Mechanical brake structure and robot chassis

Abstract

The utility model discloses a kind of mechanical brake structure and robot chassis, it is applied to wheel, the mechanical brake structure is provided with boss by fixed seat, boss is provided with lead hole, the first end of brake piece is rotatably connected on fixed seat, the second end of brake piece extends away from the direction of fixed seat, and lap joint on the tread of wheel, the first end of brake cable is connected with brake handle, the second end of brake cable passes through lead hole and is connected with the second end of brake piece, realize active pressing brake handle, brake cable pulls the second end of brake piece and lifts, so that the second end of brake piece is separated from the contact with wheel, wheel is in non-brake state, brake handle is loosened, brake cable pulls the second end of brake piece and falls, so that the second end of brake piece is contacted with wheel, wheel is in brake state.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a mechanical braking structure and a robot chassis. Background Technology

[0002] Currently, most robot chassis do not have braking functions, while the few that do use electromagnetic braking. In the event of a power outage, the solenoid valves on the robot wheels of a robot with brakes lose power and lock, causing the robot to brake automatically. When moving robots to a work site over a long distance, they are usually moved manually. Both of these methods present inconveniences when the robot chassis is moved in the event of a power outage. In the first method, when encountering a long slope during the relocation, the lack of braking function on the chassis makes it difficult for the heavy robot to control its speed, potentially causing it to roll downhill and posing a safety hazard. In the second method, robots with electromagnetic brakes have their wheels locked directly after a power outage, making them impossible to push manually and requiring other methods of relocation (such as placing the chassis on a trolley), increasing the difficulty of the relocation. Utility Model Content

[0003] The purpose of this invention is to address the technical problems existing in the background art by proposing a mechanical braking structure.

[0004] To achieve the above-mentioned technical objectives, the technical solution adopted by this utility model in the first aspect is as follows:

[0005] A mechanical braking structure, acting on a wheel, includes a fixed base, a brake element, a brake lever, and a brake cable. The fixed base has a boss with a lead wire hole. A first end of the brake element is rotatably connected to the fixed base, and a second end of the brake element extends away from the fixed base and overlaps the tire tread of the wheel. A first end of the brake cable is connected to the brake lever, and a second end of the brake cable passes through the lead wire hole and is connected to the second end of the brake element. When the brake lever is pressed, the brake cable pulls the second end of the brake element up, causing the second end of the brake element to disengage from the wheel.

[0006] Preferably, a wire clamping structure is provided on the second end of the brake component, which is used to fasten the second end of the brake cable.

[0007] Preferably, the mechanical brake structure further includes an elastic element and a positioning tube. The positioning tube is installed at the lead wire hole, and the elastic element is sleeved on the positioning tube. One end of the elastic element is connected to the boss, and the other end of the elastic element is connected to the pressure wire structure. The second end of the brake line passes through the lead wire hole and the positioning tube and is connected to the pressure wire structure.

[0008] Preferably, the elastic element includes a drum spring.

[0009] Preferably, a brake pad that contacts the tire tread of the wheel is provided on the second end of the brake component.

[0010] Preferably, the mechanical brake structure further includes a cable sleeve, which is sleeved on the brake cable.

[0011] Preferably, the mechanical brake structure further includes a handle lock for connecting to the brake lever to restrict the brake lever from being in a pressed state.

[0012] The technical solution adopted by this utility model in the second aspect is as follows:

[0013] A robot chassis, including wheels and a mechanical braking structure as described in any of the above embodiments.

[0014] Compared with the prior art, the utility model has the following beneficial technical effects: It acts on the wheel, with a boss provided on the fixed seat and a lead wire hole provided on the boss. The first end of the brake component is rotatably connected to the fixed seat, and the second end of the brake component extends away from the fixed seat and overlaps the tire tread of the wheel. The first end of the brake cable is connected to the brake lever, and the second end of the brake cable passes through the lead wire hole and is connected to the second end of the brake component. This enables active pressing of the brake lever, which pulls the second end of the brake component to lift up, causing the second end of the brake component to disengage from the wheel, and the wheel to be in a non-braking state. When the brake lever is released, the brake cable pulls the second end of the brake component to fall down, causing the second end of the brake component to contact the wheel, and the wheel to be in a braking state. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of an embodiment provided in the second aspect of the present invention;

[0016] Figure 2 This is a schematic diagram of the structure of the embodiment provided in the first aspect of the present invention. Figure 1 ;

[0017] Figure 3 This is a schematic diagram of the structure of the embodiment provided in the first aspect of the present invention. Figure 2 ;

[0018] Figure 4 This is an exploded view of an embodiment of the present invention provided in the first aspect.

[0019] Icon labels:

[0020] 100 Mounting base, 101 Boss, 102 Lead hole;

[0021] 200 Brake component, 201 Pressure line structure, 202 Brake pad;

[0022] 300 brake lever;

[0023] 400 brake line;

[0024] 500 elastic components;

[0025] 600 positioning tube;

[0026] 700mm tubing;

[0027] 800 handle lock. Detailed Implementation

[0028] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0029] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or assembly referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more features. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0030] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a link, or a specific connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the connection within two groups. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0031] The specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0032] like Figures 1-4As shown, the present invention provides a mechanical braking structure in its first aspect, which acts on a wheel. The mechanical braking structure includes a fixed base 100, a brake component 200, a brake lever 300, and a brake cable 400. The fixed base 100 is provided with a boss 101, and a lead wire hole 102 is provided on the boss 101. The first end of the brake component 200 is rotatably connected to the fixed base 100, and the second end of the brake component 200 extends away from the fixed base 100 and overlaps the tire tread of the wheel. The first end of the brake cable 400 is connected to the brake lever 300, and the second end of the brake cable 400 passes through the lead wire hole 102 and is connected to the second end of the brake component 200. When the brake lever 300 is pressed, the brake cable 400 pulls the second end of the brake component 200 to lift up, so that the second end of the brake component 200 is disengaged from the wheel.

[0033] It should be noted that the connection method and driving method between the brake lever 300 and the brake cable 400 are the same as those on existing bicycles or motorcycles. The brake lever 300 is pressed or released to pull the brake cable 400, thereby driving the second end of the brake component 200 away from or onto the tire surface of the wheel.

[0034] It should be noted that the tread of the wheel in this embodiment is not the same as the tread of the tire, as shown in the attached diagram. Figure 3 As shown, the wheel adopts a contour motor structure, and its tire tread has a concave center and convex sides. The second end of the brake component 200 overlaps with the concave center of the tire tread.

[0035] The specific implementation method in this embodiment is as follows: Unlike conventional bicycles or motorcycles, this mechanical brake structure works by pressing the brake lever 300, causing the brake cable 400 to pull the second end of the brake component 200 away from the central recess on the tire surface. At this time, the wheel is not obstructed and can run normally. When the brake lever 300 is released, the brake cable 400 retracts and pulls the second end of the brake component 200 to the central recess on the wheel rim. At this time, the wheel is obstructed and is in a braking and stopped state.

[0036] In one embodiment of this application, a wire clamping structure 201 is provided on the second end of the brake member 200, and the wire clamping structure 201 is used to fasten the second end of the brake line 400.

[0037] It should be noted that, as shown in the attached document... Figure 4As shown, the second end of the brake component 200 is also provided with a protruding structure, which has a hole. The wire clamping structure 201 includes a rotating cap, a screw, a rotating pad, a wire fixing block, a wire clamping block, and a wire clamping screw. The specific installation method is to embed the rotating cap into the hole, and the wire fixing block is inserted from the other side of the hole and fixedly connected to the rotating cap by the screw. The rotating pad is specifically a washer structure, and two are provided, which are respectively provided on both sides of the hole. The wire clamping block is fixed to the wire fixing block by the wire clamping screw, and the second end of the brake cable 400 is clamped between the wire clamping block and the wire fixing block. The tightness is achieved by the wire clamping screw.

[0038] In one embodiment of this application, the mechanical brake structure further includes an elastic element 500 and a positioning tube 600. The positioning tube 600 is installed at the lead hole 102, and the elastic element 500 is sleeved on the positioning tube 600. One end of the elastic element 500 is connected to the boss 101, and the other end of the elastic element 500 is connected to the pressure wire structure 201. The second end of the brake line 400 passes through the lead hole 102 and the positioning tube 600 and is connected to the pressure wire structure 201.

[0039] In one embodiment of this application, the elastic element 500 includes a drum spring.

[0040] It should be noted that after releasing the brake lever 300, the brake cable 400 needs to return to its initial position so that the second end of the brake element 200 can reattach to the tire tread of the wheel. However, simply releasing the brake lever 300 is not enough to provide the force for this return. Therefore, the elastic element 500 is compressed to support this force. When the brake lever 300 is pressed, the elastic element 500 is in a compressed state. When the brake lever 300 is released, the elastic element 500 releases its compressed deformation and is restored to provide the force, so that the second end of the brake element 200 can quickly reattach to the tire tread of the wheel after the user releases the brake lever 300.

[0041] It should be added that an adjusting screw is also included, which is threaded into the lead hole 102 and connected to one end of the elastic element 500. By setting the engagement stroke of the adjusting screw with the lead hole 102, the deformation of the elastic element 500 can be controlled, thereby adjusting the braking force.

[0042] In one embodiment of this application, a brake pad 202 that contacts the tire tread of the wheel is provided on the second end of the brake member 200.

[0043] In one embodiment of this application, the mechanical brake structure further includes a cable sleeve 700, which is sleeved on the brake cable 400.

[0044] In one embodiment of this application, the mechanical brake structure further includes a handle latch 800, which is used to connect with the brake lever 300 to restrict the brake lever 300 from being in a pressed state.

[0045] In a second aspect, this utility model provides a robot chassis, including wheels and a mechanical braking structure as described above.

[0046] It should be noted that, as shown in the attached document... Figure 1 As shown, the brake lever 300 is mounted on the frame of the robot chassis, and its main braking structure is located at the wheels. The handle lock is also located on the frame to hold the brake lever 300 in place, so that the brake lever 300 is always pressed. In this state, the wheels are not obstructed, and the entire robot chassis is in a non-braking state, so it can be powered on to enter the autonomous navigation working state.

[0047] It should be noted that the above descriptions are one or more embodiments provided in conjunction with specific content, and do not imply that the specific implementation of this utility model is limited to these descriptions. Any methods or structures that are similar to or identical to those of this utility model, or any technical deductions or substitutions made based on the concept of this utility model, should be considered within the scope of protection of this utility model.

Claims

1. A mechanical braking structure, acting on a wheel, characterized in that, include: The mounting base is provided with a boss, and the boss is provided with a lead wire hole; A brake component, wherein a first end of the brake component is rotatably connected to the fixed seat, and a second end of the brake component extends away from the fixed seat and rests on the tire surface of the wheel; Brake lever; A brake cable, wherein a first end of the brake cable is connected to the brake lever, and a second end of the brake cable passes through the lead hole and is connected to the second end of the brake component; When the brake lever is pressed, the brake cable pulls the second end of the brake component up, causing the second end of the brake component to disengage from the wheel.

2. The mechanical brake structure according to claim 1, characterized in that, A pressure wire structure is provided on the second end of the brake component, which is used to fasten the second end of the brake wire.

3. The mechanical brake structure according to claim 2, characterized in that, It also includes an elastic element and a positioning tube. The positioning tube is installed at the lead hole, and the elastic element is sleeved on the positioning tube. One end of the elastic element is connected to the boss, and the other end of the elastic element is connected to the pressure structure. The second end of the brake line passes through the lead hole and the positioning tube and is connected to the pressure structure.

4. The mechanical brake structure according to claim 3, characterized in that, The elastic element includes a drum spring.

5. A mechanical brake structure according to claim 2, characterized in that, A brake pad is provided on the second end of the brake component, which contacts the tread of the wheel.

6. A mechanical brake structure according to claim 1, characterized in that, It also includes a cable sleeve, which is fitted onto the brake cable.

7. A mechanical brake structure according to claim 1, characterized in that, It also includes a handle lock for connecting to the brake lever to restrict the brake lever from being in a pressed state.

8. A robot chassis, characterized in that, Includes wheels and the mechanical braking structure as described in any one of claims 1-7.

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