阅读说明：本技术 一种刹车装置及具有其的轨道机器人 (Brake equipment and have its track robot ) 是由 刘文革 呼延斌 王彦召 黄亚明 于 2021-01-27 设计创作，主要内容包括：本发明涉及轨道机器人技术领域,具体涉及一种刹车装置及具有其的轨道机器人。一种刹车装置,包括：安装架,靠近车轮的一侧设有刹车部件；驱动机构,具有至少两个与安装架的中心距离不同的工作面,且具有转动至远离安装架的第一状态,以及转动至与安装架相抵接的第二状态,当驱动机构处于第一状态,刹车部件脱离与车轮的抵接,当驱动机构转动至第二状态,安装架受到驱动机构施加的朝向靠近车轮方向运动的作用力,以使刹车部件与车轮相抵接。本发明提供的一种刹车装置,通过驱动机构的转动即可使刹车部件在与车轮接触和不与车轮接触这两种状态之间转换,避免了多个联动杆之间联动误差,刹车方式简单,且易于控制,稳定性和可靠性均较高。(The invention relates to the technical field of rail robots, in particular to a brake device and a rail robot with the same. A brake apparatus, comprising: the mounting rack is provided with a brake component at one side close to the wheel; the driving mechanism is provided with at least two working faces which are different from the center distance of the mounting frame, the driving mechanism is provided with a first state which is rotated to a position far away from the mounting frame and a second state which is rotated to a position far away from the mounting frame, when the driving mechanism is in the first state, the brake component is separated from the butt with the wheel, when the driving mechanism is rotated to the second state, the mounting frame is subjected to the acting force which is applied by the driving mechanism and moves towards the direction close to the wheel, so that the brake component is abutted to the wheel. According to the brake device provided by the invention, the brake part can be switched between the two states of being in contact with the wheel and not in contact with the wheel through the rotation of the driving mechanism, the linkage error between a plurality of linkage rods is avoided, the brake mode is simple and easy to control, and the stability and the reliability are higher.)

1. A brake apparatus, comprising:

the mounting rack (1) is movably mounted on the side surface of the wheel (2), and a brake part (3) is arranged on one side, close to the wheel (2), of the mounting rack (1);

actuating mechanism (4), have at least two with the different working face of center distance of mounting bracket (1), just actuating mechanism (4) rotate locate the side of mounting bracket (1), have rotate to keeping away from the first state of mounting bracket (1), and rotate to with the second state of mounting bracket (1) looks butt, work as actuating mechanism (4) are in the first state, brake part (3) break away from with the butt of wheel (2), work as actuating mechanism (4) rotate to the second state, mounting bracket (1) receive the orientation that actuating mechanism (4) was applyed is close to the effort of wheel (2) direction motion, so that brake part (3) with wheel (2) looks butt.

2. A brake device according to claim 1, characterized in that the drive mechanism (4) comprises a cam and an actuator (5) connected to the cam.

3. A braking device according to claim 2, characterised in that the face of the mounting (1) adjacent to the cam is bevelled, and when the cam is in the second position, the nose of the cam contacts the bevelled face and pushes the mounting (1) to slide adjacent to the wheel (2) until the braking member (3) abuts against the wheel (2).

4. A brake device according to claim 3, wherein the cams are provided on opposite sides of the mounting (1) and a pair of the cams are in the first or second condition simultaneously.

5. A braking device according to any one of claims 1 to 4, characterised in that the mounting (1) is provided in a pair and on either side of the direction of travel of the wheel (2).

6. A brake device according to any one of claims 1 to 5, wherein the mounting (1) is connected to a resilient member (6), the resilient member (6) being arranged to store energy when the actuating mechanism (4) is in the second state and being arranged to release energy when the actuating mechanism (4) is moved from the second state to the first state to cause the mounting (1) to slide away from the wheel (2).

7. A brake arrangement according to claim 6, wherein a pair of said resilient members (6) are provided on each of said mounting brackets (1), and a pair of said resilient members (6) are provided at opposite ends of said mounting brackets (1).

8. A brake device according to any one of claims 1-7, characterized in that the brake element (3) is a brake shoe.

9. A brake device according to claim 8, characterized in that the brake lining is arranged at an angle to the horizontal end surface of the mounting frame (1) via a connecting rod (8).

10. A track robot comprising the brake device according to any one of claims 1 to 9.

Technical Field

The invention relates to the technical field of rail robots, in particular to a brake device and a rail robot with the same.

Background

The rail-mounted inspection robot is widely applied to industrial fields with severe environments, such as tunnels, pipe galleries, transformer substations and the like, and is used for acquiring field environment data; the inspection robot needs to stay at a certain position of a track to work frequently when in work, and moreover, when the inspection robot needs to stop on a ramp in an emergency, the inspection robot can move down along the ramp under the action of self gravity, so that a speed reduction brake device for the track inspection robot is needed. The existing brake device generally utilizes a linkage rod to push a brake pad to be clamped on a wheel, and braking is realized through friction force between the brake pad and the wheel. However, the linkage rod supports the brake pad, the linkage rod is rotated to enable the brake pad to move close to or far away from the wheel during braking, the rotation angle is not easy to control, and the linkage rod consists of a plurality of rod pieces, so that the linkage rod is easy to move away from the preset direction in the stress process, and further the problems of poor braking stability and poor reliability are caused.

Disclosure of Invention

Therefore, the technical problem to be solved by the invention is to overcome the defects of poor braking stability and poor reliability of the existing braking device.

In order to solve the above technical problem, the present invention provides a brake apparatus, including:

the mounting rack is movably mounted on the side surface of the wheel, and a brake part is arranged on one side, close to the wheel, of the mounting rack;

actuating mechanism, have at least two with the different working face of center distance of mounting bracket, just actuating mechanism rotates and locates the side of mounting bracket has and rotates to keeping away from the first state of mounting bracket to and rotate extremely with the second state of mounting bracket looks butt works as actuating mechanism is in the first state, the brake part break away from with the butt of wheel works as actuating mechanism rotates to the second state, the mounting bracket receives the orientation that actuating mechanism applyed is close to the effort of wheel direction motion, so that the brake part with wheel looks butt.

The drive mechanism includes a cam and a driver coupled to the cam.

The mounting bracket is close to the one side of cam is the inclined plane, works as the cam is in the second state, the bulge of cam with the inclined plane contact, and promote the mounting bracket is close to the wheel slides, until the brake part with wheel looks butt.

The two opposite sides of the mounting rack are provided with the cams, and the cams are in a first state or a second state simultaneously.

The mounting bracket is provided with a pair of, and locates separately the both sides of wheel advancing direction.

The mounting bracket is connected with the elastic component, works as actuating mechanism is in the second state, the elastic component energy storage works as actuating mechanism changes to the first state by the second state, the elastic component energy release is in order to drive the mounting bracket is kept away from the wheel slides.

Every all be equipped with a pair of on the mounting bracket the elastic component, and a pair of the elastic component branch is located the relative both ends of mounting bracket.

The brake component is a brake shoe.

The brake shoe is arranged at an included angle with the horizontal end face of the mounting rack through the connecting rod.

The invention also provides a track robot which comprises the brake device.

The technical scheme of the invention has the following advantages:

1. the invention provides a brake device which comprises a mounting frame movably mounted on the side surface of a wheel and a driving mechanism rotatably arranged on the side surface of the mounting frame, wherein a brake part is arranged on one side, close to the wheel, of the mounting frame, the driving mechanism is provided with at least two working surfaces with different distances from the center of the mounting frame, the driving mechanism is provided with a first state of rotating to a position far away from the mounting frame and a second state of rotating to a position abutting against the mounting frame, when the driving mechanism is in the first state, the brake part is separated from abutting against the wheel, and when the driving mechanism rotates to the second state, the mounting frame is subjected to an acting force, applied by the driving mechanism, moving towards the direction close to the wheel, so that the brake part abuts. Therefore, the brake component can be switched between two states of being in contact with the wheel and not in contact with the wheel through the rotation of the driving mechanism, namely, the brake component is switched between a brake release state and a brake braking state, linkage errors among a plurality of linkage rods are avoided, the brake mode is simple, the control is easy, and the stability and the reliability are high.

2. The invention provides a brake device, wherein a driving mechanism comprises a cam and a driver connected with the cam. The eccentric structure of the cam is utilized to realize different distances from the surface of the cam to the center of the mounting frame, so that the brake part can be driven to be changed in a brake loosening and brake state through the movement of the mounting frame when the cam rotates, the external profile of the cam is gentle and continuous, and the brake device is more stable in operation.

3. According to the brake device provided by the invention, one surface of the mounting frame, which is close to the cam, is an inclined surface, when the cam is in the second state, the convex part of the cam is in contact with the inclined surface, and the mounting frame is pushed to slide close to the wheel until the brake part is abutted against the wheel. The convex part of the cam is matched with the inclined plane to drive the mounting rack to slide, so that the brake component is contacted with the wheel, the operation is simple, and the stability is high.

4. According to the brake device provided by the invention, the two opposite sides of the mounting frame are respectively provided with the cam, and the pair of cams are simultaneously in the first state or the second state. A pair of cams is provided to drive the mounting bracket so that the sliding of the mounting bracket is more stable.

5. The invention provides a brake device, wherein a pair of mounting frames are arranged and are respectively arranged at two sides of the advancing direction of wheels. Namely, the pair of brake parts are simultaneously separated from or abutted against the wheels, so that the brake efficiency is improved.

6. According to the brake device provided by the invention, the mounting frame is connected with the elastic piece, when the driving mechanism is in the second state, the elastic piece stores energy, and when the driving mechanism is changed from the second state to the first state, the elastic piece releases energy to drive the mounting frame to slide away from the wheel. The elastic piece is utilized to apply force to the mounting frame, so that the mounting frame can be quickly changed from a brake state to a brake release state, and the brake device is more flexible; and, prevent because track robot operation unstability leads to the mounting bracket to beat to the brake part that leads to touches with the wheel and influences the normal operating of wheel.

7. According to the brake device provided by the invention, each mounting frame is provided with a pair of elastic pieces, and the pair of elastic pieces are respectively arranged at two opposite ends of the mounting frame. The stress of the mounting frame is more balanced.

8. According to the brake device provided by the invention, the brake part is the brake shoe, and the brake shoe is arranged at an included angle with the horizontal end surface of the mounting rack through the connecting rod. The brake shoes can be attached to the two opposite sides of the wheel at a certain included angle, so that the normal running of the wheel is not influenced by the brake device while the brake can be guaranteed.

9. The track robot provided by the invention comprises the brake device, the brake device is used for braking, linkage errors among a plurality of linkage rods are avoided, the braking mode is simple, the control is easy, and the stability and the reliability are high.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a top view of the present invention;

FIG. 2 is a left side view of the present invention;

FIG. 3 is a front view of the present invention;

fig. 4 is a perspective view of the present invention.

Description of reference numerals:

1. a mounting frame; 2. a wheel; 3. a brake component; 4. a drive mechanism; 5. a driver; 6. an elastic member; 7. a support frame; 8. a connecting rod; 9. a connecting plate; 10. a plate body.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

One embodiment of the brake apparatus shown in fig. 1 to 4, which is used for braking a driving wheel, includes: the support frame 7 and locate mounting bracket 1 and actuating mechanism 4 on the support frame 7, the support frame 7 erects in the below of wheel 2, and wheel 2 is the action wheel.

As shown in fig. 2 and 4, the mounting bracket 1 is provided with a pair of mounting brackets, the mounting bracket 1 is respectively arranged on two sides of the advancing direction of the wheel 2, the mounting bracket 1 is slidably connected with the support frame 7 along the vertical direction, the mounting bracket 1 is fixedly connected with a brake component 3 through a connecting rod 8 and a connecting plate 9 which are perpendicular to each other, the brake component 3 is a brake shoe, the brake shoe and the mounting bracket 1 are arranged at a certain included angle, and the brake shoe of the mounting bracket 1 is symmetrically arranged to clamp the wheel 2.

As shown in fig. 2, the left side and the right side of the mounting rack 1 are both inclined planes, and two opposite inclined planes of each mounting rack 1 are both provided with a driving mechanism 4, the driving mechanism 4 comprises a cam and a driver 5 connected with the cam, the driver 5 is a steering engine arranged on the support frame 7, and the driving end of the steering engine is connected with the cam. The cam has the first state of keeping away from mounting bracket 1 to and the second state that the bulge of cam meets with mounting bracket 1, is in the first state when the cam, and the brake lining does not contact with wheel 2, and the steering wheel drives the cam and changes to the second state by the first state, and the cam cooperatees with the inclined plane of mounting bracket 1, in order to promote mounting bracket 1 upwards to slide, meet with wheel 2 until the brake lining.

As shown in fig. 4, the pair of mounting frames 1 are connected to each other through a plate 10, an elastic member 6 is disposed between the supporting frame 7 and the plate 10, and each mounting frame 1 is correspondingly provided with a pair of elastic members 6, the pair of elastic members 6 are respectively disposed on two opposite sides of the mounting frame 1, and the elastic members 6 are springs. When the cam is in the second state, the spring is compressed to store energy, and when the cam is changed from the second state to the first state, the spring applies force to the plate body 10 to push the mounting frame 1 to slide downwards.

Still provide a concrete implementation mode of track robot, including foretell brake equipment, still include the power device who is connected with brake equipment, under power device's drive, as the wheel 2 rotation of action wheel, track robot slides along the track, and when needs brake, power device closes, and the steering wheel receives the brake signal, and the drive cam rotates to the second state to promote a pair of brake lining on a pair of mounting bracket 1 and laminate mutually with wheel 2, carry out brake braking under the frictional force effect. In the track robot, one or more driving wheels can be arranged according to the condition, and one or more braking devices can be arranged according to the condition.

When using the brake equipment of this embodiment to brake rail robot, the steering wheel received brake signal, and the drive cam is changed to the second state by first state, and the bulge of cam meets with the inclined plane of mounting bracket 1 to promote mounting bracket 1 and upwards slide, the brake lining on the mounting bracket 1 is together upwards slided, until contacting with wheel 2, carries out brake braking under the frictional force effect. When the power device starts to drive the track robot to move, the steering engine receives a starting signal, the driving cam is changed from the second state to the first state, the cam is gradually separated from the contact with the mounting frame 1, and the brake lining on the mounting frame 1 is gradually separated from the contact with the wheel 2 until the brake lining is completely separated from the contact with the wheel 2.

As an alternative embodiment, the drive mechanism 4 may be another shaped wheel having at least a first portion that is remote from the mounting bracket 1 and that keeps the brake element 3 out of contact with the wheel 2, and a second portion that contacts the mounting bracket 1 and moves the mounting bracket 1 to bring the brake element 3 into contact with the wheel 2. Specifically, two protrusions with different heights are formed on the end face, facing the wheel 2, of the special-shaped wheel, and when the special-shaped wheel is braked, the higher protrusion is in contact with the wheel 2 to realize braking; the lower projection is arranged to correspond to the wheel 2 when driving normally.

As an alternative embodiment, the brake component 3 is connected with the mounting rack 1 in a sliding manner through the connecting rod 8, and the connecting rod 8 is provided with a rod body connected with the support frame 7 in a rotating manner, the driving mechanism 4 drives the mounting rack 1 to move close to the wheel 2, the connecting rod 8 slides along the mounting rack 1 and rotates close to the wheel 2 around the support frame 7, and the brake component 3 is driven to rotate to contact with the wheel 2.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.