Rail-mounted robot braking structure

Abstract

The utility model relates to the technical field of robot braking, in particular to a rail-hanging robot braking structure which comprises a plurality of walking assemblies capable of walking along a rail and a U-shaped bracket, a robot body is detachably arranged below the U-shaped bracket, and vertical plates are installed at the positions, located on the two sides of the rail, of the top end of the U-shaped bracket in a sliding mode. The part, located between the vertical plate and the sliding plate, of the pull rod is sleeved with a first spring, fixed magnetic rings are arranged on the two side walls of the vertical plate, movable magnetic rings are detachably installed on the two side walls of the sliding plate, and rotating rods are rotationally arranged at the four corners of the two side walls of the sliding plate; the other end of the rotating rod is rotationally connected with a braking assembly. When electric power is suddenly interrupted, the compressed first spring releases compressed elastic potential energy and drives the sliding plate to slide in the direction close to the track under the limit of the drawing rod until the braking assemblies make contact with a plurality of positions of the track respectively and provide braking friction force.

Description

Technical Field

[0001] The utility model relates to the technical field of robot braking, in particular to a rail-hanging robot braking structure. Background Art

[0002] A rail-mounted robot refers to a robot that can be suspended on a track and move along the track. A rail-mounted robot can be used to perform various inspection tasks. It usually carries various working units such as explosion-proof cameras, smoke sensors, and harmful gas sensors for inspection work. In terms of track structure, I-beam tracks are mostly used. According to the track layout type, it can be roughly divided into two types: ground rails and overhead rails (hanging rails).

[0003] However, existing rail-mounted robots are often only equipped with electric braking structures when walking along the track. When the power is suddenly interrupted and the electric braking structure fails, the rail-mounted robot will continue to walk a distance along the track due to inertia, which can easily lead to derailment. In the process of braking only by the electric braking structure, the rail-mounted robot will also wear out due to the long-term concentration of the braking position, and then slipping will occur, affecting the braking effect of the rail-mounted robot.

[0004] Therefore, it is necessary to invent a rail-hanging robot braking structure to solve the above problems. Utility Model Content

[0005] In order to address the deficiencies in the prior art, the purpose of the utility model is to provide a rail-mounted robot braking structure, which solves the problem in the prior art that when a sudden power outage causes the electric braking structure to fail, the rail-mounted robot will continue to walk a certain distance along the track due to inertia, which may easily lead to derailment. In the process of braking only by the electric braking structure, the rail-mounted robot will also suffer from wear due to the long-term concentration of the braking position, and then the phenomenon of slipping will occur, which affects the braking effect of the rail-mounted robot.

[0006] In order to achieve the above objectives, the utility model adopts the following technical solutions:

[0007] A rail-mounted robot braking structure comprises a plurality of walking components that can walk along a track and a U-shaped bracket arranged between the bottom ends of the plurality of walking components, the robot body being detachably arranged below the U-shaped bracket, the top end of the U-shaped bracket being located at positions on both sides of the track, both of which are slidably installed with vertical plates that can be locked in the installation position in a direction close to or away from the track, a pull-out rod is slidably penetrated through the center of the vertical plate, the other end of the pull-out rod is connected to a slide plate, a portion of the pull-out rod located between the vertical plate and the slide plate is sleeved with a first spring, both side walls of the vertical plate are provided with fixed magnetic rings that can be energized to manage magnetism, both side walls of the slide plate are detachably installed with moving magnetic rings that can magnetically contact the fixed magnetic rings, and rotating rods are rotatably arranged at the four corners of both side walls of the slide plate, and the other end of the rotating rod is rotatably connected to a braking component that can abut and rub against the side wall of the track.

[0008] As a preferred solution of the utility model, side panels are installed at the four corners of the two side walls of the skateboard, one end of the rotating rod is connected to an arc-shaped rod that can slide in an arc shape and penetrate the side panel, and the part of the arc-shaped rod located between the side panel and the rotating rod is sleeved with a second spring;

[0009] When the slide plate gradually approaches the side wall of the track, the angle between the rotating rod and the slide plate gradually decreases and the second spring is continuously compressed.

[0010] As a preferred solution of the utility model, the brake assembly includes a swivel seat rotatably connected to the swivel rod, a connecting plate installed on the non-rotating side of the swivel seat, and a brake friction plate installed on the other end of the connecting plate. The brake friction plate can contact the side wall of the track and provide braking friction.

[0011] As a preferred solution of the utility model, fixed sockets are installed on both side walls of the vertical plate, dynamic connecting seats are installed on the matching positions on both sides of the skateboard, the fixed magnetic ring is installed on the side of the fixed socket close to the skateboard, one end of the dynamic connecting seat is connected to a plug rod that can slide through the fixed magnetic ring and the fixed socket, and the dynamic magnetic ring is fixedly sleeved in the middle of the plug rod.

[0012] As a preferred solution of the utility model, a pull-out frame that can be pulled out manually is installed at one end of the pull-out rod away from the slide plate.

[0013] As a preferred solution of the utility model, a plurality of transverse grooves are opened in the U-shaped bracket, and a positioning stud that can slide along the transverse groove is connected to the position where the bottom end of the vertical plate is adapted to the transverse groove, and the part of the threaded sleeve of the positioning stud located below the U-shaped bracket is provided with a rotating bracket that can lock the position of the positioning stud.

[0014] As a preferred solution of the utility model, the position of the positioning stud in the transverse groove is determined according to the size of the traveling assembly and the transverse thickness of the track.

[0015] In the above technical solution, the technical effects and advantages provided by the utility model are:

[0016] In the utility model, under the condition of normal power supply, the fixed magnetic ring is energized with magnetism, so that the moving magnetic ring is attracted by magnetic force, and then the first spring is compressed and the slide plate slides in the direction away from the track, so that the multiple rotating rods and the multiple brake components slide in the direction away from the track, that is, the brake component is separated from the track, so as to avoid affecting the normal walking of the walking component along the track; when the power is suddenly interrupted, the fixed magnetic ring is powered off and the magnetism disappears, so that the magnetism of the attracting moving magnetic ring is lost. At this time, the compressed first spring releases the compressed elastic potential energy under the limit of the pull rod and drives the slide plate to slide in the direction close to the track, until the multiple brake components are respectively in contact with multiple positions of the track and provide braking friction, so that the rail-hanging robot can offset the inertial sliding and stop in time in the power-off state under the contact friction braking of the multiple brake components, avoiding derailment and other problems. The brake components are provided in multiple positions and are respectively located in multiple positions. On the one hand, the braking position and braking effect can be increased when they are in common contact, and on the other hand, the wear of the brake components caused by concentrated braking can be avoided, thereby further improving the braking effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0018] Figure 2 It is a schematic diagram of the plan view structure of the utility model;

[0019] Figure 3 It is a schematic diagram of the planar top view structure of the utility model;

[0020] Figure 4 It is a schematic diagram of the planar side view structure of the utility model.

[0021] Description of reference numerals:

[0022] 1. Track; 2. Travel assembly; 3. U-shaped bracket; 4. Horizontal groove; 5. Positioning stud; 6. Rotating frame; 7. Vertical plate; 8. Pull-out rod; 9. First spring; 10. Slide plate; 11. Fixed socket; 12. Moving connecting seat; 13. Fixed magnetic ring; 14. Moving magnetic ring; 15. Side plate; 16. Rotating rod; 17. Arc rod; 18. Second spring; 19. Rotating seat; 20. Connecting plate; 21. Braking friction plate; 22. Pull-out frame; 23. Insert rod. DETAILED DESCRIPTION

[0023] The utility model is further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the utility model, and cannot be used to limit the protection scope of the utility model.

[0024] The utility model provides Figure 1-4 The brake structure of a rail-mounted robot shown in the figure comprises a plurality of walking components 2 that can walk along a track 1 and a U-shaped bracket 3 arranged between the bottom ends of the plurality of walking components 2. The robot body is detachably arranged below the U-shaped bracket 3. The top ends of the U-shaped bracket 3 are located at positions on both sides of the track 1. Vertical plates 7 that can be slidably installed in a lockable installation position in a direction close to or away from the track 1 are provided. A pull rod 8 is slidably passed through the center of the vertical plate 7. A slide plate 10 is connected to the other end of the pull rod 8. A first spring is sleeved on the portion of the pull rod 8 located between the vertical plate 7 and the slide plate 10. 9. Both side walls of the vertical plate 7 are provided with fixed magnetic rings 13 that can be energized to manage magnetism. Both side walls of the slide plate 10 can be detachably installed with moving magnetic rings 14 that can be in magnetic contact with the fixed magnetic rings 13. Rotating rods 16 are rotatably provided at the four corners of the two side walls of the slide plate 10. The other end of the rotating rod 16 is rotatably connected to a brake assembly that can abut and rub against the side wall of the track 1. When the power supply is normal, the fixed magnetic ring 13 is energized and has magnetism, so that the moving magnetic ring 14 is magnetically attracted, so that the brake assembly is separated from the track 1, thereby avoiding affecting the normal movement of the walking assembly 2 along the track 1.

[0025] Side plates 15 are installed at the four corners of the two side walls of the slide plate 10, one end of the rotating rod 16 is connected to an arc rod 17 that can slide in an arc shape and penetrate the side plate 15, and the part of the arc rod 17 between the side plate 15 and the rotating rod 16 is sleeved with a second spring 18;

[0026] When the skateboard 10 gradually approaches the side wall of the track 1, the angle between the rotating rod 16 and the skateboard 10 gradually decreases and continuously compresses the second spring 18. When the skateboard 10 approaches the track 1, the second spring 18 is compressed so that the brake friction plate 21 is fully in contact with the side wall of the track 1, thereby maximizing the braking friction effect of the brake friction plate 21.

[0027] The brake assembly includes a swivel seat 19 rotatably connected to the swivel rod 16, a connecting plate 20 installed on the non-rotating side of the swivel seat 19, and a brake friction plate 21 installed on the other end of the connecting plate 20. The brake friction plate 21 can contact the side wall of the track 1 and provide braking friction. The swivel seat 19 is rotatably connected to the swivel rod 16, so that when the angular position of the swivel rod 16 is not determined, the brake friction plate 21 can be fully contacted with the side wall of the track 1 through the rotation of the swivel seat 19.

[0028] Fixed sockets 11 are installed on both side walls of the vertical plate 7, and dynamic connecting seats 12 are installed at the matching positions on both sides of the skateboard 10. The fixed magnetic ring 13 is installed on the side of the fixed socket 11 close to the skateboard 10. One end of the dynamic connecting seat 12 is connected to a plug rod 23 that can slidably penetrate the fixed magnetic ring 13 and the fixed socket 11. The dynamic magnetic ring 14 is fixedly sleeved in the middle of the plug rod 23. The plug rod 23 can limit the sliding direction of the dynamic magnetic ring 14 and exists synchronously with the pull rod 8, thereby limiting the sliding direction of the skateboard 10 and multiple brake friction plates 21.

[0029] A manually pull-out bracket 22 is installed at one end of the pull-out rod 8 away from the slide plate 10 . After power is turned on again, manually applying force to the pull-out bracket 22 can shift the moving magnetic ring 14 to a contact position with the fixed magnetic ring 13 again.

[0030] A plurality of transverse grooves 4 are provided in the U-shaped bracket 3, and a positioning stud 5 which can slide along the transverse groove 4 is connected to the position where the bottom end of the vertical plate 7 fits into the transverse groove 4. The threaded sleeve of the positioning stud 5 located below the U-shaped bracket 3 is provided with a rotating bracket 6 which can lock the position of the positioning stud 5. The position of the positioning stud 5 in the transverse groove 4 is determined according to the size of the walking component 2 and the transverse thickness of the track 1. By adjusting the position of the vertical plate 7, it is ensured that the brake component can contact the side wall of the track 1 during the process of releasing the elastic potential energy of the first spring 9.

[0031] In the utility model, under the condition of normal power supply, the fixed magnetic ring 13 is energized and has magnetism, so that the moving magnetic ring 14 is magnetically attracted, and then the first spring 9 is compressed and the slide plate 10 slides in the direction away from the track 1, so that the multiple rotating rods 16 and the multiple brake components slide in the direction away from the track 1, that is, the brake component is separated from the track 1, so as to avoid affecting the normal walking of the walking component 2 along the track 1; when the power is suddenly interrupted, the fixed magnetic ring 13 is powered off and the magnetism disappears, thereby losing the magnetism of the moving magnetic ring 14. At this time, the compressed first spring 9 releases the compressed elastic potential energy under the limit of the pull rod 8 and drives the slide plate 10 to slide in the direction close to the track 1, until the multiple brake components are respectively in contact with multiple positions of the track 1 and provide braking friction, so that the rail-hanging robot can offset the inertial sliding and stop in time in the power-off state under the contact friction braking of the multiple brake components, avoiding derailment and other problems. In addition, the brake components are provided in multiple positions and are respectively located in multiple positions. On the one hand, the braking position and braking effect can be increased when they are in common contact, and on the other hand, the wear of the brake components caused by concentrated braking can be avoided, thereby further improving the braking effect.

[0032] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A rail-mounted robot braking structure, characterized in that: The robot comprises a plurality of walking components (2) capable of walking along a track (1) and a U-shaped bracket (3) arranged between the bottom ends of the plurality of walking components (2); the robot body is detachably arranged below the U-shaped bracket (3); the top ends of the U-shaped bracket (3) are located at positions on both sides of the track (1) and are slidably mounted with vertical plates (7) that can be locked in the mounting position in a direction close to or away from the track (1); a pull rod (8) is slidably penetrated through the center of the vertical plate (7); the other end of the pull rod (8) is connected to a slide plate (10); The portion of the pull-out rod (8) between the vertical plate (7) and the slide plate (10) is sleeved with a first spring (9); both side walls of the vertical plate (7) are provided with fixed magnetic rings (13) that can be energized to manage magnetism; both side walls of the slide plate (10) are detachably provided with moving magnetic rings (14) that can be in magnetic contact with the fixed magnetic rings (13); rotating rods (16) are rotatably provided at the four corners of both side walls of the slide plate (10); the other end of the rotating rod (16) is rotatably connected to a brake assembly that can abut and rub against the side wall of the track (1).

2. The rail-mounted robot braking structure according to claim 1, characterized in that: Side plates (15) are installed at four corners of both side walls of the slide plate (10); one end of the rotating rod (16) is connected to an arc-shaped rod (17) that can slide in an arc shape and penetrate the side plate (15); and a second spring (18) is sleeved on a portion of the arc-shaped rod (17) located between the side plate (15) and the rotating rod (16); When the slide plate (10) gradually approaches the side wall of the track (1), the angle between the rotating rod (16) and the slide plate (10) gradually decreases and the second spring (18) is continuously compressed.

3. The rail-mounted robot braking structure according to claim 1, characterized in that: The brake assembly comprises a swivel seat (19) rotatably connected to the swivel rod (16), a connecting plate (20) mounted on the non-rotating side of the swivel seat (19), and a brake friction plate (21) mounted on the other end of the connecting plate (20), wherein the brake friction plate (21) can contact the side wall of the track (1) and provide a brake friction force.

4. The rail-mounted robot braking structure according to claim 1, characterized in that: Fixed sockets (11) are installed on both side walls of the vertical plate (7), and movable connecting seats (12) are installed at the matching positions on both sides of the slide plate (10). The fixed magnetic ring (13) is installed on the side of the fixed socket (11) close to the slide plate (10), and one end of the movable connecting seat (12) is connected to an insertion rod (23) that can slidably penetrate the fixed magnetic ring (13) and the fixed socket (11), and the movable magnetic ring (14) is fixedly sleeved on the middle part of the insertion rod (23).

5. The rail-mounted robot braking structure according to claim 1, characterized in that: A pull-out frame (22) that can be pulled out manually is installed at one end of the pull-out rod (8) away from the slide plate (10).

6. The rail-mounted robot braking structure according to claim 1, characterized in that: The U-shaped bracket (3) is provided with a plurality of transverse grooves (4), and a positioning stud (5) that can slide along the transverse groove (4) is connected to the bottom end of the vertical plate (7) at a position that fits the transverse groove (4). The threaded sleeve of the positioning stud (5) located below the U-shaped bracket (3) is provided with a rotating bracket (6) that can lock the position of the positioning stud (5).

7. The rail-mounted robot braking structure according to claim 6, characterized in that: The position of the positioning stud (5) in the transverse groove (4) is determined according to the size of the travel assembly (2) and the transverse thickness of the track (1).

Images