Braze device and mobile robot

Abstract

The application provides a kind of embrace brake device and mobile robot. The embrace brake device includes brake pad and embrace brake mechanism, the brake pad is used to be coaxially connected with the walking wheel of mobile robot, embrace brake mechanism includes first friction piece, first driving part and second driving part, the first friction piece is oppositely arranged with the brake pad, the first driving part is used to drive the first friction piece and the brake pad to separate in energized state, the second driving part is used to push the first friction piece and abut the brake pad when the first driving part is in power-off state, so that the brake pad stops rotating. The mobile robot provided by the application can control the mobile robot to stop moving when power off through its embrace brake device, which can effectively avoid the problem that the mobile robot will slide down when system power supply is abnormal on the slope.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to a brake device and a mobile robot. Background Technology

[0002] With the development of technology, the types and functions of robots are becoming increasingly diverse. Mobile robots often encounter scenarios such as ramps. If a motor malfunction or battery failure occurs on a ramp, leading to a power outage, the mobile robot risks sliding downhill. Therefore, effectively preventing mobile robots from sliding down ramps due to power outages is a technical problem that needs to be solved. Summary of the Invention

[0003] The purpose of this application is to provide a brake device and a mobile robot to solve the technical problem that the mobile robot will slide downhill when a system power supply failure occurs on a slope.

[0004] In a first aspect, this application provides a brake device, comprising:

[0005] Brake pads, the brake pads being coaxially connected to the walking wheels of the mobile robot; and

[0006] The brake mechanism includes a first friction member, a first driving member, and a second driving member. The first friction member is disposed opposite to the brake pad. The first driving member is used to drive the first friction member to separate from the brake pad when the power is on. The second driving member is used to push the first friction member to abut against the brake pad when the power is off, so that the brake pad stops rotating.

[0007] In the brake device provided in this application, the brake pad is coaxially connected to the walking wheel of the mobile robot and is correspondingly arranged with the first friction member of the brake mechanism. When the first driving member is energized, it drives the first friction member to separate from the brake pad. When the first driving member is de-energized, the second driving member pushes the first friction member against the brake pad, causing the brake pad to stop rotating and thus stopping the walking wheel from rotating. In other words, when the mobile robot is powered off, the second driving member can push the first friction member against the brake pad and prevent the brake pad from rotating, thereby preventing the walking wheel from rotating and the mobile robot from moving. Compared with the mobile robots in the prior art that may slip when powered off on a slope, the mobile robot provided in this application can be controlled by its brake device to stop moving when the power is off, which can effectively avoid the problem of the mobile robot slipping downhill when the system power supply is abnormal on the slope, and avoid personnel or economic losses.

[0008] The first driving component includes an electromagnetic coil, and the first friction component includes a magnetic conductive component. When the electromagnetic coil is energized, it generates a magnetic attraction force on the magnetic conductive component, thereby causing the first friction component to separate from the brake pad.

[0009] The second driving member includes an elastic member located on the side of the first friction member away from the brake pad. The elastic member elastically abuts against the first friction member and is used to push the first friction member against the brake pad when the electromagnetic coil is de-energized.

[0010] The electromagnetic coil is sleeved around the elastic member.

[0011] The brake device further includes a release handle, which is used to rotate under external force to drive the first friction member to separate from the brake pad when the first friction member abuts against the brake pad.

[0012] The brake device further includes a brake housing, which abuts against the release handle and the first friction member. The brake housing has at least one protrusion on the side away from the first friction member, and the release handle has at least one groove on the side facing the first friction member. When the first friction member abuts against the brake pad, the protrusion is located in the groove. When the release handle is rotated until the protrusion moves out of the groove, the release handle causes the first friction member to move relative to the brake housing in a direction away from the brake pad, so as to separate from the brake pad.

[0013] The brake device further includes a sensor, which generates an indication signal when the release handle moves out of the protrusion from the groove. The indication signal indicates that the first friction member is separated from the brake pad when the first drive member is de-energized.

[0014] The brake mechanism further includes an adjusting member, which is located on the brake housing and is used to adjust the distance between the first friction member and the brake pad in the separated state.

[0015] The brake mechanism further includes a second friction member, which is disposed on the side of the brake pad away from the first friction member. The first friction member abuts against the brake pad under the action of the second driving member, so that the brake pad is clamped between the first friction member and the abutting second friction member.

[0016] Secondly, this application provides a mobile robot, which includes a machine body and a brake device. The brake pads of the brake device are coaxially connected to the walking wheels of the machine body, and the brake mechanism brakes the walking wheels of the machine body through the brake pads. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of a brake device and a traveling wheel provided in an embodiment of this application;

[0019] Figure 2 This is a front three-dimensional structural diagram of a brake mechanism provided in an embodiment of this application;

[0020] Figure 3 This is a partial cross-sectional structural diagram of a brake mechanism provided in an embodiment of this application;

[0021] Figure 4 This is a partial exploded view of a brake mechanism provided in an embodiment of this application. Figure 1 ;

[0022] Figure 5 This is a partial exploded view of a brake mechanism provided in an embodiment of this application. Figure 2 .

[0023] Label Explanation:

[0024] Mobile robot-1000, brake device-1, brake mechanism-10, first friction part-11, second friction part-12, first drive part-13, electromagnetic coil-131, second drive part-14, brake pad-20, walking wheel-30, release handle-40, groove part-52, raised sensing part-42, brake housing-50, raised part-51, sensor-60, adjusting part-70, nut base-71, first nut-72, second nut-73, fixed bracket-80, moving part-90, moving rod-91, moving plate-92. Detailed Implementation

[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0026] In this document, references to "embodiment" or "implementation" mean that a particular feature, structure, or characteristic described in connection with an embodiment or implementation may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0028] In this specification, for convenience, terms such as "middle," "upper," "lower," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," and "outer" are used to indicate orientation or positional relationships in conjunction with the accompanying drawings. This is solely for the purpose of facilitating the description and simplification, and does not imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this disclosure. The positional relationships of the constituent elements may be appropriately varied depending on the orientation of the constituent elements being described. Therefore, the use of terms not limited to those described in the specification may be appropriately replaced as needed.

[0029] In this specification, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they may refer to a fixed connection, a detachable connection, or an integral connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection via an intermediate component, or a connection within two components. Those skilled in the art will understand the meaning of these terms in this disclosure as appropriate.

[0030] With the development of technology, the types and functions of robots are becoming increasingly diverse. Mobile robots have a wide range of applications, including situations involving ramps. The chassis of mobile robots carries a relatively large weight and load. If a motor malfunction or battery failure occurs on a ramp, causing a power outage, the mobile robot risks rolling backwards. Due to its significant weight, such a rollback is extremely dangerous, posing a serious threat to the safety of operators and surrounding personnel, and also resulting in economic losses. Therefore, effectively preventing mobile robots from rolling backwards on ramps when a power outage occurs is a crucial technical problem that needs to be solved.

[0031] Please refer to Figure 1 , Figure 2 and Figure 3 To address the aforementioned problems, this application provides a brake device 1, which includes a brake pad 20 and a brake mechanism 10. The brake pad 20 is coaxially connected to the walking wheel 30 of a mobile robot 1000. The brake mechanism 10 includes a first friction member 11, a first driving member 13, and a second driving member 14. The first friction member 11 is disposed opposite to the brake pad 20. The first driving member 13 is used to drive the first friction member 11 to separate from the brake pad 20 when energized. The second driving member 14 is used to push the first friction member 11 to abut against the brake pad 20 when the first driving member 13 is de-energized, thereby stopping the brake pad 20 from rotating.

[0032] The brake pad 20 is used to be coaxially connected to the walking wheel 30 of the mobile robot 1000. Specifically, the brake pad 20 is coaxially and fixedly connected to the walking wheel 30. In other words, the walking wheel 30 can drive the brake pad 20 to rotate coaxially.

[0033] The first friction member 11 is movable relative to the first friction member 11 along a first direction and its opposite direction. The first direction is the direction extending away from the first friction member 11 along the axis of rotation of the traveling wheel 30. The first friction member 11 is disposed opposite to the brake pad 20. Specifically, the orthographic projection of the first friction member 11 along the first direction at least partially coincides with the orthographic projection of the brake pad 20 along the first direction. Therefore, the first friction member 11 can move relative to the first friction member 11 along the first direction and its opposite direction to abut against or separate from the brake pad 20.

[0034] When the first friction member 11 abuts against the brake pad 20, the friction between the first friction member 11 and the brake pad 20 prevents the brake pad 20 from rotating. Therefore, if the brake pad 20 is initially in a rotating state, the first friction member 11 and the brake pad 20 are in a separated state. At this time, the brake pad 20 can rotate with the rotation of the traveling wheel 30; when the first friction member 11 abuts against the brake pad 20, it will cause the brake pad 20 to stop rotating.

[0035] The first driving member 13 is used to drive the first friction member 11 to separate from the brake pad 20 when energized. Specifically, when the first driving member 13 is energized, it can drive the first friction member 11 to separate from the brake pad 20, and the brake pad 20 can rotate when the first friction member 11 is separated from the brake pad 20. It should be noted that the first driving member 13 driving the first friction member 11 to separate from the brake pad 20 includes, but is not limited to, direct or indirect driving. The first driving member 13 can be a drive motor directly connected to the first friction member 11, used to control the movement of the first friction member 11 to achieve the separation of the first friction member 11 from the brake pad 20; the first driving member 13 can also be an electromagnetic device to magnetically attract the first friction member 11 to separate it from the brake pad 20. This application does not limit this.

[0036] The second driving member 14 is used to push the first friction member 11 against the brake pad 20 when the first driving member 13 is in a power-off state. Specifically, in this embodiment, the first driving member 13, the walking wheels 30 of the mobile robot 1000, and other components belong to the same power supply system. When the first driving member 13 is in a power-off state, that is, when the mobile robot 1000 as a whole is in a power-off state, the second driving member 14 can push the first friction member 11 against the brake pad 20 when the mobile robot 1000 as a whole is in a power-off state.

[0037] In the brake device 1 provided in this application, the brake pad 20 is coaxially connected to the walking wheel 30 of the mobile robot 1000 and is correspondingly disposed with the first friction member 11 of the brake mechanism 10. When the first drive member 13 is energized, it drives the first friction member 11 to separate from the brake pad 20. When the first drive member 13 is de-energized, the second drive member 14 is used to push the first friction member 11 against the brake pad 20, so that the brake pad 20 stops rotating and thus the walking wheel 30 stops rotating. In other words, when the mobile robot 1000 is de-energized, the second drive member 14 can push the first friction member 11 against the brake pad 20 and prevent the brake pad 20 from rotating, thereby preventing the walking wheel 30 from rotating and the mobile robot 1000 from moving. Compared to existing mobile robots 1000 which may slip when power is lost on a slope, the mobile robot 1000 provided in this application can be controlled by its brake device 1 to stop moving when power is lost. This can effectively prevent the mobile robot 1000 from slipping downhill when the system power supply is abnormal on the slope, thus avoiding personnel or economic losses.

[0038] Furthermore, the brake device 1 provided in this application enables the mobile robot 1000 to remain on a ramp for an extended period of time when the mobile robot 1000 does not require a power source, thereby reducing the working pressure on the motors of the walking wheels 30 of the mobile robot 1000.

[0039] Specifically, the brake device 1 further includes a fixed bracket 80 and a brake housing 50. The fixed bracket 80 is sleeved on the outer periphery of the brake housing 50, and one end of the fixed bracket 80 is fixedly connected to the chassis device of the mobile robot 1000. The fixed bracket 80 can be used to fix the brake housing 50.

[0040] Please refer to Figure 1 and Figure 3 The brake mechanism 10 further includes a second friction member 12, which is disposed on the side of the brake pad 20 away from the first friction member 11. The first friction member 11 abuts against the brake pad 20 under the action of the second driving member 14, so that the brake pad 20 abuts against the second friction member 12.

[0041] The second friction element 12 is fixedly connected to the fixed bracket 80. The first friction element 11 and the second friction element 12 are respectively disposed on both sides of the brake pad 20. When the first friction element 11 abuts against the brake pad 20 under the action of the second driving element 14, it pushes the brake pad 20 to move in a direction closer to the second friction element 12, thereby enabling the brake pad 20 to abut against the second friction element 12. The contact between the first friction element 11 and the second friction element 12 and the brake pad 20 can more quickly stop the rotation of the brake pad 20, thereby enabling the mobile robot 1000 to stop its displacement more promptly.

[0042] In this embodiment, the first friction element 11 includes a first friction base and a first friction plate. The first friction base is connected to the brake housing 50 and can drive the first friction plate to move in a direction closer to or farther from the second friction element 12. Optionally, the material of the first friction plate includes, but is not limited to, rubber friction material, semi-metallic friction material, or other types of friction material. The second friction element includes a second friction base and a second friction plate. The second friction base is fixedly connected to the fixed bracket 80. Optionally, the material of the second friction plate includes, but is not limited to, rubber friction material, semi-metallic friction material, or other types of friction material.

[0043] Please refer to Figure 3 , Figure 4 and Figure 5 In this embodiment, the first driving member 13 is used as an electromagnetic device for illustrative purposes and should not be construed as a limitation of this application. The first driving member 13 includes an electromagnetic coil 131, and the first friction member 11 includes a magnetic conductive element. When the electromagnetic coil 131 is energized, it generates a magnetic attraction force on the magnetic conductive element to separate the first friction member 11 from the brake pad 20.

[0044] Specifically, the electromagnetic coil 131 generates a preset magnetic field when energized, and the magnetically conductive component is attracted by the magnetic field of the electromagnetic coil 131 when it is located. The first driving member 13 is located on the side of the first friction member 11 away from the brake pad 20. When the first driving member 13 generates a magnetic attraction force on the first friction member 11, it drives the first friction member 11 to move in the direction away from the brake pad 20, thereby causing the first friction member 11 to separate from the brake pad 20.

[0045] When the first driving component 13 is an electromagnetic device, a magnetic attraction force can be generated the instant the first driving component 13 is energized, causing the first friction component 11 to separate from the brake pad 20, which makes the start-up of the mobile robot 1000 faster and more convenient.

[0046] Optionally, the first friction element 11 may be made of a material that is magnetic and has strong friction, thus the first friction element 11 is a magnetic element.

[0047] Alternatively, the first friction element 11 includes a magnetically conductive element and a friction plate with strong frictional force, wherein the friction plate and the magnetically conductive element are in close contact. In other words, the magnetically conductive element serves as the magnetically conductive base for the friction plate. The magnetically conductive element is located on the side of the friction plate opposite to the brake pad 20. For example, the first friction base mentioned above is a magnetically conductive base, and the first friction plate is the friction plate.

[0048] The second driving member 14 includes an elastic member located on the side of the first friction member 11 away from the brake pad 20. The elastic member elastically abuts against the first friction member 11. The elastic member is used to push the first friction member 11 against the brake pad 20 when the electromagnetic coil 131 is de-energized.

[0049] Optionally, the elastic element may include, but is not limited to, a spring or other elastic material.

[0050] One end of the elastic element elastically abuts against the first friction element 11, and the other end elastically abuts against the fixing device of the brake device 1, and the elastic element is in a compressed state. In the absence of external force, the elastic element applies an elastic force to the first friction element 11 in the direction of the brake pad 20, thereby pushing the first friction element 11 against the brake pad 20. When the brake device 1 is de-energized, the elastic element can use its own elastic deformation to push the first friction element 11 against the brake pad 20, thereby stopping the rotation of the brake pad 20 and the traveling wheel 30. The entire process does not require power, effectively preventing the mobile robot 1000 from uncontrollable movement due to power supply abnormalities.

[0051] The electromagnetic coil 131 is sleeved around the elastic member. Specifically, the space formed by the electromagnetic coil 131 can be used to place the elastic member, which can improve space utilization and reduce the overall space occupied by the brake device 1. This ensures that the brake device 1 does not increase the size of the mobile robot 1000 when it is mounted on the walking wheel 30, making the mobile robot 1000 more flexible.

[0052] The brake device 1 also includes a release handle 40, which rotates under external force to drive the first friction member 11 to separate from the brake pad 20 when the first drive member 13 is de-energized.

[0053] Specifically, the release handle 40 can further compress the elastic member while rotating, thereby compressing the end of the elastic member near the first friction member 11 in a direction away from the first friction member 11, and thus allowing the first friction member 11 to separate from the brake pad 20.

[0054] It should be noted that the function of the release handle 40 here is to further compress the elastic element when the first driving member 13 is de-energized, so that the first friction member 11 can be separated from the brake pad 20; unlike the electromagnetic coil 131 mentioned above, the electromagnetic coil 131 can generate an electromagnetic field when the first driving member 13 is energized, thereby generating a magnetic attraction force on the magnetic conductive element of the first friction member 11, thereby compressing the elastic element, so that the first friction member 11 can be separated from the brake pad 20.

[0055] When the mobile robot 1000 experiences a power outage or power failure, as described above, the first friction element 11 of the brake device 1 can abut against the brake pad 20, preventing the mobile robot 1000 from slipping or rolling. When the operator needs to move the mobile robot 1000 from its parking position, the operator can manually operate the release handle 40 to separate the first friction element 11 from the brake pad 20 in the power-off state, facilitating subsequent movement of the mobile robot 1000 by the operator.

[0056] The brake housing 50 abuts against the release handle 40 and the first friction member 11.

[0057] In this embodiment, the brake housing 50 has at least one protrusion 51 on the side away from the first friction member 11, and the release handle 40 has at least one groove 52 on the side facing the first friction member 11. When the first friction member 11 abuts against the brake pad 20, the protrusion 51 is located in the groove 52. When the release handle 40 is rotated until the protrusion 51 moves out of the groove 52, the release handle 40 causes the first friction member 11 to separate from the brake pad 20.

[0058] Specifically, the brake device 1 further includes a movable component 90. The brake housing 50 has a receiving space on the side facing the brake pad 20, and the electromagnetic coil 131, at least a portion of the elastic element, and at least a portion of the movable component 90 are received within the receiving space. The movable component 90 includes a movable rod 91 and a movable plate 92 connected together. The elastic element is sleeved on the movable rod 91, with one end abutting against the movable plate 92 and the other end abutting against the brake housing 50. The movable component 90 is movable relative to the brake housing 50. The brake housing 50 has a through hole on the side facing away from the first friction member 11. At least a portion of the movable rod 91 passes through the through hole, and the end of the movable rod 91 facing away from the travel wheel 30 assembly is fixedly connected to the release handle 40.

[0059] When the brake housing 50 is in a de-energized state and the protrusion 51 is located within the groove 52, the first friction member 11 abuts against the brake pad 20. If the operator rotates the release handle 40 at this time, causing the protrusion 51 to move out of the groove 52, the protrusion 51 abuts against the surface of the brake housing 50. The release handle 40 then drives the moving member 90 to move in a direction away from the first friction member 11, causing the moving member 90 to separate from the first friction member 11, thereby allowing the first friction member 11 to separate from the brake pad 20.

[0060] Optionally, in other embodiments, the brake housing 50 may have at least one groove on the side away from the first friction member 11, and the release handle 40 may have at least one protrusion on the side facing the first friction member 11. As long as the release handle 40 can be rotated and moved in the direction away from the first friction member 11, this application does not limit it.

[0061] Please refer to Figure 1 and Figure 2 The brake device 1 further includes a sensor 60, which is used to generate an indication signal when the release handle 40 moves the protrusion 51 out of the groove 52. The indication signal is used to indicate that the first friction member 11 is separated from the brake pad 20 when the first drive member 13 is in a de-energized state.

[0062] Specifically, the release handle 40 has a raised sensing portion 42 on the side near the sensor 60. When the raised portion 51 is located in the recessed portion 52, the raised sensing portion 42 of the release handle 40 abuts against the sensor 60, and the sensor 60 can generate a preset signal, which can be used to indicate that the raised portion 51 is located in the recessed portion 52.

[0063] The mobile robot 1000 also includes a controller electrically connected to the walking wheel 30 and the sensor 60. The controller can control the operation of the hub motor of the walking wheel 30, including but not limited to starting, stopping, and adjusting the speed of the hub motor. In this embodiment, the controller can be used to control the hub motor of the walking wheel 30 to stop working according to the indication signal. In other embodiments, the controller can also control the hub motor of the walking wheel 30 to start working according to the indication signal. This application does not limit this.

[0064] The brake mechanism 10 further includes an adjusting member 70, which is disposed on the brake housing 50 and is used to adjust the distance between the first friction member 11 and the brake pad 20 in the separated state.

[0065] The brake mechanism 10 further includes a nut base 71, which is mounted on the fixed bracket 80. The adjusting member 70 includes a first nut 72 and a second nut 73 mounted on the nut base 71. The first nut 72 abuts against the side of the brake housing 50 facing away from the first friction member 11, and the second nut 73 is threadedly connected to the brake housing 50. Rotating the first nut 72 and the second nut 73 in opposite directions adjusts the position of the brake housing 50 relative to the fixed bracket 80. The brake housing 50 can move the first friction member 11, thereby adjusting the distance between the first friction member 11 and the brake pad 20 in their separated state.

[0066] In related technologies, for simple and reliable movement, many commercially available mobile robots have servo motors on their chassis that drive drive wheels. The output shaft of the servo motor is connected to a reducer, which in turn connects to the drive wheels. The servo motor can be equipped with a power-off brake at its tail, used to lock the servo motor's output shaft and stop its rotation when the mobile robot or servo motor loses power, thus stopping the robot's movement. However, existing mobile robots are increasingly using hub motors. Due to the limited size of hub motors, it is impossible to integrate both the reduction mechanism and the brake mechanism into the hub motor itself. Therefore, in related technologies, the brake mechanism is usually located on the hub motor's rotating shaft, which is prone to shaft breakage.

[0067] To solve the above-mentioned technical problems, this application provides a mobile robot 1000, which includes a machine body and a brake device 1. The brake pad 20 of the brake device 1 is coaxially connected to the walking wheel 30 of the machine body, and the brake mechanism 10 brakes the walking wheel 30 of the machine body through the brake pad 20.

[0068] The brake mechanism 10 of the brake device 1 brakes the traveling wheels 30 of the machine body through the brake pads 20, effectively avoiding the risk of breakage of the hub motor rotating shaft. Furthermore, the brake mechanism 10 and the brake pads 20 of this application can be replaced at any time without disassembling the machine body and the traveling wheels 30, facilitating maintenance.

[0069] The above description represents some embodiments of this application. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this application, and these improvements and modifications are also considered to be within the scope of protection of this application.

Claims

1. A brake device, characterized in that, The brake device is disposed outside the walking wheels of the mobile robot, and the brake device includes: Brake pads, the brake pads being coaxially connected to the walking wheels of the mobile robot; A brake mechanism includes a first friction member, a first driving member, and a second driving member. The first friction member is disposed opposite to the brake pad. The first driving member is used to drive the first friction member to separate from the brake pad when the first driving member is energized. The second driving member is used to push the first friction member to abut against the brake pad when the first driving member is de-energized, so that the brake pad stops rotating. A brake housing has a receiving space on the side facing the brake pad, the receiving space being used to receive the first driving member and the second driving member; the first friction member is connected to the brake housing; A fixed bracket is fitted around the outer periphery of the brake housing. One end of the fixed bracket is fixedly connected to the chassis of the mobile robot. The fixed bracket is used to fix the brake housing to prevent the motor shaft driving the walking wheels from breaking. The brake mechanism further includes a second friction element and an adjusting element. The second friction element is disposed on the side of the brake pad away from the first friction element and is fixedly connected to the fixed bracket. The adjusting element is disposed on the brake housing and is used to adjust the position of the brake housing relative to the fixed bracket to adjust the distance between the first friction element and the brake pad in the separated state.

2. The brake device according to claim 1, characterized in that, The first driving component includes an electromagnetic coil, and the first friction component includes a magnetic conductive component. When the electromagnetic coil is energized, it generates a magnetic attraction force on the magnetic conductive component, thereby causing the first friction component to separate from the brake pad.

3. The brake device according to claim 2, characterized in that, The second driving member includes an elastic member located on the side of the first friction member away from the brake pad. The elastic member elastically abuts against the first friction member and is used to push the first friction member against the brake pad when the electromagnetic coil is de-energized.

4. The brake device according to claim 3, characterized in that, The electromagnetic coil is sleeved around the elastic member.

5. The brake device according to claim 1, characterized in that, The brake device further includes a release handle, which is used to rotate under the action of an external force to drive the first friction member to separate from the brake pad when the first friction member abuts against the brake pad.

6. The brake device according to claim 5, characterized in that, The brake device further includes a brake housing, which abuts against the release handle and the first friction member. The brake housing has at least one protrusion on the side away from the first friction member, and the release handle has at least one groove on the side facing the first friction member. When the first friction member abuts against the brake pad, the protrusion is located in the groove. When the release handle is rotated until the protrusion moves out of the groove, the release handle causes the first friction member to move relative to the brake housing in a direction away from the brake pad, so as to separate from the brake pad.

7. The brake device according to claim 6, characterized in that, The brake device further includes a sensor for generating an indication signal when the release handle moves out of the protrusion from the groove, the indication signal indicating that the first friction member is separated from the brake pad when the first drive member is de-energized.

8. The brake device according to any one of claims 1 to 7, characterized in that, The first friction member abuts against the brake pad under the action of the second driving member, so that the brake pad is clamped between the first friction member and the second friction member.

9. A mobile robot, characterized in that, The mobile robot includes a machine body and a brake device as described in any one of claims 1-8. The brake device is disposed outside the walking wheels of the machine body, and the brake pads of the brake device are coaxially connected to the walking wheels of the machine body. The brake mechanism brakes the walking wheels of the machine body through the brake pads.

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