Transmission pressure roller brake device of mine inspection robot

Abstract

The application provides a mine inspection robot transmission compression roller brake device, which comprises a transmission mechanism receiving rotating power of a driving mechanism, a centrifugal mechanism movably arranged at a second end of the transmission mechanism, a first limiting mechanism applying pulling force to the centrifugal mechanism, a brake trigger mechanism rotating when the centrifugal mechanism moves to a limited position, and a brake mechanism abutting against walking rollers and an I-beam of the robot to stop the robot from moving. When the robot slides downward along the I-beam track at an overspeed under the action of gravity, the driving mechanism is passively rotated by friction with the I-beam during the movement of the robot, the rotating power is transmitted to the centrifugal mechanism, the overspeed makes the centrifugal mechanism move in a direction away from a central axis of the transmission shaft under the action of centrifugal force to push the brake trigger mechanism to rotate, and then the compression mechanism is triggered to abut against the walking rollers and the I-beam web side, so that the rollers are forced to stop rotating and the displacement is limited through double frictional resistance, and the safety of the inspection task is ensured.

Description

Technical Field

[0001] This invention relates to the field of inspection robot technology, and more specifically, to a transmission pressure roller brake device for a mining inspection robot. Background Technology

[0002] Inspection robots, controlled by computers, enable comprehensive environmental monitoring and hazard detection, and feature automated report analysis and anomaly alarm functions, offering significant advantages over manual inspections in the timely handling of safety hazards. However, mining inspection robots pose prominent safety risks when operating on steep tracks for extended periods: firstly, the drive wheels and clamping wheels experience aging and wear due to continuous operation; secondly, the motor braking system may malfunction. Both of these issues could potentially lead to runaway accidents and pose significant safety risks.

[0003] Existing technical solutions primarily employ 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 to fit tightly against the brake disc, preventing the motor shaft from rotating through friction between the two; in the power-on state, current flows through the coil, generating electromagnetic force that attracts the armature to overcome the spring force and separate from the brake disc, allowing the motor shaft to resume free rotation. The brake disc is the friction pad. Existing technical solutions rely on mechanical friction between the armature and the brake disc to achieve braking. Long-term use leads to irreversible wear of the friction pads, requiring periodic replacement and adjustment of the gap to maintain braking performance. Increased wear can easily cause problems such as delayed braking response, insufficient braking force, or even brake slippage, thus affecting braking reliability and making it difficult to effectively address the safety hazards of slippage caused by mechanical wear or brake failure in high-slope track inspection robots.

[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 objective of this invention is to provide a transmission pressure roller brake device for a mining inspection robot, so as to at least solve the problem in the prior art that the friction pads are prone to wear, the braking gap increases and the braking performance decreases due to continuous mechanical friction braking, which leads to the safety hazard of slope slippage.

[0006] To achieve the above objectives, the present invention provides a transmission pressure roller brake device for a mining inspection robot, comprising: a drive mechanism, wherein the drive mechanism is frictionally and rollingly connected to an I-beam, and the drive mechanism moves with the robot and rotates friably with the I-beam during robot movement; and a centrifugal brake triggering mechanism, wherein the centrifugal brake triggering mechanism includes a housing, a transmission mechanism, a centrifugal mechanism, a first limiting mechanism, and a brake triggering mechanism; the housing is fixedly connected to the robot.

[0007] The first end of the transmission mechanism is connected to the drive mechanism, and the transmission mechanism is used to receive the rotational power of the drive mechanism;

[0008] The centrifugal mechanism is disposed inside the housing and is movably disposed at the second end of the transmission mechanism with the rotation axis of the transmission mechanism as the axis of symmetry.

[0009] The first limiting mechanism is disposed inside the housing and is connected to the second end of the transmission mechanism and the centrifugal mechanism respectively. The first limiting mechanism applies a pulling force to the centrifugal mechanism. When the centrifugal force of the centrifugal mechanism is greater than the pulling force applied by the first limiting mechanism during the rotation of the transmission mechanism, the centrifugal mechanism moves to a limited position in a direction away from the axis of symmetry.

[0010] The brake triggering mechanism is rotatably mounted on the housing. When the centrifugal mechanism moves to the defined position, the centrifugal mechanism cooperates with the first end of the brake triggering mechanism to drive the brake triggering mechanism to rotate.

[0011] A braking mechanism, wherein the first end of the braking mechanism is in contact with the second end of the braking triggering mechanism, and during the rotation of the braking triggering mechanism, the second end of the braking mechanism abuts against the robot's walking roller and the I-beam respectively to stop the robot from moving;

[0012] The first end of the transmission mechanism is located outside the housing, and the second end of the transmission mechanism is located inside the housing; the centrifugal brake trigger mechanism is fixedly connected to the robot, and the drive mechanism is fixedly connected to the centrifugal brake trigger mechanism.

[0013] Optionally, the drive mechanism includes:

[0014] A limiting bracket, which is fixedly connected to the housing;

[0015] A first roller is rotatably connected to the limiting bracket, and the first roller is in frictional rolling connection with the I-beam; the movement of the robot drives the first roller to rotate.

[0016] The second roller is fixedly connected to the first roller, and the central axis of the second roller coincides with that of the first roller;

[0017] The first roller rotates, which drives the second roller to rotate. The second roller is connected to the centrifugal brake triggering mechanism.

[0018] Optionally, the housing includes a first housing and a second housing that are fixedly fastened together with each other;

[0019] The first housing is fixedly connected to the robot via a connecting frame;

[0020] The first housing is fixedly connected to the limiting bracket via a connecting rod;

[0021] The second housing is fixedly connected to the braking mechanism.

[0022] Optionally, the inner walls of the first housing and the second housing together form a receiving cavity, and the transmission mechanism includes:

[0023] A first drive shaft is rotatably mounted on the first housing;

[0024] A transmission wheel is fixedly sleeved on the first end of the first transmission shaft, and the transmission wheel is connected to the second roller via a conveyor belt.

[0025] A rotating column, which is perpendicular to the first drive shaft and symmetrically fixed to the second end of the first drive shaft;

[0026] Wherein, the first end of the first drive shaft is located outside the housing, and the second end of the first drive shaft is located inside the receiving cavity; the second roller drives the drive wheel to rotate, the drive wheel drives the first drive shaft to rotate, and the first drive shaft drives the rotating column to rotate around the central axis of the first drive shaft.

[0027] Optionally, two lugs are symmetrically arranged at the second end of the first drive shaft, and the centrifugal mechanism includes:

[0028] Two centrifugal sliding sleeves are movably fitted onto both ends of the rotating column about the rotation axis of the first drive shaft.

[0029] Optionally, the centrifugal sliding sleeve has a hanging hole on its outer edge near one end of the first drive shaft; the first limiting mechanism includes:

[0030] Two first compression springs, each first compression spring having its first end attached to a hook and its second end attached to a hook hole; each first compression spring applies tension to one of the centrifugal sleeves.

[0031] The centrifugal sliding sleeve remains stationary when the centrifugal force it receives is less than the tension of the corresponding first compression spring; when the centrifugal force it receives exceeds the tension of the first compression spring, the centrifugal sliding 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.

[0032] Optionally, the braking triggering mechanism includes:

[0033] The second drive shaft is rotatably mounted on the second housing, and the central axis of the second drive shaft is collinear with the central axis of the first drive shaft.

[0034] A turntable is disposed within the receiving cavity. The turntable includes a circular plate and an annular cylinder. The circular plate is coaxially and fixedly connected to the first end of the second transmission shaft. The first end of the annular cylinder is coaxially fixed to the bottom surface of the circular plate. The end face of the second end of the annular cylinder does not contact the rotating column.

[0035] An eccentric disc is disposed at the second end of the second drive shaft, and the central axis of the eccentric disc is not collinear with the central axis of the second drive shaft;

[0036] The bottom of the annular cylinder has two notches with the central axis of the annular cylinder as the axis of symmetry. The size of the notches is larger than the cross-sectional size of the centrifugal sliding sleeve. When the centrifugal force on the centrifugal sliding sleeve exceeds the tension of the first compression spring, the centrifugal sliding sleeve moves along the axial direction of the rotating column away from the central axis of the first transmission shaft to the maximum displacement limited by the first compression spring, and gets into one of the notches. This drives the annular cylinder, the circular plate, the second transmission shaft and the eccentric disk to rotate in sequence. When the eccentric disk rotates, its outer contour changes and pushes the braking mechanism, so that the braking mechanism presses the traveling roller and the I-beam to achieve braking.

[0037] Optionally, the braking mechanism includes:

[0038] The fixing base, the first end of which is fixedly connected to the second housing;

[0039] The push rod is movably mounted on the fixed base;

[0040] The third roller is rotatably mounted at the first end of the push rod. The second roller is rollingly connected to the eccentric disk. The outer contour of the eccentric disk changes as it rotates, pushing 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.

[0041] A clamping mechanism, wherein the first end of the clamping mechanism is connected to the second end of the push rod, and the push rod moves away from the central axis of the eccentric plate to press against the I-beam and the traveling roller;

[0042] The second limiting mechanism is fixed on the fixed base. The second limiting mechanism is used to prevent the push rod from moving in the opposite direction after the push rod moves away from the central axis of the eccentric disk.

[0043] Optionally, the clamping mechanism includes:

[0044] Two connecting rods, the first ends of which are fixed to the second end of the push rod;

[0045] Two gears, each rotatably disposed at the second end of one of the connecting rods;

[0046] The slide rail is mounted on the fixed base;

[0047] Two irregularly shaped racks are movably mounted on the slide rail, and each of the irregularly shaped racks meshes with one of the gears;

[0048] When the push rod moves away from the central axis of the eccentric disc, it drives the two gears to rotate in opposite directions, thereby causing the two irregularly shaped racks to move away from each other until they respectively abut against the I-beam and the traveling roller.

[0049] Optionally, a groove is provided on one side of the push rod, and the second limiting mechanism includes:

[0050] A threaded sliding sleeve is screwed onto the fixed base;

[0051] A push rod is movably fitted onto the threaded sleeve, and one end of the push rod is provided with a plug that contacts the push rod, the size of the plug matching the size of the groove;

[0052] The second compression spring is sleeved on the top rod and pressed between the threaded sleeve and the plug;

[0053] When the push rod moves away from the central axis of the eccentric disk until the groove is opposite to the plug, the second compression spring pushes the plug into the groove to fix the push rod.

[0054] This invention discloses a transmission and clamping roller brake device for a mining inspection robot, comprising: a drive mechanism that is frictionally and rollingly connected to an I-beam, moving with the robot and rotating friably against the I-beam during robot movement; a centrifugal braking trigger mechanism including a housing, a transmission mechanism, a first limiting mechanism for the centrifugal mechanism, and a braking trigger mechanism; the housing is fixedly connected to the robot; the first end of the transmission mechanism is transmissionally connected to the drive mechanism, and the transmission mechanism is used to receive the rotational power of the drive mechanism; the centrifugal mechanism is disposed within the housing and movably disposed 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 disposed within the housing and is connected to the second end of the transmission mechanism and the centrifugal mechanism respectively, 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 tension 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 housing, 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 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 abuts against the robot's walking roller and the I-beam respectively to stop the robot from moving; wherein, the first end of the transmission mechanism is located outside the housing, and the second end of the transmission mechanism is located inside the housing; the centrifugal brake trigger mechanism is fixedly connected to the robot, and the drive mechanism is fixedly connected to the centrifugal brake trigger mechanism. When the robot is on a slope or loses power due to a power outage / malfunction, gravity causes it to slide down the I-beam track. During the robot's movement, the drive mechanism passively rotates due to friction with the I-beam. The rotational power is transmitted to the centrifugal mechanism via the transmission mechanism. The centrifugal mechanism, under the action of centrifugal force, overcomes the tension constraint of the first limit mechanism and moves to the limited position in a direction away from the central axis of the drive shaft. After moving to the limited position, it pushes the braking trigger mechanism to rotate, which in turn triggers the clamping mechanism to press against the traveling roller and the side of the I-beam web. Through the double frictional resistance, the roller is forced to stop rotating and the displacement is limited. This scheme only triggers braking when the robot is sliding too fast on the slope. There is no friction loss during 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, so the reliability is higher. Moreover, the double contact surface between the clamping roller and the track / roller forms redundant braking force, effectively solving the risk of loss of control caused by the failure of a single motor brake and ensuring the safety of inspection tasks. Attached Figure Description

[0055] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0056] Figure 1 This is a schematic diagram of the structure of a first optional transmission pressing roller brake device for a mining inspection robot according to an embodiment of the present invention;

[0057] Figure 2 This is a schematic diagram of the structure of a second optional transmission pressing roller brake device for a mining inspection robot according to an embodiment of the present invention;

[0058] Figure 3 This is a schematic diagram of an optional drive mechanism structure according to an embodiment of the present invention;

[0059] Figure 4 This is a schematic diagram of an optional centrifugal braking triggering mechanism according to an embodiment of the present invention;

[0060] Figure 5 This is a schematic diagram of an optional braking mechanism structure according to an embodiment of the present invention;

[0061] Figure 6 This is a schematic diagram of an optional turntable structure according to an embodiment of the present invention;

[0062] Figure 7 This is a schematic diagram showing the connection between the optional centrifugal mechanism and the first limiting mechanism according to an embodiment of the present invention.

[0063] Figure label:

[0064] 10. Drive mechanism; 11. Limiting bracket; 12. First roller; 13. Second roller; 14. Conveyor belt; 20. Centrifugal brake triggering mechanism; 21. Housing; 211. First housing; 212. Second housing; 22. Transmission mechanism; 221. First transmission shaft; 222. Transmission wheel; 223. Rotating column; 224. Lug; 23. Centrifugal mechanism; 231. Centrifugal sliding sleeve; 24. First limiting mechanism; 241. First compression spring; 25. Brake triggering mechanism; 251. Second drive shaft; 252, turntable; 253, eccentric disc; 30, braking mechanism; 31, fixed seat; 32, push rod; 33, third roller; 34, clamping mechanism; 341, connecting rod; 342, gear; 343, slide rail; 344, irregular rack; 35, second limiting mechanism; 351, threaded sleeve; 352, push rod; 353, second compression spring; 36, fixed bearing sleeve; 40, traveling roller; 50, I-beam; 60, frame; 70, connecting bracket; 80, connecting rod. Detailed Implementation

[0065] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0066] like Figure 1-7 As shown, a transmission clamping roller brake device for a mine inspection robot includes:

[0067] The drive mechanism 10 is frictionally and rollingly connected to the I-beam 50. The drive mechanism 10 moves with the robot and rotates friably with the I-beam 50 during the robot's movement.

[0068] Centrifugal brake triggering mechanism 20, which includes housing 21, transmission mechanism 22, centrifugal mechanism 23, first limiting mechanism 24 and brake triggering mechanism 25; housing 21 is fixedly connected to robot;

[0069] The first end of the transmission mechanism 22 is connected to the drive mechanism 10 in a transmission manner, and the transmission mechanism 22 is used to receive the rotational power of the drive mechanism 10.

[0070] The centrifugal mechanism 23 is disposed inside 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 the axis of symmetry.

[0071] The first limiting mechanism 24 is disposed inside 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. When the centrifugal force of the centrifugal mechanism 23 is greater than the pulling force applied by the first limiting mechanism 24 during the rotation of the transmission mechanism 22, the centrifugal mechanism 23 moves to a limited position along the direction away from the axis of symmetry.

[0072] The brake triggering mechanism 25 is rotatably mounted on the housing 21. When the centrifugal mechanism 23 moves to the defined position, the centrifugal mechanism 23 cooperates with the first end of the brake triggering mechanism 25 to drive the brake triggering mechanism 25 to rotate.

[0073] Braking mechanism 30, the first end of which is in contact with the second end of braking trigger mechanism 25. During the rotation of braking trigger mechanism 25, the second end of braking mechanism 30 abuts against the robot's walking roller 40 and the I-beam 50 respectively to stop the robot from moving.

[0074] The first end of the transmission mechanism 22 is located outside the housing 21, and the second end of the transmission mechanism 22 is located inside the housing 21; the centrifugal brake triggering mechanism 20 is fixedly connected to the robot, and the drive mechanism 10 is fixedly connected to the centrifugal brake triggering mechanism 20.

[0075] 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. This provides installation support and physical protection for the internal transmission mechanism 22, centrifugal mechanism 23, first limit mechanism 24 and brake triggering mechanism 25, and ensures that the reaction force generated when the brake is triggered can be directly transmitted to the robot body. This allows the centrifugal mechanism 23, brake triggering mechanism 25 and clamping mechanism 34 to maintain a precise spatial fit with the robot's walking rollers 40 and I-beams 50. This ensures that when the robot slips or overspeeds, the centrifugal mechanism 23 can reliably move based on the rotational speed change of the transmission mechanism 22, and then the brake triggering mechanism 25 drives the brake mechanism 30 to press against the side of the walking rollers 40 and the web of the I-beams 50 to achieve braking.

[0076] The drive mechanism 10 is connected to the H-beam 50 track in a rolling manner. When the robot moves normally, the drive mechanism 10 moves synchronously with the robot and rolls due to frictional contact with the H-beam 50. Its rotational speed is positively correlated with the ramp speed, and the rotational power is transmitted to the subsequent braking mechanism 30 through the transmission mechanism 22. The first end of the transmission mechanism 22 is connected to the drive mechanism 10, receives the rotational power of the drive mechanism 10 and transmits it to the subsequent components, and 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 the second end of the transmission mechanism 22 and is symmetrically arranged about the rotation axis of the transmission mechanism 22. When the robot accelerates down the ramp, the transmission mechanism 22 is driven to rotate faster, and the centrifugal mechanism 23 tends to move away from the axis due to centrifugal force. When the robot is moving normally, the centrifugal mechanism 23 is constrained and kept in its original position by the first limiting mechanism 24. When the ramp causes the rotational speed to exceed the threshold, that is, when the centrifugal force on the centrifugal mechanism 23 is greater than the tension applied to it by the first limiting mechanism 24, it breaks through the constraint and begins to move.

[0077] The first limiting mechanism 24 is located inside the housing 21, with its two ends connected to the second end of the transmission mechanism 22 and the centrifugal mechanism 23, respectively, and applies an inward pulling force to the centrifugal mechanism 23. When the robot is moving normally, it holds the centrifugal mechanism 23 so that it is pressed tightly against the transmission mechanism 22 and does not move, ensuring that the braking system is not accidentally triggered when the robot is moving at low speed or stationary; when the robot accelerates on the slope and the rotational speed increases, causing the centrifugal force to exceed the pulling force, the centrifugal mechanism 23 breaks through the constraint and moves outward.

[0078] The brake triggering mechanism 25 is rotatably mounted on the housing 21, corresponding to the moving position of the centrifugal mechanism 23. When the centrifugal mechanism 23 moves to the predetermined position, the brake triggering mechanism 25 contacts and engages with the centrifugal mechanism 23, converting the linear motion of the centrifugal mechanism 23 into the rotational motion of the brake triggering mechanism 25, thus initiating the braking process.

[0079] The first end of the braking mechanism 30 is in contact with the second end of the braking trigger mechanism 25. When the braking trigger mechanism 25 rotates, its second end pushes the braking mechanism 30, causing the second end of the braking mechanism 30 to simultaneously press against the robot's walking roller 40 and the web of the I-beam 50; the walking roller 40 is forced to stop rotating by frictional resistance, thereby restricting the robot's movement and preventing it from sliding down the slope.

[0080] In this application, when the robot is on a slope or loses power due to a power outage / malfunction, gravity causes it to slide down the track of the I-beam 50. During the robot's movement, the drive mechanism 10 achieves passive rotation through friction with the I-beam 50. The rotational power is transmitted to the centrifugal mechanism 23 via the transmission mechanism 22. The centrifugal mechanism 23 overcomes the tension constraint of the first limiting mechanism 24 under the action of centrifugal force and moves to the limited position in a direction away from the central axis of the transmission shaft. Then, it 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. The double frictional resistance forces the roller to stop rotating and limits the displacement. This scheme only triggers braking when the robot is overspeeding on the slope. There is no friction loss during 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, so the reliability is higher. Moreover, the double contact surface of the pressing roller and the track / roller forms redundant braking force, effectively solving the risk of loss of control caused by the failure of a single motor brake and ensuring the safety of the inspection task.

[0081] In one possible implementation, the drive mechanism 10 includes:

[0082] Limiting bracket 11, which is fixedly connected to the housing 21;

[0083] The first roller 12 is rotatably connected to the limiting bracket 11, and the first roller 12 is in frictional rolling connection with the I-beam 50; the movement of the robot drives the first roller 12 to rotate.

[0084] The second roller 13 is fixedly connected to the first roller 12, and the central axis of the second roller 13 coincides with that of the first roller 12.

[0085] The first roller 12 rotates, driving the second roller 13 to rotate. The second roller 13 is connected to the centrifugal brake triggering mechanism 20.

[0086] Specifically, the drive mechanism 10 includes a limiting bracket 11, a first roller 12, and a second roller 13, which are fixedly connected to the centrifugal brake triggering mechanism 20. The limiting 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 rotation direction. The first roller 12 makes frictional rolling contact with the H-beam 50 track. When the robot moves, the H-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 robot's moving speed. 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 triggering mechanism 20, serving as the power source for subsequent centrifugal brake triggering.

[0087] In one possible implementation, the housing 21 includes a first housing 211 and a second housing 212 that are fixedly fastened to each other;

[0088] The first housing 211 is fixedly connected to the robot via a connecting frame 70;

[0089] The first housing 211 is fixedly connected to the limiting bracket 11 via a connecting rod 80;

[0090] The second housing 212 is fixedly connected to the braking mechanism 30.

[0091] Specifically, the housing 21 consists of a first housing 211 and a second housing 212 that are fixedly fastened together, forming a complete enclosed structure to accommodate and protect the internal components. The first housing 211 is the main connecting carrier to the robot body and is rigidly fixed to the frame 60 of the robot body through the connecting frame 70, ensuring that the entire centrifugal braking trigger mechanism 20 and the robot form a stable whole. The first housing 211 is fixedly connected to the limiting bracket 11 in the drive mechanism 10 through the connecting rod 80, so that the drive mechanism 10 and the housing 21 maintain a fixed relative position, ensuring that when the drive mechanism 10 rotates, the power can be stably transmitted to the centrifugal mechanism 23 inside the housing 21 through the transmission mechanism 22. The second housing 212 is fixedly connected to the braking mechanism 30, thereby realizing the continuous action of centrifugal triggering and braking clamping when the slope exceeds the speed limit.

[0092] In one possible implementation, the inner walls of the first housing 211 and the second housing 212 together form a receiving cavity, and the transmission mechanism 22 includes:

[0093] A first drive shaft 221 is rotatably mounted on the first housing 211;

[0094] 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 through the transmission belt 14.

[0095] A rotating column 223 is perpendicular to the first transmission shaft 221 and is symmetrically fixed to the second end of the first transmission shaft 221.

[0096] Wherein, the first end of the first drive shaft 221 is located outside the housing 21, and the second end of the first drive shaft 221 is located inside the receiving cavity; the second roller 13 drives the drive wheel 222 to rotate, the drive wheel 222 drives the first drive shaft 221 to rotate, and the first drive shaft 221 drives the rotating column 223 to rotate around the central axis of the first drive shaft 221.

[0097] Specifically, the transmission mechanism 22 includes a first transmission shaft 221, a transmission wheel 222, and a rotating column 223, which are installed as a whole in the receiving cavity formed by the inner walls of the first housing 211 and the second housing 212. The first transmission shaft 221 is rotatably supported on the first housing 211. The first end of the first transmission shaft 221 extends out of the housing 21 and is connected to the second roller 13 in the drive mechanism 10 via a conveyor belt 14. The second end of the first transmission shaft 221 is located in the receiving cavity and a rotating column 223 is vertically fixedly installed thereon. The rotating column 223 is symmetrical about the central axis of the first transmission shaft 221. The first housing 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 and serves as an intermediate medium for power transmission, converting the rotational motion of the second roller 13 into the rotation of the first transmission shaft 221. The rotating column 223 rotates synchronously with the first transmission shaft 221, providing a rotational basis for the subsequent movement of the centrifugal mechanism 23.

[0098] The first housing 211 provides stable support for the first drive shaft 221, ensuring that power is smoothly transmitted from the second roller 13 to the first drive shaft 221 via the conveyor belt 14, reducing swaying deviation; the cavity structure protects the 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 drive shaft 221) ensures the balance of the center of gravity during rotation, driving the centrifugal mechanism 23 to generate stable and regular centrifugal force changes, triggering more accurately and reliably, thereby comprehensively improving the stability and reliability of the braking system.

[0099] When the robot moves, the I-beam 50 makes 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, which is 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, so that the rotating column 223 makes circular motion around the central axis of the first transmission shaft 221.

[0100] In one possible implementation, two lugs 224 are symmetrically arranged at the second end of the first drive shaft 221, and the centrifugal mechanism 23 includes:

[0101] Two centrifugal sliding sleeves 231 are movably sleeved at both ends of the rotating column 223 with the rotation axis of the first transmission shaft 221 as the axis of symmetry.

[0102] Specifically, the symmetrically distributed rotating column 223 and lug 224 can ensure the uniform transmission of rotational force, so that the rotating column 223 is balanced when it revolves around the central axis of the first drive shaft 221, reducing eccentric vibration; the two centrifugal sliding sleeves 231 are symmetrically sleeved at both ends of the rotating column 223, forming a stable movable fit structure with the rotating column 223. When the first drive shaft 221 accelerates and rotates with the drive mechanism 10, the two centrifugal sliding sleeves 231 move outward synchronously under the action of centrifugal force, ensuring the consistency and synchronicity of centrifugal force triggering; the symmetrical centrifugal sliding sleeves 231 eliminate the risk of unilateral load, so that the centrifugal sliding sleeves 231 can stably push the brake triggering mechanism 25 to rotate when it reaches the limited position, thereby reliably driving the clamping mechanism 34 to press against the side of the traveling roller 40 and the web of the I-beam 50 to achieve braking.

[0103] In one possible implementation, the centrifugal sliding sleeve 231 has a hanging hole on its outer edge near one end of the first drive shaft 221; the first limiting mechanism 24 includes:

[0104] Two first compression springs 241, each first compression spring 241 having its first end attached to a hook 224 and its second end attached to a hook hole; each first compression spring 241 applies tension to a corresponding centrifugal sleeve 231;

[0105] The centrifugal sliding 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 received by the centrifugal sliding sleeve 231 exceeds the tension of the first compression spring 241, the centrifugal sliding 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.

[0106] Specifically, each of the two first compression springs 241 is connected to a centrifugal sleeve 231, ensuring that the tension applied to each centrifugal sleeve 231 is consistent in magnitude and opposite in direction. This allows the centrifugal sleeve 231 to remain stable in its original position without wobbling when the robot is moving normally and the first drive shaft 221 is rotating at low speed (i.e., the centrifugal force is less than the tension of the first compression spring 241), thus avoiding accidental braking. When the robot accelerates downhill, causing the speed of the first drive shaft 221 to exceed the 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 axis of the rotating column 223 in a direction away from the central axis of the first drive shaft 221 to the maximum displacement limited by the first compression spring 241. This synchronous response ensures the consistency and coordination of centrifugal force triggering. The tension limitation of the first compression spring 241 ensures that braking is only activated during overspeed downhill movement. Normal operation has no additional friction loss. At the same time, the symmetrical spring structure eliminates the risk of unilateral load, ensuring that the centrifugal sleeve 231 reliably pushes the braking trigger mechanism 25 to operate after it has moved stably to the limited position. The threshold refers to the critical speed state determined by the mass of the centrifugal sleeve 231, its connection position with the rotating column 223 (i.e., the rotation radius r), and the real-time angular velocity ω of the first drive shaft 221 during the rotation of the first drive shaft 221 driving the rotating column 223 and the centrifugal sleeves 231 symmetrically sleeved at both ends. Specifically, it is manifested when the centrifugal force generated by the rotation of the centrifugal sleeve 231 (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) increases to exceed the pressure exerted by the first compression spring 241 on the centrifugal sleeve 231 in the first limit mechanism 24. The angular velocity value of the first drive shaft 221 when the centripetal tension (F_pull = k·x0, where k is the spring constant of the first compression spring 241 and x0 is the pre-tension length of the first compression spring 241) is reached. This threshold is determined by the dynamic balance between the tension of the first compression spring 241 and the centrifugal force. When the robot's ramp speed increases and the angular velocity of the first drive shaft 221 exceeds this critical value, the centrifugal force on the centrifugal sleeve 231 will break through the constraint of the first compression spring 241, driving it to move along the axis of the rotating column 223 in a direction away from the central axis of the first drive shaft 221 to the maximum displacement limited by the tension limit of the first compression spring 241, thereby triggering subsequent braking actions.

[0107] In one possible implementation, the braking trigger mechanism 25 includes:

[0108] The second drive shaft 251 is rotatably mounted on the second housing 212, and the central axis of the second drive shaft 251 is collinear with the central axis of the first drive shaft 221.

[0109] A turntable 252 is disposed within the receiving cavity. The turntable 252 includes a circular plate and an annular cylinder. The circular plate is coaxially and 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 face of the second end of the annular cylinder does not contact the rotating column 223.

[0110] An eccentric disk 253 is disposed at the second end of the second transmission shaft 251, and the central axis of the eccentric disk 253 is not collinear with the central axis of the second transmission shaft 251;

[0111] The bottom of the annular cylinder has two notches with the central axis of the annular cylinder as the axis of symmetry. The size of the notches is larger than the cross-sectional size of the centrifugal sleeve 231. When the centrifugal force on 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 away from the central axis of the first transmission shaft 221 to the maximum displacement limited by the first compression spring 241, and gets into one of the notches. This drives the annular cylinder, the circular plate, the second transmission shaft 251 and the eccentric disk 253 to rotate in sequence. When the eccentric disk 253 rotates, its outer contour changes and pushes the braking mechanism 30, so that the braking mechanism 30 presses the traveling roller 40 and the I-beam 50 to achieve braking.

[0112] Specifically, the brake triggering mechanism 25 consists of a second drive shaft 251, a turntable 252, and an eccentric disk 253. The second drive shaft 251 is rotatably supported on the second housing 212, and its central axis is collinear with the first drive shaft 221 to ensure linear power transmission. The turntable 252 includes a circular plate and an annular cylinder. The circular plate is coaxially fixed with the first end of the second drive shaft 251, and the bottom surface of the annular cylinder is fixed to the bottom of the circular plate. Its second end face maintains a gap with the rotating column 223. Two notches larger than the cross-section of the centrifugal sliding sleeve 231 are symmetrically opened at the bottom of the annular cylinder. The eccentric disk 253 is located at the second end of the second drive shaft 251, and its central axis is not collinear with the second drive shaft 251. When the robot accelerates down the slope and the speed of the first drive shaft 221 exceeds the threshold, the centrifugal sleeve 231 is subjected to centrifugal force that breaks through the tension of the corresponding first compression spring 241, moves along the axis of the rotating column 223 to the maximum displacement and gets stuck in the notch of the annular cylinder, pushing the annular cylinder, the circular plate and the second drive shaft 251 to rotate synchronously, thereby driving the eccentric disk 253 to rotate.

[0113] Because the center of the eccentric disk 253 is not collinear with the shaft, the change in its outer contour during rotation pushes the braking mechanism 30, causing the braking mechanism 30 to press against the traveling roller 40 and the I-beam 50 to achieve braking. The radial movement of the centrifugal sleeve 231 is precisely converted into the axial rotation of the turntable 252 through the notch insertion, which is reliable and consistent. The rigid connection between the turntable 252 and the second transmission shaft 251 ensures stable force transmission and avoids failure due to off-center load. It relies on centrifugal force and the tension of the first compression spring 241 for adaptive triggering, requiring no additional energy. It can still passively brake in the event of power failure or malfunction, thereby improving the braking safety and reliability under the condition of sloping.

[0114] In one possible implementation, the braking mechanism 30 includes:

[0115] Fixing base 31, the first end of which is fixedly connected to the second housing 212;

[0116] The push rod 32 is movably mounted on the fixed base 31;

[0117] The third roller 33 is rotatably disposed at the first end of the push rod 32. The second roller 13 is rolledly connected to the eccentric disk 253. The outer contour of the eccentric disk 253 changes with rotation, which pushes the third roller 33 to move 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.

[0118] A clamping mechanism 34, the first end of which is connected to the second end of the push rod 32, the push rod 32 moves away from the central axis of the eccentric disk 253 to press against the I-beam 50 and the traveling roller 40;

[0119] The second limiting mechanism 35 is fixed on the fixed base 31. The second limiting mechanism 35 is used to prevent the push rod 32 from moving in the opposite direction after the push rod 32 moves away from the central axis of the eccentric disk 253.

[0120] Specifically, the first end of the fixed base 31 is fixed to the second housing 212, providing a sliding track for the push rod 32; a fixed bearing sleeve 36 is fixedly installed on the fixed base 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 braking displacement, and restricts the radial swing of the push rod 32 by an annular limiting structure. One end of the push rod 32 is equipped with a rotatable third roller 33, and the other end is connected to the clamping mechanism 34; when the eccentric disk 253 rotates, its The non-collinear central axes cause periodic changes in the outer contour. When the protruding part of the contour contacts the third roller 33, it pushes the third roller 33 and the push rod 32 to move away from the central axis of the eccentric disk 253. The movement of the push rod 32 drives the pressing mechanism 34 to move synchronously, so that the second end of the pressing mechanism 34 simultaneously presses against the side of the web of the traveling roller 40 and the I-beam 50, and forces the robot to stop moving through the frictional resistance between the two. 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 retracting due to vibration or reverse force, and ensures that the braking state remains stable.

[0121] This application converts the rotational motion of the eccentric disk 253 into the linear displacement of the push rod 32, and uses the rolling contact of the third roller 33 to reduce friction loss and improve transmission efficiency; the pressing mechanism 34 simultaneously presses against the traveling roller 40 and the I-beam 50 to form double friction resistance, thereby improving braking force and making the braking effect more reliable; the overall structure adopts mechanical linkage, requiring no electronic components or external energy, adapting to harsh environments such as dust and humidity, and is simple to maintain and has a long service life.

[0122] In one possible implementation, the clamping mechanism 34 includes:

[0123] Two connecting rods 341, the first ends of the two connecting rods 341 being fixed to the second end of the push rod 32;

[0124] Two gears 342, each gear 342 being rotatably disposed at the second end of one of the connecting rods 341;

[0125] The slide rail 343 is mounted on the fixed base 31;

[0126] Two irregularly shaped racks 344 are movably mounted on the slide rail 343, and each of the irregularly shaped racks 344 meshes with one of the gears 342.

[0127] When the push rod 32 moves away from the central axis of the eccentric disk 253, it drives the two gears 342 to rotate in opposite directions, thereby driving the two irregular racks 344 to move away from each other until they respectively abut against the I-beam 50 and the traveling roller 40.

[0128] Specifically, one end of each of the two connecting rods 341 is fixed to the second end of the push rod 32 in a relatively close manner, and the other end extends outward and is respectively mounted with a rotatable gear 342. Each of the two gears 342 meshes with a non-circular rack 344, which is movably mounted on the slide rail 343 of the fixed base 31. When the push rod 32 is pushed by the eccentric disk 253 to move away from the central axis of the eccentric disk 253, it drives the two connecting rods 341 to move synchronously, causing the outer gear 342 to unfold outward, thereby driving the two gears 342 to rotate in opposite directions (i.e., one clockwise and one counterclockwise). The rotation of the gears 342 causes the non-circular racks 344 to move away from each other along the slide rail 343. Finally, the non-gear meshing side planes of the two non-circular racks 344 press against the side of the web of the I-beam 50 and the traveling roller 40, respectively. The frictional resistance between the plane and the contact surface forces the robot to stop moving, achieving a double braking effect.

[0129] The two connecting rods 341 are fixed relative to each other, so that when the push rod 32 moves, it drives the outer gear 342 to naturally unfold outward, ensuring that the two irregular racks 344 can move away from each other synchronously and smoothly. This structural layout makes the clamping force of the two irregular racks 344 on the I-beam 50 and the traveling roller 40 more evenly distributed, reducing component misalignment or abnormal wear caused by concentrated force on one side. The rigid meshing of the irregular 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 rollers. The slide rail 343 constrains the movement trajectory of the irregular racks 344, avoiding directional deviation during the clamping process and reducing component wear caused by excessive local friction. The symmetrically arranged connecting rods 341 and gears 342 work together to make the clamping actions on both sides coordinated, shorten the braking response time difference, and improve the overall braking continuity. The modular mechanical transmission allows the worn irregular racks 344 and gears 342 to be replaced individually without disassembling the entire braking system, simplifying maintenance operations and saving maintenance costs.

[0130] In one possible implementation, a groove is provided on one side of the push rod 32, and the second limiting mechanism 35 includes:

[0131] A threaded sliding sleeve 351 is screwed onto the fixed seat 31;

[0132] A push rod 352 is movably sleeved on the threaded sliding sleeve 351. One end of the push rod 352 is provided with a plug that contacts the push rod 32. The size of the plug matches the size of the groove.

[0133] The second compression spring 353 is sleeved on the top rod 352 and pressed between the threaded sleeve 351 and the plug;

[0134] When the push rod 32 moves 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 into the groove to fix the push rod 32.

[0135] Specifically, the threaded sleeve 351 is screwed onto the fixed seat 31, and the push rod 352 is movably sleeved inside the threaded sleeve 351. One end of the push rod 352 is provided with a plug perpendicular to the direction of the push rod 32, and the size of the plug matches the groove opened on one side of the push rod 32. The second compression spring 353 is sleeved on the push rod 352 and pressed between the threaded sleeve 351 and the plug. When the eccentric disk 253 drives the push rod 32 to move away from the central axis of the eccentric disk 253 until the groove on the push rod 32 is axially aligned with the vertically set plug, the second compression spring 353 pushes the push rod 352 and the plug to move laterally, so that the plug is embedded in the groove of the push rod 32. The preload of the second compression spring 353 clamps the plug and the groove, so that the push rod 32 and the fixed seat 31 form a rigid connection, restricting the push rod 32 from moving in the opposite direction, thereby locking the pressing mechanism 34 against the I-beam 50 and the traveling roller 40. When the robot completes braking and needs to return to normal operation, the operator can simultaneously pull the top rod 352 and the push rod 32 to overcome the preload of the second compression spring 353 and the frictional resistance of the braking mechanism 30 through external force, causing the plug to disengage from the groove of the push rod 32 and releasing the locked state of the push rod 32; then push the push rod 32 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, so that the robot can move normally and realize the rapid manual recovery of braking.

[0136] The plug, pre-tightened by the second compression spring 353, engages with the groove of the push rod 32, precisely locking when the push rod 32 moves to the braking position. This ensures that the push rod 32 will not retract due to vibration or external force during braking, guaranteeing continuous braking. The vertically arranged push rod 352 forms a transverse locking structure with the push rod 32, which is simple in structure and responds quickly, locking instantly upon the push rod 32's arrival at its position, shortening the braking system's reaction time. The threaded sleeve 351 can adjust the initial position of the push rod 352, ensuring accurate alignment between the plug and the groove of the push rod 32, guaranteeing reliable locking after brake triggering. The purely mechanical locking design does not rely on electronic components, allowing for stable operation even under harsh conditions and preventing brake failure due to electrical faults. During maintenance, the position of the push rod 352 can be finely adjusted by rotating the threaded sleeve 351, optimizing the fit clearance between the plug and the groove, ensuring precise locking even after long-term use, and improving the reliability of the braking system.

[0137] The braking device in this application serves as a second braking unit, redundant with the main brake. When the main brake is working normally (such as moving at a constant speed on a smooth track or regular start-stop), this device is in standby mode and does not participate in braking. When the main brake is insufficient in braking force due to electromagnetic failure, circuit failure, hydraulic failure, or wear, if the robot is in a slope condition (the rotation speed naturally exceeds the safety threshold under the drive of gravity component), the centrifugal sleeve 231 is subjected to centrifugal force that breaks through the tension of the first compression spring 241, triggering the transmission mechanism 22, which pushes the clamping mechanism 34 to press against the walking roller 40 and the I-beam 50 to form mechanical friction resistance and force deceleration.

[0138] The braking principle of the robot's walking wheel 40 when it rotates clockwise:

[0139] As the robot accelerates clockwise along the steep slope, the traveling roller 40 in contact with the track rotates clockwise, causing the first roller 12, which is in frictional connection with it, to rotate clockwise synchronously. The first roller 12 drives the coaxially connected second roller 13 and the first drive shaft 221 to rotate clockwise via the conveyor belt 14. The first drive shaft 221 drives the rotating column 223, which is vertically fixed at its second end, and the two symmetrically fitted centrifugal sleeves 231 to rotate synchronously. As the robot's speed increases, the centrifugal force generated by the rotation of the centrifugal sleeves 231 (proportional to the square of the rotation speed) gradually increases. When the rotation speed exceeds a preset threshold, the centrifugal force breaks through the tension constraint of the first compression spring 241. The two centrifugal sleeves 231 move along the axial direction of the rotating column 223 away from the central axis of the first drive shaft 221 to the maximum displacement limited by the first compression spring 241, and are engaged in 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, circular plate, and second transmission shaft 251 to rotate clockwise synchronously, thereby driving the eccentric disk 253 to rotate. Because the central axis of the eccentric disk 253 is not collinear with the second transmission shaft 251, the change in its outer contour drives the third roller 33 and push rod 32 to move away from the central axis of the eccentric disk 253. The push rod 32 drives the two connecting rods 341 and gear 342 to rotate in opposite directions (one clockwise and one counterclockwise), driving the two irregular 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 clockwise rotating traveling roller 40. The frictional resistance between the irregular racks 344 and the contact surface forms a bidirectional braking force, forcing the traveling roller 40 to decelerate until it stops. After the push rod 32 moves into place, its groove aligns with the plug of the top rod 352. The second compression spring 353 pushes the plug into the groove to lock the push rod 32, maintaining the braking state, thereby achieving reliable braking of the traveling roller 40 under clockwise rotation.

[0140] The braking principle and process when the traveling roller 40 rotates counterclockwise:

[0141] As the robot accelerates counterclockwise along the steep slope, the traveling roller 40 in contact with the track rotates counterclockwise, causing the first roller 12, which is in frictional connection with it, to rotate counterclockwise synchronously. The first roller 12 drives the coaxially connected second roller 13 and the first drive shaft 221 to rotate counterclockwise via the conveyor belt 14. The first drive shaft 221 drives the rotating column 223, which is vertically fixed at its second end, and the two symmetrically fitted centrifugal sleeves 231 to rotate synchronously. As the robot's speed increases, 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 breaks through the tension constraint of the first compression spring 241. The two centrifugal sleeves 231 move along the axial direction of the rotating column 223 away from the central axis of the first drive shaft 221 to the maximum displacement limited by the first compression spring 241, and are engaged in 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, circular plate and second transmission shaft 251 to rotate counterclockwise synchronously, thereby driving the eccentric disk 253 to rotate. Since the central axis of the eccentric disk 253 is not collinear with the second transmission shaft 251, the change in its outer contour drives the third roller 33 and push rod 32 to move away from the central axis of the eccentric disk 253. The push rod 32 drives the two connecting rods 341 and gear 342 to rotate in opposite directions (one counterclockwise and one clockwise), driving the two irregular racks 344 to move away from each other along the slide rail 343, respectively abutting against the side of the web of the I-beam 50 and the counterclockwise rotating traveling roller 40. The frictional resistance between the irregular rack 344 and the contact surface forms a bidirectional braking force, forcing the traveling roller 40 to decelerate until it stops; after the push rod 32 moves into place, its groove aligns with the plug of the top rod 352, and the second compression spring 353 pushes the plug into the groove to lock the push rod 32, maintaining the braking state, thereby ensuring reliable braking of the traveling roller 40 in the counterclockwise rotation condition; the transmission path in the counterclockwise condition is completely symmetrical to that in the clockwise condition, only the rotation direction is opposite, and the braking triggering and execution logic is consistent.

[0142] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

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

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

3. The transmission clamping roller brake device for a mine inspection robot according to claim 2, characterized in that, The housing includes a first housing and a second housing that are fixedly fastened together with each other; The first housing is fixedly connected to the robot via a connecting frame; The first housing is fixedly connected to the limiting bracket via a connecting rod; The second housing is fixedly connected to the braking mechanism.

4. The transmission clamping roller brake device for a mine inspection robot according to claim 3, characterized in that, The inner walls of the first housing and the second housing together form a receiving cavity, and the transmission mechanism includes: A first drive shaft is rotatably mounted on the first housing; A transmission wheel is fixedly sleeved on the first end of the first transmission shaft, and the transmission wheel is connected to the second roller via a conveyor belt. A rotating column, which is perpendicular to the first drive shaft and symmetrically fixed to the second end of the first drive shaft; Wherein, the first end of the first drive shaft is located outside the housing, and the second end of the first drive shaft is located inside the receiving cavity; the second roller drives the drive wheel to rotate, the drive wheel drives the first drive shaft to rotate, and the first drive shaft drives the rotating column to rotate around the central axis of the first drive shaft.

5. The transmission clamping roller brake device for a mine inspection robot according to claim 4, characterized in that, Two lugs are symmetrically arranged at the second end of the first drive shaft, and the centrifugal mechanism includes: Two centrifugal sliding sleeves are movably fitted onto both ends of the rotating column about the rotation axis of the first drive shaft.

6. The transmission clamping roller brake device for a mine inspection robot according to claim 5, characterized in that, The centrifugal sliding sleeve has a hanging hole on its outer edge near one end of the first drive shaft; the first limiting mechanism includes: Two first compression springs, each first compression spring having its first end attached to a hook and its second end attached to a hook hole; each first compression spring applies tension to one of the centrifugal sleeves. The centrifugal sliding sleeve remains stationary when the centrifugal force it receives is less than the tension of the corresponding first compression spring; when the centrifugal force it receives exceeds the tension of the first compression spring, the centrifugal sliding 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 clamping roller brake device for a mine inspection robot according to claim 6, characterized in that, The braking triggering mechanism includes: The second drive shaft is rotatably mounted on the second housing, and the central axis of the second drive shaft is collinear with the central axis of the first drive shaft. A turntable is disposed within the receiving cavity. The turntable includes a circular plate and an annular cylinder. The circular plate is coaxially and fixedly connected to the first end of the second transmission shaft. The first end of the annular cylinder is coaxially fixed to the bottom surface of the circular plate. The end face of the second end of the annular cylinder does not contact the rotating column. An eccentric disc is disposed at the second end of the second drive shaft, and the central axis of the eccentric disc is not collinear with the central axis of the second drive shaft; The bottom of the annular cylinder has two notches with the central axis of the annular cylinder as the axis of symmetry. The size of the notches is larger than the cross-sectional size of the centrifugal sliding sleeve. When the centrifugal force on the centrifugal sliding sleeve exceeds the tension of the first compression spring, the centrifugal sliding sleeve moves along the axial direction of the rotating column away from the central axis of the first transmission shaft to the maximum displacement limited by the first compression spring, and gets into one of the notches. This drives the annular cylinder, the circular plate, the second transmission shaft and the eccentric disk to rotate in sequence. When the eccentric disk rotates, its outer contour changes and pushes the braking mechanism, so that the braking mechanism presses the traveling roller and the I-beam to achieve braking.

8. The transmission clamping roller brake device for a mine inspection robot according to claim 7, characterized in that, The braking mechanism includes: The fixing base, the first end of which is fixedly connected to the second housing; The push rod is movably mounted on the fixed base; The third roller is rotatably mounted at the first end of the push rod. The second roller is rollingly connected to the eccentric disk. The outer contour of the eccentric disk changes as it rotates, pushing 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 the first end of the clamping mechanism is connected to the second end of the push rod, and the push rod moves away from the central axis of the eccentric plate to press against the I-beam and the traveling roller; The second limiting mechanism is fixed on the fixed base. The second limiting mechanism is used to prevent the push rod from moving in the opposite direction after the push rod moves away from the central axis of the eccentric disk.

9. The transmission clamping roller brake device for a mine inspection robot according to claim 8, characterized in that, The clamping mechanism includes: Two connecting rods, the first ends of which are fixed to the second end of the push rod; Two gears, each rotatably disposed at the second end of one of the connecting rods; The slide rail is mounted on the fixed base; Two irregularly shaped racks are movably mounted on the slide rail, and each of the irregularly shaped racks meshes with one of the gears; When the push rod moves away from the central axis of the eccentric disc, it drives the two gears to rotate in opposite directions, thereby causing the two irregularly shaped racks to move away from each other until they respectively abut against the I-beam and the traveling roller.

10. The transmission clamping roller brake device for a mine 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 sliding sleeve is screwed onto the fixed base; A push rod is movably fitted onto the threaded sleeve, and one end of the push rod is provided with a plug that contacts the push rod, the size of the plug matching the size of the groove; The second compression spring is sleeved on the top rod and pressed between the threaded sleeve and the plug; When the push rod moves away from the central axis of the eccentric disk until the groove is opposite to the plug, the second compression spring pushes the plug into the groove to fix the push rod.

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