A braking system, an unlocking method, and a mobile magnetically controlled robot using the same

Abstract

The present invention discloses a braking system, which includes a large base plate, universal wheels, electric wheels, a braking device and a release device. The universal wheels are arranged at one end of the large base plate and can rotate at any angle relative to the ground. The electric wheels are arranged at the other end of the large base plate opposite to the universal wheels, are driven by electricity and can rotate relative to the ground. The braking device is arranged above the electric wheels and fixedly connected to the large base plate, and is used for braking and releasing the electric wheels. The release device is fixedly arranged at one end close to the electric wheels and is used for temporarily releasing the braking of the braking system in a power-off state. The present invention also discloses a mobile magnetically controlled robot applying the above braking system. The present invention solves the pain point that when the remaining power of a mobile medical device is not enough to start up, it is difficult to move because the brake cannot be released. The structure of the present invention is simple, the braking force is strong, the reliability is high, and it is convenient to use, and it can be generally applied to various mobile medical devices.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and particularly to a braking system, an unlocking method, and a mobile magnetically controlled robot using the same. Background Art

[0002] In medical application scenarios, various mobile medical devices are widely used. Some mobile medical devices are relatively heavy, and it is extremely laborious for medical staff to push them manually during long-distance movement or when going up a slope. Therefore, such devices usually are equipped with a mobile assistance system, and medical staff can control the device to move autonomously through a control device, greatly reducing the physical consumption of medical staff.

[0003] Chinese Patent Application CN208625723U discloses a mobile assistance device and a mobile X-ray device. This technical solution detects the force applied to the armrest through a strain gauge arranged inside the armrest and converts it into an electrical signal for adjusting the driving force of the driving wheels to control the movement of the device. The mobile nature and safety requirements of this mobile X-ray device determine that such a device must be equipped with a battery and a braking device, and the braking device must be released when powered on and braked when powered off. Therefore, the above technical solution will create a technical problem: If the medical staff does not immediately charge the device, the battery runs out of power during the movement of the device and shuts down automatically, and there is no rechargeable socket nearby. At this time, the braking device is in a braking state, and the device cannot be moved manually.

[0004] In view of the above-mentioned defects of the prior art, it is urgent to develop a safe and reliable braking system that can also temporarily manually release the braking state in a power-off state, ensuring that the device can also be moved manually when the power is insufficient and improving the adaptability of the device in various scenarios. Summary of the Invention

[0005] To solve the deficiencies of the prior art, the present invention provides a braking system and a mobile magnetically controlled robot using the same.

[0006] In a first aspect, the present invention provides a braking system, including a large base plate, universal wheels, electric wheels, a braking device, and a release device. The universal wheels are arranged at one end of the large base plate, and can rotate at any angle relative to the ground, and the number is at least 1; the electric wheels are arranged at the other end of the large base plate opposite to the universal wheels, and the number of the electric wheels is 2, which are driven by electricity and can rotate relative to the ground; the braking device is arranged above the electric wheels and fixedly connected to the large base plate, and is used for braking and releasing the electric wheels; the release device is fixedly arranged at one end close to the electric wheels, and is used for temporarily releasing the braking of the braking system in a power-off state.

[0007] Further, the braking device further includes a lower fixing plate, an upper fixing plate, an electromagnet, a magnetic attraction plate, a braking spring, a hinge seat, a brake rod, a first guide sleeve, a brake column, a second guide sleeve, a release ejector rod and a roller. The upper fixing plate is fixedly arranged directly above the lower fixing plate. The lower fixing plate is further provided with a first through hole and a second through hole. The hinge seat is fixedly connected to one end of the lower fixing plate. The brake rod is connected to the pin shaft on the hinge seat and can rotate around its axis. Two oblong sliding grooves are further arranged on the brake rod. The brake column is coaxially connected to the first guide sleeve fixedly installed in the first through hole of the lower fixing plate and can slide along the axis direction of the first guide sleeve. The release ejector rod is coaxially connected to the second guide sleeve fixedly installed in the second through hole of the lower fixing plate and can slide along the axis direction of the second guide sleeve. A braking block is arranged at one end of the brake column close to the electric wheel, and the other end is connected to the sliding groove on the brake rod through a pin shaft. The magnetic attraction plate is fixedly arranged directly above the brake column. A roller is arranged at one end of the release ejector rod close to the electric wheel, and the other end is connected to the sliding groove on the brake rod through a pin shaft. The electromagnet is fixedly arranged on the side of the upper fixing plate facing the lower fixing plate. The braking spring is arranged between the upper fixing plate and the brake rod.

[0008] Further, the release device further includes a bearing seat, a cam block, a bearing, a transmission shaft, a release pedal, a fixing plate, a limit post, a buffer post and a return spring. The bearing seats are fixedly arranged on the left and right sides of the large bottom plate close to one end of the electric wheel. The left and right ends of the transmission shaft are respectively rotatably connected to the bearing seats through bearings. Two cam blocks are fixedly connected to the left and right ends of the transmission shaft and can rotate around the axis therewith. The release pedal is arranged between the two bearing seats and is fixedly connected to the transmission shaft. The buffer post is fixedly installed on the release pedal. The fixing plate is arranged between the two bearing seats and is fixedly connected to the large bottom plate. Two limit posts are respectively fixedly installed on the fixing plate and are respectively located on the left and right sides of the buffer post. The return spring connects the fixing plate and the release pedal for the return of the release pedal.

[0009] In a second aspect, the present invention provides an unlocking method for the braking system in the first aspect. The unlocking method includes the following steps:

[0010] When the braking system is powered off, step on the release pedal. The cam block rotates clockwise. The arc surface of the cam block contacts the roller and jacks up the roller and the release ejector rod. The brake rod rotates counterclockwise, and then the braking block of the brake column is disengaged from the electric wheel.

[0011] When the release pedal continues to rotate clockwise until the position of the limit post, the roller rolls over the highest point from the arc surface of the cam block and contacts the inclined surface of the cam block.

[0012] Release the release pedal. The braking spring applies a thrust to the inclined surface of the cam block through the release ejector rod and the roller. The component force of the thrust along the normal direction of the inclined surface of the cam block prevents the return of the return spring, so as to maintain the released state.

[0013] Furthermore, after the electromagnet of the braking system is powered on, the electromagnetic force overcomes the thrust of the braking spring, so that the roller disengages from the cam block, and then the pedal is released and reset to the initial state.

[0014] In a third aspect, the present invention provides a mobile magnetically controlled robot, which adopts the braking system of any one of the first aspects. The mobile magnetically controlled robot further includes an armrest, and a switch or a sensor is arranged in the armrest.

[0015] By adopting the braking system of the present invention, the problem that it is difficult to move a mobile medical device when it cannot be powered on due to insufficient power and the braking cannot be released is solved, and the risk of the emergency stop function failure caused by the device not releasing the temporary release function is prevented. The braking system of the present invention has a simple structure, strong braking force, high reliability and convenient use, and can be generally applied to various mobile medical devices. Description of the Drawings

[0016] Figure 1 : Schematic structural diagram of the braking system in a preferred embodiment of the present invention.

[0017] Figure 2 : Schematic exploded structural diagram of the braking system.

[0018] Figure 3 : Schematic partial cross-sectional structural diagram of the braking device in the braking system.

[0019] Figure 4 : Schematic structural diagram of the release device in the braking system.

[0020] Figure 5a: Schematic partial cross-sectional structural diagram of the braking system in the initial / braking state.

[0021] Figure 5b: Schematic partial cross-sectional structural diagram of the braking system when powered on and released.

[0022] Figure 5c: Schematic partial cross-sectional structural diagram of the braking system when the release pedal is depressed in the power-off state.

[0023] Figure 6 : Schematic partial structural diagram of the mobile magnetically controlled robot.

[0024] Explanation of the reference numerals in the drawings:

[0025] Brake system 1, large base plate 10, universal wheels 20, electric wheels 30, brake device 40, lower fixing plate 401, upper fixing plate 402, electromagnet 403, magnetic attraction plate 404, brake spring 405, hinge seat 406, brake lever 407, first guide sleeve 408, brake column 409, second guide sleeve 410, release ejector rod 411, roller 412, release device 50, bearing seat 501, cam block 502, bearing 503, transmission shaft 504, release pedal 505, fixing plate 506, limit post 507, buffer post 508, return spring 509, mobile magnetically controlled robot 2, handrail 60. Detailed implementation manners

[0026] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0027] See Figure 1 The structural schematic diagram of the brake system in a preferred embodiment of the present invention and Figure 2 The exploded structural schematic diagram of the brake system. The brake system 1 of the present invention includes a large base plate 10, universal wheels 20, electric wheels 30, a brake device 40 and a release device 50. The universal wheels 20 are arranged at one end of the large base plate 10 and can rotate at any angle relative to the ground, and the number is at least 1; the electric wheels 30 are arranged at the other end of the large base plate 10 relative to the universal wheels 20, and the number is 2. They are driven by electricity and can rotate relative to the ground; the brake device 40 is arranged above the electric wheels 30 and fixedly connected to the large base plate 10 for braking and releasing the electric wheels 30; the release device 50 is fixedly arranged at one end close to the electric wheels 30 for temporarily releasing the braking of the brake system 1 in the power-off state.

[0028] See Figure 3Partial sectional structure schematic diagram of a braking device in a braking system. The braking device 40 further includes a lower fixing plate 401, an upper fixing plate 402, an electromagnet 403, a magnetic attraction plate 404, a braking spring 405, a hinge seat 406, a braking rod 407, a first guide sleeve 408, a braking column 409, a second guide sleeve 410, a release ejector rod 411 and a roller 412. The upper fixing plate 402 is fixedly arranged directly above the lower fixing plate 401, wherein the lower fixing plate 401 is provided with a first through hole and a second through hole; the hinge seat 406 is fixedly connected to one end of the lower fixing plate 401; the braking rod 407 is connected to a pin shaft on the hinge seat 406 and can rotate within a certain angle around its axis, and two oblong chutes are also arranged on the braking rod 407; the braking column 409 is coaxially connected to the first guide sleeve 408 fixedly installed in the first through hole of the lower fixing plate 401 and can slide along the axis direction of the first guide sleeve 408; the release ejector rod 411 is coaxially connected to the second guide sleeve 410 fixedly installed in the second through hole of the lower fixing plate 401 and can slide along the axis direction of the second guide sleeve 410; a braking block is provided at one end of the braking column 409 close to the electric wheel 30, and the other end is connected to the chute on the braking rod 407 through a pin shaft. The magnetic attraction plate 404 is fixedly arranged directly above the braking column 409; a roller 412 is arranged at one end of the release ejector rod 411 close to the electric wheel 30, and the other end is connected to the chute on the braking rod 407 through a pin shaft; the electromagnet 403 is fixedly arranged on the side of the upper fixing plate 402 facing the lower fixing plate 401; the braking spring 405 is arranged between the upper fixing plate 402 and the braking rod 407.

[0029] When the braking rod 407 rotates clockwise in the illustrated direction, it drives the braking column 409 and the release ejector rod 411 to move downward along the axis; when the braking rod 407 rotates counterclockwise in the illustrated direction, it drives the braking column 409 and the release ejector rod 411 to move upward along the axis. When the electromagnet 403 is in an unpowered state, the thrust of the braking spring 405 causes the braking rod 407 to have a tendency to rotate clockwise in the illustrated direction, thereby pressing the braking block of the braking column 409 against the wheel surface of the electric wheel 30, and the frictional force generated between the contact surfaces can prevent the rotation of the electric wheel 30, that is, the electric wheel 30 maintains a braking state; when the electromagnet 403 is powered on, the electromagnet 403 generates a strong electromagnetic attraction force on the magnetic attraction plate 404, forcing the braking rod 407 to rotate counterclockwise in the illustrated direction against the thrust of the braking spring 405, thereby separating the braking column 409 from the electric wheel 30, and the electric wheel 30 is in a released state.

[0030] Reference Figure 4Schematic structural diagram of the release device in the braking system. The release device 50 further includes a bearing seat 501, a cam block 502, a bearing 503, a transmission shaft 504, a release pedal 505, a fixing plate 506, a limit post 507, a buffer post 508 and a return spring 509. The bearing seats 501 are fixedly arranged on the left and right sides of the large base plate 10 near one end of the electric wheel 30. The left and right ends of the transmission shaft 504 are respectively rotatably connected to the bearing seats 501 through the bearings 503. Two cam blocks 502 are fixedly connected to the left and right ends of the transmission shaft 504 and can rotate around the axis therewith. The release pedal 505 is arranged between the two bearing seats 501 and is fixedly connected to the transmission shaft 504. The buffer post 508 is fixedly installed on the release pedal 505. The fixing plate 506 is arranged between the two bearing seats 501 and is fixedly connected to the large base plate 10. Two limit posts 507 are respectively fixedly installed on the fixing plate 506 and are respectively located on the left and right sides of the buffer post 508. The return spring 509 connects the fixing plate 506 and the release pedal 505 and is used for the return of the release pedal 505.

[0031] When the release pedal 505 is depressed, the return spring 509 is stretched, and the transmission shaft 504 drives the left and right cam blocks 502 to rotate clockwise in the direction shown in the figure until the buffer post 508 collides with the limit post 507 on its right side, and the release pedal 505 is restricted and cannot continue to rotate. When the release pedal 505 is released, under the action of the retraction force of the return spring 509, the release pedal 505 together with the transmission shaft 504 and the cam blocks 502 at its left and right ends rotate counterclockwise in the direction shown in the figure until the buffer post 508 collides with the limit post 507 on its left side, and the release pedal 505 returns to its initial position.

[0032] Referring to the schematic partial cross-sectional structure diagram of the braking system in the initial / braking state in Fig. 5a, the electromagnet 403 is not energized. Under the action of the elastic force of the brake spring 405, the electromagnet 403 and the magnetic attraction plate 404 are separated from contact, the brake post 409 presses tightly on the electric wheel 30, and the electric wheel 30 maintains the braking state. At this time, the roller 412 is close to the cam block 502 but does not contact it.

[0033] Further referring to the schematic partial cross-sectional structure diagram of the braking system when power is on and released in Fig. 5b, the electromagnet 403 is energized to adsorb the magnetic attraction plate 404. At the same time, the brake block of the brake post 409 is separated from contact with the electric wheel 30, and the electric wheel 30 can rotate freely or be driven to rotate by electricity. At this time, if the release pedal 505 is stepped on, it will have no effect, and the return spring 509 prompts the release pedal 505 to automatically return to its initial position.

[0034] Further referring to the schematic diagram of the partial sectional structure when the release pedal is depressed in the power-off state of the braking system shown in Fig. 5c. When the electromagnet 403 is not energized, the electric wheel 30 is originally in the braking state. At this time, when the release pedal 505 is depressed, the cam block 502 rotates clockwise in the direction shown in the figure. The arc surface of the cam block 502 contacts the roller 412 and pushes up the roller 412 and the release push rod 411. The brake lever 407 rotates counterclockwise in the direction shown in the figure, and then the brake block of the brake column 409 is separated from the electric wheel 30. When the release pedal 505 continues to rotate clockwise until it reaches the position of the limit post 507, the roller 412 rolls over the highest point from the arc surface of the cam block 502 and contacts the inclined surface of the cam block 502. At this time, when the release pedal 505 is released, the brake spring 405 exerts a strong thrust on the inclined surface of the cam block 502 through the release push rod 411 and the roller 412. The component force of this thrust along the normal direction of the inclined surface of the cam block 502 prevents the return spring 509 from resetting, so that the release state can be maintained. Pulling up the release pedal 505 can compress the brake spring 405 through the mechanism to reset the release pedal 505; or directly energize the electromagnet 403, and overcome the thrust of the brake spring 405 through the electromagnetic force, so that the roller 412 is separated from the cam block 502, and the release pedal 505 is reset to the initial state.

[0035] Reference Figure 6 Schematic diagram of the partial structure of the mobile magnetically controlled robot. The mobile magnetically controlled robot 2 adopts the above braking system 1. The mobile magnetically controlled robot 2 further includes a handrail 60. A switch or sensor (not shown) is provided in the handrail 60, which belongs to the common knowledge of those skilled in the art.

[0036] When it is necessary to move the mobile magnetically controlled robot 2, turn on the mobile magnetically controlled robot 2 normally. The braking system 1 is powered on by the battery and remains in the released state. At this time, if the operator presses the switch or sensor in the handrail 60, the controller in the mobile magnetically controlled robot 2 will detect the trigger signal of the switch or sensor in the handrail 60 and issue an instruction to make the electric wheel 30 rotate, so that the mobile magnetically controlled robot 2 moves autonomously.

[0037] During the normal autonomous movement of the mobile magnetically controlled robot 2, if an emergency occurs, such as an obstacle suddenly appears in front, the operator can immediately press the emergency stop switch (not shown), and the braking system 1 will immediately lose power and trigger the braking function, so that the mobile magnetically controlled robot 2 stops moving immediately to prevent the occurrence of a collision accident.

[0038] If the mobile magnetically controlled robot 2 cannot return to the charging position in time due to insufficient power, resulting in the inability of the mobile magnetically controlled robot 2 to start up normally, the braking system 1 cannot release the braking state by energizing the electromagnet 403. Therefore, the electric wheel 30 remains in the braking state and it is impossible to push the mobile magnetically controlled robot 2 by manpower. At this time, just step on the release pedal 505 to temporarily release the brake through the mechanism, and then the mobile magnetically controlled robot 2 can be pushed to the charging position by manpower to supplement the electric energy.

[0039] In addition, if the operator steps on the release pedal 505 and completes the temporary movement when the mobile magnetically controlled robot 2 is in the shutdown state and forgets to reset the release pedal 505, when the mobile magnetically controlled robot 2 is powered on next time, the electromagnet 403 is energized to make the roller 412 and the cam block 502 out of contact, so that the release pedal 505 can be automatically reset to ensure the normal operation of the emergency stop function in case of emergency.

[0040] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A braking system, characterized in that, it includes a large base plate, universal wheels, electric wheels, a braking device and a release device. The universal wheels are arranged at one end of the large base plate, and can rotate at any angle relative to the ground, and the number is at least 1; the electric wheels are arranged at the other end of the large base plate relative to the universal wheels, and the number of the electric wheels is 2, which are driven by electricity and can rotate relative to the ground; the braking device is arranged above the electric wheels and fixedly connected to the large base plate for braking and releasing the electric wheels. The braking device further includes a lower fixing plate, an upper fixing plate, an electromagnet, a magnetic attraction plate, a braking spring, a hinge seat, a braking rod, a first guide sleeve, a braking column, a second guide sleeve, a release ejector rod and a roller. The upper fixing plate is fixedly arranged directly above the lower fixing plate, and the lower fixing plate is further provided with a first through hole and a second through hole; the hinge seat is fixedly connected to one end of the lower fixing plate; the braking rod is connected to the pin shaft on the hinge seat and can rotate around its axis, and two oblong sliding grooves are further arranged on the braking rod; the braking column is coaxially connected to the first guide sleeve fixedly installed in the first through hole of the lower fixing plate and can slide along the axis direction of the first guide sleeve; the release ejector rod is coaxially connected to the second guide sleeve fixedly installed in the second through hole of the lower fixing plate and can slide along the axis direction of the second guide sleeve; a braking block is arranged at one end of the braking column close to the electric wheel, and the other end is connected to the sliding groove on the braking rod through a pin shaft; the magnetic attraction plate is fixedly arranged directly above the braking column; a roller is arranged at one end of the release ejector rod close to the electric wheel, and the other end is connected to the sliding groove on the braking rod through a pin shaft; the electromagnet is fixedly arranged on the side of the upper fixing plate facing the lower fixing plate; the braking spring is arranged between the upper fixing plate and the braking rod; the release device is fixedly arranged at one end close to the electric wheel for temporarily releasing the braking of the braking system in a power-off state.

2. The braking system according to claim 1, characterized in that, the release device further includes a bearing seat, a cam block, a bearing, a transmission shaft, a release pedal, a fixing plate, a limit post, a buffer post and a return spring. The bearing seats are fixedly arranged on the left and right sides of the large base plate at one end close to the electric wheel. The left and right ends of the transmission shaft are respectively rotatably connected to the bearing seats through bearings. Two cam blocks are fixedly connected to the left and right ends of the transmission shaft and can rotate around the axis therewith; the release pedal is arranged between the two bearing seats and fixedly connected to the transmission shaft. The buffer post is fixedly installed on the release pedal; the fixing plate is arranged between the two bearing seats and fixedly connected to the large base plate. Two limit posts are respectively fixedly installed on the fixing plate and are respectively located on the left and right sides of the buffer post; the return spring connects the fixing plate and the release pedal for resetting the release pedal.

3. An unlocking method for the braking system according to claim 2, characterized in that, the unlocking method includes the following steps: When the braking system is powered off, step on the release pedal, the cam block rotates clockwise, the arc surface of the cam block contacts the roller and pushes up the roller and the release ejector rod, the braking rod rotates counterclockwise, and then the braking block of the braking column is separated from the electric wheel. When the release pedal continues to rotate clockwise until the position of the limit post, the roller rolls over the highest point from the arc surface of the cam block and contacts the inclined surface of the cam block; Release the release pedal, and the brake spring applies a thrust to the inclined surface of the cam block through the release push rod and the roller. The component force of the thrust along the normal direction of the inclined surface of the cam block prevents the reset spring from resetting, thereby maintaining the released state.

4. The unlocking method according to claim 3, characterized in that, After the electromagnet of the brake system is energized, the electromagnetic force overcomes the thrust of the brake spring, so that the roller is disengaged from the cam block, and thus the release pedal returns to the initial state.

5. A mobile magnetically controlled robot, characterized in that, The mobile magnetically controlled robot adopts the brake system according to any one of claims 1-2. The mobile magnetically controlled robot further includes a handrail, and a switch or a sensor is arranged in the handrail.

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