CN108657146A - A kind of brake system that wheeled robot uses - Google Patents
A kind of brake system that wheeled robot uses Download PDFInfo
- Publication number
- CN108657146A CN108657146A CN201810455302.6A CN201810455302A CN108657146A CN 108657146 A CN108657146 A CN 108657146A CN 201810455302 A CN201810455302 A CN 201810455302A CN 108657146 A CN108657146 A CN 108657146A
- Authority
- CN
- China
- Prior art keywords
- brake
- connection strap
- arc
- hydraulic
- brake disc
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/06—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels
- B60T1/065—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels employing disc
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T11/00—Transmitting braking action from initiating means to ultimate brake actuator without power assistance or drive or where such assistance or drive is irrelevant
- B60T11/10—Transmitting braking action from initiating means to ultimate brake actuator without power assistance or drive or where such assistance or drive is irrelevant transmitting by fluid means, e.g. hydraulic
- B60T11/102—Transmitting braking action from initiating means to ultimate brake actuator without power assistance or drive or where such assistance or drive is irrelevant transmitting by fluid means, e.g. hydraulic in combination with mechanical elements
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Braking Arrangements (AREA)
Abstract
The invention belongs to brake technique fields, more particularly to a kind of brake system that wheeled robot uses, it includes first brake mechanism, the second braking mechanism, brake disc, shaft, wherein the second hydraulic column can make arc brake piece back and forth move up and down along the direction of the second hydraulic pressure mast axis, and when arc brake piece back and forth moves up and down can generate different states and so that brake block is almost unchanged to the friction catch effect of brake disc；This avoid arc brake pieces place damage phenomenon of the brake disc by continuous frictional occurs; and contribute to the heat dissipation of the friction point in different circles on brake disc; generated superheating phenomenon when constantly friction is more avoided, brake disc is protected, extends the service life of brake disc.The configuration of the present invention is simple has preferable using effect.
Description
Technical field
The invention belongs to brake technique field more particularly to a kind of brake system that wheeled robot uses.
Background technology
At present for some robots enthusiast, they often to different types of robot carry out dismantling and again
Repacking；For repacking wheeled robot, in order to make wheeled robot adapt to different road conditions, so just often by wheeled machine
The wheel and power unit of device people carries out repacking upgrading, especially after the performance of power unit is significantly promoted, wheeled machine
The speed of running of device people will have greatly improved, but robot enthusiast will infrequently stop during machine adaptations people
Hull is replaced, then being possible to occur the case where brake disc of common performance is with performance good brake block；When performance is good
Brake block continuous frictional when braking the brake disc of common performance, the brake disc of common performance is easy to by the place of continuous frictional
Damage, goes down just affect the using effect of common brake disc for a long time, shorten the service life of common brake disc；On solving
Problem is stated, so just needing to design a kind of brake system that can reduce and damage common brake disc continuous frictional.
The present invention design a kind of brake system that wheeled robot uses solve the problems, such as it is as above.
Invention content
To solve drawbacks described above in the prior art, the present invention discloses a kind of brake system that wheeled robot uses, it
It is realized using following technical scheme.
A kind of brake system that wheeled robot uses, it is characterised in that：It includes first brake mechanism, the second braking machine
Structure, brake disc, shaft, wherein one end of shaft, which are mounted on, brake disc；First brake mechanism and the complete phase of the second braking mechanism
It together and is symmetrically mounted on wheeled robot chassis, and first brake mechanism and the second braking mechanism are located at brake disc both sides；
First brake mechanism is identical with the second braking mechanism.
Above-mentioned first brake mechanism includes the first hydraulic column, connecting plate, ladder type conducting bar, set square, centering block, hydraulic case, company
Body contact, the second hydraulic column, the first connection strap, arc brake piece, the soft item of arc, the second connection strap, slide bar, ladder type notch, U-shaped hinge
Fishplate bar, third connection strap, fixing groove, leaf spring, are wherein equipped with connection shell on hydraulic case and the two internal cavities communicate；First stops
Mechanism of car and the second braking mechanism are connected by respective connection shell phase, and in junction, internal cavity communicates；First hydraulic column
One end is located in hydraulic case, and the other end is equipped with ladder type conducting bar；Connecting plate is mounted on the first hydraulic column, and connecting plate is located at hydraulic pressure
Between shell and ladder type conducting bar；Second connection strap is mounted on connecting plate；It is symmetrically installed on the lower face at the second connection strap both ends
There are two set squares；The centre position of third connection strap is provided with ladder type notch；The both ends of third connection strap are symmetrically equipped with two
A U-shaped articulated slab；Ladder type conducting bar is installed in ladder type notch, and third connection strap slides on ladder type conducting bar；Two centering blocks are symmetrically
It is mounted in corresponding U-shaped articulated slab by hinged mode；Each centering block is provided with fixing groove on the end face far from hydraulic case；
The both ends of the soft item of arc have straight end；Two straight ends are separately mounted in corresponding fixing groove；Arc brake piece is mounted on arc
On the extrados of soft item；One end of second hydraulic column is located in connection shell, and the other end is equipped with the first connection strap；First connection strap
Between third connection strap and the soft item of arc, and the first connection strap is located at the centre position of the second connection strap；First connection strap
Close to the plate face both ends of third connection strap symmetrically install there are two slide bar；Each slide bar is not connected with one end of the first connection strap
Across third connection strap；Third connection strap slides on slide bar.
The mounting means of two leaf springs is identical, and for one of leaf spring, one end of leaf spring is mounted on centering block close to third
On the side of connection strap, the other end is mounted on U-shaped articulated slab；Leaf spring is between third connection strap and hydraulic case.
Above-mentioned arc brake piece is matched with brake disc.
Above-mentioned centering block is in contact cooperation close to one end of hydraulic case with set square.
As being further improved for this technology, above-mentioned brake disc is not connected with circumferentially uniformly being provided with multiple vehicles on the side of shaft
Take turns mounting hole.
As being further improved for this technology, the sideline that above-mentioned centering block is in contact with set square has fillet.
As being further improved for this technology, the width of above-mentioned arc brake piece is more than the width of the soft item of arc.
As being further improved for this technology, the material of the above-mentioned soft item of arc is rubber.
As being further improved for this technology, above-mentioned leaf spring is in compressive state always.
As being further improved for this technology, when the second hydraulic column does not work, centering block is with hydraulic case at plumbness.
First brake mechanism is connected with the second braking mechanism by connecting shell in the present invention, and is located at brake disc both sides；It is logical
The hydraulic system crossed on wheeled robot can control the flexible of the first hydraulic column and the second hydraulic column；First hydraulic column can band
Dynamic ladder type conducting bar and connecting plate movement；Connecting plate can drive set square movement through the second connection strap；The centre of third connection strap
Position is provided with ladder type notch, and ladder type conducting bar is located in ladder type notch, then ladder type conducting bar can drive third connection strap to move；The
The both ends of three connection straps are symmetrically installed there are two U-shaped articulated slab, then U-shaped articulated slab is also followed by the movement of third connection strap；
From foregoing description, it can learn that set square is synchronous with the movement of third connection strap.
One end of second hydraulic column is located in connection shell, and the other end is equipped with the first connection strap, and the first connection strap is equipped with
Two slide bars, one end that each slide bar is not connected with the first connection strap passes through third connection strap, then stretching in the second hydraulic column
Under contracting movement, the second hydraulic column can drive the movement of third connection strap through the first connection strap and slide bar.
It is because being pushed away by the first hydraulic column and ladder type conducting bar in third connection strap that third connection strap, which slides on slide bar,
Under dynamic or pulling, third connection strap can be slided along the axis of slide bar.
The design of ladder type conducting bar and ladder type notch is：First, under the stretching motion of the first hydraulic column, ladder type conducting bar can be with
Third connection strap is pulled to follow the stretching motion of the first hydraulic column；Second, under the stretching motion of the second hydraulic column, third connection
Item can slide on ladder type conducting bar.
Centering block is mounted on by hinged mode in U-shaped articulated slab, then centering block can surround hinge joint in U-shaped articulated slab
Middle swing；Since U-shaped articulated slab is mounted on third connection strap, centering block follows U-shaped hinge plate motion, set square to be connect with third
The movement of item synchronizes, then set square remains synchronous with movement of the centering block on the first hydraulic column axis direction, and then makes
Obtaining centering block can be engaged always with set square generation.
Leaf spring is in compressive state always, and centering block is in contact cooperation close to one end of hydraulic case with set square, then in plate
Under the reset force of spring, centering block is in contact with set square always close to one end of hydraulic case；Centering block to connection shell side to movement when,
Since the inclined-plane of set square squeezes, centering block is swung close to one end of hydraulic case to the direction of the first hydraulic column, and then two centering blocks
The upper distance close to one end of hydraulic case becomes smaller, and the distance of one end far from hydraulic case becomes larger on two centering blocks, finally so that arc
The soft item of shape is softened, and arc brake piece is partial to straight condition；Centering block to far from connection shell side to movement when, since centering block exists
Inclined-plane under leaf spring reset force always with set square is in contact, and centering block is close to one end of hydraulic case to the side far from the first hydraulic column
To swing, and then the distance of one end on two centering blocks close to hydraulic case becomes larger, one end far from hydraulic case on two centering blocks
Distance becomes smaller, and finally so that the soft item of arc is extruded, arc brake piece is partial to raised position.
The sideline that centering block is in contact with set square have fillet design be for the ease of the inclined-plane of centering block and set square more
Good is engaged, and reduces the friction damage of contact point.
The design that the width of arc brake piece is more than the width of the soft item of arc is in order to which arc brake piece can be greater area of
Friction catch is generated with brake disc.
Brake disc is not connected with circumferentially uniformly being provided with multiple wheel mounting holes on the side of shaft, then the axle on wheel can
To be mounted in wheel mounting hole, and then wheel is fixed on brake disc.
When the first hydraulic column and the second hydraulic column be not flexible, centering block and hydraulic case at plumbness, arc brake piece with
Brake disc does not generate frictional fit.
When brake disc needs to be braked, under the action of hydraulic system, the first hydraulic column is extended to brake disc direction, the
Two hydraulic columns do stretching motion along the axis of the second hydraulic column；In the elongation process of the first hydraulic column, ladder type conducting bar and connection
Plate follows the first hydraulic column to move, and connecting plate drives set square to move through the second connection strap, and ladder type conducting bar pushes third connection strap
It is moved to brake disc direction, third connection strap slides on slide bar, and third connection strap drives U-shaped articulated slab and centering block to brake disc
Direction moves；Set square remains synchronous with movement of the centering block on the first hydraulic column axis direction at this time.In the first hydraulic pressure
Under the promotion of column, arc brake piece and brake disc phase CONTACT WITH FRICTION, due to continuing to press on for the first hydraulic column, arc brake piece quilt
Brake disc squeezes, and the area of arc brake piece and brake disc phase CONTACT WITH FRICTION increases, and then arc brake piece generates brake disc
Braking.In addition, during the first hydraulic column pushes arc brake piece, the second hydraulic column of stretching motion is through the first connection strap
Reciprocal up and down motion is done along the direction of the second hydraulic pressure mast axis with moving slide-bar, slide bar drives through third connection strap and U-shaped articulated slab
Centering block does reciprocal up and down motion along the direction of the second hydraulic pressure mast axis；Centering block to connection shell side to movement when, due to set square
Inclined-plane squeeze, centering block is swung close to one end of hydraulic case to the direction of the first hydraulic column, and then close to hydraulic pressure on two centering blocks
The distance of one end of shell becomes smaller, and the distance of one end far from hydraulic case becomes larger on two centering blocks, finally so that the soft item of arc is supportted
It opens, arc brake piece is partial to straight condition；The soft item of arc in straight condition reduces the pressure of brake disc, and then is in
The soft item of arc of straight condition reduces the force of sliding friction that brake disc generates, but due to the soft item of arc in straight condition
Radial distance to brake disk center is elongated, thus the soft item of the arc for being now in straight condition to the friction effect of brake disc simultaneously
Much influences are not generated；Centering block to far from connection shell side to when movement, due to centering block under leaf spring reset force always with three
The inclined-plane of gusset is in contact, and centering block is swung close to one end of hydraulic case to the direction far from the first hydraulic column, and then two centering blocks
The upper distance close to one end of hydraulic case becomes larger, and the distance of one end far from hydraulic case becomes smaller on two centering blocks, finally so that arc
The soft item of shape is extruded, and arc brake piece is partial to raised position；The soft item of arc in raised position increases the pressure of brake disc
Greatly, and then the soft item of arc in raised position increases the force of sliding friction that brake disc generates, but due to being in convex
The radial distance of the soft item of arc of state to brake disk center becomes smaller, so the soft item of the arc for being now in raised position is to brake disc
Friction effect do not generate much influences；The design moved in this way is：In arc brake piece along the axis of the second hydraulic column
During direction back and forth moves up and down, arc brake piece is almost unchanged to the friction catch effect of brake disc, and in arc
Brake block will not constantly rub to the friction point of the same circle of brake disc during back and forth moving up and down, and then avoid
There is place damage phenomenon of the brake disc by continuous frictional；It is back and forth moved up and down additionally, due to arc brake piece, then helping
In the heat dissipation for the friction point for being in different circles on brake disc, generated superheating phenomenon when constantly friction is more avoided, is protected
Brake disc has been protected, the service life of brake disc is extended.
Relative to traditional brake technique, the second hydraulic column in the present invention can make arc brake piece along the second hydraulic pressure
The direction of mast axis back and forth moves up and down, and when arc brake piece back and forth moves up and down can generate different states and to brake
Piece is almost unchanged to the friction catch effect of brake disc；This avoid arc brake pieces ground of the brake disc by continuous frictional occurs
Side's damage phenomenon, and contribute to the heat dissipation of the friction point in different circles on brake disc, it more avoids when constantly rubbing
Generated superheating phenomenon, protects brake disc, extends the service life of brake disc.The configuration of the present invention is simple has preferable
Using effect.
Description of the drawings
Fig. 1 is brake system overall schematic.
Fig. 2 is brake system entirety schematic elevation view.
Fig. 3 is first brake structural scheme of mechanism.
Fig. 4 is first brake mechanism diagrammatic cross-section.
Fig. 5 is set square scheme of installation.
Fig. 6 is U-shaped articulated slab scheme of installation.
Fig. 7 is centering block scheme of installation.
Fig. 8 is arc brake piece scheme of installation.
Figure label title：1, first brake mechanism；2, the second braking mechanism；3, brake disc；4, axle mounting hole；5, turn
Axis；6, the first hydraulic column；7, connecting plate；8, ladder type conducting bar；9, set square；10, centering block；12, hydraulic case；13, shell is connected；14、
Second hydraulic column；15, the first connection strap；16, arc brake piece；17, the soft item of arc；18, the second connection strap；19, slide bar；20、
Ladder type notch；21, U-shaped articulated slab；22, third connection strap；23, fixing groove；24, fillet；25, leaf spring；26, straight end.
Specific implementation mode
As shown in Figure 1, it includes first brake mechanism 1, the second braking mechanism 2, brake disc 3, shaft 5, such as Fig. 1,2 institutes
Show, wherein one end of shaft 5, which is mounted on, brake disc 3；First brake mechanism 1 and the second braking mechanism 2 are identical and symmetrical
Ground is mounted on wheeled robot chassis, and first brake mechanism 1 and the second braking mechanism 2 are located at 3 both sides of brake disc；First stops
Mechanism of car 1 and the second braking mechanism 2 are identical.
As shown in figure 3, above-mentioned first brake mechanism 1 include the first hydraulic column 6, connecting plate 7, ladder type conducting bar 8, set square 9,
Centering block 10, hydraulic case 12, connection shell 13, the second hydraulic column 14, the first connection strap 15, arc brake piece 16, soft article 17 of arc, the
Two connection straps 18, slide bar 19, ladder type notch 20, U-shaped articulated slab 21, third connection strap 22, fixing groove 23, leaf spring 25, such as Fig. 3 institutes
Show, connection shell 13 is wherein installed on hydraulic case 12 and the two internal cavities communicate；First brake mechanism 1 and the second braking mechanism
2 are connected with each other by respective connection shell 13, and in junction, internal cavity communicates；As shown in Figure 4,5, one end of the first hydraulic column 6
In hydraulic case 12, the other end is equipped with ladder type conducting bar 8；Connecting plate 7 is mounted on the first hydraulic column 6, and connecting plate 7 is located at liquid
Between pressure shell 12 and ladder type conducting bar 8；Second connection strap 18 is mounted on connecting plate 7；On the lower face at 18 both ends of the second connection strap
Symmetrically there are two set squares 9 for installation；As shown in fig. 6, the centre position of third connection strap 22 is provided with ladder type notch 20；Third connects
It symmetrically installs there are two U-shaped articulated slab 21 at the both ends of narrow bars 22；As shown in figure 4, ladder type conducting bar 8 is installed in ladder type notch 20,
And third connection strap 22 slides on ladder type conducting bar 8；As shown in Fig. 4,7, two centering blocks 10 are installed symmetrically through hinged mode
In corresponding U-shaped articulated slab 21；It is provided with fixing groove 23 on each end face of centering block 10 far from hydraulic case 12；Such as Fig. 4,8 institutes
Show, the both ends of the soft item of arc 17 have straight end 26；Two straight ends 26 are separately mounted in corresponding fixing groove 23；Arc brake piece
16 are mounted on the extrados of the soft item of arc 17；As shown in Fig. 3,6, one end of the second hydraulic column 14 is located in connection shell 13, separately
One end is equipped with the first connection strap 15；First connection strap 15 is located between third connection strap 22 and the soft item of arc 17, and first connects
Narrow bars 15 are located at the centre position of the second connection strap 18；First connection strap 15 close to the plate face both ends of third connection strap 22 symmetrically
There are two slide bars 19 for installation；One end that each slide bar 19 is not connected with the first connection strap 15 passes through third connection strap 22；Third connects
Narrow bars 22 slide on slide bar 19.
As shown in Fig. 4,7, the mounting means of two leaf springs 25 is identical, for one of leaf spring 25, one end of leaf spring 25
Mounted on centering block 10 on the side of third connection strap 22, the other end is mounted on U-shaped articulated slab 21；Leaf spring 25 is located at third
Between connection strap 22 and hydraulic case 12.
Above-mentioned arc brake piece 16 is matched with brake disc 3.
Above-mentioned centering block 10 is in contact cooperation close to one end of hydraulic case 12 with set square 9.
Above-mentioned brake disc 3 is not connected on the side of shaft 5 being circumferentially uniformly provided with multiple wheel mounting holes.
The sideline that above-mentioned centering block 10 is in contact with set square 9 has fillet 24.
The width of above-mentioned arc brake piece 16 is more than the width of the soft item of arc 17.
The material of the soft item of above-mentioned arc 17 is rubber.
Above-mentioned leaf spring 25 is in compressive state always.
When the second hydraulic column 14 does not work, centering block 10 is with hydraulic case 12 at plumbness.
First brake mechanism 1 is connected with the second braking mechanism 2 by connecting shell 13 in the present invention, and is located at 3 liang of brake disc
Side；The flexible of the first hydraulic column 6 and the second hydraulic column 14 can be controlled by the hydraulic system on wheeled robot；First hydraulic pressure
Column 6 can drive ladder type conducting bar 8 and connecting plate 7 to move；Connecting plate 7 can drive set square 9 to move through the second connection strap 18；The
The centre position of three connection straps 22 is provided with ladder type notch 20, and ladder type conducting bar 8 is located in ladder type notch 20, then ladder type conducting bar 8 can
To drive third connection strap 22 to move；The both ends of third connection strap 22 are symmetrically installed there are two U-shaped articulated slab 21, then U-shaped
Articulated slab 21 is also followed by the movement of third connection strap 22；From foregoing description, set square 9 and third connection strap 22 can be learnt
Movement synchronizes.
One end of second hydraulic column 14 is located in connection shell 13, and the other end is equipped with the first connection strap 15, the first connection strap
There are two slide bar 19, one end that each slide bar 19 is not connected with the first connection strap 15 passes through third connection strap 22 for 15 installations, then
Under the stretching motion of the second hydraulic column 14, the second hydraulic column 14 can drive third to connect through the first connection strap 15 with slide bar 19
Item 22 moves.
It is because of in third connection strap 22 by the first hydraulic column 6 and ladder type that third connection strap 22, which slides on slide bar 19,
Under the promotion or pulling of conducting bar 8, third connection strap 22 can be slided along the axis of slide bar 19.
The design of ladder type conducting bar 8 and ladder type notch 20 is：First, under the stretching motion of the first hydraulic column 6, ladder type conducting bar
8 can pull third connection strap 22 to follow the stretching motion of the first hydraulic column 6；Second, in the stretching motion of the second hydraulic column 14
Under, third connection strap 22 can slide on ladder type conducting bar 8.
Centering block 10 is mounted on by hinged mode in U-shaped articulated slab 21, then centering block 10 can surround hinge joint U-shaped
It is swung in articulated slab 21；Since U-shaped articulated slab 21 is mounted on third connection strap 22, centering block 10 follows U-shaped articulated slab 21 to move,
Set square 9 is synchronous with the movement of third connection strap 22, then set square 9 and centering block 10 are on 6 axis direction of the first hydraulic column
Movement remains synchronous, is engaged so that centering block 10 can generate always with set square 9.
Leaf spring 25 is in compressive state always, and centering block 10 is in contact cooperation close to one end of hydraulic case 12 with set square 9, that
Under the reset force of leaf spring 25, centering block 10 is in contact with set square 9 always close to one end of hydraulic case 12；In centering block 10 to even
When 13 direction of body contact moves, since the inclined-plane of set square 9 squeezes, centering block 10 is close to one end of hydraulic case 12 to the first hydraulic column 6
Direction swing, and then the distance of one end on two centering blocks 10 close to hydraulic case 12 becomes smaller, far from hydraulic pressure on two centering blocks 10
The distance of one end of shell 12 becomes larger, and finally so that the soft item of arc 17 is softened, arc brake piece 16 is partial to straight condition；It is putting
Block 10 to when being moved far from connection shell 13 direction, due to centering block 10 under 25 reset force of leaf spring always with the inclined-plane phase of set square 9
Contact, centering block 10 are swung close to one end of hydraulic case 12 to the direction far from the first hydraulic column 6, and then close on two centering blocks 10
The distance of one end of hydraulic case 12 becomes larger, and the distance of one end far from hydraulic case 12 on two centering blocks 10 becomes smaller, finally so that arc
The soft item of shape 17 is extruded, and arc brake piece 16 is partial to raised position.
It is for the ease of centering block 10 and set square 9 that the sideline that centering block 10 is in contact with set square 9, which has the design of fillet 24,
Inclined-plane be preferably engaged, reduce the friction damage of contact point.
The design that the width of arc brake piece 16 is more than the width of the soft item of arc 17 is in order to which arc brake piece 16 can bigger
Area generates friction catch with brake disc 3.
Brake disc 3 is not connected on the side of shaft 5 being circumferentially uniformly provided with multiple wheel mounting holes, then the axle on wheel
It may be mounted in wheel mounting hole, and then wheel is fixed on brake disc 3.
Specific implementation mode：When the first hydraulic column 6 and the second hydraulic column 14 be not flexible, centering block 10 is with hydraulic case 12 at vertical
Straight state, arc brake piece 16 do not generate frictional fit with brake disc 3.
When brake disc 3 needs to be braked, under the action of hydraulic system, the first hydraulic column 6 is stretched to 3 direction of brake disc
Long, the second hydraulic column 14 does stretching motion along the axis of the second hydraulic column 14；In the elongation process of the first hydraulic column 6, ladder type
Conducting bar 8 and connecting plate 7 follow the first hydraulic column 6 to move, and connecting plate 7 drives set square 9 to move through the second connection strap 18, and ladder type is led
Item 8 pushes third connection strap 22 to be moved to 3 direction of brake disc, and third connection strap 22 slides on slide bar 19, third connection strap 22
U-shaped articulated slab 21 and centering block 10 is driven to be moved to 3 direction of brake disc；Set square 9 and centering block 10 are in 6 axis of the first hydraulic column at this time
Movement on direction remains synchronous.Under the promotion of the first hydraulic column 6, arc brake piece 16 connects with 3 phase friction of brake disc
It touches, due to continuing to press on for the first hydraulic column 6, arc brake piece 16 is squeezed by brake disc 3, arc brake piece 16 and brake disc 3
The area of phase CONTACT WITH FRICTION increases, and then arc brake piece 16 generates braking to brake disc 3.In addition, being pushed in the first hydraulic column 6
During arc brake piece 16, the second hydraulic column 14 of stretching motion is through the first connection strap 15 with moving slide-bar 19 along the second hydraulic pressure
Reciprocal up and down motion is done in the direction of 14 axis of column, and slide bar 19 drives centering block 10 along the through third connection strap 22 and U-shaped articulated slab 21
Do reciprocal up and down motion in the direction of two hydraulic columns, 14 axis；When centering block 10 is moved to 13 direction of connection shell, due to set square 9
Inclined-plane squeezes, and centering block 10 is swung close to one end of hydraulic case 12 to the direction of the first hydraulic column 6, and then close on two centering blocks 10
The distance of one end of hydraulic case 12 becomes smaller, and the distance of one end far from hydraulic case 12 on two centering blocks 10 becomes larger, finally so that arc
The soft item of shape 17 is softened, and arc brake piece 16 is partial to straight condition；The soft item 17 of arc in straight condition is to brake disc 3
Pressure reduces, and then the soft item 17 of arc in straight condition reduces the force of sliding friction that brake disc 3 generates, but due to place
It is elongated in the radial distance of the soft item 17 of the arc of straight condition to 3 center of brake disc, so being now in the arc of straight condition
Soft item 17 does not generate much influences to the friction effect of brake disc 3；When centering block 10 is moved to 13 direction of separate connection shell,
Since centering block 10 is in contact with the inclined-plane of set square 9 always under 25 reset force of leaf spring, centering block 10 is close to one end of hydraulic case 12
It is swung to the direction far from the first hydraulic column 6, and then the distance on two centering blocks 10 close to one end of hydraulic case 12 becomes larger, two
The distance of one end far from hydraulic case 12 becomes smaller on centering block 10, and finally so that the soft item of arc 17 is extruded, arc brake piece 16 is inclined
To in raised position；The soft item 17 of arc in raised position increases the pressure of brake disc 3, and then the arc in raised position
The soft item 17 of shape increases the force of sliding friction that brake disc 3 generates, but due to the soft item 17 of arc in raised position to brake
The radial distance at 3 center of disk becomes smaller, thus the soft item 17 of the arc for being now in raised position to the friction effect of brake disc 3 not
Have and generates much influences；The design moved in this way is：Arc brake piece 16 along the axis direction of the second hydraulic column 14 it is reciprocal on
During lower movement, arc brake piece 16 is almost unchanged to the friction catch effect of brake disc 3, and in arc brake piece 16
It will not constantly be rubbed, and then be avoided out to the friction point of the same circle of brake disc 3 during back and forth moving up and down
Existing brake disc 3 is by the place damage phenomenon of continuous frictional；It is back and forth moved up and down additionally, due to arc brake piece 16, then contributing to
The heat dissipation of friction point in different circles on brake disc 3 more avoids generated superheating phenomenon, protection when constantly friction
Brake disc 3, extends the service life of brake disc 3.
In conclusion the main advantageous effect of the present invention is：Second hydraulic column 14 can make arc brake piece 16 along
The direction of two hydraulic columns, 14 axis back and forth moves up and down, and arc brake piece 16 back and forth move up and down when can generate different shapes
State so that brake block is almost unchanged to the friction catch effect of brake disc 3；This avoid arc brake pieces 16 brake disc 3 occurs
By the place damage phenomenon of continuous frictional, and contribute to the heat dissipation of the friction point in different circles on brake disc 3, more avoids
Generated superheating phenomenon, protects brake disc 3, extends the service life of brake disc 3 when constantly rubbing.Knot of the present invention
Structure is simple, has preferable using effect.
Claims (7)
1. a kind of brake system that wheeled robot uses, it is characterised in that：It includes first brake mechanism, the second braking machine
Structure, brake disc, shaft, wherein one end of shaft, which are mounted on, brake disc；First brake mechanism and the complete phase of the second braking mechanism
It together and is symmetrically mounted on wheeled robot chassis, and first brake mechanism and the second braking mechanism are located at brake disc both sides；
First brake mechanism is identical with the second braking mechanism；
Above-mentioned first brake mechanism include the first hydraulic column, connecting plate, ladder type conducting bar, set square, centering block, hydraulic case, connection shell,
Second hydraulic column, the first connection strap, arc brake piece, the soft item of arc, the second connection strap, slide bar, ladder type notch, U-shaped articulated slab,
Third connection strap, fixing groove, leaf spring, are wherein equipped with connection shell on hydraulic case and the two internal cavities communicate；First brake machine
Structure and the second braking mechanism are connected by respective connection shell phase, and in junction, internal cavity communicates；One end of first hydraulic column
In hydraulic case, the other end is equipped with ladder type conducting bar；Connecting plate be mounted on the first hydraulic column on, connecting plate be located at hydraulic case with
Between ladder type conducting bar；Second connection strap is mounted on connecting plate；It is symmetrically equipped with two on the lower face at the second connection strap both ends
A set square；The centre position of third connection strap is provided with ladder type notch；It symmetrically installs there are two U-shaped at the both ends of third connection strap
Articulated slab；Ladder type conducting bar is installed in ladder type notch, and third connection strap slides on ladder type conducting bar；Two centering blocks are symmetrically through hinge
The mode connect is mounted in corresponding U-shaped articulated slab；Each centering block is provided with fixing groove on the end face far from hydraulic case；Arc is soft
The both ends of item have straight end；Two straight ends are separately mounted in corresponding fixing groove；Arc brake piece is mounted on the soft item of arc
On extrados；One end of second hydraulic column is located in connection shell, and the other end is equipped with the first connection strap；First connection strap is located at the
Between three connection straps and the soft item of arc, and the first connection strap is located at the centre position of the second connection strap；First connection strap is close to
It symmetrically installs there are two slide bar at the plate face both ends of three connection straps；One end that each slide bar is not connected with the first connection strap passes through the
Three connection straps；Third connection strap slides on slide bar；
The mounting means of two leaf springs is identical, and for one of leaf spring, one end of leaf spring is mounted on centering block and is connected close to third
On the side of item, the other end is mounted on U-shaped articulated slab；Leaf spring is between third connection strap and hydraulic case；
Above-mentioned arc brake piece is matched with brake disc；
Above-mentioned centering block is in contact cooperation close to one end of hydraulic case with set square.
2. the brake system that a kind of wheeled robot according to claim 1 uses, it is characterised in that：Above-mentioned brake disc is not
It connects and is circumferentially uniformly provided with multiple wheel mounting holes on the side of shaft.
3. the brake system that a kind of wheeled robot according to claim 1 uses, it is characterised in that：Above-mentioned centering block and three
The sideline that gusset is in contact has fillet.
4. the brake system that a kind of wheeled robot according to claim 1 uses, it is characterised in that：Above-mentioned arc brake
The width of piece is more than the width of the soft item of arc.
5. the brake system that a kind of wheeled robot according to claim 1 uses, it is characterised in that：The above-mentioned soft item of arc
Material be rubber.
6. the brake system that a kind of wheeled robot according to claim 1 uses, it is characterised in that：Above-mentioned leaf spring is always
In compressive state.
7. the brake system that a kind of wheeled robot according to claim 1 uses, it is characterised in that：When the second hydraulic column
When not working, centering block is with hydraulic case at plumbness.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810455302.6A CN108657146A (en) | 2018-05-14 | 2018-05-14 | A kind of brake system that wheeled robot uses |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810455302.6A CN108657146A (en) | 2018-05-14 | 2018-05-14 | A kind of brake system that wheeled robot uses |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108657146A true CN108657146A (en) | 2018-10-16 |
Family
ID=63778368
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810455302.6A Withdrawn CN108657146A (en) | 2018-05-14 | 2018-05-14 | A kind of brake system that wheeled robot uses |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108657146A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110884472A (en) * | 2019-12-23 | 2020-03-17 | 合肥海源机械有限公司 | Wet-type braking electric tractor transaxle |
| CN112776849A (en) * | 2021-01-27 | 2021-05-11 | 易程融创信息科技有限公司 | Brake equipment and have its track robot |
-
2018
- 2018-05-14 CN CN201810455302.6A patent/CN108657146A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110884472A (en) * | 2019-12-23 | 2020-03-17 | 合肥海源机械有限公司 | Wet-type braking electric tractor transaxle |
| CN110884472B (en) * | 2019-12-23 | 2024-04-23 | 合肥海源机械有限公司 | Wet braking electric tractor driving axle |
| CN112776849A (en) * | 2021-01-27 | 2021-05-11 | 易程融创信息科技有限公司 | Brake equipment and have its track robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108657146A (en) | A kind of brake system that wheeled robot uses | |
| CN108087453B (en) | A kind of dual brake piece brake units of frictional displacement | |
| CN108622046A (en) | A kind of reciprocating swing type double-brake system | |
| CN104452627B (en) | A kind of Intelligent traffic control device with warning lamp | |
| CN201762026U (en) | Off-tracking prevention hydraulic rail clamp | |
| CN108622047A (en) | A kind of brake system that the wheeled robot swung based on brake block is used | |
| CN210191669U (en) | Crawler walking type double-cylinder swing arm tractor | |
| CN113027943A (en) | Brake structure for industrial and mining electric locomotive | |
| CN107830084B (en) | A kind of automotive disc brake | |
| CN213973999U (en) | Monorail crane braking vehicle | |
| CN204873700U (en) | Elevator emergency brake structure | |
| CN213676945U (en) | Paver track beam spring tensioning protection structure | |
| CN205479017U (en) | Dual -brake piece brake unit based on friction is shifted | |
| CN205149829U (en) | Reserve emergency brake arrangement of front wheel driving semi -mounted freight train | |
| CN108248585A (en) | The convenient arrestment mechanism to break the barriers of new-energy automobile is made by damping softening | |
| CN207089318U (en) | Track electrically driven truck machine | |
| CN208085918U (en) | A kind of bicycle brake device | |
| CN210452709U (en) | Track type inspection robot walking mechanism | |
| CN203795503U (en) | Reinforced chassis of excavator | |
| CN203427880U (en) | Dustpan vehicle steering suspension | |
| CN210978290U (en) | Braking device of coal mine overhead passenger device | |
| CN218707445U (en) | Novel wheel that rises device | |
| CN104442246A (en) | Railway guiding bridge structure | |
| CN201010331Y (en) | Auxiliary guiding device | |
| CN204900604U (en) | Cylinder band brake |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181016 |
|
| WW01 | Invention patent application withdrawn after publication |