pass through and be connected. The provision of extension 432 facilitates connection of body 431 to speed limit line 420, providing a larger connection location for connection of speed limit line 420.

The main body 431 may have a rod-like structure or a plate-like structure, or may have other structures with a certain structural strength. The main body 431 is illustratively a bent plate-like structure, i.e., an extending direction of one end of the main body 431 is inclined relative to an extending direction of the other end.

As shown in fig. 10 and 11, in some embodiments, the second brake mechanism 400 further includes a first link 440 and a second link 450, one end of the first link 440 is rotatably connected to the stage 100, and both ends of the second link 450 are rotatably connected to the connecting body 430 and the first link 440, respectively.

During the rotation of the connecting body 430 relative to the stage 100, the connecting body 430 pulls one end of the second link 450, and the second link 450 pulls the first link 440, that is, during the movement of the clamping mechanism 200, the connecting body 430 also drives the second link 450 to move and drives the first link 440 to swing. After the connecting body 430 drives the clamping mechanism 200 to move for a certain distance, the axis of the second connecting rod 450 is coincident with the axis of the first connecting rod 440, that is, the second connecting rod 450 cannot drive the first connecting rod 440 to continue swinging, so that the second connecting rod 450 and the first connecting rod 440 are rigidly connected, in this case, the second connecting rod 450 pulls the connecting body 430 to stop the connecting body 430 from swinging continuously under the driving of the speed limiting rope 420, so that the swinging range of the connecting body 430 and the range of the connecting body 430 driving the clamping mechanism 200 to move are limited, and the maximum range of the connecting body 430 driving the clamping mechanism 200 to move is limited.

In some embodiments, the stage 100 is mounted with an adjustment member 130, one end of the adjustment member 130 is configured to contact the link 430, and the adjustment member 130 is configured to adjust the distance between the clamping mechanism 200 and the column 10 by adjusting the position of the link 430.

The connecting body 430 can drive the clamping mechanism 200 to move relative to the upright 10, so that the clamping mechanism 200 clamps or unclamps the upright 10, and the moving range of the connecting body 430 defines the moving range of the clamping mechanism 200. Since the adjusting member 130 can adjust the position of the connecting body 430, the distance between the clamping mechanism 200 and the column 10 can be adjusted.

As shown in fig. 10 and 11, one end of the connecting body 430 is rotatably connected to the stage 100, and the other end is in driving connection with the first clamping body 210, and the connecting body 430 drives the first clamping body 210 to move relative to the second clamping body 220, so that the clamping mechanism 200 is switched from the open state to the clamped state. The link 430 swings relative to the stage 100 under the driving of the speed limit rope 420, so that the position of the first clamping body 210 connected to the end of the link 430 in the second direction is changed.

As shown in fig. 10, the connector 430 swings counterclockwise (as shown by the curved arrow beside the connector 430 in fig. 10, that is, the swinging direction of the connector 430 when driving the first clamping body 210 to move toward the second clamping body 220) drives the first clamping body 210 to move upward to be close to the second clamping body 220, for example, an adjusting member 130 is disposed below the connector 430, when the connector 430 swings clockwise, the connector 430 abuts against the adjusting member 130, that is, the adjusting member 130 makes the clockwise swinging range of the connector 430 within a limited range, and when the adjusting member 130 abuts against the connector 430, the clamping mechanism 200 is in an open state, and a certain distance is provided between the first clamping body 210 and the upright 10. When the connecting body 430 rotates anticlockwise, the connecting body 430 is separated from the adjusting member 130, and the arrangement of the adjusting member 130 does not affect the connecting body 430 to drive the first clamping body 210 to move towards the direction approaching the second clamping body 220. The adjusting member 130 can change the position of the first clamping body 210 when the connecting body 430 abuts against the adjusting member 130 by changing the mounting position on the stage 100. Alternatively, the stage 100 is provided with a mounting plate 131, the mounting plate 131 is provided with a threaded hole, the adjusting member 130 includes a bolt and a nut, the bolt has an external thread matching the threaded hole, and one end of the bolt passes through the threaded hole of the mounting plate 131 and is locked by the nut. The connecting body 430 contacts with the end of the bolt passing through the mounting plate 131, and the distance of the bolt extending out of one side of the mounting plate 131 can be adjusted by the cooperation of the bolt and the nut, so that the end position of the bolt, that is, the position when the connecting body 430 abuts against the bolt, is adjusted.

Based on the above-mentioned technical solution, the adjusting member 130 is configured to adjust the initial position of the connecting body 430 (i.e. the position of the connecting body 430 when the clamping mechanism 200 is in the open state), so as to adjust the distance between the clamping mechanism 200 and the upright 10, i.e. adjust the maximum space of the clamping area of the clamping mechanism 200, so as to be convenient for adapting to the upright 10 with different sizes.

In some embodiments, as shown in fig. 5, 10 and 11, the connector 430 is provided with a sliding hole 433, and the clamping mechanism 200 is slidably mounted in the sliding hole 433. When the connecting body 430 is in driving connection with the first clamping body 210, one end of the first clamping body 210 is slidably mounted in the sliding hole 433 of the connecting body 430. Since the connecting body 430 swings relative to the object stage 100 under the driving of the speed limiting rope 420, that is, the moving track of the end portion of the connecting body 430 is arc-shaped, the first clamping body 210 can move along the arc-shaped track to approach the second clamping body 220, and the moving track of the first clamping body 210 can be different from the moving track of the end portion of the connecting body 430 by providing the sliding hole 433. Illustratively, the moving track of the end of the connecting body 430 is a curved line, and the moving track of the first clamping body 210 is a straight line, which is inclined with respect to the second direction.

Based on the above technical solution, the sliding hole 433 plays a role of guiding and limiting for the clamping mechanism 200, so that the clamping mechanism 200 can move relative to the connecting body 430 within a certain range, so that the moving track of the clamping mechanism 200 can be different from the moving track of the end of the connecting body 430.

In some embodiments, as shown in fig. 5, 10 and 11, the fall protection device further includes a rotation member 230, the rotation member 230 is rotatably mounted to the clamping mechanism 200, and the clamping mechanism 200 is slidably mounted to the sliding hole 433 through the rotation member 230. The rotating member 230 is connected to the holding mechanism 200, and the rotating member 230 can rotate relative to the holding mechanism 200, the rotating member 230 is located in the sliding hole 433, and the rotating member 230 rolls on the inner wall of the sliding hole 433 during the movement of the holding mechanism 200 relative to the sliding hole 433.

When the first and second brake mechanisms 300 and 400 are respectively coupled to the first clamping body 210, the rotation member 230 is rotatably mounted to the first clamping body 210. The rotating member 230 may be a rotating shaft, a ball, a roller, or the like.

Illustratively, the rotating member 230 is a rotating shaft, and the first clamping body 210 is provided with a shaft hole, and the rotating shaft is inserted into the first clamping body 210. The rotating shaft can be rotationally connected with the first clamping body 210 through a bearing, the inner ring of the bearing is connected with the rotating shaft, and the outer ring of the bearing is connected with the first clamping body 210, so that the relative limit and relative rotation of the rotating shaft and the first clamping body 210 are realized. Or, after the rotating shaft penetrates through the shaft hole of the first clamping body 210, the regions, located on two sides of the first clamping body 210, of the rotating shaft are respectively sleeved with a limiting sleeve, the limiting sleeves are connected with the rotating shaft, the outer diameter of each limiting sleeve is larger than the aperture of the shaft hole, and accordingly the rotating shaft is in relative limiting connection with the first clamping body 210, and the rotating shaft can rotate relative to the first clamping body 210.

In a specific embodiment, two lug structures are disposed at one end of the first clamping body 210 along the first direction, the two lug structures are disposed at intervals relatively, shaft holes are disposed on the two lug structures, the two shaft holes are coaxially disposed, the connecting body 430 is inserted between the two lug structures, the sliding hole 433 on the connecting body 430 is located between the shaft holes of the two lug structures, the rotating shaft sequentially passes through one shaft hole, the sliding hole 433 and the other shaft hole, a limit sleeve is disposed on one side, deviating from each other, of the two lug structures, and the limit sleeve is sleeved on the rotating shaft. So set up, the pivot can rotate for sliding hole 433, and pivot and first centre gripping body 210 rotate and be connected, and connector 430 is between two lug structures, and two lug structures play certain limiting displacement to connector 430 in the first direction.

As shown in fig. 10 and 11, in some embodiments, the object stage 100 is provided with a second elastic member 460, one end of the second elastic member 460 is connected to the object stage 100, and the other end is connected to the connecting body 430, and the second elastic member 460 is used for pulling the connecting body 430, so that in a normal working state of the object stage 100, the connecting body 430 is kept in a relatively static state with respect to the object stage 100 under the action of the second elastic member 460 and the speed limiting rope 420. After the movement of the speed limiting rope 420 is limited by the speed limiter 410, the instantaneous tension of the speed limiting rope 420 on the connecting body 430 exceeds the tension of the second elastic member 460 on the connecting body 430, so as to drive the connecting body 430 to move. The provision of the second elastic member 460 facilitates adjustment of the equilibrium position of the connecting body 430.

In some embodiments, as shown in fig. 7 and 8, the stage 100 is provided with a stopper 140, the stopper 140 is provided with a guide hole 141, and the clamping mechanism 200 is slidably mounted to the guide hole 141, and the clamping mechanism 200 moves along the guide hole 141 to clamp or unclamp the column 10.

The limiting member 140 and the objective table 100 may be an integral structure, the limiting member 140 and the objective table 100 are manufactured by an integral molding process, the limiting member 140 may be a part of a structure on a side wall of the objective table 100, and the side wall of the objective table 100 is provided with a guide hole 141.

Alternatively, when the side wall of the stage 100 is not a complete plate structure, but is a mesh or frame structure, the limiting member 140 may have a plate structure, the guide hole 141 is formed in the limiting member 140, and the limiting member 140 is mounted on the side portion of the stage 100, so that the guide hole 141 is formed through the limiting member 140, and the moving direction and the moving distance of the clamping mechanism 200 are limited through the guide hole 141.

In a specific embodiment, the stage 100 is provided with two side plates in the first direction, the two side plates are disposed at intervals, the first brake mechanism 300 and the second brake mechanism 400 are simultaneously disposed on at least one side plate, and taking one side plate as an example, a limiting member 140 is connected to the side plate, a guide hole 141 is disposed on the limiting member 140, and the extending direction of the guide hole 141 is disposed obliquely with respect to the first direction and the second direction. The first brake mechanism 300 is mounted on one side of the side plate and the second brake mechanism 400 is mounted on the other side of the side plate. The clamping mechanism 200 and the second braking mechanism 400 are installed on the same side of the side plate, in the clamping mechanism 200, the first clamping body 210 is rotatably installed with the rotating member 230, one end of the rotating member 230 passes through the guide hole 141, and the first braking mechanism 300 and the second braking mechanism 400 respectively drive the first clamping body 210 to move through the rotating member 230.

In some embodiments, clamping mechanisms 200 are mounted on opposite sides of stage 100, and each clamping mechanism 200 is drivingly coupled to a first brake mechanism 300 and a second brake mechanism 400, respectively.

In this arrangement, the clamping mechanisms 200 are disposed on two side plates of the stage 100, and each side plate is provided with a first brake mechanism 300 and a second brake mechanism 400, the first brake mechanism 300 and the second brake mechanism 400 disposed on one side plate are used for driving the clamping mechanism 200 on the side plate to move, and the first brake mechanism 300 and the second brake mechanism 400 disposed on the other side plate are used for driving the clamping mechanism 200 on the other side plate to move. In the case of a drop of the stage 100, the opposite sides clamp the upright 10 by the clamping mechanism 200, respectively, with a relatively wider fixing range, so that deflection or shake of the stage 100 relative to the upright 10 after braking is reduced to some extent.

Illustratively, in the two side plates, a first braking mechanism 300 is provided on a side facing the other, and a second braking mechanism 400 and a clamping mechanism 200 are provided on a side facing away from the other. The first braking mechanism 300 is disposed on the opposite side of the two side plates, i.e., on the interior of the stage 100, and the first braking mechanism 300 is relatively simple in structure and occupies a relatively small space, so that it is convenient to be disposed inside the stage 100. The second brake mechanism 400 is disposed on the side of the two side plates facing away from each other, i.e., the outer side of the stage 100, and since the second brake mechanism 400 occupies a large space relative to the first brake mechanism 300, there is a larger installation space on the outer side of the stage 100, which is convenient for assembly. The clamping mechanism 200 is arranged on one side of the two side plates, which is away from each other, namely, the outer side of the object stage 100, so that the distance between the clamping mechanism 200 and the upright post 10 is closer, and the upright post 10 is convenient to clamp and release.

In one embodiment of the present embodiment, the fall arrest device is applied to a cargo carrying device, which is a stacker that further includes a driver, a drive line 20, a guide rail 40, and a column 10. The guide rail 40 extends along the first direction, the upright posts 10 extend along the second direction, the number of the upright posts 10 is two, the two upright posts 10 are respectively and slidably assembled on the guide rail 40, the object stage 100 comprises two side plates which are arranged at intervals along the first direction, the two side plates are connected through a bottom plate, and the two side plates are respectively and slidably assembled on the two upright posts 10. The stage 100 is located between two posts 10, and the posts 10 drive the stage 100 to move in a first direction relative to the rail 40. The driver is installed on stand 10, and the driver is connected with drive rope 20, and drive rope 20 is connected with objective table 100, and the driver drives drive rope 20 and removes to drive objective table 100 through drive rope 20 and follow the second direction with respect to stand 10. One driver may be provided corresponding to one column 10, and the drivers are provided in one-to-one correspondence with the driving ropes 20, and the two driving ropes 20 are respectively connected with two side plates of the stage 100, so as to respectively pull the stage 100 from two sides of the stage 100 to move. The moving speeds of the two driving ropes 20 are the same.

The anti-falling device comprises a clamping mechanism 200, a first braking mechanism 300 and a second braking mechanism 400, wherein the clamping mechanism 200, the first braking mechanism 300 and the second braking mechanism 400 are respectively arranged on two side plates, the clamping mechanism 200, the first braking mechanism 300 and the second braking mechanism 400 are arranged in a mirror symmetry manner on the two side plates, one side plate is taken as an example for explanation, the first braking mechanism 300 is arranged on one side of the side plate far away from the upright post 10, and the clamping mechanism 200 and the second braking mechanism 400 are arranged on one side of the side plate facing the upright post 10. The clamping mechanism 200 comprises a first clamping body 210 and a second clamping body 220, the second clamping body 220 extends along a second direction, the second clamping body 220 is fixed on the object stage 100, a limiting piece 140 is arranged on a side plate of the object stage 100, a guide hole 141 is formed in the limiting piece 140, a sliding rail is arranged on one side of the side plate, facing the upright post 10, of the side plate, the sliding rail is obliquely arranged relative to the second direction, the first clamping body 210 is slidably assembled on the sliding rail, a rotating piece 230 is rotatably connected to the first clamping body 210, and one end of the rotating piece 230 penetrates through the guide hole 141 and stretches out to one side, far away from the upright post 10, of the side plate.

The first braking mechanism 300 comprises a sliding body 310, a pulley 320, a braking rope 330, a first elastic piece 340 and a limiting cylinder 350, wherein a fixed seat 120, the sliding body 310, a sensing mechanism 150 and two guide wheels 110 are arranged on one side, far away from the upright post 10, of a side plate, the two guide wheels 110 are arranged at intervals along a third direction, the fixed seat 120 is fixedly connected with the side plate relatively, the sliding body 310 and the fixed seat 120 are arranged at intervals along a second direction, a first elastic piece 340 and a limiting cylinder 350 are arranged between the sliding body 310 and the fixed seat 120, the first elastic piece 340 is positioned on the inner side of the limiting cylinder 350, the sliding body 310 is connected with a driving rope 20, and the sliding body 310 moves towards the fixed seat 120 under the pulling of the driving rope 20 so that two ends of the limiting cylinder 350 are respectively abutted to the sliding body 310 and the fixed seat 120. The sliding body 310 is provided with a pulley 320, one end of a brake rope 330 is connected with the fixed seat 120, and the other end of the brake rope extends upwards to the top of one guide wheel 110 after being wound from the bottom of the pulley 320, extends a certain distance along a third direction, extends downwards from the top of the other guide wheel 110, and is connected with the rotating member 230. The sensing mechanism 150 is a contact sensor, and the slider 310 contacts the sensing end of the contact sensor during normal operation of the stage 100. In a state where the driving rope 20 is disconnected, the slider 310 moves downward by the first elastic member 340 and its own weight, and the slider 310 is separated from the contact sensor, which triggers and stops the driving of the driving rope 20 by the driver. The sliding body 310 drives the pulley 320 to move downwards to pull the first clamping body 210 upwards, the first clamping body 210 moves upwards obliquely along the sliding rail to approach the second clamping body 220, and the first clamping body 210 and the second clamping body 220 respectively clamp the upright post 10 from two sides to realize the braking of the object stage 100.

The second brake mechanism 400 includes a speed limiter 410, a first link 440, a second link 450, a second elastic member 460, a speed limiting rope 420, and a connecting body 430, wherein the side of the side plate facing the upright post 10 is provided with the connecting body 430, the adjusting member 130, the first link 440, the second link 450, and the second elastic member 460, the speed limiter 410 is mounted on the upright post 10, the speed limiting rope 420 is respectively connected with the speed limiter 410 and the object stage 100, the speed limiting rope 420 is also connected with the connecting body 430, the connecting body 430 is in transmission connection with the first clamping body 210, and the speed limiting rope 420 drives the first clamping body 210 to move by driving the connecting body 430. One end of the connection body 430 is rotatably installed on the side plate of the stage 100, the other end is provided with a sliding hole 433, the rotation member 230 is slidably assembled at the sliding hole 433, and the region of the connection body 430 between both ends is connected with the speed limiting rope 420. One end of the first link 440 is rotatably coupled to the stage 100, and both ends of the second link 450 are rotatably coupled to the coupling body 430 and the first link 440, respectively. The first link 440 and the second link 450 are both located at a lower region of the link 430 for limiting a range of upward swing of the link 430. The stage 100 is provided with a mounting plate 131, the mounting plate 131 is provided with a threaded hole, the adjusting member 130 comprises a bolt and a nut, the bolt is provided with an external thread matched with the threaded hole, and one end of the bolt passes through the threaded hole of the mounting plate 131 and is locked through the nut. The connector 430 contacts with an end portion of the bolt passing through the mounting plate 131, and the distance of the bolt extending out of one side of the mounting plate 131 can be adjusted by the cooperation of the bolt and the nut, so that the end position of the bolt can be adjusted, and the bolt is used for limiting the downward swinging range of the connector.

The embodiment also provides a cargo carrying device control method, which is applicable to the cargo carrying device provided by any one of the embodiments, and the cargo carrying device control method includes:

the driving rope 20 drives the object stage 100 to move along the upright post 10;

in the case where the drive line 20 breaks, the first brake mechanism 300 causes the gripping mechanism 200 to grip the column 10 so that the stage 100 stops moving relative to the column 10;

in the case where the movement speed of the stage 100 exceeds the preset threshold, the second brake mechanism 400 causes the gripping mechanism 200 to grip the column 10 so that the stage 100 stops moving relative to the column 10.

In the cargo loading device controlled by the cargo loading device control method, when the driving rope 20 breaks, the first braking mechanism 300 enables the clamping mechanism 200 to clamp the upright post 10, so that the object table 100 is static relative to the upright post 10 to brake the object table 100, and the object table 100 is prevented from impacting the ground after continuing to move downwards. In the case that the movement speed of the stage 100 exceeds the preset threshold, the second braking mechanism 400 causes the clamping mechanism 200 to clamp the upright 10, so that the stage 100 is stationary relative to the upright 10 to brake the stage 100, so as to avoid the stage 100 from striking the ground after continuing to move downwards. As can be seen from the above, in the case that the driving rope 20 breaks, and in other cases that cause the stage 100 to descend at an overspeed, the first braking mechanism 300 and the second braking mechanism 400 act separately or cooperatively, so that the stage 100 is braked, thereby protecting the stage 100 and improving the safety performance of the stage 100.

In some embodiments, the clamping assembly includes a first clamping body 210 and a second clamping body 220 disposed on opposite sides of the column 10 at opposing intervals. In the case that the driving rope 20 is broken, the first braking mechanism 300 can drive the first clamping body 210 to move towards the direction approaching the second clamping body 220, so that the first clamping body 210 and the second clamping body 220 clamp the upright post 10; the second clamping body 220 can be driven to move towards the direction approaching to the first clamping body 210, so that the first clamping body 210 and the second clamping body 220 clamp the upright post 10; the first clamping body 210 and the second clamping body 220 can also be driven to move relatively close together, so that the first clamping body 210 and the second clamping body 220 clamp the upright post 10.

In one embodiment, in the case that the driving rope 20 breaks, the first braking mechanism 300 drives the first clamping body 210 to move towards the second clamping body 220, and the first clamping body 210 and the second clamping body 220 clamp the upright 10, so that the stage 100 stops moving relative to the upright 10. In this control method, the first braking mechanism 300 can implement the clamping operation of the clamping mechanism 200 by driving only the first clamping body 210, the control process is simple, and the corresponding braking speed is high.

In some embodiments, in the event that the drive line 20 breaks, the sensing mechanism 150 triggers to cause the driver to cease driving the drive line 20.

The sensing mechanism 150 may be any one or a combination of a touch sensor, a photoelectric sensor, an infrared sensor, etc. When the sensing mechanism 150 is a contact sensor, the detection end of the contact sensor contacts with the sliding body 310 in a normal operation state of the stage 100, and after the driving rope 20 breaks, the stage 100 moves downward, so that the detection end of the contact sensor is separated from the sliding body 310, the contact sensor triggers, and the driver stops running after receiving a signal of the contact sensor, and stops continuously winding the driving rope 20. The contact sensor can be directly connected with the driver through signals, or the contact sensor and the driver are respectively connected with a controller through signals, and the controller is used for controlling the driver to stop running after the contact sensor is triggered. The controller can be a chip, a singlechip, a PLC and other devices with control functions.

By the above control method, the driver stops driving when the driving rope 20 breaks, and the driver can be prevented from idling and protected.

In some embodiments, when the movement speed of the stage 100 exceeds the preset threshold, the second braking mechanism 400 drives the first clamping body 210 to move towards the second clamping body 220, and the first clamping body 210 and the second clamping body 220 clamp the upright 10, so that the stage 100 stops moving relative to the upright 10.

Based on the above technical solution, the second braking mechanism 400 can implement the clamping operation of the clamping mechanism 200 by driving the first clamping body 210 only to move, the braking process is simple, and the braking response speed is faster.

In some embodiments, the stage 100 control method includes:

in the case where the stage 100 moves along the column 10, the speed limiter 410 controls the speed limiting rope 420 to move with the stage 100;

under the condition that the movement speed of the stage 100 exceeds the preset threshold, the speed limiter 410 controls the speed limiting rope 420 to stop moving, and the speed limiting rope 420 drives the first clamping body 210 to move towards the direction approaching the second clamping body 220, so that the first clamping body 210 and the second clamping body 220 clamp the upright post 10, and the stage 100 stops moving relative to the upright post 10.

When the stage 100 moves along the column 10, the speed limiter 410 controls the speed limit rope 420 to move along with the stage 100, and in this case, the speed limiter 410 detects the speed of the stage 100 by detecting the speed of the speed limit rope 420, that is, the speed of the movement of the stage 100, at the same speed as the speed of the movement of the stage 100. When the movement speed of the speed limit rope 420 exceeds a preset threshold, that is, it is indicated that the movement speed of the stage 100 exceeds the preset threshold, in this case, the speed limiter 410 stops the movement of the speed limit rope 420.

The speed limiter 410 may include a jaw that is opened and separated from the speed limiting rope 420 during normal movement of the stage 100, and is tightened when the movement speed of the speed limiting rope 420 exceeds a preset threshold, so that the speed limiting rope 420 is clamped and fixed by the jaw, and further movement of the speed limiting rope 420 is stopped. The speed limiting rope 420 is connected to the first clamping body 210, and the first clamping body 210 moves along with the stage 100, and after stopping moving, the speed limiting rope 420 pulls the first clamping body 210, so that the first clamping body 210 moves relative to the stage 100, and the first clamping body 210 moves in a direction approaching the second clamping body 220. Since second brake mechanism 400 achieves braking by speed limiter 410 and speed limiting rope 420, the structure is simple.

In one embodiment, the method for controlling the stage 100 provided in this embodiment includes:

the driver drives the driving rope 20 to move, and the driving rope 20 drives the objective table 100 to move along the upright post 10;

under the condition that the movement speed of the object stage 100 does not exceed the preset threshold, the speed limiting rope 420 moves under the driving of the object stage 100, the movement speed of the speed limiting rope 420 is the same as that of the object stage 100, and the speed limiter 410 detects the movement speed of the speed limiting rope 420, so that the movement speed of the object stage 100 is detected to obtain the movement speed of the object stage 100.

Under the condition that the driving rope 20 is broken, the first braking mechanism 300 drives the first clamping body 210 to move towards the direction approaching the second clamping body 220, and the first clamping body 210 and the second clamping body 220 clamp the upright 10, so that the object stage 100 stops moving relative to the upright 10. In the event that the drive line 20 breaks, the sensing mechanism 150 triggers to cause the driver to cease driving of the drive line 20.

Under the condition that the movement speed of the stage 100 exceeds the preset threshold, the speed limiter 410 stops the movement of the speed limiting rope 420, and the speed limiting rope 420 drives the first clamping body 210 to move towards the direction approaching the second clamping body 220, so that the first clamping body 210 and the second clamping body 220 clamp the upright post 10, and the stage 100 stops moving relative to the upright post 10.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application, and are intended to be included within the scope of the appended claims and description. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present application is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.

Claims

1. A fall arrest device, comprising: the device comprises an objective table, a clamping mechanism, a first braking mechanism and a second braking mechanism;

the clamping mechanism comprises a first clamping body and a second clamping body which are arranged at two sides of the upright post at intervals;

the first braking mechanism comprises a sliding body, the sliding body is in transmission connection with the first clamping body, the sliding body is connected with the driving rope, and under the condition that the driving rope is broken, the sliding body drives the first clamping body to move and move towards the direction close to the second clamping body, so that the first clamping body and the second clamping body clamp the upright post; the first braking mechanism further comprises a pulley and a braking rope, the pulley is arranged on the sliding body, the braking rope is wound on the pulley, and two ends of the braking rope are respectively connected with the objective table and the first clamping body;

the second braking mechanism is in transmission connection with the first clamping body, and the second braking mechanism is used for driving the first clamping body to move under the condition that the movement speed of the objective table exceeds a preset threshold value, so that the first clamping body and the second clamping body clamp the upright post.

2. The fall arrest device according to claim 1, wherein said stage is provided with at least one guide wheel, and said brake cable which bypasses said pulley is connected to said first clamp body after being wound around said guide wheel.

3. The fall protection device of claim 1, wherein the first braking mechanism further comprises a first elastic member mounted between the slider and the stage, the first elastic member being configured to urge the slider to move the first clamp in the event of breakage of the drive line.

4. A fall arrest device according to claim 3, wherein the first braking mechanism further comprises a limiting barrel, the limiting barrel being sleeved outside the first resilient member, the limiting barrel being located between the stage and the slider.

5. A fall arrest device according to claim 3, wherein the stage is provided with a fixed seat, and the first resilient member is mounted between the slider and the fixed seat.

6. A fall arrest device according to any of claims 1 to 5, wherein the second braking mechanism comprises a speed limiter and a speed limiting rope, the speed limiter being connected to the speed limiter and the gripping mechanism respectively, the speed limiter being arranged to limit movement of the speed limiting rope in the event that the speed of movement of the stage exceeds a preset threshold value, so that the gripping mechanism grips the upright via the speed limiting rope.

7. The fall protection device of claim 6, wherein the second brake mechanism further comprises a connector, one end of the connector is rotatably connected to the clamping mechanism, the other end of the connector is rotatably connected to the stage, and the connector is connected to the speed limiting rope.

8. The fall protection device of claim 7, wherein the second brake mechanism further comprises a first link and a second link, one end of the first link is rotatably coupled to the stage, and both ends of the second link are rotatably coupled to the connector and the first link, respectively.

9. The fall arrest device of claim 7, wherein said stage is provided with an adjustment member, one end of said adjustment member being in contact with said connector, said adjustment member being capable of adjusting the position of said connector to adjust the distance between said gripping mechanism and said upright.

10. The fall protection device of claim 7, wherein the connector is provided with a slip aperture, and the clamping mechanism is slidably mounted in the slip aperture.

11. The fall arrest device of claim 10, further comprising a rotatable member rotatably mounted to the gripping mechanism, the gripping mechanism being slidably mounted to the sliding aperture by the rotatable member.

12. A fall arrest device according to any of claims 1 to 5, wherein the stage is provided with a stop member provided with a guide aperture, the gripping means being slidably mounted in the guide aperture, the gripping means being movable along the guide aperture to clamp or unclamp the upright.

13. A fall arrest device according to any of claims 1 to 5, wherein the gripping means are mounted on opposite sides of the carrier, each gripping means being drivingly connected to the first and second braking means, respectively.

14. A fall arrest device according to any of claims 1 to 5, wherein the stage is fitted with a sensing mechanism which is triggered by the glide mass in the event of a break in the drive line, the sensing mechanism being adapted for signal connection with a drive of the cargo device and for feeding back a braking signal to the drive.

15. A cargo device, comprising: a fall arrest device according to any of claims 1 to 14.

16. A cargo device control method, comprising:

the driving rope drives the objective table to move along the upright post;

Under the condition that the driving rope is broken, a sliding body in a first braking mechanism drives the braking rope to move through a pulley, the braking rope drives a first clamping body in a clamping mechanism to move towards a direction close to a second clamping body, and the first clamping body and the second clamping body clamp the upright post so that the objective table stops moving relative to the upright post;

under the condition that the movement speed of the objective table exceeds a preset threshold value, the second braking mechanism drives the first clamping body to move towards the direction close to the second clamping body, and the first clamping body and the second clamping body clamp the upright post, so that the objective table stops moving relative to the upright post.

17. The cargo device control method of claim 16, wherein the stage is provided with a sensing mechanism in signal communication with a drive of the cargo device, the sensing mechanism being triggered to cause the drive to cease driving of the drive line in the event of a breakage of the drive line.

18. The cargo device control method of claim 16 wherein,

the object stage is provided with a speed limiter, and the speed limiter controls the speed limiting rope to move along with the object stage under the condition that the object stage moves along the upright post;