An autonomous smooth braking system and braking method for a single-track mobile robot
A mobile robot and braking system technology, which is applied to railway braking systems, brakes with brakes, railway car body parts, etc., can solve the problems of single operating conditions of robots, and achieve easy promotion and use and good use effects , to achieve a convenient effect
Active Publication Date: 2020-02-14
XIAN UNIV OF SCI & TECH
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Problems solved by technology
[0003] At present, during the operation of mobile robots using single-track mode, the track is in a horizontal state, and the operating conditions of the robot are single. For coal mine underground belt conveyor equipment, single-track operation is used, and in the face of complex geological environments, how to ensure the smooth operation of the robot , the sensor carried by the robot can accurately detect the operating status of the equipment, which is where the current robot is insufficient
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[0030] Such as figure 1 As shown, the autonomous smooth braking control system of the single-track mobile robot of the present invention includes a friction braking unit, a motor drive unit and a braking control system, and the friction braking unit includes a robot drive wheel 15, a friction wheel 8, a friction braking unit, and a friction braking unit. Wheel shaft 7, friction connecting rod 6, connecting rod shaft 5, brake connecting rod 4, brake wheel 3 and brake wheel shaft 2, the friction wheel 8 is installed on the friction wheel shaft 7, and the friction wheel 8 can rotate around the friction wheel shaft 7 , the friction wheel 8 and the friction link 6 are connected through the friction wheel shaft 7, and the friction link 6 and the brake link 4 are connected through the link shaft 5, and the friction link 6 and the brake link 4 can do relative rotation The brake link 4 is connected to the brake wheel 3 through the brake wheel shaft 2, and the brake link 4 can rotate ar...
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The invention discloses an autonomous and stable braking system for a single-track mobile robot, which includes a friction braking unit, a motor drive unit and a braking control system. The friction braking unit includes a robot driving wheel, a friction wheel, a friction wheel shaft, and a friction connecting rod , connecting rod shaft, brake connecting rod, brake wheel and brake wheel shaft, motor drive unit including motor, gear, rack, rack guide rail, rack pressure rod connection shaft, pressure rod and motor gear shaft, brake control The system includes a controller and an attitude sensor. The invention also discloses an autonomous and stable braking method for a single-track mobile robot. The invention is novel and reasonable in design, convenient in realization, safe and reliable in braking, stable in braking, strong in practicability, good in use effect, and convenient for popularization and use.
Description
technical field [0001] The invention belongs to the technical field of robot motion control, and in particular relates to an autonomous stable braking system and method for a single-track mobile robot. Background technique [0002] During the operation of equipment such as cable tunnels, oil pipelines, and belt conveyors in coal mines, regular status inspections are required to detect potential failures in the equipment in time, and timely take maintenance measures to eliminate hidden dangers to ensure equipment safety and enterprise production. normal operation. The orbital mobile robot is a detection device that can adapt to the environmental space where the device is located. The smooth operation and braking of the device are the basic conditions for maintaining accurate detection. Therefore, during the braking process of controlling the running speed, the mobile robot must be able to autonomously control Stability during self-braking. [0003] At present, during the op...
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IPC IPC(8): B61H1/00
CPCB61H1/00
Inventor 文建平邢乐徐大明
Owner XIAN UNIV OF SCI & TECH