Transmission compression roller brake device of mining inspection robot

Abstract

The invention provides a mining inspection robot transmission pressing roller brake device. A transmission mechanism receives rotation power of a driving mechanism; the centrifugal mechanism is movably arranged at the second end of the transmission mechanism; the first limiting mechanism applies pulling force to the centrifugal mechanism; when the centrifugal mechanism moves to a limiting position, the brake triggering mechanism is driven to rotate; the braking mechanism abuts against walking rollers of the robot and the I-shaped steel so that the robot can stop moving. When the robot slides downwards along an I-shaped steel rail to be overspeed due to gravity, the driving mechanism rubs with I-shaped steel in the moving process of the robot to achieve passive rotation, rotating power is transmitted to the centrifugal mechanism, and the overspeed enables the centrifugal mechanism to move in the direction away from the central axis of a transmission shaft under the action of centrifugal force to push the brake triggering mechanism to rotate. And the rolling wheels are forced to stop rotating and the displacement is limited through double frictional resistance, so that the safety of an inspection task is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and in particular to a transmission and clamping roller brake device of a mining inspection robot. Background Art

[0002] Inspection robots, controlled by computers, enable comprehensive environmental monitoring and hazard detection. They also feature automated report analysis and anomaly alerts, offering significant advantages over manual inspections in promptly addressing safety hazards. However, mining inspection robots pose significant safety risks when operating on steep tracks for extended periods of time. First, the drive and clamping wheels can wear out due to continuous operation, and second, the motor brake system can malfunction. Both of these issues can cause slope landslides and pose significant safety risks.

[0003] Existing technology primarily utilizes an electromagnetic power-off braking mode to achieve robot braking: in the power-off state, the electromagnet coil has no current, and the spring pushes the armature into close contact with the brake disc, preventing the motor shaft from rotating through friction between the two. In the power-on state, current flows into the coil, generating an electromagnetic force that attracts the armature, overcoming the spring force and separating it from the brake disc, allowing the motor shaft to resume free rotation. The brake disc is also known as the friction pad. Existing technology relies on mechanical friction between the armature and the brake disc to achieve braking. Long-term use can cause irreversible wear of the friction pad, requiring regular replacement and clearance adjustment to maintain braking performance. Increased wear can easily lead to delayed brake response, insufficient braking force, and even brake slippage, compromising braking reliability. This makes it difficult to effectively address the safety hazards of track inspection robots sliding down steep slopes due to mechanical wear or brake failure.

[0004] Therefore, it is necessary to provide an inspection robot to solve the problems existing in the prior art. Summary of the Invention

[0005] The main purpose of the present invention is to provide a transmission clamping roller brake device for a mining inspection robot, so as to at least solve the problem in the prior art that continuous mechanical friction braking causes easy wear of the friction plate, increased braking clearance and attenuation of braking performance, which leads to safety hazards of slope sliding.

[0006] To achieve the above-mentioned object, the present invention provides a transmission and clamping roller brake device for a mining inspection robot, comprising: a drive mechanism, the drive mechanism being frictionally and rollingly connected to an I-beam, the drive mechanism moving with the robot and frictionally rotating with the I-beam during movement of the robot; a centrifugal brake trigger mechanism, the centrifugal brake trigger mechanism comprising a housing, a transmission mechanism, a centrifugal mechanism, a first limit mechanism, and a brake trigger mechanism; the housing being fixedly connected to the robot; The first end of the transmission mechanism is in transmission connection with the driving mechanism, and the transmission mechanism is used to receive the rotational power of the driving mechanism; The centrifugal mechanism is disposed in the housing and is movably disposed at the second end of the transmission mechanism with the rotation axis of the transmission mechanism as an axis of symmetry; The first limiting mechanism is disposed in the housing and is respectively connected to the second end of the transmission mechanism and the centrifugal mechanism, and the first limiting mechanism applies a pulling force to the centrifugal mechanism; during the rotation of the transmission mechanism, when the centrifugal force of the centrifugal mechanism is greater than the pulling force applied by the first limiting mechanism, the centrifugal mechanism moves in a direction away from the axis of symmetry to a limited position; The brake trigger mechanism is rotatably mounted on the housing, and when the centrifugal mechanism moves to the limited position, the centrifugal mechanism cooperates with the first end of the brake trigger mechanism to drive the brake trigger mechanism to rotate; a braking mechanism, wherein a first end of the braking mechanism is in contact with and connected to a second end of the braking trigger mechanism, and during rotation of the braking trigger mechanism, the second end of the braking mechanism is respectively pressed against the walking roller of the robot and the I-beam to stop the robot from moving; The first end of the transmission mechanism is located outside the shell, and the second end of the transmission mechanism is located inside the shell; the centrifugal brake trigger mechanism is fixedly connected to the robot, and the drive mechanism is fixedly connected to the centrifugal brake trigger mechanism.

[0007] Optionally, the driving mechanism includes: A limiting bracket, the limiting bracket is fixedly connected to the housing; a first roller, the first roller being rotatably connected to the limiting bracket and being in frictional rolling connection with the I-beam; the movement of the robot drives the first roller to rotate; a second roller, the second roller being fixedly connected to the first roller, and the central axis of the second roller coincides with the central axis of the first roller; The rotation of the first roller drives the rotation of the second roller, and the second roller is in transmission connection with the centrifugal brake triggering mechanism.

[0008] Optionally, the housing includes a first housing and a second housing fixedly fastened to each other; The first shell is fixedly connected to the robot via a connecting frame; The first shell is fixedly connected to the limiting bracket via a connecting rod; The second housing is fixedly connected to the brake mechanism.

[0009] Optionally, the inner walls of the first shell and the second shell together form an accommodating cavity, and the transmission mechanism includes: a first transmission shaft rotatably disposed on the first housing; a transmission wheel, the transmission wheel being fixedly sleeved on the first end of the first transmission shaft, and the transmission wheel being connected to the second roller via a conveyor belt; a rotating column, the rotating column being perpendicular to the first transmission shaft and symmetrically fixed to the second end of the first transmission shaft; Among them, the first end of the first transmission shaft is located outside the shell, and the second end of the first transmission shaft is located in the accommodating cavity; the second roller drives the transmission wheel to rotate, the transmission wheel drives the first transmission shaft to rotate, and the first transmission shaft drives the rotating column to rotate around the central axis of the first transmission shaft.

[0010] Optionally, two hanging ears are symmetrically provided at the second end of the first transmission shaft, and the centrifugal mechanism includes: Two centrifugal sliding sleeves are movably sleeved on both ends of the rotating column with the rotation axis of the first transmission shaft as a symmetry axis.

[0011] Optionally, a hanging hole is formed on the outer edge of one end of the centrifugal sleeve close to the first transmission shaft; and the first limiting mechanism includes: Two first compression springs, each first compression spring having a first end hung on one of the hanging ears and a second end hung on a hanging hole; each first compression spring applies tension to a corresponding centrifugal sleeve; In which, the centrifugal sleeve remains stationary when the centrifugal force it is subjected to is less than the corresponding tension of the first compression spring; when the centrifugal force it is subjected to exceeds the tension of the first compression spring, the centrifugal sleeve moves along the axial direction of the rotating column in a direction away from the central axis of the first transmission shaft to the maximum displacement limited by the first compression spring.

[0012] Optionally, the brake triggering mechanism includes: a second transmission shaft rotatably disposed on the second housing, wherein a central axis of the second transmission shaft is collinear with a central axis of the first transmission shaft; a turntable disposed in the accommodating cavity, the turntable comprising a circular plate and an annular cylinder, the circular plate being coaxially fixedly connected to the first end of the second transmission shaft, the first end of the annular cylinder being coaxially fixed to the bottom surface of the circular plate; an end surface of the second end of the annular cylinder not contacting the rotating column; an eccentric disk, disposed at the second end of the second transmission shaft, wherein a central axis of the eccentric disk is not collinear with a central axis of the second transmission shaft; In which, two notches are provided at the bottom of the annular cylinder with the central axis of the annular cylinder as the axis of symmetry, and the size of the notches is larger than the cross-sectional size of the centrifugal sleeve. When the centrifugal force applied to the centrifugal sleeve exceeds the tension of the first compression spring, the centrifugal sleeve moves along the axial direction of the rotating column in the direction away from the central axis of the first transmission shaft to the maximum displacement limited by the first compression spring, and is stuck in one of the notches, driving the annular cylinder, the circular plate, the second transmission shaft and the eccentric disk to rotate in turn. When the eccentric disk rotates, its outer contour changes to push the braking mechanism, so that the braking mechanism presses the walking roller and the I-beam to achieve braking.

[0013] Optionally, the braking mechanism includes: a fixing seat, a first end of which is fixedly connected to the second shell; A push rod, movably arranged on the fixing seat; A third roller is rotatably disposed at the first end of the push rod, the second roller is in rolling connection with the eccentric disk, and the outer contour of the eccentric disk rotates to push the third roller to move away from the central axis of the eccentric disk, thereby driving the push rod to move away from the central axis of the eccentric disk; a clamping mechanism, wherein a first end of the clamping mechanism is connected to the second end of the push rod, and the push rod moves in a direction away from the central axis of the eccentric disk to press against the I-beam and the travel roller; The second limiting mechanism is fixed on the fixing seat, and is used for preventing the push rod from moving in the reverse direction after the push rod moves in a direction away from the central axis of the eccentric disk.

[0014] Optionally, the pressing mechanism includes: two connecting rods, wherein the first ends of the two connecting rods are fixed to the second ends of the push rod; Two gears, each gear being rotatably disposed correspondingly to the second end of one of the connecting rods; A slide rail, arranged on the fixed seat; Two special-shaped racks are movably arranged on the slide rail, and each of the special-shaped racks is meshed with one of the gears; When the push rod moves in a direction away from the central axis of the eccentric disk, it drives the two gears to rotate toward each other, thereby driving the two special-shaped racks to move away from each other until they respectively press against the I-beam and the travel roller.

[0015] Optionally, a groove is provided on one side of the push rod, and the second limiting mechanism includes: A threaded sleeve, screwed onto the fixing seat; A push rod, the push rod being movably sleeved on the threaded sleeve, one end of the push rod being provided with a plug in contact with the push rod, the size of the plug matching the size of the groove; a second compression spring, sleeved on the push rod and compressed between the threaded sleeve and the plug; When the push rod moves in a direction away from the central axis of the eccentric disk until the groove is opposite to the plug, the second compression spring pushes the plug to embed into the groove to fix the push rod.

[0016] A transmission and clamping roller brake device for a mining inspection robot according to the present invention comprises: a driving mechanism frictionally and rollingly connected to an I-beam, which moves with the robot and frictionally rotates with the I-beam during movement of the robot; a centrifugal brake trigger mechanism comprises a shell, a transmission mechanism, a first limiting mechanism of the centrifugal mechanism and a brake trigger mechanism; the shell is fixedly connected to the robot; the first end of the transmission mechanism is transmission-connected to the driving mechanism, and the transmission mechanism is used to receive the rotational power of the driving mechanism; the centrifugal mechanism is arranged in the shell and is movably arranged at the second end of the transmission mechanism with the rotation axis of the transmission mechanism as the axis of symmetry; the first limiting mechanism is arranged in the shell and is respectively connected to the second end of the transmission mechanism and the centrifugal mechanism, and the first limiting mechanism applies a pulling force to the centrifugal mechanism; during the rotation of the transmission mechanism, the centrifugal mechanism When the centrifugal force is greater than the pulling force applied by the first limiting mechanism, the centrifugal mechanism moves to a limited position in a direction away from the axis of symmetry; the brake trigger mechanism is rotatably mounted on the shell, and when the centrifugal mechanism moves to the limited position, the centrifugal mechanism cooperates with the first end of the brake mechanism to drive the brake trigger mechanism to rotate; the brake mechanism, the first end of the brake mechanism is in contact and connected with the second end of the brake trigger mechanism, and during the rotation of the brake trigger mechanism, the second end of the brake mechanism is respectively pressed against the walking roller of the robot and the I-beam to stop the robot from moving; wherein, the first end of the transmission mechanism is located outside the shell, and the second end of the transmission mechanism is located inside the shell; the centrifugal brake trigger mechanism is fixedly connected to the robot, and the drive mechanism is fixedly connected to the centrifugal brake trigger mechanism. Therefore, when the robot is on a slope or loses power due to power outage / failure, gravity causes it to slide down along the I-beam track. The driving mechanism achieves passive rotation due to friction with the I-beam during the movement of the robot. The rotational power is transmitted to the centrifugal mechanism through the transmission mechanism. The centrifugal mechanism overcomes the tension constraint of the first limit mechanism under the action of centrifugal force, moves to a limited position in the direction away from the central axis of the transmission shaft, and then pushes the brake trigger mechanism to rotate, thereby triggering the clamping mechanism to press against the walking roller and the side of the I-beam web, forcing the roller to stop rotating and limiting the displacement through double friction resistance; this solution only triggers braking when sliding down the slope at an excessive speed, and there is no friction loss in normal operation, avoiding the problem of continuous wear of traditional brake friction pads. At the same time, the mechanical centrifugal linkage structure does not rely on electronic components and has higher reliability. The dual contact surface of the clamping roller and the track / roller forms redundant braking force, which effectively solves the risk of loss of control caused by failure of a single motor brake and ensures the safety of inspection tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings: Figure 1 This is a schematic structural diagram of a first optional transmission and clamping roller brake device for a mining inspection robot according to an embodiment of the present invention; Figure 2 This is a schematic structural diagram of a second optional transmission and clamping roller brake device for a mining inspection robot according to an embodiment of the present invention; Figure 3 is a schematic diagram of an optional driving mechanism structure according to an embodiment of the present invention; Figure 4 is a schematic structural diagram of an optional centrifugal brake trigger mechanism according to an embodiment of the present invention; Figure 5 is a schematic diagram of an optional braking mechanism structure according to an embodiment of the present invention; Figure 6 is a schematic diagram of an optional turntable structure according to an embodiment of the present invention; Figure 7 It is a schematic diagram of the connection between the centrifugal mechanism and the first limiting mechanism according to an embodiment of the present invention.

[0018] Reference numerals: 10. Driving mechanism; 11. Limiting bracket; 12. First roller; 13. Second roller; 14. Conveyor belt; 20. Centrifugal brake trigger mechanism; 21. Housing; 211. First housing; 212. Second housing; 22. Transmission mechanism; 221. First transmission shaft; 222. Transmission wheel; 223. Rotating column; 224. Hanging ear; 23. Centrifugal mechanism; 231. Centrifugal sleeve; 24. First limiting mechanism; 241. First compression spring; 25. Brake trigger mechanism; 251. Second transmission shaft; 252, turntable; 253, eccentric disk; 30, braking mechanism; 31, fixed seat; 32, push rod; 33, third roller; 34, clamping mechanism; 341, connecting rod; 342, gear; 343, slide rail; 344, special-shaped rack; 35, second limiting mechanism; 351, threaded sleeve; 352, push rod; 353, second compression spring; 36, fixed bearing sleeve; 40, walking roller; 50, I-beam; 60, frame; 70, connecting frame; 80, connecting rod. DETAILED DESCRIPTION

[0019] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0020] like Figure 1-7As shown, a transmission and clamping roller brake device for a mining inspection robot includes: A drive mechanism 10, wherein the drive mechanism 10 is frictionally and rollingly connected to the I-beam 50, and the drive mechanism 10 moves with the robot and frictionally rotates with the I-beam 50 during the movement of the robot; The centrifugal brake trigger mechanism 20 includes a housing 21, a transmission mechanism 22, a centrifugal mechanism 23, a first limiting mechanism 24 and a brake trigger mechanism 25: the housing 21 is fixedly connected to the robot; The first end of the transmission mechanism 22 is in transmission connection with the driving mechanism 10 , and the transmission mechanism 22 is used to receive the rotational power of the driving mechanism 10 ; The centrifugal mechanism 23 is disposed in the housing 21 and is movably disposed at the second end of the transmission mechanism 22 with the rotation axis of the transmission mechanism 22 as an axis of symmetry; The first limiting mechanism 24 is disposed in the housing 21 and is connected to the second end of the transmission mechanism 22 and the centrifugal mechanism 23, respectively. The first limiting mechanism 24 applies a pulling force to the centrifugal mechanism 23. During the rotation of the transmission mechanism 22, when the centrifugal force of the centrifugal mechanism 23 is greater than the pulling force applied by the first limiting mechanism 24, the centrifugal mechanism 23 moves in a direction away from the axis of symmetry to a limited position. The brake trigger mechanism 25 is rotatably mounted on the housing 21. When the centrifugal mechanism 23 moves to the limited position, the centrifugal mechanism 23 cooperates with the first end of the brake trigger mechanism 25 to drive the brake trigger mechanism 25 to rotate. a brake mechanism 30, wherein a first end of the brake mechanism 30 is in contact with a second end of the brake trigger mechanism 25, and during the rotation of the brake trigger mechanism 25, the second end of the brake mechanism 30 is respectively pressed against the robot's travel roller 40 and the I-beam 50 to stop the robot from moving; The first end of the transmission mechanism 22 is located outside the shell 21, and the second end of the transmission mechanism 22 is located inside the shell 21; the centrifugal brake trigger mechanism 20 is fixedly connected to the robot, and the drive mechanism 10 is fixedly connected to the centrifugal brake trigger mechanism 20.

[0021] Specifically, the fixed connection between the shell 21 and the robot means that the shell 21 is welded to the frame 60 of the robot body to form a rigid and immovable integral connection, which not only provides installation support and physical protection for the internal transmission mechanism 22, centrifugal mechanism 23, first limit mechanism 24 and brake trigger mechanism 25, but also ensures that the reaction force generated when the brake is triggered can be directly transmitted to the robot body, so that the centrifugal mechanism 23, brake trigger mechanism 25 and clamping mechanism 34 and other components maintain a precise spatial coordination relationship with the robot walking roller 40 and I-beam 50, ensuring that when the robot slides or overspeeds, the centrifugal mechanism 23 can move reliably based on the change in the rotation speed of the transmission mechanism 22, and then drive the brake mechanism 30 to press against the walking roller 40 and the side of the web of the I-beam 50 through the brake trigger mechanism 25 to achieve braking.

[0022] The drive mechanism 10 is in rolling contact with the I-beam 50. During normal robot movement, the drive mechanism 10 moves synchronously with the robot, simultaneously rolling due to frictional contact with the I-beam 50. Its rotational speed is positively correlated with the speed of the slope, and this rotational force is transmitted to the subsequent braking mechanism 30 via the transmission mechanism 22. The transmission mechanism 22 is in driving connection with the drive mechanism 10 at its first end, receiving the rotational force from the drive mechanism 10 and transmitting it to subsequent components. It rotates synchronously with the drive mechanism 10, providing a stable rotation axis and power input for the centrifugal mechanism 23. The centrifugal mechanism 23 is located at its second end, symmetrically arranged around the axis of rotation of the transmission mechanism 22. When the robot accelerates downward due to a slope, the transmission mechanism 22 is driven to rotate at an accelerated rate, and the centrifugal mechanism 23, under the action of centrifugal force, tends to move away from the axis. During normal robot movement, the centrifugal mechanism 23 is constrained in place by the first limiting mechanism 24. When the slope causes the rotational speed to exceed a threshold, i.e., when the centrifugal force applied to the centrifugal mechanism 23 exceeds the pulling force applied by the first limiting mechanism 24, the centrifugal mechanism 23 breaks free from the constraint and begins to move.

[0023] A first limiting mechanism 24 is disposed within the housing 21, with its ends connected to the second end of the transmission mechanism 22 and the centrifugal mechanism 23, respectively, exerting an inward pulling force on the centrifugal mechanism 23. During normal robot operation, the centrifugal mechanism 23 is held in place against the transmission mechanism 22, preventing it from moving. This prevents the brake system from accidentally triggering during low-speed movement or when the robot is parked. However, when acceleration while sliding down a slope increases the rotational speed, causing the centrifugal force to exceed the pulling force, the centrifugal mechanism 23 breaks free and moves outward.

[0024] Brake trigger mechanism 25 is rotatably mounted on housing 21, corresponding to the movement position of centrifugal mechanism 23. When centrifugal mechanism 23 moves to a defined position, brake trigger mechanism 25 engages with centrifugal mechanism 23, converting the linear motion of centrifugal mechanism 23 into rotational motion of brake trigger mechanism 25, initiating the braking process.

[0025] The first end of the brake mechanism 30 is in contact with the second end of the brake trigger mechanism 25. When the brake trigger mechanism 25 rotates, its second end pushes the brake mechanism 30, causing the second end of the brake mechanism 30 to simultaneously press against the robot's running rollers 40 and the web of the I-beam 50. Frictional resistance forces the running rollers 40 to stop rotating, thereby limiting the robot's movement and preventing it from sliding down the slope.

[0026] In the present application, when the robot is on a slope or loses power due to power outage / failure, gravity causes it to slide down along the I-beam 50 track. During the movement of the robot, the driving mechanism 10 rubs against the I-beam 50 to achieve passive rotation. The rotational power is transmitted to the centrifugal mechanism 23 through the transmission mechanism 22. The centrifugal mechanism 23 overcomes the tension constraint of the first limit mechanism 24 under the action of centrifugal force, moves to a limited position in the direction away from the central axis of the transmission shaft, and then pushes the brake trigger mechanism 25 to rotate, thereby triggering the brake mechanism 30 to press against the walking roller 40 and the side of the web of the I-beam 50, forcing the roller to stop rotating and limiting the displacement through double friction resistance; this solution only triggers braking when sliding down the slope at an excessive speed, and there is no friction loss in normal operation, avoiding the problem of continuous wear of traditional brake friction pads. At the same time, the mechanical centrifugal linkage structure does not rely on electronic components and has higher reliability. The dual contact surface of the clamping roller and the track / roller forms redundant braking force, effectively solving the risk of loss of control caused by failure of a single motor brake, and ensuring the safety of the inspection task.

[0027] In a possible implementation, the driving mechanism 10 includes: A limiting bracket 11, wherein the limiting bracket 11 is fixedly connected to the housing 21; A first roller 12 is rotatably connected to the limiting bracket 11 and is frictionally and rollingly connected to the I-beam 50 ; the movement of the robot drives the first roller 12 to rotate; a second roller 13, wherein the second roller 13 is fixedly connected to the first roller 12, and the central axis of the second roller 13 coincides with the central axis of the first roller 12; The rotation of the first roller 12 drives the second roller 13 to rotate, and the second roller 13 is transmission-connected to the centrifugal brake triggering mechanism 20 .

[0028] Specifically, the drive mechanism 10 includes a limit bracket 11, a first roller 12, and a second roller 13, which are integrally fixedly connected to the centrifugal brake trigger mechanism 20. The limit bracket 11 serves as a support base, with one end fixed to the housing 21 and the other end rotatably connected to the first roller 12, constraining its axial movement and guiding its rotational direction. The first roller 12 is in frictional rolling contact with the track of the I-beam 50. When the robot moves, the I-beam 50 generates a reaction force on the first roller 12, pushing it to rotate around its own axis. The rotational speed is positively correlated with the movement speed of the robot. The second roller 13 is coaxially fixedly connected to the first roller 12, and the two rotate synchronously, transmitting the rotational power obtained by the first roller 12 to the input end of the transmission mechanism 22 of the centrifugal brake trigger mechanism 20, which serves as the power source for subsequent centrifugal brake triggering.

[0029] In a possible embodiment, the housing 21 includes a first housing 211 and a second housing 212 fixedly engaged with each other; The first housing 211 is fixedly connected to the robot via a connecting frame 70; The first housing 211 is fixedly connected to the limiting bracket 11 via a connecting rod 80; The second housing 212 is fixedly connected to the braking mechanism 30 .

[0030] Specifically, the housing 21 is composed of a first housing 211 and a second housing 212 that are fixedly fastened to each other, forming a complete enclosed structure to accommodate and protect the internal components. The first housing 211 is the primary connection carrier with the robot body and is rigidly fixed to the robot's frame 60 via a connecting frame 70, ensuring that the entire centrifugal brake trigger mechanism 20 forms a stable integral unit with the robot. The first housing 211 is fixedly connected to the limiting bracket 11 in the drive mechanism 10 via a connecting rod 80, maintaining a fixed relative position between the drive mechanism 10 and the housing 21. This ensures that when the drive mechanism 10 rotates, power can be stably transmitted to the centrifugal mechanism 23 inside the housing 21 via the transmission mechanism 22. The second housing 212 is fixedly connected to the brake mechanism 30, thereby achieving the continuous action of centrifugal triggering and brake application when overspeeding while sliding down a slope.

[0031] In a possible implementation, the inner walls of the first shell 211 and the second shell 212 together form a receiving cavity, and the transmission mechanism 22 includes: A first transmission shaft 221 rotatably disposed on the first housing 211 ; A transmission wheel 222 , the transmission wheel 222 is fixedly sleeved on the first end of the first transmission shaft 221 , and the transmission wheel 222 is connected to the second roller 13 via a conveyor belt 14 ; a rotating column 223 , the rotating column 223 being perpendicular to the first transmission shaft 221 and symmetrically fixed to the second end of the first transmission shaft 221 ; In which, the first end of the first transmission shaft 221 is located outside the shell 21, and the second end of the first transmission shaft 221 is located in the accommodating cavity; the second roller 13 drives the transmission wheel 222 to rotate, the transmission wheel 222 drives the first transmission shaft 221 to rotate, and the first transmission shaft 221 drives the rotating column 223 to rotate around the central axis of the first transmission shaft 221.

[0032] Specifically, the transmission mechanism 22 includes a first transmission shaft 221, a transmission wheel 222 and a rotating column 223, which are integrally installed in a accommodating cavity surrounded by the inner walls of the first shell 211 and the second shell 212: the first transmission shaft 221 is rotatably supported on the first shell 211, and the first end of the first transmission shaft 221 extends out of the shell 21 and is connected to the second roller 13 in the driving mechanism 10 through a conveyor belt 14. The second end of the first transmission shaft 221 is located in the accommodating cavity and is vertically fixed with a rotating column 223, which is symmetrical with the central axis of the first transmission shaft 221; the first shell 211 provides rotational support for the first transmission shaft 221 to ensure that it can rotate stably around the central axis; the transmission wheel 222 is fixedly sleeved on the first end of the first transmission shaft 221, serving as an intermediate medium for power transmission, converting the rotational motion of the second roller 13 into rotation of the first transmission shaft 221; the rotating column 223 rotates synchronously with the first transmission shaft 221, providing a rotation basis for the subsequent movement of the centrifugal mechanism 23.

[0033] Among them, the first shell 211 provides stable support for the first transmission shaft 221, ensuring that power is smoothly transmitted from the second roller 13 to the first transmission shaft 221 via the conveyor belt 14, reducing shaking deviation; the accommodating cavity structure protects internal components from external interference, extends service life and makes the layout more compact; the symmetrically arranged rotating column 223 (whose length center is connected to the second end of the first transmission shaft 221) ensures the balance of the center of gravity during rotation, drives the centrifugal mechanism 23 to produce stable and regular centrifugal force changes, and triggers more accurately and reliably, thereby comprehensively improving the stability and reliability of the braking system.

[0034] When the robot moves, the I-beam 50 is in frictional rolling contact with the first roller 12, pushing the first roller 12 to rotate; the second roller 13 transmits the rotational power to the transmission wheel 222 through the conveyor belt 14, and the transmission wheel 222 drives the first transmission shaft 221 fixedly connected to it to rotate around the central axis; the second end of the first transmission shaft 221 drives the vertically fixed rotating column 223 to rotate synchronously, causing the rotating column 223 to perform circular motion around the central axis of the first transmission shaft 221.

[0035] In a possible embodiment, two lugs 224 are symmetrically provided at the second end of the first transmission shaft 221, and the centrifugal mechanism 23 includes: Two centrifugal sleeves 231 are movably sleeved on both ends of the rotating column 223 with the rotation axis of the first transmission shaft 221 as an axis of symmetry.

[0036] Specifically, the symmetrically distributed rotating column 223 and the hanging ear 224 can ensure the uniform transmission of the rotational force, so that the rotating column 223 is subjected to balanced force when revolving around the central axis of the first transmission shaft 221, thereby reducing eccentric vibration; the two centrifugal sleeves 231 are symmetrically arranged at both ends of the rotating column 223, forming a stable movable matching structure with the rotating column 223. When the first transmission shaft 221 accelerates with the driving mechanism 10, the two centrifugal sleeves 231 move synchronously outward under the action of centrifugal force, ensuring the consistency and synchronization of the centrifugal force triggering; the symmetry of the centrifugal sleeve 231 eliminates the risk of unilateral overloading, so that the centrifugal sleeve 231 can stably push the brake trigger mechanism 25 to rotate when it reaches the limited position, and then reliably drive the clamping mechanism 34 to press against the walking roller 40 and the side of the web of the I-beam 50 to achieve braking.

[0037] In a possible embodiment, a hanging hole is formed on the outer edge of one end of the centrifugal sleeve 231 close to the first transmission shaft 221; and the first limiting mechanism 24 includes: Two first compression springs 241 , each first compression spring 241 having a first end hung on one of the hanging ears 224 , and a second end hung on a hanging hole; each first compression spring 241 applies tension to one of the centrifugal sleeves 231 ; In which, the centrifugal sleeve 231 remains stationary when the centrifugal force it receives is less than the tension of the corresponding first compression spring 241; when the centrifugal force it receives exceeds the tension of the first compression spring 241, the centrifugal sleeve 231 moves along the axial direction of the rotating column 223 in a direction away from the central axis of the first transmission shaft 221 to the maximum displacement limited by the first compression spring 241.

[0038] Specifically, the two first compression springs 241 are respectively connected to a corresponding centrifugal sleeve 231, ensuring that the tension applied to each centrifugal sleeve 231 is consistent in magnitude and opposite in direction, so that the centrifugal sleeve 231 remains firmly in place without shaking when the robot moves normally and the first transmission shaft 221 rotates at a low speed (that is, the centrifugal force is less than the tension of the first compression spring 241), thereby avoiding false triggering of the brake. When the robot accelerates while sliding down the slope, causing the rotation speed of the first transmission shaft 221 to exceed a threshold, the centrifugal force on the centrifugal sleeve 231 increases rapidly and breaks through the tension constraint of the corresponding first compression spring 241. The two centrifugal sleeves 231 move synchronously along the axial direction of the rotating column 223 away from the central axis of the first transmission shaft 221 to the maximum displacement limited by the first compression spring 241. The synchronous response ensures the consistency and coordination of the centrifugal force triggering. The limitation of the tension of the first compression spring 241 ensures that the brake is only activated when the robot is sliding down the slope at an excessive speed, and there is no additional friction loss during normal operation. At the same time, the symmetrically arranged spring structure eliminates the risk of unilateral overloading, ensuring that the centrifugal sleeve 231 stably moves to the limited position and reliably pushes the brake trigger mechanism 25 to operate. The threshold value refers to the critical speed state determined by the mass of the centrifugal sleeve 231 itself, the connection position between the centrifugal sleeve 231 and the rotating column 223 (i.e., the rotation radius r), and the real-time angular velocity ω of the first transmission shaft 221 during the rotation of the rotating column 223 and the centrifugal sleeves 231 symmetrically arranged at both ends of the first transmission shaft 221. Specifically, the centrifugal force (F=m·r·ω², where m is the mass of the centrifugal sleeve 231 and r is the distance from the central axis of the rotating column 223 to the center of mass of the centrifugal sleeve 231) generated by the rotation of the centrifugal sleeve 231 increases to a value exceeding the value of the first compression spring 241 in the first limiting mechanism 24 exerted on the centrifugal sleeve 231. The angular velocity value of the first transmission shaft 221 when the centripetal pull (F pull = k·x0, k is the stiffness coefficient of the first compression spring 241, and x0 is the pre-stretched length of the first compression spring 241) is applied. The threshold value is determined by the dynamic equilibrium relationship between the pull of the first compression spring 241 and the centrifugal force. When the robot's sliding speed increases and the angular velocity of the first transmission shaft 221 exceeds this critical value, the centrifugal force exerted on the centrifugal sleeve 231 will break through the constraint of the first compression spring 241, driving it to move axially along the rotating column 223 away from the central axis of the first transmission shaft 221 to the maximum displacement limited by the stretching limit of the first compression spring 241, thereby triggering the subsequent braking action.

[0039] In a possible implementation, the brake triggering mechanism 25 includes: A second transmission shaft 251 is rotatably disposed on the second housing 212 , wherein the central axis of the second transmission shaft 251 is collinear with the central axis of the first transmission shaft 221 ; A rotating disk 252 is disposed in the accommodating cavity. The rotating disk 252 includes a circular plate and an annular cylinder. The circular plate is coaxially fixedly connected to the first end of the second transmission shaft 251. The first end of the annular cylinder is coaxially fixed to the bottom surface of the circular plate. The end surface of the second end of the annular cylinder does not contact the rotating column 223. An eccentric disk 253 is provided at the second end of the second transmission shaft 251 , wherein the central axis of the eccentric disk 253 is not collinear with the central axis of the second transmission shaft 251 ; Among them, two notches are opened at the bottom of the annular cylinder with the central axis of the annular cylinder as the symmetry axis, and the size of the notch is larger than the cross-sectional size of the centrifugal sleeve 231. When the centrifugal force applied to the centrifugal sleeve 231 exceeds the tension of the first compression spring 241, the centrifugal sleeve 231 moves along the axial direction of the rotating column 223 in the direction away from the central axis of the first transmission shaft 221 to the maximum displacement limited by the first compression spring 241, and is stuck in one of the notches, driving the annular cylinder, the circular plate, the second transmission shaft 251 and the eccentric disk 253 to rotate in turn. When the eccentric disk 253 rotates, its outer contour changes and pushes the braking mechanism 30, so that the braking mechanism 30 presses the walking roller 40 and the I-beam 50 to achieve braking.

[0040] Specifically, the brake trigger mechanism 25 consists of a second transmission shaft 251, a turntable 252 and an eccentric disk 253. The second transmission shaft 251 is rotatably supported on the second shell 212, and its central axis is collinear with the first transmission shaft 221 to ensure linear power transmission; the turntable 252 includes a circular plate and an annular cylinder. The circular plate is coaxially fixed to the first end of the second transmission shaft 251, and the bottom surface of the annular cylinder is fixed to the bottom of the circular plate, and its second end surface maintains a gap with the rotating column 223; two notches with a size larger than the cross-section of the centrifugal sleeve 231 are symmetrically opened at the bottom of the annular cylinder. The eccentric disk 253 is arranged at the second end of the second transmission shaft 251 and its central axis is not collinear with the second transmission shaft 251. When the robot accelerates down the slope and the speed of the first transmission shaft 221 exceeds the threshold, the centrifugal sleeve 231 breaks through the tension of the corresponding first compression spring 241 due to the centrifugal force, moves axially along the rotating column 223 to the maximum displacement and gets stuck in the gap of the annular cylinder, pushing the annular cylinder, circular plate and second transmission shaft 251 to rotate synchronously, thereby driving the eccentric disk 253 to rotate.

[0041] Because the center of the eccentric disk 253 is not colinear with the axis, the outer contour changes during rotation, pushing the braking mechanism 30, so that the braking mechanism 30 presses against the walking roller 40 and the I-beam 50 to achieve braking; the radial movement of the centrifugal sleeve 231 is accurately converted into axial rotation of the turntable 252 by engaging the notch, and the triggering is reliable and consistent; the turntable 252 is rigidly connected to the second transmission shaft 251 to ensure stable force transmission and avoid eccentric load failure; it relies on centrifugal force and the tension of the first compression spring 241 for adaptive triggering, does not require additional energy, and can still perform passive braking in the event of power outages or failures, thereby improving the braking safety and reliability under slope conditions.

[0042] In a possible implementation, the braking mechanism 30 includes: A fixing base 31, wherein a first end of the fixing base 31 is fixedly connected to the second shell 212; A push rod 32 is movably disposed on the fixing seat 31; The third roller 33 is rotatably disposed at the first end of the push rod 32. The second roller 13 is in rolling connection with the eccentric disk 253. The outer contour of the eccentric disk 253 changes as it rotates, pushing the third roller 33 away from the central axis of the eccentric disk 253, thereby driving the push rod 32 to move away from the central axis of the eccentric disk 253. A clamping mechanism 34, wherein a first end of the clamping mechanism 34 is connected to a second end of the push rod 32, and the push rod 32 moves in a direction away from the central axis of the eccentric disk 253 to press against the I-beam 50 and the travel roller 40; The second limiting mechanism 35 is fixed on the fixing seat 31 . The second limiting mechanism 35 is used to prevent the push rod 32 from moving in the reverse direction after the push rod 32 moves in a direction away from the central axis of the eccentric disk 253 .

[0043] Specifically, the first end of the fixed seat 31 is fixed to the second shell 212, providing a sliding track for the push rod 32; a fixed bearing sleeve 36 is fixedly provided on the fixed seat 31, and the push rod 32 is coaxially and movably sleeved in the fixed bearing sleeve 36. The inner wall of the fixed bearing sleeve 36 and the outer wall of the push rod 32 are connected by a sliding fit or a low-friction bearing structure, which ensures that the push rod 32 can move freely in the axial direction to transmit the braking displacement, and limits the radial swing of the push rod 32 by the annular limit structure. A rotatable third roller 33 is installed at one end of the push rod 32, and the other end is connected to the clamping mechanism 34; when the eccentric disk 253 rotates, its The non-collinear center axes cause the outer contour to change periodically. When the raised part of the contour contacts the third roller 33, it pushes the third roller 33 and the push rod 32 to move in the direction away from the center axis of the eccentric disk 253; the movement of the push rod 32 drives the clamping mechanism 34 to move synchronously, so that the second end of the clamping mechanism 34 is simultaneously pressed against the walking roller 40 and the side of the web of the I-beam 50, and the friction resistance between the two is used to force the robot to stop moving; the second limiting mechanism 35 is fixed on the fixed seat 31, and locks its position after the push rod 32 moves into place to prevent the push rod 32 from retreating due to vibration or reverse force, thereby ensuring that the braking state is continuous and stable.

[0044] The present application improves transmission efficiency by converting the rotational motion of the eccentric disk 253 into linear displacement of the push rod 32, and utilizing the rolling contact of the third roller 33 to reduce friction loss; the clamping mechanism 34 simultaneously presses against the walking roller 40 and the I-beam 50 to form double friction resistance, thereby increasing the braking force and making the braking effect more reliable; the overall structure adopts mechanical linkage, does not require electronic components or external energy, adapts to harsh environments such as dust and moisture, is simple to maintain and has a long service life.

[0045] In a possible implementation, the pressing mechanism 34 includes: Two connecting rods 341, wherein the first ends of the two connecting rods 341 are fixed to the second end of the push rod 32; Two gears 342, each gear 342 is rotatably disposed at a corresponding second end of one of the connecting rods 341; The slide rail 343 is provided on the fixing seat 31; Two special-shaped racks 344 are movably disposed on the slide rail 343 , and each special-shaped rack 344 is meshed with one of the gears 342 ; When the push rod 32 moves in a direction away from the central axis of the eccentric disk 253 , it drives the two gears 342 to rotate toward each other, thereby driving the two special-shaped racks 344 to move away from each other until they respectively press against the I-beam 50 and the travel roller 40 .

[0046] The two gears 342 are engaged with each other on the sliding rail 343, and the two gears 342 are engaged with each other on the sliding rail 343.

[0047] The two connecting rods 341 are relatively fixed, so that when the push rod 32 moves, the outer gear 342 is naturally expanded outward, ensuring that the two special-shaped racks 344 can move away from each other synchronously and smoothly; this structural layout makes the clamping force of the two special-shaped racks 344 on the I-beam 50 and the walking roller 40 more evenly distributed, reducing component offset or abnormal wear caused by unilateral force concentration; the rigid engagement of the special-shaped racks 344 with the contact surface can maintain effective friction when the track surface is slightly uneven, reducing the risk of damage to the track and roller; the slide rail 343 constrains the moving trajectory of the special-shaped rack 344 to avoid directional deviation during the clamping process and reduce component loss caused by local excessive friction; the symmetrically arranged connecting rods 341 and gears 342 are linked to coordinate the clamping actions on both sides, shorten the braking response time difference, and improve the overall braking consistency; the modular mechanical transmission allows the worn special-shaped racks 344 and gears 342 to be replaced separately without disassembling the entire braking system, simplifying maintenance operations and saving repair costs.

[0048] In a possible implementation, a groove is formed on one side of the push rod 32, and the second limiting mechanism 35 includes: A threaded sleeve 351 is screwed onto the fixing seat 31; A push rod 352, the push rod 352 being movably sleeved on the threaded sleeve 351, and a plug being provided at one end of the push rod 352 for contact with the push rod 32, the size of the plug matching the size of the groove; A second compression spring 353 is sleeved on the push rod 352 and compressed between the threaded sleeve 351 and the plug; When the push rod 32 moves in a direction away from the central axis of the eccentric disk 253 until the groove is opposite to the plug, the second compression spring 353 pushes the plug to embed into the groove to fix the push rod 32.

[0049] When the cam 352 is in the unlock state, the locking cam 353 is in the unlock state, and the locking cam 353 is in the unlock state, so that the cam 352 can be unlocked and locked. When the robot completes braking and needs to resume operation, the operator can pull the push rod 352 and the push rod 32 at the same time to overcome the preload force of the second compression spring 353 and the friction resistance of the brake mechanism 30 through external force, so that the plug is disengaged from the groove of the push rod 32, and the locking state of the push rod 32 is released; then the push rod 32 is pushed in the opposite direction to reset the centrifugal sleeve 231, and the centrifugal mechanism 23 and the clamping mechanism 34 return to their initial state. The robot can then move normally, realizing rapid manual recovery of the brake.

[0050] The cooperation between the plug pre-tightened by the second compression spring 353 and the groove of the push rod 32 can accurately lock the push rod 32 when it moves to the braking position, ensuring that the push rod 32 will not retreat due to vibration or external force in the braking state, thereby ensuring the continuity of braking; the vertically arranged push rod 352 and the push rod 32 form a horizontal clamping structure with a simple structure and fast response, which can complete the locking at the moment the push rod 32 is in place, shortening the reaction time of the braking system; the threaded sleeve 351 can adjust the initial position of the push rod 352, so that the plug and the groove of the push rod 32 are accurately aligned, ensuring the reliability of locking after the brake is triggered; the purely mechanical locking design does not rely on electronic components, and can still work stably under harsh working conditions, avoiding brake failure caused by electrical failure; during maintenance, the position of the push rod 352 can be fine-tuned by rotating the threaded sleeve 351 to optimize the fitting clearance between the plug and the groove, ensuring that it can still be accurately locked after long-term use, thereby improving the reliability of the braking system.

[0051] The braking device of the present application serves as a second braking unit and forms redundancy with the main brake. When the main brake is working normally (such as uniform movement on a smooth track, regular start and stop), the device is in standby state and does not participate in braking; when the main brake has insufficient braking force due to electromagnetic failure, circuit failure, hydraulic failure or wear, if the robot is in a sliding condition (the speed naturally exceeds the safety threshold under the drive of the gravity component), the centrifugal sleeve 231 breaks through the tension of the first compression spring 241 under the centrifugal force, triggering the transmission mechanism 22, pushing the clamping mechanism 34 to press against the walking roller 40 and the I-beam 50 to form mechanical friction resistance to force deceleration.

[0052] The braking principle process when the robot's walking roller 40 rotates clockwise: As the robot accelerates clockwise along a steep track, the running roller 40 in contact with the track rotates clockwise, driving the first roller 12, which is frictionally connected to it, to rotate synchronously clockwise. The first roller 12, via the conveyor belt 14, drives the coaxially connected second roller 13 and the first transmission shaft 221 to rotate clockwise. The first transmission shaft 221 then drives the rotating column 223, which is vertically fixed at its second end, and two symmetrically arranged centrifugal sleeves 231 to rotate synchronously. As the robot accelerates down the slope, the centrifugal force generated by the rotation of the centrifugal sleeves 231 (which is proportional to the square of the rotational speed) gradually increases. When the rotational speed exceeds a preset threshold, the centrifugal force overcomes the tension of the first compression spring 241, causing the two centrifugal sleeves 231 to move axially along the rotating column 223, away from the central axis of the first transmission shaft 221, to the maximum displacement limit set by the first compression spring 241, where they engage the corresponding notches at the bottom of the annular cylinder of the turntable 252. The movement of the centrifugal sleeve 231 drives the annular cylinder, circular plate, and second transmission shaft 251 to rotate synchronously clockwise, thereby driving the eccentric disc 253 to rotate. Because the central axis of the eccentric disc 253 is not collinear with the second transmission shaft 251, the change in its outer profile pushes the third roller 33 and push rod 32 away from the central axis of the eccentric disc 253. The push rod 32 drives the two connecting rods 341 and gear 342 to rotate in opposite directions (one clockwise, one counterclockwise), driving the two special-shaped racks 344 away from each other along the guide rails 343. These racks 344, respectively, press against the side of the web of the I-beam 50 and the clockwise rotating travel roller 40. The frictional resistance between the special-shaped racks 344 and the contact surfaces creates a bidirectional braking force, forcing the travel roller 40 to decelerate until it stops. Once the push rod 32 is in place, its groove aligns with the plug of the push rod 352. The second compression spring 353 pushes the plug into the groove, locking the push rod 32 and maintaining the braking state, thus reliably braking the travel roller 40 under clockwise rotation.

[0053] The braking principle process when the travel roller 40 rotates counterclockwise: When the robot accelerates while sliding counterclockwise along a steep track, the running roller 40 in contact with the track rotates counterclockwise, driving the first roller 12, which is frictionally connected to it, to rotate counterclockwise in tandem. The first roller 12, via the conveyor belt 14, drives the coaxially connected second roller 13 and the first transmission shaft 221 to rotate counterclockwise. The first transmission shaft 221 then drives the rotating column 223, which is vertically fixed at its second end, and two symmetrically arranged centrifugal sleeves 231 to rotate synchronously. As the robot's speed increases while sliding down the slope, the centrifugal force generated by the rotation of the centrifugal sleeves 231 gradually increases. When the rotation speed exceeds a preset threshold, the centrifugal force overcomes the tension constraint of the first compression spring 241, causing the two centrifugal sleeves 231 to move axially along the rotating column 223, away from the central axis of the first transmission shaft 221, to the maximum displacement limited by the first compression spring 241, and then engage the corresponding notch at the bottom of the annular cylinder of the turntable 252. The movement of the centrifugal sleeve 231 drives the annular cylinder, the circular plate and the second transmission shaft 251 to rotate counterclockwise synchronously, thereby driving the eccentric disk 253 to rotate; because the center axis of the eccentric disk 253 is not colinear with the second transmission shaft 251, the change in its outer contour drives the third roller 33 and the push rod 32 to move in the direction away from the center axis of the eccentric disk 253, and the push rod 32 drives the two connecting rods 341 and the gear 342 to rotate in opposite directions (one counterclockwise and one clockwise), driving the two special-shaped racks 344 to move away from each other along the slide rail 343, respectively pressing against the side of the web of the I-beam 50 and the counterclockwise rotating walking roller 40. The friction resistance between the special-shaped rack 344 and the contact surface forms a bidirectional braking force, forcing the walking roller 40 to slow down until it stops; after the push rod 32 moves into place, its groove is aligned with the plug of the push rod 352, and the second compression spring 353 pushes the plug to embed into the groove to lock the push rod 32, maintaining the braking state, thereby ensuring reliable braking of the walking roller 40 under counterclockwise rotation conditions; the transmission path of the counterclockwise working condition is completely symmetrical with the clockwise condition, only the rotation direction is opposite, and the braking trigger and execution logic are consistent.

[0054] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A transmission and clamping roller brake device for a mining inspection robot, characterized in that: include: A driving mechanism, wherein the driving mechanism is in frictional rolling connection with the I-beam, and the driving mechanism moves with the robot and rotates frictionally with the I-beam during movement of the robot; A centrifugal brake trigger mechanism, comprising a housing, a transmission mechanism, a centrifugal mechanism, a first limit mechanism, and a brake trigger mechanism; the housing is fixedly connected to the robot; The first end of the transmission mechanism is in transmission connection with the driving mechanism, and the transmission mechanism is used to receive the rotational power of the driving mechanism; The centrifugal mechanism is disposed in the housing and is movably disposed at the second end of the transmission mechanism with the rotation axis of the transmission mechanism as an axis of symmetry; The first limiting mechanism is disposed in the housing and is respectively connected to the second end of the transmission mechanism and the centrifugal mechanism, and the first limiting mechanism applies a pulling force to the centrifugal mechanism; during the rotation of the transmission mechanism, when the centrifugal force of the centrifugal mechanism is greater than the pulling force applied by the first limiting mechanism, the centrifugal mechanism moves in a direction away from the axis of symmetry to a limited position; The brake trigger mechanism is rotatably mounted on the housing, and when the centrifugal mechanism moves to the limited position, the centrifugal mechanism cooperates with the first end of the brake trigger mechanism to drive the brake trigger mechanism to rotate; a braking mechanism, wherein a first end of the braking mechanism is in contact with and connected to a second end of the braking trigger mechanism, and during rotation of the braking trigger mechanism, the second end of the braking mechanism is respectively pressed against the walking roller of the robot and the I-beam to stop the robot from moving; The first end of the transmission mechanism is located outside the shell, and the second end of the transmission mechanism is located inside the shell; the centrifugal brake trigger mechanism is fixedly connected to the robot, and the drive mechanism is fixedly connected to the centrifugal brake trigger mechanism.

2. The transmission and clamping roller brake device of the mining inspection robot according to claim 1 is characterized in that: The driving mechanism comprises: A limiting bracket, the limiting bracket is fixedly connected to the housing; a first roller, the first roller being rotatably connected to the limiting bracket and being in frictional rolling connection with the I-beam; the movement of the robot drives the first roller to rotate; a second roller, the second roller being fixedly connected to the first roller, and the central axis of the second roller coincides with the central axis of the first roller; The rotation of the first roller drives the rotation of the second roller, and the second roller is in transmission connection with the centrifugal brake triggering mechanism.

3. The transmission and clamping roller brake device of the mining inspection robot according to claim 2 is characterized in that: The housing comprises a first housing and a second housing fixedly fastened to each other; The first shell is fixedly connected to the robot via a connecting frame; The first shell is fixedly connected to the limiting bracket via a connecting rod; The second housing is fixedly connected to the brake mechanism.

4. The transmission and pressing roller brake device of the mining inspection robot according to claim 3 is characterized in that: The inner walls of the first shell and the second shell together form an accommodating cavity, and the transmission mechanism includes: a first transmission shaft rotatably disposed on the first housing; a transmission wheel, the transmission wheel being fixedly sleeved on the first end of the first transmission shaft, and the transmission wheel being connected to the second roller via a conveyor belt; a rotating column, the rotating column being perpendicular to the first transmission shaft and symmetrically fixed to the second end of the first transmission shaft; Among them, the first end of the first transmission shaft is located outside the shell, and the second end of the first transmission shaft is located in the accommodating cavity; the second roller drives the transmission wheel to rotate, the transmission wheel drives the first transmission shaft to rotate, and the first transmission shaft drives the rotating column to rotate around the central axis of the first transmission shaft.

5. The transmission and pressing roller brake device of the mining inspection robot according to claim 4 is characterized in that: Two hanging ears are symmetrically provided at the second end of the first transmission shaft, and the centrifugal mechanism includes: Two centrifugal sliding sleeves are movably sleeved on both ends of the rotating column with the rotation axis of the first transmission shaft as a symmetry axis.

6. The transmission and clamping roller brake device of the mining inspection robot according to claim 5 is characterized in that: A hanging hole is provided on the outer edge of one end of the centrifugal sleeve close to the first transmission shaft; the first limiting mechanism includes: Two first compression springs, each first compression spring having a first end hung on one of the hanging ears and a second end hung on a hanging hole; each first compression spring applies tension to a corresponding centrifugal sleeve; In which, the centrifugal sleeve remains stationary when the centrifugal force it is subjected to is less than the corresponding tension of the first compression spring; when the centrifugal force it is subjected to exceeds the tension of the first compression spring, the centrifugal sleeve moves along the axial direction of the rotating column in a direction away from the central axis of the first transmission shaft to the maximum displacement limited by the first compression spring.

7. The transmission and clamping roller brake device of the mining inspection robot according to claim 5 is characterized in that: The brake triggering mechanism comprises: a second transmission shaft rotatably disposed on the second housing, wherein a central axis of the second transmission shaft is collinear with a central axis of the first transmission shaft; a turntable disposed in the accommodating cavity, the turntable comprising a circular plate and an annular cylinder, the circular plate being coaxially fixedly connected to the first end of the second transmission shaft, the first end of the annular cylinder being coaxially fixed to the bottom surface of the circular plate; an end surface of the second end of the annular cylinder not contacting the rotating column; an eccentric disk, disposed at the second end of the second transmission shaft, wherein a central axis of the eccentric disk is not collinear with a central axis of the second transmission shaft; In which, two notches are provided at the bottom of the annular cylinder with the central axis of the annular cylinder as the axis of symmetry, and the size of the notches is larger than the cross-sectional size of the centrifugal sleeve. When the centrifugal force applied to the centrifugal sleeve exceeds the tension of the first compression spring, the centrifugal sleeve moves along the axial direction of the rotating column in the direction away from the central axis of the first transmission shaft to the maximum displacement limited by the first compression spring, and is stuck in one of the notches, driving the annular cylinder, the circular plate, the second transmission shaft and the eccentric disk to rotate in turn. When the eccentric disk rotates, its outer contour changes to push the braking mechanism, so that the braking mechanism presses the walking roller and the I-beam to achieve braking.

8. The transmission and pressing roller brake device of the mining inspection robot according to claim 7 is characterized in that: The braking mechanism comprises: a fixing seat, a first end of which is fixedly connected to the second shell; A push rod, movably arranged on the fixing seat; A third roller is rotatably disposed at the first end of the push rod, the second roller is in rolling connection with the eccentric disk, and the outer contour of the eccentric disk rotates to push the third roller to move away from the central axis of the eccentric disk, thereby driving the push rod to move away from the central axis of the eccentric disk; a clamping mechanism, wherein a first end of the clamping mechanism is connected to the second end of the push rod, and the push rod moves in a direction away from the central axis of the eccentric disk to press against the I-beam and the travel roller; The second limiting mechanism is fixed on the fixing seat, and is used for preventing the push rod from moving in the reverse direction after the push rod moves in a direction away from the central axis of the eccentric disk.

9. The transmission and pressing roller brake device of the mining inspection robot according to claim 8 is characterized in that: The pressing mechanism comprises: two connecting rods, wherein the first ends of the two connecting rods are fixed to the second ends of the push rod; Two gears, each gear being rotatably disposed correspondingly to the second end of one of the connecting rods; A slide rail, arranged on the fixed seat; Two special-shaped racks are movably arranged on the slide rail, and each of the special-shaped racks is meshed with one of the gears; When the push rod moves in a direction away from the central axis of the eccentric disk, it drives the two gears to rotate toward each other, thereby driving the two special-shaped racks to move away from each other until they respectively press against the I-beam and the travel roller.

10. The transmission and clamping roller brake device of the mining inspection robot according to claim 8, characterized in that: A groove is provided on one side of the push rod, and the second limiting mechanism includes: A threaded sleeve, screwed onto the fixing seat; A push rod, the push rod being movably sleeved on the threaded sleeve, one end of the push rod being provided with a plug in contact with the push rod, the size of the plug matching the size of the groove; a second compression spring, sleeved on the push rod and compressed between the threaded sleeve and the plug; When the push rod moves in a direction away from the central axis of the eccentric disk until the groove is opposite to the plug, the second compression spring pushes the plug to embed into the groove to fix the push rod.

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