CN117775992B

CN117775992B - Transmission assembly, anti-falling device and crown block system

Info

Publication number: CN117775992B
Application number: CN202410217949.0A
Authority: CN
Inventors: 赵萌; 小野出; 蒲宗杰
Original assignee: Zunxin Intelligent Technology Suzhou Co ltd
Current assignee: Zunxin Intelligent Technology Suzhou Co ltd
Priority date: 2024-02-28
Filing date: 2024-02-28
Publication date: 2024-04-23
Anticipated expiration: 2044-02-28
Also published as: CN117775992A

Abstract

The embodiment of the invention relates to a transmission assembly, a falling protection device and a crown block system, wherein the transmission assembly comprises: the connecting rod, the first linkage rod and the second linkage rod. The connecting rod is provided with a pivoting end, a first connecting end which is far away from the pivoting end and a second connecting end which is far away from the pivoting end. The link is rotatable about the pivot end. The first linkage rod is rotationally connected with the first connecting end and is used for driving the first actuating mechanism to be unfolded or folded in the first plane when the connecting rod rotates around the pivot end. The second linkage rod is rotationally connected with the second connecting end and is used for driving the second actuating mechanism to be unfolded or folded in a second plane when the connecting rod rotates around the pivoting end. The first plane is perpendicular to the second plane. The control of the two in-plane mechanisms is realized through the transmission of the connecting rod, so that the first actuating mechanism and the second actuating mechanism can be simultaneously unfolded in the first plane and the second plane, the transmission structure is simplified, the volume of the anti-falling device is reduced, the quick unfolding of the mechanism is realized, and the working efficiency is improved.

Description

Transmission assembly, anti-falling device and crown block system

Technical Field

The embodiment of the invention relates to the field of crown blocks, in particular to a transmission assembly, a falling prevention device and a crown block system.

Background

With the rapid development of production and manufacture, air transport vehicles are required to accelerate the transportation of materials in the production process. The risk that the material dropped can be faced in the process of transporting the material by the air transport vehicle, and in order to prevent the unexpected falling of the material, a falling prevention device is often additionally arranged on the air transport vehicle. The anti-falling device needs to jointly protect materials in two planes perpendicular to each other in the vertical plane and the horizontal plane, so that two mechanisms are arranged to be unfolded in the vertical plane and the horizontal plane respectively according to requirements so as to prevent the falling of the materials.

The existing equipment is vertically provided with two trapezoidal screw rod transmission mechanisms in a plane, the connection part adopts bevel gear linkage, in the actual use process, the equipment is found to have enough thrust, but the structural noise is larger, the action time of the whole structure is longer, the follow-up beat lifting requirement cannot be met, and meanwhile, under the condition of long-term operation of the equipment, the part wear is fast, the maintenance frequency is increased, and the normal production of the equipment is influenced. Under the condition of arranging the servo modules or the stepping modules, the whole space requirement of the equipment is large, the whole quality is heavy, the whole equipment is larger, and the equipment cost is increased.

Disclosure of Invention

In order to overcome the defects that when a transmission mechanism in the prior art drives two mechanisms which are perpendicular to each other simultaneously, the noise of the structure is large, the operation time is long, the working beat cannot be met, and the maintenance frequency is too high due to rapid part abrasion, the embodiment of the invention provides a transmission assembly, a falling prevention device and a crown block system, and the transmission assembly is connected through a connecting rod to drive the mechanisms which are arranged in two planes perpendicular to each other simultaneously.

In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions.

In a first aspect, embodiments of the present invention provide a transmission assembly comprising: the connecting rod, the first linkage rod and the second linkage rod. The connecting rod is provided with a pivoting end, a first connecting end which is far away from the pivoting end and a second connecting end which is far away from the pivoting end. Wherein the link is rotatable about the pivot end. The first linkage rod is rotationally connected with the first connecting end and is used for driving the first actuating mechanism to be unfolded or folded in the first plane when the connecting rod rotates around the pivot end. The second linkage rod is rotationally connected with the second connecting end and is used for driving the second actuating mechanism to be unfolded or folded in a second plane when the connecting rod rotates around the pivoting end. Wherein the first plane is perpendicular to the second plane.

Further, in the first aspect, the connecting rod includes: the first rod piece and the second rod piece connected with the first rod piece form an included angle. The pivot end is arranged between the first rod piece and the second rod piece. The first connecting end is arranged on the first rod piece and is far away from the pivoting end along the length direction of the first rod piece. The second connecting end is arranged on the second rod piece and is far away from the pivoting end along the length direction of the second rod piece.

In the first aspect, the relationship between the first lever and the second lever should satisfy the following relationship:

r1=r2=r; wherein R is the rotation radius of the connecting rod when rotating around the pivot end. r1 is the linear distance between the first connecting end and the pivoting end, and r2 is the linear distance between the second connecting end and the pivoting end.

In the first aspect, the first linkage rod is provided with a first head end and a first tail end far away from the first head end along the length direction. The first head end is rotationally connected with the first connecting end, the first tail end is rotationally connected with the first executing mechanism, and the first tail end moves along the direction perpendicular to the second plane when the connecting rod rotates around the pivot end, so that the first linkage rod drives the first executing mechanism to be unfolded or folded in the first plane. The second linkage rod has a second head end along its length and a second tail end remote from the second head end. The second end is rotationally connected with the second connecting end, the second tail end is rotationally connected with the second executing mechanism, and the second tail end moves along the direction vertical to the first plane when the connecting rod rotates around the pivot end, so that the second linkage rod drives the second executing mechanism to be unfolded or folded in the second plane.

In the first aspect, the relationship between the rotation radius R of the connecting rod when rotating around the pivot end and the first linkage rod and the second linkage rod respectively should satisfy the following relationship:

2 R.sin (J2/2) is less than or equal to L1 or L2, and L1=L2;

R+g1 or G2 > N1 or N2, and g1=g2, n1=n2.

Wherein J2 is the rotation angle of the connecting rod when the connecting rod rotates around the pivot end in the forward direction or the reverse direction. L1 is the linear distance of the first tail end moving along the direction perpendicular to the second plane. L2 is the linear distance that the second trailing end moves in a direction perpendicular to the first plane. G1 is a linear distance between the first head end and the first tail end. G2 is the linear distance between the second head end and the second tail end. N1 is the linear distance of the pivot end perpendicular to the plane of the first tail end movement path. N2 is the linear distance of the pivoting end perpendicular to the plane of the second tail end motion path.

In a second aspect, embodiments of the present invention also provide a fall arrest device, comprising: the transmission assembly, the first executing mechanism and the second executing mechanism. The first actuator is deployable or collapsible in a first plane. The second actuator is extendable or retractable in a second plane. The first linkage rod is rotationally connected with the first actuating mechanism and is used for driving the first actuating mechanism to enable the first actuating mechanism to be unfolded or folded in a first plane when the connecting rod rotates around the pivot end. The second linkage rod is rotationally connected with the second executing mechanism and is used for driving the second executing mechanism to enable the second executing mechanism to be unfolded or folded in a second plane when the connecting rod rotates around the pivot end.

Further, in the second aspect, the first actuator includes: the device comprises a sliding block assembly, a movable connecting rod and an execution connecting rod. The sliding block component is rotationally connected with the first linkage rod so as to slide along the direction vertical to the second plane under the drive of the first linkage rod. The two ends of the movable connecting rod are respectively a head hinged end and a tail hinged end, and the head hinged end is rotationally connected with the sliding block component. The execution connecting rod is rotationally connected with the tail hinged end of the movable connecting rod and rotates around a preset base point in a first plane, and the preset base point is a pivot fixedly connected in the first plane so that the execution connecting rod rotates. When the sliding block assembly slides along the direction perpendicular to the second plane, the movable connecting rod drives the execution connecting rod to rotate around a preset base point, and the execution connecting rod rotates relative to the execution connecting rod by taking the tail hinged end as a pivot point so as to unfold or fold the first execution mechanism.

Further, in a second aspect, the slider assembly includes: the sliding part and the connecting part. The sliding part is used for sliding along a direction vertical to the second plane. The connecting portion is fixedly connected to the sliding portion and slides along with the sliding portion, the first linkage rod is rotationally connected to the connecting portion, and the head hinged end of the movable connecting rod is rotationally connected to the connecting portion.

In the second aspect, moreover, the relationship between the movable link, the actuator link and the slider assembly should satisfy the following relationship: b > l+e. Wherein B is the distance between the head hinge end and the tail hinge end. L is the sliding travel of the slider assembly. And e is the eccentric distance between the preset base point and the sliding track of the sliding block assembly in the second plane direction.

In the second aspect, the following relation is satisfied when the link rotates around the pivot end: (T/R). SinJ1 > mg+u.cndot. cosJ1 (T/R). Wherein T is the torque applied to the connecting rod when the connecting rod rotates around the pivot end. And J1 is an included angle formed between the first linkage rod and the second plane when the first tail end moves to the limit position in the direction approaching to the second plane. m is the mass of the slider assembly. g is the gravitational acceleration of the earth's surface. u is the coefficient of friction of the slider assembly as it slides.

In a second aspect, the anti-falling device further comprises a limiter, wherein the limiter is used for limiting the movement stroke of the sliding block assembly.

Further, in the second aspect, the second actuator includes: and the movable rod and the linkage assembly are horizontally pulled. The transverse pulling movable rod is rotationally connected with the second linkage rod and is used for moving along the direction vertical to the first plane under the drive of the second linkage rod. The linkage assembly is rotationally connected with the transverse pull movable rod and used for being unfolded or folded in the second plane under the driving of the transverse pull movable rod.

Further in a second aspect, the linkage assembly includes: the first crank, the second crank and the blocking connecting rod. The two ends of the first crank are a first driving end and a first driven end, the first driving end is rotationally connected with the transverse pull movable rod, and the first crank can rotate around a first preset turning point in a second plane. The two ends of the second crank are a second driving end and a second driven end, the second driving end is rotationally connected with the transverse pull movable rod, and the second crank can rotate around a second preset turning point in a second plane. The first crank and the second crank are arranged in parallel, and the connecting line of the first preset turning point and the second preset turning point is parallel to the transverse pull movable rod. The blocking connecting rod is arranged in parallel with the transverse pulling movable rod, and the first passive end and the second passive end are respectively connected with the blocking connecting rod in a rotating way. When the horizontal pulling movable rod moves, the first crank and the second crank rotate around the first preset turning point and the second preset turning point respectively and are used for driving the blocking connecting rod to be far away from or close to the horizontal pulling movable rod so as to unfold or fold the second executing mechanism.

In the second aspect, the first crank and the second crank are both provided with a partial bend toward the first actuator, the partial bend of the first crank is located at a first preset point, and the partial bend of the second crank is located at a second preset point.

In the second aspect, the rotation angle of the first crank and the second crank is 90 °.

In a second aspect, the fall arrest device further comprises: a fixed module; the transmission assembly is arranged on the fixed module, the first actuating mechanism is arranged on one side of the fixed module perpendicular to the second plane, and the second actuating mechanism is arranged at the bottom of the fixed module.

In a third aspect, embodiments of the present invention further provide an overhead travelling crane system including the fall arrest device described above.

Compared with the prior art, the embodiment of the invention has the beneficial effects that:

The connecting rod of the transmission assembly is connected with the first linkage rod and the second linkage rod, so that the operation of unfolding and folding the actuating mechanism arranged in two planes perpendicular to each other is realized. Compared with the traditional bevel gear transmission and trapezoidal screw transmission, the connecting rod mechanism is simpler to install and does not need regular lubrication and maintenance. The noise influence of gear engagement and screw rod transmission is avoided, and meanwhile, compared with bevel gear transmission and trapezoidal screw rod transmission, the number of parts of the connecting rod mechanism is obviously reduced, so that the parts required to ensure the machining precision are also obviously reduced. In addition, the transmission assembly occupies smaller space and has smaller running space. Therefore, interference with other workpieces is avoided, the whole structure of the equipment is simple, the equipment is convenient to assemble, the maintenance cost of clients can be reduced, the production beat is improved, and the production efficiency is improved.

Drawings

Embodiments of the present invention may be better understood by describing an implementation of the embodiments of the present invention with reference to the accompanying drawings, in which:

FIG. 1 is a schematic view of a fall arrest device according to an embodiment of the present invention;

FIG. 2 is a schematic view of a first actuator deployment configuration of a fall arrest device according to an embodiment of the present invention;

FIG. 3 is a schematic view showing a first actuator of the anti-falling device according to an embodiment of the present invention;

FIG. 4 is a schematic view of a second actuator of a fall arrest device according to an embodiment of the invention;

FIG. 5 is a diagram showing a first actuator motion profile of a fall arrest device according to an embodiment of the present invention;

FIG. 6 is a diagram showing the movement trace of the connecting rod of the anti-falling device according to an embodiment of the present invention.

In the above figures, the meanings of the reference numerals are as follows:

A connecting rod 1;

A pivoting end 11;

A first lever 12;

a first connection end 121;

A second lever 13;

A second connection end 131;

a first linkage rod 14;

a second link lever 15;

a first actuator 2;

a slider assembly 21;

A connection portion 211;

A sliding portion 212;

a movable link 22;

tail hinged end 221;

a head hinge end 222;

An execution link 23;

a preset base point 231;

a detection device 24;

a stopper 25;

A hinge lever 200;

A second actuator 3;

A horizontal pulling movable rod 31;

A first crank 32;

a first passive end 321;

A first drive end 322;

a first preset turning point 323;

A second crank 33;

A second passive end 331;

A second drive end 332;

A second preset turning point 333;

a blocking link 34;

a fixed module 4;

A slideway 41;

The motor 5 is driven.

Detailed Description

Unless defined otherwise, technical or scientific terms used in the specification and claims should be given the ordinary meaning as understood by one of ordinary skill in the art to which embodiments of the invention belong.

All numerical values recited herein as being from the lowest value to the highest value refer to all numerical values obtained in increments of one unit between the lowest value and the highest value when there is a difference of more than two units between the lowest value and the highest value.

In the description of the embodiments of the present invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate description of the embodiments of the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the embodiments of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

As shown in fig. 1, an embodiment of the present invention provides a transmission assembly including: the connecting rod 1, the first linkage rod 14 and the second linkage rod 15. The link 1 has a pivot end 11, a first connecting end 121 disposed away from the pivot end 11, and a second connecting end 131 disposed away from the pivot end 11. Wherein the link 1 is rotatable about the pivot end 11. The first linkage rod 14 is rotatably connected to the first connecting end 121, and is used for driving the first actuator 2 to be unfolded or folded in the first plane when the connecting rod 1 rotates around the pivot end 11. The second linkage rod 15 is rotatably connected to the second connecting end 131, and is used for driving the second actuator 3 to be unfolded or folded in the second plane when the connecting rod 1 rotates around the pivot end 11. Wherein the first plane is perpendicular to the second plane.

As is apparent from the above, when the link 1 rotates around the pivot end 11, the first connecting end 121 and the second connecting end 131 rotate together around the pivot end 11. The first link rod 14 and the second link rod 15, which are correspondingly and rotatably connected with each other at this time, are respectively moved under the driving of the first connecting end 121 and the second connecting end 131. Since the first actuator 2 is disposed in the first plane and the second actuator 3 is disposed in the second plane, the first linkage rod 14 can drive the first actuator 2 to be unfolded or folded in the first plane after external force is obtained, and the second linkage rod 15 can also drive the second actuator 3 to be unfolded or folded in the second plane after external force is obtained. The transmission between the connecting rods 1 can realize the unfolding of the mechanism arranged in two planes which are perpendicular to each other, thereby avoiding the complex transmission structure, reducing the parts of the transmission assembly and simplifying the assembly process of the transmission assembly.

Further, since the connecting rod 1 directly transmits power to the first executing mechanism 2 and the second executing mechanism 3 through the first connecting end 121 and the second connecting end 131 in a transmission mode of the connecting rod mechanism through the first linkage rod 14 and the second linkage rod 15, the first linkage rod 14 and the second linkage rod 15 have extremely high response speed, a great amount of time is not required to be consumed for transmitting the power through multiple gear transmission like a gear mechanism, slow unfolding or folding actions of the first executing mechanism 2 and the second executing mechanism 3 are avoided, the working efficiency is improved, and the response waiting time is reduced. In addition, since the connecting rod 1 is provided with two connecting ends, the first executing mechanism 2 and the second executing mechanism 3 can be driven simultaneously, and synchronous operation of the first executing mechanism 2 and the second executing mechanism 3 is realized. So that the carried object is protected from two mutually perpendicular first and second planes at the same time. Also, in the present embodiment, the link 1 is driven by a motor. The motor can realize forward rotation and reverse rotation to drive the connecting rod 1 to rotate forward and reverse around the pivoting end 11, so that the first executing mechanism 2 and the second executing mechanism 3 are unfolded or folded. And the rotation angle of the motor can also be accurately controlled according to the control instruction, so that the accurate control of the unfolding sizes of the first executing mechanism 2 and the second executing mechanism 3 is realized, and the precision of the transmission system is improved.

Meanwhile, the link 1 in the present embodiment as shown in fig. 1 includes: the first rod piece 12 and the second rod piece 13 connected with the first rod piece 12 form an included angle between the first rod piece 12 and the second rod piece 13. Wherein the pivot end 11 is arranged between the first lever 12 and the second lever 13. The first connecting end 121 is disposed on the first rod 12 and is far away from the pivot end 11 along the length direction of the first rod 12. The second connecting end 131 is disposed on the second rod 13 and is far away from the pivot end 11 along the length direction of the second rod 13. The relationship between the first rod member 12 and the second rod member 13 should satisfy the following relationship: r1=r2=r. Where R is the radius of rotation of the link 1 when it rotates about the pivot end 11. r1 is the linear distance between the first connecting end 121 and the pivoting end 11, and r2 is the linear distance between the second connecting end 131 and the pivoting end 11. It can be derived from this that the first rod member 12 and the second rod member 13 work simultaneously around the pivot end 11, and the lengths of the first rod member 12 and the second rod member 13 are the same, and when the first rod member 12 and the second rod member 13 rotate, the linear speeds of the first connecting end 121 and the second connecting end 131 are the same, and the magnitude of the acting force of the first connecting end 121 on the first linkage rod 14 is the same as the magnitude of the acting force of the second connecting end 131 on the second linkage rod 15. Therefore, the connecting rod 1 is ensured to synchronously act on the first plane and the second plane, and the front-back time difference of the unfolding or folding actions of the first actuating mechanism 2 and the second actuating mechanism 3 is avoided. An included angle exists between the first rod piece 12 and the second rod piece 13, so that the connecting rod 1 can better transmit motion to two mutually perpendicular planes at the same time, and the transmission connecting rod in the motion transmission process is reduced. The kinematic pair of the connecting rod 1 is a low pair, so that the contact area is small, the abrasion in the movement process is reduced, the kinematic pair of the traditional trapezoidal screw rod and the bevel gear is a high pair, the contact area in the online contact process is larger, and the abrasion is larger. In conclusion, the service life of the transmission component taking the connecting rod mechanism as a transmission mode is longer. Further, the link mechanism itself is lighter in weight and uses fewer parts, so that the transmission assembly is lighter in weight and smaller in volume as a whole. And the manufacturing and mounting precision of the connecting rod mechanism is required to be lower than that of the trapezoidal screw rod and the bevel gear, so that the mounting difficulty and the mounted volume of the transmission assembly are reduced, the transmission process is simplified, and the transmission efficiency is improved. In addition, when the angle between the first rod 12 and the second rod 13 is 90 °, the angle between the first rod 12 and the first plane is the same as the angle between the second rod 13 and the second plane. The first rod 12 and the second rod 13 can directly act on the first plane and the second plane which are perpendicular to each other. The efficient transmission of the connecting rod 1 is ensured, and the response efficiency of the first executing mechanism 2 and the second executing mechanism 3 is improved.

As shown in fig. 1, the first linkage rod 14 in this embodiment has a first head end and a first tail end distant from the first head end along its length. The first head end is rotatably connected to the first connecting end 121, the first tail end is rotatably connected to the first actuating mechanism 2, and when the first tail end is used for the connecting rod 1 to rotate around the pivot end 11, the first tail end moves along a direction perpendicular to the second plane, so that the first linkage rod 14 drives the first actuating mechanism 2 to be unfolded or folded in the first plane. The second linkage rod 15 has a second head end along its length and a second tail end remote from the second head end. The second head end is rotatably connected to the second connecting end 131, the second tail end is rotatably connected to the second actuating mechanism 3, and the second tail end moves along a direction perpendicular to the first plane when the connecting rod 1 rotates around the pivot end 11, so that the second linkage rod 15 drives the second actuating mechanism 3 to be unfolded or folded in the second plane. As shown in fig. 6, the relationship between the rotation radius R of the link 1 when rotating around the pivot end 11 and the first and second links 14, 15 should satisfy the following relationship:

2 R.sin (J2/2) is less than or equal to L1 or L2, and L1=L2;

R+g1 or G2 > N1 or N2, and g1=g2, n1=n2.

Wherein J2 is the rotation angle of the link 1 when the link 1 rotates in the forward direction or in the reverse direction about the pivot end 11. L1 is the linear distance of the first tail end moving along the direction perpendicular to the second plane. L2 is the linear distance that the second trailing end moves in a direction perpendicular to the first plane. G1 is a linear distance between the first head end and the first tail end. G2 is the linear distance between the second head end and the second tail end. N1 is the linear distance of the pivot end 11 perpendicular to the plane of the first trailing end path of motion. N2 is the linear distance of the pivot end 11 perpendicular to the plane of the second trailing end path of motion.

As is clear from the above, the connecting rod 1 acts on the first head end through the first rod member 12, thereby achieving an effect on the first link lever 14. Since the first tail end is disposed at the other end of the first linkage rod 14, the first tail end moves together with the first linkage rod 14. The rotary motion of the connecting rod 1 around the pivoting end 11 is realized, and the rotary motion is transferred through the motion of the first rod piece 12 and the first linkage rod 14, is converted into the linear motion of the first tail end which is perpendicular to the second plane in the first plane, and acts on the first actuating mechanism 2 connected with the first tail end. The forward rotation or the reverse rotation of the connecting rod 1 realizes that the first tail end makes reciprocating motion along a fixed straight line perpendicular to the second plane in the first plane, so that the rotary connection part of the first actuating mechanism 2 and the first tail end obtains the straight line reciprocating motion capability perpendicular to the second plane in the first plane. At this time, the first actuator 2 can take the linear motion as an external force for expanding or contracting the mechanism. Similarly, the second tail end is arranged at the other end of the second linkage rod 15, and the second tail end moves together with the second linkage rod 15. The rotary motion of the pivoting end 11 of the connecting rod 1 is converted into linear motion of the second tail end perpendicular to the first plane in the second plane through the transmission of the second rod piece 13 and the second linkage rod 15, and acts on the second actuating mechanism 3 connected with the second tail end. The second tail end makes reciprocating motion along a fixed straight line perpendicular to the first plane in the second plane by the forward rotation or the reverse rotation of the connecting rod 1, so that the rotary joint of the second actuating mechanism 3 and the second tail end obtains the straight line reciprocating motion capability perpendicular to the first plane in the second plane. At this time, the second actuator 3 can take the linear motion as an external force for expanding or contracting the mechanism. The rotary motion of one connecting rod 1 is converted into linear motion in two mutually perpendicular planes, so that the simultaneous control of the first actuating mechanism 2 and the second actuating mechanism 3 is completed, the structure of a transmission assembly is simplified, and the conversion between the rotary motion and the double linear motion is realized through the connection and the transmission among a plurality of rods. The installation difficulty of the anti-falling device is reduced, the manufacturing cost is reduced, and the working efficiency is improved.

Further, when 2R.sin (J2/2). Ltoreq.L1 or L2, and L1=L2, is found from the formula. When the inequality takes an equal sign, the rotation radius of the connecting rod 1, that is, the R value, i.e. the lengths of the first rod member 12 and the second rod member 13 reach the longest limit length value, and the rotation angle of the largest J2 connecting rod 1 when rotating around the pivot end 11 in the forward direction or rotating in the reverse direction is calculated, so as to obtain the limit values of R and J2 respectively. The greater the value of J2, the longer the link 1 rotates about the pivot end 11, thus affecting the duty cycle of the transmission assembly, and the smaller the value of J2 should be if other values are met. According to the linear distances L1 and L2 of the first tail end and the second tail end which must be moved in the unfolding and folding processes of the first executing mechanism 2 and the second executing mechanism 3, firstly, the corresponding proper rotation angle J2 of the connecting rod 1 is calculated, and secondly, the rotation radius R of the connecting rod 1 is calculated and selected according to the space size set by the transmission component. Ensure that the transmission assembly can realize converting rotary motion into linear motion and meet the use of the first actuating mechanism 2 and the second actuating mechanism 3, and simultaneously ensure that the beat efficiency of the transmission assembly is improved and the working efficiency is ensured.

The embodiments of the present invention as shown in fig. 1,2 and 3 further provide a fall protection device, which includes: the transmission assembly, the first actuating mechanism 2 and the second actuating mechanism 3. The first actuator 2 is extendable or collapsible in a first plane. The second actuator 3 is extendable or collapsible in a second plane. The first linkage rod 14 is rotatably connected with the first executing mechanism 2, and is used for driving the first executing mechanism 2 when the connecting rod 1 rotates around the pivot end 11, so that the first executing mechanism 2 is unfolded or folded in the first plane. The second linkage rod 15 is rotatably connected with the second actuating mechanism 3, and is used for driving the second actuating mechanism 3 when the connecting rod 1 rotates around the pivot end 11, so that the second actuating mechanism 3 is unfolded or folded in a second plane.

As is clear from the above, the carrier is dropped due to other reasons such as jolt occurring in the working process of the crown block. The first actuator 2 is deployed in the first plane under the pushing of the first linkage rod 14 during transportation to prevent the load from sliding down in a direction perpendicular to the first plane. Similarly, the second actuating mechanism 3 can be unfolded in the second plane under the pushing of the second linkage rod 15 in the process of transportation, so as to prevent the carrying objects from sliding along the direction perpendicular to the second plane. The first plane and the second plane are two planes which are perpendicular to each other, so that the anti-falling device realizes anti-falling of the carried object in a three-dimensional space, and is not limited to a two-dimensional plane, and the carried object is effectively protected.

Furthermore, the first actuator 2 includes: a slider assembly 21, a movable link 22 and an actuator link 23. The sliding block assembly 21 is rotatably connected with the first linkage rod 14, so as to slide along a direction perpendicular to the second plane under the driving of the first linkage rod 14. The two ends of the movable connecting rod 22 are respectively provided with a head hinged end 222 and a tail hinged end 221, and the head hinged end 222 is rotatably connected with the sliding block assembly 21. The actuating link 23 is rotatably coupled to the trailing hinge end 221 of the movable link 22 and rotates about a predetermined base point 231 in a first plane. When the slider assembly 21 slides along a direction perpendicular to the second plane, the movable link 22 drives the actuating link 23 to rotate around the preset base point 231, and the actuating link 23 rotates relative to the actuating link 23 with the tail hinge end 221 as a pivot point, so as to unfold or fold the first actuating mechanism 2. The relationship between the movable link 22, the actuator link 23 and the slider assembly 21 should satisfy the following relationship: b > L+e. Where B is the distance between the cephalad hinge end 222 and the caudal hinge end 221. Where L is the stroke of sliding of the slider assembly 21. Where e is the distance between the preset base 231 and the sliding track of the slider assembly 21 in the second planar direction. The following relation should be satisfied when the link 1 rotates about the pivot end 11: (T/R). SinJ1 > mg+u.cndot. cosJ1 (T/R). Where T is the torque applied to the link 1 as the link 1 rotates about the pivot end 11. J1 is the angle formed between the first linkage rod 14 and the second plane when the first tail end moves to the limit position in the direction approaching the second plane. m is the mass of the slider assembly 21. g is the gravitational acceleration of the earth's surface. u is the coefficient of friction of the slider assembly 21 as it slides.

As can be readily seen from the above, the slider assembly 21, the movable link 22 and the actuator link 23 constitute a slider-crank mechanism. The sliding block assembly 21 slides in the direction perpendicular to the second plane under the pushing of the first linkage rod 14, and at this time, the movable connecting rod 22 hinged with the sliding block assembly 21 through the head hinged end 222 is driven by the sliding block assembly 21 to move together with the sliding block assembly 21 along the direction perpendicular to the second plane. For example, when the slider assembly 21 moves closer to the preset base point 231 as shown in fig. 2, the head hinge end 222 of the movable link 22 moves in the direction toward the preset base point 231. At the same time, the movable connecting rod 22 draws a circle around the head hinged end 222 towards the direction far away from the sliding track of the sliding block assembly 21, and the tail hinged end 221 acts on the actuating connecting rod 23 at the moment, so that the end part of the actuating connecting rod 23 moves circularly towards the direction far away from the movable connecting rod 22, and the unfolding action of the first actuating mechanism 2 in the first plane is realized. When the slider assembly 21 is moved away from the predetermined base point 231 by the first linkage rod 14 as shown in fig. 3, the head hinge end 222 of the movable link 22 is accompanied by a co-sliding motion. At the same time, the movable connecting rod 22 draws a circle around the head hinged end 222 towards the direction close to the sliding track of the sliding block assembly 21, and at the moment, the tail hinged end 221 reduces the support for the actuating connecting rod 23, so that the end part of the actuating connecting rod 23 moves circularly towards the direction close to the movable connecting rod 22, and the folding action of the first actuating mechanism 2 in the first plane is realized. Further, as shown in fig. 5, the first actuator 2 is a crank-slider mechanism, and when the actuating link 23 and the movable link 22 are completely collinear, the movement track of the slider and the preset base point 231 of the actuating link 23 are on the same straight line, and at this time, the actuating link 23 cannot rotate to be at the dead point of the crank-slider mechanism. Thus, the length setting of B > l+e is satisfied to avoid dead spots of the first actuator 2, ensuring normal operation of the first actuator 2. Finally, the first actuator 2 needs to convert the rotation motion of the pivot end 11 into the linear motion of the first linkage rod 14 when working, so as to drive the first actuator 2 to work. Therefore, when the first linkage rod 14 drives the slider assembly 21, the driving force of the first linkage rod 14 acting on the slider assembly 21 needs to overcome the gravity of the slider assembly 21 and the friction force of the slider assembly 21 during sliding, that is, (T/R) · sinJ1 > mg+u· (T/R) · cosJ1. At this time, the sliding block assembly 21 can be ensured to slide smoothly under the driving of the first linkage rod 14, so that the situation that the driving force born by the sliding block assembly 21 cannot overcome the gravity and sliding friction force of the driving force is avoided, and the sliding block assembly 21 drives the first actuating mechanism 2 to spread smoothly in the first plane, so that the carrying object of the crown block is prevented from falling, and the transportation safety is ensured. Further, when 2r·sin (J2/2) =l1 or L2, the calculated rotation radius R value of the connecting rod 1 is the maximum value, i.e., the optimum R value, in combination with the previous formula. Therefore, when the other values are kept unchanged, it can be seen from fig. 6 that the value of J1 correspondingly becomes maximum when the R value is maximum and the positions of the other mechanisms are kept unchanged. That is, when the first trailing end moves to the limit position in the direction approaching the second plane, the angle J1 formed between the first link 14 and the second plane is at a maximum value. At this time, as can be seen from (T/R). SinJ1 > mg+u· (T/R). CosJ, the driving force of the first link lever 14 on the slider assembly 21 is maximized, so that the slider assembly 21 is more easily driven. It is difficult to obtain that when the slider assembly 21 is easy to be driven, the first actuating mechanism 2 is also easier to be unfolded, so that the unfolding difficulty of the first actuating mechanism is reduced, the failure of unfolding the first actuating mechanism 2 caused by insufficient output torque applied to the connecting rod 1 is avoided, and the smooth work of the first actuating mechanism 2 is ensured.

In some embodiments, the slider assembly 21 as shown in FIG. 1 includes: sliding portion 212 and connecting portion 211. The sliding portion 212 is for sliding in a direction perpendicular to the second plane. The connecting portion 211 is fixedly connected to the sliding portion 212 and slides along the sliding portion 212, the first linkage rod 14 is rotatably connected to the connecting portion 211, and the head hinge end 222 of the movable link 22 is rotatably connected to the connecting portion 211.

As is clear from the above, since the first link 14 and the movable link 22 are both rotatably connected to the connecting portion 211, when the first link 14 pushes the connecting portion 211, the sliding portion 212 fixedly connected to the connecting portion 211 starts to slide after receiving an external force. Meanwhile, along with the sliding of the connecting portion 211, the movable connecting rod 22 rotatably connected to the connecting portion 211 also moves together to drive the first actuator 2 to be unfolded or folded.

In addition, in some embodiments, as shown in fig. 1, the anti-falling device further includes a limiter 25, where the limiter 25 is used to limit the movement travel of the slider assembly 21.

It is clear from the above description that the limiter 25 can limit the movement track of the slider assembly 21, so as to ensure that the slider assembly 21 slides within a fixed sliding range, so as to realize smooth unfolding or folding of the first actuator 2, avoid that the slider assembly 21 moves beyond the unfolding or folding range of the first actuator 2, ensure smooth unfolding of the first actuator 2, and ensure that the unfolding length of the actuating link 23 is longest when the first actuator 2 is in an unfolded state, so as to realize the best anti-falling effect. In this embodiment, the anti-falling device is further provided with a detecting device 24, the detecting device 24, and the slider assembly 21 is provided with a detecting piece. When the sliding block assembly 21 moves, the detecting piece passes through the detecting device 24, and the detecting device 24 detects the position of the detecting piece to detect the moving position of the sliding block assembly 21, so that the falling prevention device is detected. The detecting device 24 may use a photoelectric sensor to determine the position of the detecting piece by detecting the light reflection of the detecting piece, so as to determine whether the slider assembly 21 reaches the preset position. The falling prevention device is ensured to be in a working state, and the falling risk of the carrying object caused by the fact that the falling prevention device does not work is avoided.

Further, as shown in fig. 4, the second actuator 3 includes: a cross pull movable rod 31, a first crank 32, a second crank 33 and a blocking connecting rod 34. The horizontal pulling movable rod 31 is rotatably connected with the second linkage rod 15, and is used for moving along the direction vertical to the first plane under the driving of the second linkage rod 15. The first crank 32 has a first driving end 322 and a first driven end 321 at two ends, the first driving end 322 is rotatably connected with the transverse pull rod 31, and the first crank 32 is rotatable around a first preset turning point 323 in a second plane. The second crank 33 has a second driving end 332 and a second driven end 331 at two ends, the second driving end 332 is rotatably connected to the sliding rod 31, and the second crank 33 is rotatable around a second preset turning point 333 in a second plane. The first crank 32 and the second crank 33 are disposed parallel to each other, and the line connecting the first preset turning point 323 and the second preset turning point 333 is parallel to the tie rod 31. The blocking connecting rod 34 is parallel to the sliding movable rod 31, and the first passive end 321 and the second passive end 331 are respectively connected with the blocking connecting rod 34 in a rotating manner. When the sliding movable rod 31 moves, the first crank 32 and the second crank 33 rotate in a direction away from the sliding movable rod 31, so as to drive the blocking connecting rod 34 to be parallel to and away from the sliding movable rod 31, and the second actuating mechanism 3 is unfolded.

As can be readily seen from the above, the second actuator 3 has a quadrilateral structure, and the tie rod 31 and the blocking link 34 have two long sides in the parallelogram structure. The link 1 converts the rotational movement into a linear movement of the end of the second link 15, in which case the second link 15 pulls the traversing bar 31 in a second plane for a movement perpendicular to the first plane. For example, when the second linkage rod 15 pushes the sliding rod 31 to move so that the first crank 32 and the second crank 33 rotate in a direction away from the sliding rod 31 at the same time, the first crank 32 and the second crank 33 together push the blocking link 34 to translate in a direction away from the sliding rod 22. That is, the area of the quadrangle surrounded by the horizontal pulling movable link 22, the first crank 32, the second crank 33 and the blocking link 34 becomes gradually larger, and the deployment of the second actuator 3 is completed to prevent the load from falling in the direction perpendicular to the second plane. Similarly, when the second linkage rod 15 acts on and moves the sliding rod 31 to rotate the first crank 32 and the second crank 33 toward the sliding rod 31, the first crank 32 and the second crank 33 together drive the barrier rail to translate toward the sliding rod 22. That is, at this time, the area of the quadrangle surrounded by the horizontally pulling movable link 22, the first crank 32, the second crank 33, and the blocking link 34 becomes gradually smaller, and the folding of the second actuator 3 is completed. The rotary motion of the connecting rod 1 is converted into a motion of the second linkage rod 15. And the motion of the second linkage rod 15 is converted into the motion of the transverse pulling movable rod 31, so that the change of the whole area of the second actuating mechanism 3 is realized, and the unfolding and folding of the second actuating mechanism 3 are completed. Also, it is particularly noted that the second link lever 15 and the lateral pulling movable lever 31 are hinged by a hinge lever 200 in the present embodiment. Both ends of the hinge rod 200 are respectively connected with the second linkage rod 15 and the transverse movable rod 31 in a rotating way, and the hinge rod 200 and the transverse movable rod 31 are jointly located in a second plane. As can be seen from the above, the area of the quadrangle of the second actuator changes during the unfolding or folding process, so that the movement of the horizontal pulling movable rod 31 perpendicular to the first plane is accompanied by the movement parallel to the first plane during the process of being driven by the second linkage rod 15. The two ends of the hinge rod 200 can rotate during the movement of the sliding movable rod 31 to adapt to the movement of the sliding movable rod 31 parallel to the first plane, so as to avoid the damage caused by the external force acting on the second linkage rod 15 or the downtime of the second actuating mechanism. Protection to the direction vertical to the second plane is realized through simple link mechanism, avoids carrying the thing along the direction vertical to the second plane to fall.

In addition, as shown in fig. 4, in the embodiment of the present invention, the first crank 32 and the second crank 33 are both provided with a partial bend toward the first actuator 2, the partial bend of the first crank 32 is located at the first preset point 323, and the partial bend of the second crank 33 is located at the second preset point 333.

As can be readily seen from the above, the second actuator 3 is operated by means of the blocking link 34, the distance between the first passive end 321 and the first preset point 323 and the distance between the second passive end 331 and the second preset point 333. Therefore, when the first crank 32 and the second crank 33 are respectively provided with a bend at the first preset turning point 323 and the second preset turning point 333, the included angle between the tie rod 31 and the first preset turning point 323 and the first passive end 321 is larger than that between the first crank 32 and the second crank 33 without bending. At this time, the horizontal pulling movable rod 31 can move less distance, so that the first crank 32 and the second crank 33 drive the blocking connecting rod 34 to be parallel close to or parallel away from the direction parallel to the horizontal pulling movable rod 31, and the working efficiency of the second actuating mechanism 3 is improved. The rotation angle of the first crank 32 and the second crank 33 is 90 °. Since the second actuator 3 is a quadrilateral linkage mechanism, and the first crank 32 and the second crank 33 are parallel to each other, when the connection line between the first driving end 322 and the first driven end 321 is perpendicular to the transverse linkage mechanism 31, the unfolding area of the second actuator 3 is the largest. Therefore, the rotation angle of 90 degrees can meet the requirement that the second actuating mechanism 3 achieves the maximum unfolding area, and simultaneously comprises the angle for the second actuating mechanism 3 to achieve folding. The second executing mechanism 3 is unfolded or combined according to the requirements in the second plane, so that different crown block use scenes can be met.

Also, in some embodiments, as shown in FIG. 1, the fall arrest device further comprises: a fixed module 4; the transmission assembly is arranged on the fixed module 4, the first actuating mechanism 2 is arranged on one side of the fixed module 4 perpendicular to the second plane, and the second actuating mechanism 3 is arranged at the bottom of the fixed module 4. The first actuating mechanism 2 and the second actuating mechanism 3 are positioned on the same side of the fixed module 4 after being unfolded.

As can be easily understood from the above description, the fixing module 4 is used for fixedly installing the transmission assembly, the first executing mechanism 2 and the second executing mechanism 3. The transmission assembly can precisely act on the first actuating mechanism 2 and the second actuating mechanism 3. The fixed module 4 is of a plate-shaped structure, and the fixed module 4 is transversely and vertically arranged. The first actuating mechanism 2 is arranged on the side wall of the fixed module 4, the second actuating mechanism 3 is arranged at the bottom of the fixed module 4, and the transmission assembly is connected with the plate body of the fixed module 4. At this time, the first executing mechanism 2 and the second executing mechanism 3 can be unfolded in two mutually perpendicular planes, so that an orthogonal projection system is formed between the first executing mechanism and the fixed module 4, and three-direction protection of the object is realized. And the integration of the anti-falling device is improved through the fixation of the fixing module 4, so that the relative position between the first actuating mechanism 2 and the second actuating mechanism 3 cannot be changed along with the use, and the normal operation of the anti-falling device is ensured. Further, the preset base point 231 of the execution link 23 is disposed on the sidewall of the fixed module 4, and the first preset point 323 and the second preset point 333 are disposed at the bottom of the fixed module 4. Wherein, the transmission assembly is fixedly arranged on the fixed module 4, and a driving motor 5 for driving the transmission assembly is also arranged on the fixed module 4. The first actuating mechanism 2 is movably connected with the fixed module 4 through a preset base point 231, meanwhile, a slide way 41 is arranged on the fixed module 4, and the sliding block assembly 21 is arranged on the slide way 41 and slides along the slide way 41. The second actuator 3 is movably connected with the fixed module 4 through the first preset turning point 323 and the second preset turning point 333 respectively. Therefore, by the arrangement of the fixing module 4, the turning points of the actuating connecting rod 23, the first crank 32 and the second crank 33 are relatively fixed, and the movement track of the sliding block assembly 21 is fixed, so that the normal unfolding actions of the first actuating mechanism 2 and the second actuating mechanism 3 are ensured.

Finally, the embodiment of the invention also provides an overhead travelling crane system which comprises the anti-falling device.

It is clear from the above that the crown block system is equipped with fall protection means so that the crown block can be protected by the fall protection means from two mutually perpendicular planes simultaneously during transportation of the load. The realization, the second actuating mechanism 3 avoids carrying the thing to fall along vertical direction, and first actuating mechanism 2 protects the thing that carries, avoids carrying the thing because the inertia that the overhead traveling crane motion in-process starts or stops takes place to fall along the horizontal direction. In addition, the anti-falling device is simple in structure and high in transmission efficiency, and the first actuating mechanism 2 and the second actuating mechanism 3 can be unfolded rapidly. Therefore, the anti-falling device does not occupy the volume of the crown block system, reduces the energy consumption of the crown block in the transportation process, improves the working efficiency of the crown block system, accelerates the transportation process and improves the production beat.

While the foregoing embodiments have been described in some detail for purposes of clarity of understanding, it will be appreciated that the above description is by way of example only and is not intended to limit the invention to the particular embodiments disclosed, and that any modifications, equivalents, improvements or otherwise may be made within the spirit and principles of the embodiments disclosed.

Claims

1. A fall arrest device, the fall arrest device comprising:

the transmission subassembly, first actuating mechanism and second actuating mechanism, the transmission subassembly includes:

The connecting rod is provided with a pivoting end, a first connecting end far away from the pivoting end and a second connecting end far away from the pivoting end; wherein the link is rotatable about the pivot end;

The first linkage rod is rotationally connected with the first connecting end and is used for driving the first actuating mechanism to be unfolded or folded in a first plane when the connecting rod rotates around the pivoting end;

the second linkage rod is rotationally connected with the second connecting end and is used for driving the second actuating mechanism to be unfolded or folded in a second plane when the connecting rod rotates around the pivoting end;

Wherein the first plane is perpendicular to the second plane;

the connecting rod includes: the device comprises a first rod piece and a second rod piece connected with the first rod piece, wherein an included angle is formed between the first rod piece and the second rod piece;

Wherein the pivot end is disposed between the first lever and the second lever;

the first connecting end is arranged on the first rod piece and is far away from the pivoting end along the length direction of the first rod piece;

the second connecting end is arranged on the second rod piece and is far away from the pivoting end along the length direction of the second rod piece;

the relationship between the first lever and the second lever should satisfy the following relationship:

r1=r2=R；

Wherein, R is the rotation radius of the connecting rod when rotating around the pivot end;

r1 is a linear distance between the first connecting end and the pivoting end;

R2 is the linear distance between the second connecting end and the pivoting end;

the first linkage rod is provided with a first head end and a first tail end far away from the first head end along the length direction of the first linkage rod;

The first head end is rotationally connected with the first connecting end, the first tail end is rotationally connected with the first executing mechanism, and the first tail end is used for moving along the direction perpendicular to the second plane when the connecting rod rotates around the pivoting end, so that the first linkage rod drives the first executing mechanism to be unfolded or folded in the first plane;

The second linkage rod is provided with a second head end and a second tail end far away from the second head end along the length direction;

The second head end is rotationally connected with the second connecting end, the second tail end is rotationally connected with the second executing mechanism, and the second tail end is used for moving along the direction vertical to the first plane when the connecting rod rotates around the pivoting end, so that the second linkage rod drives the second executing mechanism to be unfolded or folded in the second plane;

The relation between the rotation radius R of the connecting rod when rotating around the pivoting end and the first linkage rod and the second linkage rod respectively should satisfy the following relation:

2 R.sin (J2/2) is less than or equal to L1 or L2, and L1=L2;

R+g1 or G2 > N1 or N2, and g1=g2, n1=n2;

Wherein J2 is the rotation angle of the connecting rod when the connecting rod rotates around the pivoting end in the forward direction or the reverse direction;

the L1 is the linear distance of the first tail end moving along the direction perpendicular to the second plane;

The L2 is the linear distance of the second tail end moving along the direction perpendicular to the first plane;

G1 is a linear distance between the first head end and the first tail end;

g2 is a linear distance between the second head end and the second tail end;

the N1 is a linear distance of the pivoting end perpendicular to a plane of the first tail end movement path;

The N2 is the linear distance of the pivoting end perpendicular to the plane of the second tail end movement path; the first actuating mechanism can be unfolded or folded in the first plane;

the second actuating mechanism can be unfolded or folded in the second plane;

The first linkage rod is rotationally connected with the first executing mechanism and is used for driving the first executing mechanism to be unfolded or folded in the first plane when the connecting rod rotates around the pivoting end;

The second linkage rod is rotationally connected with the second executing mechanism and is used for driving the second executing mechanism to open or close in the second plane when the connecting rod rotates around the pivot end;

the first actuator includes:

the sliding block assembly is rotationally connected with the first linkage rod and is used for sliding along the direction perpendicular to the second plane under the driving of the first linkage rod;

The two ends of the movable connecting rod are respectively a head hinged end and a tail hinged end, and the head hinged end is rotationally connected with the sliding block assembly;

The execution connecting rod is rotationally connected with the tail hinged end of the movable connecting rod and is used for rotating around a preset base point in the first plane, and the preset base point is a fulcrum fixedly connected in the first plane so that the execution connecting rod rotates;

when the sliding block assembly slides along the direction perpendicular to the second plane, the movable connecting rod drives the execution connecting rod to rotate around the preset base point, and the execution connecting rod rotates relative to the execution connecting rod by taking the tail hinged end as a pivot point so as to unfold or fold the first execution mechanism;

The slider assembly includes:

a sliding portion for sliding in a direction perpendicular to the second plane;

the connecting part is fixedly connected with the sliding part and slides along with the sliding part, the first linkage rod is rotationally connected with the connecting part, and the head hinged end of the movable connecting rod is rotationally connected with the connecting part;

The relation among the movable connecting rod, the execution connecting rod and the sliding block component can meet the following relation:

B>L+e；

wherein, B is the distance between the head hinge end and the tail hinge end;

The L is the sliding stroke of the sliding block assembly;

the e is the eccentric distance between the preset base point and the sliding track of the sliding block assembly in the second plane direction;

The following relation should be satisfied when the connecting rod rotates around the pivoting end:

（T/R）·sinJ1＞mg+ u·(T/R)·cosJ1；

wherein, T is the torque applied to the connecting rod when the connecting rod rotates around the pivot end;

The J1 is an included angle formed between the first linkage rod and the second plane when the first tail end moves to the limit position in the direction approaching to the second plane;

the m is the mass of the sliding block component;

G is the gravitational acceleration of the earth's surface;

and u is the friction coefficient of the sliding block assembly during sliding, and R is the rotation radius of the connecting rod during rotation around the pivoting end.

2. The fall arrest device of claim 1, further comprising a stop for limiting the travel of the slider assembly.

3. The fall arrest device of claim 1, wherein said second actuator comprises:

The transverse pulling movable rod is rotationally connected with the second linkage rod and is used for moving along the direction vertical to the first plane under the drive of the second linkage rod;

The linkage assembly is rotationally connected with the transverse pulling movable rod and used for being unfolded or folded in the second plane under the driving of the transverse pulling movable rod.

4. A fall arrest device according to claim 3, wherein the linkage assembly comprises:

the two ends of the first crank are respectively a first driving end and a first driven end, the first driving end is rotationally connected with the transverse pull movable rod, and the first crank can rotate around a first preset turning point in the second plane;

the two ends of the second crank are respectively a second driving end and a second driven end, the second driving end is rotationally connected with the transverse pull movable rod, and the second crank can rotate around a second preset turning point in the second plane; the first crank and the second crank are arranged in parallel, and the connecting line of the first preset turning point and the second preset turning point is parallel to the transverse pull movable rod;

The blocking connecting rod is arranged in parallel with the transverse pull movable rod, and the first passive end and the second passive end are respectively connected with the blocking connecting rod in a rotating way;

When the horizontal pulling movable rod moves, the first crank and the second crank rotate around the first preset turning point and the second preset turning point respectively and are used for driving the blocking connecting rod to be far away from or close to the horizontal pulling movable rod so as to unfold or fold the second executing mechanism.

5. The fall protection device of claim 4, wherein the first crank and the second crank are each provided with a partial bend in a direction toward the first actuator, the partial bend of the first crank being located at the first predetermined point and the partial bend of the second crank being located at the second predetermined point.

6. The fall protection device of claim 4, wherein the first crank and the second crank are rotated at an angle of 90 °.

7. The fall arrest device of claim 1, wherein said fall arrest device further comprises: a fixed module; the transmission assembly is arranged on the fixed module, the first executing mechanism is arranged on one side of the fixed module perpendicular to the second plane, and the second executing mechanism is arranged at the bottom of the fixed module.

8. Crown block system, characterized in that it comprises a fall protection device according to any one of claims 1-7.