CN209683661U - A mobile robot braking mechanism - Google Patents

Abstract

The utility model discloses a kind of mobile robot braking mechanisms, including rack, wheel hub and the bracket for connecting rack and wheel hub, brake gear is connected between wheel hub and bracket, steering engine is provided in rack, wiring board on steering engine and the bracket arm to be rotated by servo driving, braking rope is connected between the end and brake gear of bracket arm, the utility model is braked or is resetted by steering engine manipulation bracket arm control braking rope, braking distance is short, braking effect is good, it can according to need self-actuating brake simultaneously and cancel brake, it controls more accurate and timely.

Description

A mobile robot braking mechanism

technical field

The utility model belongs to the field of robots, in particular to a mobile robot braking mechanism.

Background technique

At present, the braking method of the mobile robot on the market is the reverse braking method of the motor. The specific process of obstacle avoidance of the mobile robot is as follows: the main board of the machine receives the ultrasonic signal and then sends a deceleration signal to the wheel controller, and the wheel controller that receives the braking signal It will give a reverse rotation signal to the wheel motor to make the wheel rotate in the reverse direction, but this requires the controller to provide a large current, but once the wheel speed is fast, the inertia of the machine and the wheel is very large, and it is difficult for the controller to provide enough power The current and the upper limit of the motor are not enough, so the braking distance of this method will be very long and the braking effect is very poor.

Utility model content

The technical problem to be solved by the utility model is to provide a mobile robot braking mechanism with short braking distance and good braking effect.

In order to solve the above-mentioned technical problems, the utility model adopts the following technical scheme: a mobile robot braking mechanism, comprising a frame, a wheel hub and a bracket connecting the frame and the wheel hub, a braking device is connected between the wheel hub and the bracket, and the frame is provided with The steering gear, the circuit board arranged on the steering gear and the brake lever which is driven and rotated by the steering gear are connected with a brake rope between the end of the brake lever and the braking device.

Further, the frame is provided with a fixing seat for fixing the steering gear, and the steering gear is connected to the top of the fixing seat.

Further, an installation groove is provided on the fixed seat, the brake lever is located in the installation groove, and the drive shaft of the steering gear extends through the fixed seat into the installation groove and is connected to the middle of the brake lever.

Further, the fixed base includes a top plate connected to the fixed base and side plates detachably connected to both sides of the top plate, and a limit groove for the brake rope to pass through is provided on the side of the side plate facing the top plate.

Further, the opposite surfaces of the side plates are provided with limit plates that prevent the brake lever from moving in the axial direction of the output shaft of the steering gear.

Further, the brake device is a disc brake assembly, the disc brake assembly includes a disc brake mounted on the bracket and a disc fixed on the wheel hub, and the disc brake is connected with the brake rope.

Further, the disc brake includes a connecting piece connected to the mounting bracket, a positioning piece connected to the connecting piece, and a brake lever rotatably connected to the positioning piece. Push the brake pads that protrude into the brake groove, and the brake lever is connected to the brake rope.

Further, the positioning member is provided with a guide column, and the guide column is provided with a guide hole for the brake rope to pass through.

Further, a return spring is connected between the connecting end of the brake rope and the brake lever and the positioning member.

Compared with the prior art, the beneficial effects of the present utility model are:

1. When the wheel hub is in normal operation, the brake device is not working. When the machine needs to decelerate or avoid obstacles, the main board of the mobile robot will give a braking signal to the circuit board above the steering gear, and the circuit board that gets the braking signal will automatically start the steering gear. Work, the steering gear drives the brake lever to rotate, the brake lever rotates and pulls the brake rope, and the brake rope pulls the brake device to brake the hub. When the machine needs to continue to move forward, the main board of the mobile robot gives the circuit board above the steering gear a signal to cancel the brake , the circuit board that gets the brake cancel signal will automatically start the steering gear, and the steering gear will drive the brake lever to rotate in the opposite direction, so that the brake lever will no longer pull the brake rope, the brake rope will no longer have pulling force on the brake device, and the brake device will no longer be on the hub. Brake, control the brake rope through the steering gear to control the brake lever to brake or reset, the braking distance is short, and the braking effect is good.

2. The fixed seat limits and protects the brake lever to prevent the brake lever from being separated from the fixed seat and the steering gear, so that the brake lever can only be rotated by the steering gear in the installation slot of the fixed seat to ensure the stability of the brake.

3. When braking, the brake rope pulls the brake lever to rotate on the positioning member, and the brake lever pushes the brake pad into the brake groove and closes the disc to prevent the disc from continuing to rotate, that is, to prevent the hub fixedly connected to the disc from continuing to rotate. , for braking, a return spring is connected between the end of the brake rope and the brake lever and the positioning member. When braking, the spring is in a stretched state. When the brake rope no longer pulls the brake lever to rotate, the spring that wants to reset is for The return of the brake lever acts as an assist to prevent the brake lever from being unable to return.

Compared with the prior art, the utility model uses the steering gear to control the brake lever to control the brake rope to brake or reset, the braking distance is short, and the braking effect is good.

Description of drawings

Below in conjunction with accompanying drawing and specific embodiment, the utility model is further described:

Fig. 1 is the schematic diagram of a kind of mobile robot braking mechanism of the present utility model;

2 is an exploded view of a mobile robot braking mechanism of the present invention;

Fig. 3 is the enlarged view of A part of Fig. 2;

Fig. 4 is the enlarged view of B part of Fig. 2;

5 is a partial schematic diagram of a mobile robot braking mechanism of the present invention;

Figure 6 is a schematic diagram of a disc brake.

Among them: 1, frame; 2, wheel hub; 3, bracket; 4, brake device; 41, disc brake; 411, connecting piece; 412, positioning piece; 4121, brake groove; 4122, guide column; 413, brake lever; 42, disc; 5, steering gear; 6, brake lever; 7, brake rope; 8, fixed seat; 81, top plate; 82, side plate; 83, installation slot; 84, limit plate.

Detailed ways

Referring to FIG. 1 to FIG. 6 , an embodiment of a mobile robot braking mechanism of the present invention will be further described.

A braking mechanism of a mobile robot, comprising a frame 1, a wheel hub 2 and a bracket 3 connecting the frame 1 and the wheel hub 2, a braking device 4 is connected between the wheel hub 2 and the bracket 3, and a steering gear 5 and a device are arranged on the frame 1. A brake rope 7 is connected between the circuit board on the steering gear 5 and the brake lever 6 which is driven to rotate by the steering gear 5 .

When the hub 2 is running normally, the brake device 4 is in a non-working state. When the machine needs to decelerate or avoid obstacles, the main board of the mobile robot will give a brake signal to the circuit board above the steering gear 5, and the circuit board that gets the brake signal will automatically start the rudder The machine 5 works, the steering gear 5 drives the brake lever 6 to rotate, the brake lever 6 rotates and pulls the brake rope 7, and the brake rope 7 pulls the brake device 4 to brake the wheel hub 2. When the machine needs to continue to move forward, the main board of the mobile robot gives the rudder The circuit board above the machine 5 has a cancel brake signal, and the circuit board that gets the cancel brake signal will automatically start the servo 5 to work, and the servo 5 drives the brake lever 6 to rotate in the opposite direction, so that the brake lever 6 no longer pulls the brake rope 7, and the brake The rope 7 no longer has tension on the brake device 4, and the brake device 4 no longer brakes the hub 2. The steering gear 5 controls the brake lever 6 to control the brake rope 7 to brake or reset. The braking distance is short and the braking effect is good.

In this embodiment, the frame 1 is provided with a fixing base 8 for fixing the steering gear 5, the steering gear 5 is connected to the top of the fixing base 8, the fixing base 8 fixes the steering gear 5, and the fixing base 8 is provided with a mounting groove 83 , the brake lever 6 is located in the installation groove 83, the drive shaft of the steering gear 5 extends through the fixed seat 8 into the installation groove 83 and is connected with the middle of the brake lever 6, and the two ends of the brake lever 6 are respectively connected with the brakes corresponding to the brake devices 4 on both sides. The rope 7 is connected, and the fixed base 8 includes a top plate 81 connected to the fixed base 8 and a side plate 82 detachably connected to both sides of the top plate 81. The side plate 82 facing the top plate 81 is provided with a limit slot for the brake rope 7 to pass through. When the top plate 81 is installed on the side plate 82, the limit groove forms a limit for the brake rope 7 to prevent the brake rope 7 from shaking violently and ensure the braking effect. The limit plate 84 for the axial movement of the output shaft of the steering gear 5, the fixed seat 8 limits and protects the brake lever 6 to prevent the brake lever 6 from being separated from the fixed seat 8 and the steering gear 5, so that the brake lever 6 can only be fixed in the fixed position. The mounting groove 83 of the seat 8 is driven by the steering gear 5 to rotate, so as to ensure the stability of the braking.

In this embodiment, the brake device 4 is a disc brake 41 assembly. The disc brake 41 assembly includes a disc brake 41 mounted on the bracket 3 and a disc 42 fixed on the hub 2. The disc brake 41 is connected to the brake rope 7. The disc brake 41 includes a connecting piece 411 connected to the mounting bracket 3, a positioning piece 412 connected to the connecting piece 411, and a brake lever 413 rotatably connected to the positioning piece 412. The positioning piece 412 is provided with a brake groove that is inserted into the disc 42 4121 and the brake pad pushed into the brake groove 4121 by the brake lever 413, the brake lever 413 is connected with the brake rope 7, the positioning member 412 is provided with a guide column 4122, and the guide column 4122 is provided with a guide hole for the brake rope 7 to pass through, Prevent the brake rope 7 from shaking violently to ensure the braking effect.

When braking, the brake rope 7 pulls the brake lever 413 to rotate on the positioning member 412, and the brake lever 413 pushes the brake pad into the brake groove 4121 to abut against the disc 42 to prevent the disc 42 from continuing to rotate, that is, to prevent the disc 42 from rotating. The fixedly connected hub 2 continues to rotate for braking. A return spring is connected between the end of the brake rope 7 and the brake lever 413 and the positioning member 412. When braking, the spring is in a stretched state. When the brake rope 7 no longer pulls the brake When the lever 413 is rotated, the spring that wants to return plays an assisting role in the return of the brake lever 413 to prevent the brake lever 413 from being unable to return.

The above are only the preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions that belong to the idea of the present invention belong to the protection scope of the present invention. It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims (9)

1. a kind of mobile robot braking mechanism, including rack, wheel hub and the bracket for connecting rack and wheel hub, feature exists In: brake gear is connected between the wheel hub and bracket, be provided in the rack steering engine, the wiring board on steering engine and The bracket arm to be rotated by servo driving is connected with braking rope between the end and brake gear of bracket arm.

2. a kind of mobile robot braking mechanism according to claim 1, it is characterised in that: be provided in the rack solid Determine the fixing seat of steering engine, steering engine is connected to the top of fixing seat.

3. a kind of mobile robot braking mechanism according to claim 2, it is characterised in that: be provided in the fixing seat Mounting groove, the bracket arm are located in mounting groove, the drive shaft of the steering engine pass through fixing seat protrude into mounting groove with brake The middle part of pull rod is connected.

4. a kind of mobile robot braking mechanism according to claim 3, it is characterised in that: the fixing seat includes connection The top plate of fixing seat and the side plate for being detachably connected on top plate two sides, the side plate is towards being provided with for braking rope on the face of top plate The limiting slot passed through.

5. a kind of mobile robot braking mechanism according to claim 4, it is characterised in that: on the opposite face of the side plate It is provided with the limit plate of the axial movement for the output shaft for preventing bracket arm along steering engine.

6. a kind of mobile robot braking mechanism according to claim 1, it is characterised in that: the brake gear is disc brake Component, disc brake component include rack-mount disc brake and the disk being fixed on wheel hub, and the disc brake is connected with braking rope.

7. a kind of mobile robot braking mechanism according to claim 6, it is characterised in that: the disc brake includes and installation The connected connector of bracket, the brake lever of the locating piece and rotation connection being connected on connector on the positioning element, on locating piece It is provided with the brake block that brake slot is protruded into the brake slot of disk grafting and by brake lever promotion, the brake lever and braking rope phase Even.

8. a kind of mobile robot braking mechanism according to claim 7, it is characterised in that: be provided on the locating piece Guide post is provided with the pilot hole passed through for braking rope in guide post.

9. a kind of mobile robot braking mechanism according to claim 7, it is characterised in that: the braking rope and brake lever Reset spring is connected between connected one end and locating piece.