A wedge-type emergency braking mechanism for a fast-rail robot

Abstract

The present invention discloses an inclined wedge type emergency braking mechanism for a rapid rail robot, which includes a robot body running on a rail. A plurality of limiting wheels are rotatably arranged at the bottom of the robot body, and the limiting wheels are in contact with the bottom of the top plate of the rail. A retracting and releasing device is fixedly arranged on the robot body, and a vehicle blocking block is arranged at the bottom of the retracting and releasing device. The vehicle blocking block is magnetically attracted or separated from the retracting and releasing device through a fixing device. Inclined surfaces are symmetrically arranged on the top surface of the vehicle blocking block, and the two inclined surfaces are respectively inclined upward from both sides of the vehicle blocking block towards its center. Two pressure rollers are also rotatably arranged at the bottom of the robot body, and the two pressure rollers are respectively located on both sides of the vehicle blocking block. The pressure rollers and the vehicle blocking block are both located above the rail. By using the cooperation of the vehicle blocking block with two inclined surfaces and the pressure rollers, the present invention can forcibly lock the robot body during emergency braking, thereby greatly improving the braking efficiency and shortening the braking distance.

Description

Technical Field

[0001] The invention relates to the technical field of rail robots, and in particular to an inclined wedge type emergency brake mechanism for a fast rail robot. Background Art

[0002] With the continuous development of society, track robots are being used in more and more occasions, some of which require high-speed robots. However, due to the fast movement speed and large kinetic energy of high-speed track robots, once they hit people or other objects that accidentally break into the robot's operating space, it may cause serious consequences such as property damage or even personal injury. In order to ensure safety as much as possible and avoid accidents, robots need to have good braking performance. However, the existing braking systems all hold the drive wheels tightly and rely on the friction of the drive wheels to achieve braking, which has the problems of low braking efficiency and long braking distance, and there are hidden dangers. Summary of the invention

[0003] In view of the above problems, the purpose of the present invention is to provide an inclined wedge type emergency brake mechanism for a fast track robot to solve the problems of low braking efficiency and long braking distance caused by the existing brake mechanism mainly relying on the friction force of the drive wheel to achieve braking.

[0004] The present invention is achieved in that:

[0005] A wedge-type emergency brake mechanism for a fast track robot comprises a robot body running on the track, a plurality of limit wheels are rotatably provided at the bottom of the robot body, the limit wheels are in contact with the bottom of the track top plate, a retracting device is fixedly provided on the robot body, a vehicle blocking block is provided at the bottom of the retracting device, the vehicle blocking block is magnetically attracted or separated from the retracting device through a fixing device, an inclined surface is symmetrically provided on the top surface of the vehicle blocking block, and the two inclined surfaces are respectively inclined upward from the two sides of the vehicle blocking block toward the center thereof, and two pressure rollers are also rotatably provided at the bottom of the robot body, the two pressure rollers are respectively located on the two sides of the vehicle blocking block, and the pressure rollers and the vehicle blocking block are both located above the track.

[0006] Furthermore, the width of the car-blocking block is greater than the inner distance between the two pressure rollers and less than the center distance between the two pressure rollers.

[0007] Furthermore, the distance between the lowest end of the inclined surface of the car-blocking block and the bottom of the car-blocking block is equal to or less than the distance from the bottom surface of the pressure roller to the top surface of the track.

[0008] Furthermore, the height of the vehicle blocking block is greater than the distance from the bottom surface of the pressure roller to the top surface of the track.

[0009] Furthermore, the car stopper is fixedly connected to the fixing device or the car stopper and the fixing device are an integrated structure.

[0010] Furthermore, the retractable device is an electromagnet, and the fixing device is made of a material that can be attracted by the electromagnet.

[0011] Furthermore, a controller is provided on the robot body, and the controller is electrically connected to the retracting and releasing device.

[0012] Furthermore, the cross section of the track is I-shaped or H-shaped.

[0013] The beneficial effects of the present invention are:

[0014] The braking mechanism of the present invention does not rely on the friction force of the wheels. Through the use of a car-blocking block with two inclined surfaces forming an inclined wedge structure and a pressure roller, the robot body can be forcibly stuck in an emergency stop, thereby greatly improving the braking efficiency and shortening the braking distance, and has high practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0016] Figure 2 This is a front view of the robot body of the present invention when it is operating normally;

[0017] Figure 3 It is a left side view of the present invention;

[0018] Figure 4 for Figure 2 A magnified image of point A;

[0019] Figure 5 This is a partial enlarged view of the robot body of the present invention when the emergency brake is activated;

[0020] Figure 6 This is a partial enlarged view of the robot body of the present invention when it stops in emergency braking.

[0021] Description of reference numerals:

[0022] 1. Track; 2. Robot body; 3. Limiting wheel; 4. Retracting and releasing device; 5. Car stopper; 51. Inclined surface; 52. Arc surface; 6. Fixing device; 7. Pressing roller; 8. Mounting frame; 9. Rotating shaft; 10. Support; 11. Pressing shaft; 12. Bearing. DETAILED DESCRIPTION

[0023] The technical scheme in the embodiment of the present invention is described clearly and completely below in conjunction with the accompanying drawings in the embodiment of the present invention. In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention can also be implemented in other ways different from those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0024] As shown Figures 1 to 4 in the figure, the invention relates to a wedge-type emergency braking mechanism for a rapid-rail robot, which includes a robot body 2 running on a rail 1. A plurality of limiting wheels 3 are rotatably provided at the bottom of the robot body 2, and the limiting wheels 3 are in contact with the bottom of the top plate of the rail 1. A retracting and releasing device 4 is fixedly provided on the robot body 2. A car-blocking stopper 5 is provided at the bottom of the retracting and releasing device 4. The car-blocking stopper 5 is magnetically attracted or separated from the retracting and releasing device 4 through a fixing device 6. Inclined surfaces 51 are symmetrically provided on the top surface of the car-blocking stopper 5, and the two inclined surfaces 51 are inclined upward from both sides of the car-blocking stopper 5 towards its center. Two pressure rollers 7 are also rotatably provided at the bottom of the robot body 2, and the two pressure rollers 7 are respectively located on both sides of the car-blocking stopper 5. Both the pressure rollers 7 and the car-blocking stopper 5 are located above the rail 1.

[0025] As shown Figure 3 in the figure, the cross-section of the rail 1 is in the shape of an I-beam or an H-beam. A plurality of limiting wheels 3 are rotatably provided at the bottom of the robot body 2, and the limiting wheels 3 are connected to the robot body 2 through mounting brackets 8. Specifically, a plurality of mounting brackets 8 are fixedly installed on the robot body 2, and a rotating shaft 9 is rotatably penetrated through each mounting bracket 8. The limiting wheels 3 are fixedly sleeved on the outer side of the rotating shaft 9. Among them, the plurality of limiting wheels 3 are symmetrically arranged on both sides of the rail 1, and the wheel bodies of the limiting wheels 3 are in contact with the bottom of the top plate of the rail 1, playing a role in limiting the height of the robot body 2 during operation to ensure its stable movement on the rail 1. The robot body 2 travels on the rail 1 by the rotation of the limiting wheels 3.

[0026] The car-blocking stopper 5 and the fixing device 6 are fixedly connected or the car-blocking stopper 5 and the fixing device 6 are of an integral structure. Specifically, a split fixing structure or an integral structure can be adopted between the two. In this embodiment, considering the manufacturing process and simple processing, a split design is preferably adopted, as shown Figure 4As shown, a through-hole for a nail is formed in the vehicle-blocking stopper 5 (not shown in the figure), and a mounting hole is formed in the fixing device 6 (not shown in the figure). A screw (not shown in the figure) is passed through the mounting hole and the through-hole for a nail, so that the vehicle-blocking stopper 5 and the fixing device 6 are fixedly connected by the screw. In addition, the vehicle-blocking stopper 5 and the fixing device 6 can also be fixedly connected by bolts, pin shafts or other means, which are not limited herein and all belong to the protection scope of the present invention. The top surface of the vehicle-blocking stopper 5 is symmetrically provided with inclined surfaces 51. The two inclined surfaces 51 are inclined upward from both sides of the vehicle-blocking stopper 5 towards its center. The two inclined surfaces 51 are oppositely arranged to form a double-sided wedge structure of the vehicle-blocking stopper 5. The inclined surface 51 and the side surface of the vehicle-blocking stopper 5 are transitioned by an arc surface 52. The arc surface 52 is tangent to both the inclined surface 51 and the side surface. When the pressure roller 7 contacts the vehicle-blocking stopper 5, it first abuts against the arc surface 52, and the surface of the pressure roller 7 will not be damaged. The width of the vehicle-blocking stopper 5 is greater than the inner distance between the two pressure rollers 7 and less than the center distance between the two pressure rollers 7. Wherein, the inner distance between the two pressure rollers 7 is the horizontal distance between the inner edges of the two pressure rollers 7. Thus, when the vehicle-blocking stopper 5 is attracted to the bottom of the retracting and extending device 4, the vehicle-blocking stopper 5 is located between the two pressure rollers 7, and both sides of the vehicle-blocking stopper 5 are in contact with or have a gap with the two pressure rollers 7. The pressure roller 7 is rotatably arranged at the bottom of the robot body 2. Specifically, a support 10 is fixedly provided at the bottom of the robot body 2. A pressure shaft 11 is fixedly passed through the support 10. The pressure roller 7 is sleeved outside the pressure shaft 11, and a bearing 12 is installed between the pressure shaft 11 and the pressure roller 7, so that the pressure roller 7 rotates more flexibly on the pressure shaft 11.

[0027] As Figure 4 shown, a retracting and extending device 4 is fixedly provided on the robot body 2. A vehicle-blocking stopper 5 is provided at the bottom of the retracting and extending device 4. The vehicle-blocking stopper 5 is magnetically attracted or separated from the retracting and extending device 4 through a fixing device 6. The retracting and extending device 4 is an electromagnet, and the fixing device 6 is made of a material that can be attracted by the electromagnet. A controller (not shown in the figure) is also provided on the robot body 2. The controller is electrically connected to the retracting and extending device 4. When the controller controls the retracting and extending device 4 to be energized, the retracting and extending device 4 has magnetic force when energized and is magnetically attracted to the fixing device 6 together, that is, the bottom of the retracting and extending device 4 is fixedly attracted to the top of the fixing device 6. As Figure 5 shown, when the controller controls the retracting and extending device 4 to be powered off, the magnetic force of the retracting and extending device 4 disappears, the retracting and extending device 4 is separated from the fixing device 6, and the fixing device 6 and the vehicle-blocking stopper 5 fall onto the upper surface of the track 1 under the action of gravity. Wherein, the controller realizes the control of the energization and power-off of the electromagnet by controlling the on-off of the control circuit, which belongs to the prior art and will not be elaborated herein.

[0028] When the robot body 2 of the present invention is running normally on the track 1, as Figure 4As shown, the controller controls the power-on of the retracting and extending device 4. The retracting and extending device 4 generates magnetism, and the fixing device 6 and the vehicle-blocking stopper 5 are attracted by the retracting and extending device 4 composed of electromagnets. At this time, both the pressure roller 7 and the vehicle-blocking stopper 5 are located above the track 1 and have a certain distance from the upper surface of the track 1, which will not affect the normal operation of the robot body 2.

[0029] When the robot body 2 encounters an emergency and needs to stop quickly, the rotation of the limit wheel 3 will also stop and abut against the track 1 at this time. As Figure 5 shown, the controller controls the power-off of the retracting and extending device 4. The electromagnet of the retracting and extending device 4 loses magnetism after power-off, and the retracting and extending device 4 separates from the fixing device 6. The fixing device 6 and the vehicle-blocking stopper 5 fall onto the upper surface of the track 1 under the action of gravity. At this time, there is a certain distance between the two pressure rollers 7 and both sides of the vehicle-blocking stopper 5 in both the horizontal and vertical directions, and the robot body 2 can still continue to travel a certain distance.

[0030] The distance between the lowest end of the inclined surface 51 of the vehicle-blocking stopper 5 and the bottom of the vehicle-blocking stopper 5 is equal to or less than the distance between the bottom surface of the pressure roller 7 and the top surface of the track 1, and the height of the vehicle-blocking stopper 5 (this height refers to the vertical distance between the bottom surface of the vehicle-blocking stopper 5 and the highest end of the inclined surface 51) is greater than the distance between the bottom surface of the pressure roller 7 and the top surface of the track 1. As Figure 6 shown, when the pressure roller 7 of the robot body 2 presses onto the vehicle-blocking stopper 5 that has fallen above the track 1 during the continued travel process, due to the inclined surface 51 provided at the top of the vehicle-blocking stopper 5, and the distance between the lowest end of the inclined surface 51 and the bottom of the vehicle-blocking stopper 5 is equal to or less than the distance between the bottom surface of the pressure roller 7 and the top surface of the track 1, the pressure roller 7 will be in close contact with the inclined surface 51 and press tightly on the track 1. At the same time, the height of the vehicle-blocking stopper 5 (this height refers to the vertical distance between the bottom surface of the vehicle-blocking stopper 5 and the highest end of the inclined surface 51) is greater than the distance between the bottom surface of the pressure roller 7 and the top surface of the track 1. Combining with the fact that the robot body 2 is limited by the limit wheel 3 and the abutment of the pressure roller 7 and the inclined surface 51, the robot body 2 cannot be lifted over the vehicle-blocking stopper 5, and the vehicle-blocking stopper 5 can play a role in blocking the continued forward movement of the pressure roller 7. Eventually, the robot body 2 is blocked by the vehicle-blocking stopper 5 and stops, playing an emergency braking role. Similarly, when the robot body 2 runs in the reverse direction and encounters a situation where emergency braking is required, the vehicle-blocking stopper 5 will be pressed by another pressure roller 7 to prevent the other pressure roller 7 from continuing to move forward, so as to ensure that the robot can perform emergency braking in both forward and reverse directions.

[0031] The width of the vehicle blocking block 5 is greater than the inner distance between the two pressure rollers 7 and less than the center distance between the two pressure rollers 7. In this way, when the robot body 2 is traveling normally, there is a certain distance between the vehicle blocking block 5 and the upper surface of the track 1, which does not affect the normal travel of the robot body 2. When the robot body 2 needs to make an emergency stop, the robot body 2 only needs to continue to travel forward a short distance, so that the pressure roller 7 can abut against the inclined surface 51 of the vehicle blocking block 5 falling on the upper surface of the track 1, so as to greatly shorten the braking distance, save time for emergency braking, and improve the braking efficiency. Moreover, the distance between the lowest end of the inclined surface 51 of the vehicle blocking block 5 and the bottom of the vehicle blocking block 5 is equal to or less than the distance between the bottom surface of the pressure roller 7 and the top surface of the track 1, and the height of the vehicle blocking block 5 is greater than the distance between the bottom surface of the pressure roller 7 and the top surface of the track 1. In this way, the pressure roller 7 can smoothly press against the inclined surface 51 of the vehicle blocking block 5, and the vehicle blocking block 5 has a certain height and can play a role in blocking the continuous forward movement of the pressure roller 7.

[0032] Although the present invention discloses preferred specific embodiments for achieving the above objectives, it is not used to limit the structural features of the present invention. Any person skilled in the art should know that under the technical spirit of the present invention, any easily conceived changes or modifications are possible and are all covered by the scope of the patent application of the present invention.

Claims

1. An inclined wedge type emergency brake mechanism for a fast track robot, comprising a robot body (2) running on a track (1), a plurality of limit wheels (3) being rotatably provided at the bottom of the robot body (2), the limit wheels (3) being in contact with the bottom of the top plate of the track (1), characterized in that: The robot body (2) is fixedly provided with a retracting and releasing device (4), a car-blocking block (5) is provided at the bottom of the retracting and releasing device (4), the car-blocking block (5) is magnetically attracted to or separated from the retracting and releasing device (4) through a fixing device (6), the top surface of the car-blocking block (5) is symmetrically provided with inclined surfaces (51), the two inclined surfaces (51) are respectively inclined upward from the two sides of the car-blocking block (5) toward the center thereof, and two pressure rollers (7) are rotatably provided at the bottom of the robot body (2), the two pressure rollers (7) are respectively located on the two sides of the car-blocking block (5), the pressure rollers (7) and the car-blocking block (5) are both located above the track (1), and the width of the car-blocking block (5) is greater than the inner distance of the two pressure rollers (7) and less than the center distance of the two pressure rollers (7).

2. The wedge-type emergency brake mechanism for a fast track robot according to claim 1, characterized in that: The distance between the lowest end of the inclined surface (51) of the vehicle blocking block (5) and the bottom of the vehicle blocking block (5) is equal to or less than the distance between the bottom surface of the pressure roller (7) and the top surface of the track (1).

3. The inclined wedge type emergency brake mechanism for a fast track robot according to claim 1 or 2, characterized in that: The height of the vehicle blocking block (5) is greater than the distance from the bottom surface of the pressure roller (7) to the top surface of the track (1).

4. The inclined wedge type emergency brake mechanism for a fast track robot according to claim 1, characterized in that: The vehicle stopper (5) and the fixing device (6) are fixedly connected or the vehicle stopper (5) and the fixing device (6) are an integrated structure.

5. The inclined wedge type emergency brake mechanism for a fast track robot according to claim 1, characterized in that: The retractable device (4) is an electromagnet, and the fixing device (6) is made of a material that can be attracted by the electromagnet.

6. The inclined wedge type emergency brake mechanism for a fast track robot according to claim 1, characterized in that: The robot body (2) is also provided with a controller, and the controller is electrically connected to the retractable device (4).

7. The inclined wedge type emergency brake mechanism for a fast track robot according to claim 1, characterized in that: The cross section of the track (1) is I-shaped or H-shaped.

Images