CN108730374A - A kind of bilateral braking mechanism of the robot based on wheeled platform - Google Patents
A kind of bilateral braking mechanism of the robot based on wheeled platform Download PDFInfo
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- CN108730374A CN108730374A CN201810604605.XA CN201810604605A CN108730374A CN 108730374 A CN108730374 A CN 108730374A CN 201810604605 A CN201810604605 A CN 201810604605A CN 108730374 A CN108730374 A CN 108730374A
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- Prior art keywords
- brake
- block
- drive
- drive block
- brake disc
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D55/00—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes
- F16D55/02—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members
- F16D55/22—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads
- F16D55/224—Brakes with substantially-radial braking surfaces pressed together in axial direction, e.g. disc brakes with axially-movable discs or pads pressed against axially-located rotating members by clamping an axially-located rotating disc between movable braking members, e.g. movable brake discs or brake pads with a common actuating member for the braking members
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D65/00—Parts or details
- F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2121/00—Type of actuator operation force
- F16D2121/02—Fluid pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2125/00—Components of actuators
- F16D2125/18—Mechanical mechanisms
- F16D2125/58—Mechanical mechanisms transmitting linear movement
- F16D2125/68—Lever-link mechanisms, e.g. toggles with change of force ratio
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Braking Arrangements (AREA)
Abstract
The invention belongs to braking mechanism technical fields, more particularly to a kind of bilateral braking mechanism of the robot based on wheeled platform, it includes brake disc, brake set casing, brake units, drive shaft, when robot needs gently in a flash, control hydraulic stem work, hydraulic pressure interior bar on control hydraulic stem pushes drive arc block to be moved towards the side for being equipped with brake disc so that first brake piece is contacted with brake disc, and the hydraulic pressure interior bar on hydraulic stem, which continues to press on the movement of drive arc block, will make first brake piece play braking action to brake disc；When robot needs heavy brake, the hydraulic pressure interior bar controlled on hydraulic stem continues to press on drive arc block；The movement of drive arc block will make the second brake block play braking action to brake disc；The braking mechanism can gently be stopped and heavy brake two states by automatically adjusting to adapt to user；The safety for improving vehicle braking is done so, while ensure that economy.
Description
Technical field
The invention belongs to a kind of brakes of the bilateral of braking mechanism technical field more particularly to robot based on wheeled platform
Mechanism.
Background technology
Robot generates pressure using hydraulic drive brake block and brake disc at present, by frictional force to brake disc system
It is dynamic.In braking process, disc surface is all contacted with brake panel surface, when brake block because stopping occurs in certain primary brake
Vehicle piece fever rapidly wear and the service life of brake block then time abrasion, that is, need to replace immediately, otherwise can influence
To traffic safety.In addition for brake block, the high brake block of performance and performance it is low brake block price difference it is larger, often
Everybody buys the brake block of medium-performance, both ensure that quality or has met price endurance.But medium brake block exists after all
Performance in a flash is not so good as high-quality brake block, safety and a kind of contradiction of Price Impact by force.
The present invention design a kind of bilateral braking mechanism of the robot based on wheeled platform 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 bilateral brake of the robot based on wheeled platform
Mechanism of car, it is realized using following technical scheme.
A kind of bilateral braking mechanism of the robot based on wheeled platform, it is characterised in that：It includes brake disc, brakes admittedly
Determine shell, brake units, drive shaft, wherein drive shaft is fixedly mounted on robot mounting bracket；Drive shaft with it is robotically-driven defeated
Go out axis connection；Brake disc is installed on the driving shaft；Brake set casing is fixedly mounted on robot mounting bracket；Brake set casing with
Brake disc coordinates；Four brake units are symmetrically mounted at the both sides of brake disc in pairs；Two brakes positioned at the same side
Unit is symmetrical with the center for the set casing that brakes.
Above-mentioned brake units include fixed support, guide groove, the first drive block, the second drive block, hydraulic stem, driving plate, plate
Spring, third drive block, the first guide block, the second guide block, the first oscillating rod, drive arc block, first brake piece, the second brake block,
One, which swings mounting groove, the second swing mounting groove, third, swings mounting groove, wherein the side of fixed support is provided with guide groove；Fixed branch
One end of support is mounted on the one side of brake set casing；The side of second drive block is provided with third and swings mounting groove；Second drives
One end of motion block is equipped with the second guide block；Second drive block is pacified by the cooperation of the second guide block and the guide groove opened in fixed support
In fixed support；It is not provided on second drive block on the one side of third swing mounting groove and drive arc block is installed；Hydraulic pressure
One end of bar is mounted on brake set casing and is equipped on the side of fixed support；The other end of hydraulic stem is connect with drive arc block.
The both ends institute mounting structure of second drive block is identical；Its in the structure installed for the second drive block both ends
Middle any one end is connected between one end of the first oscillating rod and the second drive block by revolute pair；First oscillating rod and
Third on two drive blocks swings mounting groove cooperation；The side of first drive block is provided with the first swing mounting groove；First drive block
One end and the other end of the first oscillating rod be connected by revolute pair；The first pendulum on first oscillating rod and the first drive block
Dynamic mounting groove cooperation；One end of two driving plates is symmetrically mounted at the both sides of the first drive block；Two driving plates are driven with first
First opened on motion block swings mounting groove cooperation；Second brake block is mounted on the other end of two driving plates；Second brake block
Close to brake disc；There are one the first oscillating rods by revolute pair connection for the other end of first drive block；First oscillating rod and first
First opened on drive block swings mounting groove cooperation；First oscillating rod is located between two driving plates.
The side of third drive block is provided with third and swings mounting groove；One end of third drive block is equipped with the first guide block；The
Three drive blocks are fixed with being fitted to for guide groove opened in fixed support in support by the first guide block；Third drive block is logical
The other end for crossing two the first oscillating rods that third swings mounting groove and close brake disc is connected by revolute pair；First stops
Vehicle piece is mounted on the other side of third drive block；First brake piece coordinates with brake disc.
Two leaf springs are separately mounted on two the first oscillating rods of homonymy；Two leaf springs are respectively close to corresponding
One drive block.
Two points of spacing of the spacing between the second brake block and brake disc between above-mentioned first brake piece and brake disc
One of.
As being further improved for this technology, the spacing between above-mentioned first brake piece and brake disc is 0.3mm；Pass through reality
It is best to the brake reaction effect of robot to test 0.3mm.
As being further improved for this technology, the braking quality of above-mentioned first brake disk is the second brake block braking quality
Half.
As being further improved for this technology, above-mentioned first guide block and the second guide block and the guide groove opened in fixed support it
Between connected by linear bearing.
As being further improved for this technology, the above-mentioned alternative as hydraulic stem is atmospheric pressure pole.
One end of fixed support is mounted on the one side of brake set casing in the present invention；Second drive block is led by second
Block is fixed with being fitted to for guide groove opened in fixed support in support；Third is not provided on second drive block and swings installation
Drive arc block is installed on the one side of slot；One end of hydraulic stem is mounted on the side that brake set casing is equipped with fixed support
On；The other end of hydraulic stem is connect with drive arc block；Matched by revolute pair between one end of first oscillating rod and the second drive block
Close connection；One end of first drive block and the other end of the first oscillating rod are connected by revolute pair；The one of two driving plates
End is symmetrically mounted at the both sides of the first drive block；Second brake block is mounted on the other end of two driving plates；Second brake block
Close to brake disc；One end of first oscillating rod and the other end of the first drive block are connected by revolute pair；Third drive block
It is fixed in support with being fitted to for guide groove opened in fixed support by the first guide block；Third drive block is put by third
The other end of dynamic mounting groove and two the first oscillating rods is connected by revolute pair；First brake piece is mounted on third drive block
The other side；First brake piece coordinates with brake disc；When on hydraulic stem hydraulic pressure interior bar push drive arc block towards be equipped with stop
When the side movement of hull, drive arc block will push the second drive block to be moved towards the side for being equipped with brake disc；Second drives
Motion block movement will push two the first drive block movements under the action of two leaf springs by two the first oscillating rods；Two
First drive block movement will drive corresponding four driving plates to move；Four driving plate movements drive two the second brake block courts
The side movement for being equipped with brake disc；Two the first drive block movements will drive two under the action of two leaf springs simultaneously
A first oscillating rod movement；Two the first oscillating rod movements drive the movement of third drive block；The movement of third drive block drives first
Brake block is moved towards the side for being equipped with brake disc；When first brake piece and brake disc contact, in the hydraulic pressure on hydraulic stem
Bar, which continues to press on the movement of drive arc block, will make two the first oscillating rods compress two leaf springs；Two leaf springs will be by the pressure
It is transmitted on two the first oscillating rods；Two the first oscillating rods will be in the pressure transmission to third drive block；Third drive block will
The pressure transmission is to first brake on piece；So that the pressure between first brake piece and brake disc becomes larger；That is first brake piece pair
Brake disc plays braking action；When two the second brake blocks contact in moving process with brake disc, at this time on hydraulic stem
Hydraulic pressure interior bar pushes drive arc block；Drive arc block will be pushed corresponding by two the first oscillating rods and two the first drive blocks
Four driving plates；Four driving plates push corresponding two the second brake blocks；So that between two the second brake blocks and brake disc
Pressure become larger；I.e. the second brake block plays braking action to brake disc.
Relative to traditional braking mechanism technology, the braking mechanism that the present invention designs can adapt to make by automatically adjusting
User gently stops and heavy brake two states.It stops and the strong brake block worn in a flash is different present invention utilizes light, gently in a flash the
The working face of one brake block can install slightly more secondary brake block, and the working face of the second brake block can be installed in a flash by force
The higher brake block of quality does so the safety for improving vehicle braking, while ensure that economy.
Description of the drawings
Fig. 1 is global facility appearance diagram.
Fig. 2 is global facility distribution schematic diagram.
Fig. 3 is brake units distribution schematic diagram.
Fig. 4 is brake units and brake disc cooperation schematic diagram.
Fig. 5 is fixed support scheme of installation.
Fig. 6 is fixed support structure schematic diagram.
Fig. 7 is first brake piece and the second brake block and brake disc cooperation schematic diagram.
Fig. 8 is the second drive block scheme of installation.
Fig. 9 is brake units structural schematic diagram.
Figure 10 is the second brake block scheme of installation.
Figure 11 is the first guide block scheme of installation.
Figure 12 is the second drive block structural schematic diagram.
Figure 13 is first brake piece and the second brake block operation principle schematic diagram.
Figure label title：1, brake disc；2, brake set casing；3, brake units；4, drive shaft；5, fixed support；6,
Guide groove；7, the first drive block；8, the second drive block；9, hydraulic stem；10, driving plate；11, leaf spring；12, third drive block；13,
One guide block；14, the second guide block；15, the first oscillating rod；16, drive arc block；17, first brake piece；18, the second brake block；19,
First swings mounting groove；20, second mounting groove is swung；21, third swings mounting groove.
Specific implementation mode
As shown in Figure 1, 2, it includes brake disc 1, brake set casing 2, brake units 3, drive shaft 4, wherein such as Fig. 1 institutes
Show, drive shaft 4 is fixedly mounted on robot mounting bracket；Drive shaft 4 and robotically-driven output axis connection；Brake disc 1 is installed
In drive shaft 4；Brake set casing 2 is fixedly mounted on robot mounting bracket；The set casing 2 that brakes coordinates with brake disc 1；Such as figure
Shown in 3, four brake units 3 are symmetrically mounted at the both sides of brake disc 1 in pairs；As shown in figure 4, two positioned at the same side
A brake units 3 are symmetrical with the center for the set casing 2 that brakes.
As shown in figure 9, above-mentioned brake units 3 include fixed support 5, guide groove 6, the first drive block 7, the second drive block 8, liquid
Compression bar 9, driving plate 10, leaf spring 11, third drive block 12, the first guide block 13, the second guide block 14, the first oscillating rod 15, drive arc
Block 16, first brake piece 17, the second brake block 18, first swing mounting groove 19, second and swing mounting groove 20, third swing installation
Slot 21, wherein as shown in fig. 6, the side of fixed support 5 is provided with guide groove 6；As shown in figure 5, one end of fixed support 5 is mounted on and stops
On the one side of vehicle set casing 2；As shown in figure 12, the side of the second drive block 8 is provided with third and swings mounting groove 21；Such as Fig. 8 institutes
Show, one end of the second drive block 8 is equipped with the second guide block 14；Second drive block 8 passes through the second guide block 14 and institute in fixed support 5
The guide groove 6 opened is fitted in fixed support 5；As shown in figure 9, not being provided with third on the second drive block 8 swings mounting groove
Drive arc block 16 is installed on 21 one side；One end of hydraulic stem 9 is mounted on brake set casing 2 and is equipped with fixed support 5
On side；The other end of hydraulic stem 9 is connect with drive arc block 16.
As shown in figure 9, the both ends institute mounting structure of the second drive block 8 is identical；Second drive block, 8 both ends are pacified
Wherein any one end in the structure of dress, is connected between one end of the first oscillating rod 15 and the second drive block 8 by revolute pair；
Third on first oscillating rod 15 and the second drive block 8 swings mounting groove 21 and coordinates；As shown in Figure 10, the one of the first drive block 7
Side is provided with the first swing mounting groove 19；One end of first drive block 7 and the other end of the first oscillating rod 15 are coordinated by revolute pair
Connection；First on first oscillating rod 15 and the first drive block 7, which swings mounting groove 19, coordinates；One end of two driving plates 10 is symmetrical
Ground is mounted on the both sides of the first drive block 7；Two driving plates 10 are matched with the first swing mounting groove 19 opened on the first drive block 7
It closes；Second brake block 18 is mounted on the other end of two driving plates 10；As shown in fig. 7, the second brake block 18 is close to brake disc 1；
As shown in figure 9, the other end of the first drive block 7 is by revolute pair connection, there are one the first oscillating rods 15；First oscillating rod 15 with
First opened on first drive block 7 swings mounting groove 19 and coordinates；First oscillating rod 15 is located between two driving plates 10.
As shown in figure 11, the side of third drive block 12 is provided with third and swings mounting groove 21；One end of third drive block 12
First guide block 13 is installed；As shown in figure 8, third drive block 12 supports the guide groove 6 opened on 5 by the first guide block 13 with fixed
Be fitted in fixed support 5；As shown in figure 9, third drive block 12 swings mounting groove 21 and close brake by third
The other end of two the first oscillating rods 15 of disk 1 is connected by revolute pair；First brake piece 17 is mounted on third drive block
12 other side；As shown in fig. 7, first brake piece 17 coordinates with brake disc 1.
Two leaf springs 11 are separately mounted on two the first oscillating rods 15 of homonymy；Two leaf springs 11 are respectively close to right
The first drive block 7 answered.
Spacing of the spacing between the second brake block 18 and brake disc 1 between above-mentioned first brake piece 17 and brake disc 1
Half.
Spacing between above-mentioned first brake piece 17 and brake disc 1 is 0.3mm；By testing brakes of the 0.3mm to robot
Vehicle reaction effect is best.
The braking quality of above-mentioned first brake disk 1 is the half of 18 braking quality of the second brake block.
Connected by linear bearing between the guide groove 6 opened on 13 and second guide block 14 of above-mentioned first guide block and fixed support 5
It connects.
The above-mentioned alternative as hydraulic stem 9 is atmospheric pressure pole.
In summary：
The braking mechanism that the present invention designs can gently be stopped and heavy brake two states by automatically adjusting to adapt to user.This
Invention be utilized it is light stop and the strong brake block worn in a flash is different, gently the working face of first brake piece 17 can be installed in a flash
Slightly more secondary brake block, and the working face of the second brake block 18 can be with the higher brake block of installation quality, so in a flash by force
The safety for improving vehicle braking is done, while ensure that economy.
One end of fixed support 5 is mounted on the one side of brake set casing 2 in the present invention；Second drive block 8 passes through
Two guide blocks 14 are fixed with being fitted to for guide groove 6 opened in fixed support 5 in support 5；Is not provided on second drive block 8
Drive arc block 16 is installed on the one side of three swing mounting grooves 21；One end of hydraulic stem 9 is mounted on brake set casing 2 and is equipped with
On the side of fixed support 5；The other end of hydraulic stem 9 is connect with drive arc block 16；It is driven with second one end of first oscillating rod 15
It is connected by revolute pair between motion block 8；One end of first drive block 7 and the other end of the first oscillating rod 15 pass through revolute pair
It is connected；One end of two driving plates 10 is symmetrically mounted at the both sides of the first drive block 7；Second brake block 18 is mounted on two
The other end of a driving plate 10；Second brake block 18 is close to brake disc 1；One end of first oscillating rod 15 and the first drive block 7
The other end is connected by revolute pair；Third drive block 12 is by the first guide block 13 and fixes the guide groove 6 opened in support 5
It is fitted in fixed support 5；Third drive block 12 swings the another of mounting groove 21 and two the first oscillating rods 15 by third
One end is connected by revolute pair；First brake piece 17 is mounted on the other side of third drive block 12；First brake piece 17 with
Brake disc 1 coordinates；When the hydraulic pressure interior bar on hydraulic stem 9 pushes drive arc block 16 to be moved towards the side for being equipped with brake disc 1,
Drive arc block 16 will push the second drive block 8 to be moved towards the side for being equipped with brake disc 1；Second drive block, 8 movement will
Under the action of two leaf spring 11, two the first drive block 7 movements are pushed by two the first oscillating rods 15；Two first drivings
7 movement of block will drive corresponding four driving plates 10 to move；Four movements of driving plate 10 drive two 18 courts of the second brake block
The side movement for being equipped with brake disc 1；Two 7 movements of the first drive block simultaneously will be under the action of two leaf spring 11, band
Dynamic two the first oscillating rods 15 movement；Two the first oscillating rod 15 movements drive third drive block 12 to move；Third drive block 12
It is mobile that first brake piece 17 is driven to be moved towards the side for being equipped with brake disc 1；When first brake piece 17 is contacted with brake disc 1
When, the hydraulic pressure interior bar on hydraulic stem 9, which continues to press on 16 movement of drive arc block, will make two the first oscillating rods 15 compress two
Leaf spring 11；Two leaf springs 11 will will be in the pressure transmission to two the first oscillating rods 15；Two the first oscillating rods 15 are by the pressure
Power is transmitted on third drive block 12；Third drive block 12 will be in the pressure transmission to first brake piece 17；Make first brake
Pressure between piece 17 and brake disc 1 becomes larger；I.e. first brake piece 17 plays braking action to brake disc 1；When two second brakes
When vehicle piece 18 contacts in moving process with brake disc 1, the hydraulic pressure interior bar on hydraulic stem 9 pushes drive arc block 16 at this time；Driving
Arc block 16 will push corresponding four driving plates 10 by two the first oscillating rods 15 and two the first drive blocks 7；Four drives
Movable plate 10 pushes corresponding two the second brake blocks 18；So that the pressure between two the second brake blocks 18 and brake disc 1 becomes larger；
I.e. the second brake block 18 plays braking action to brake disc 1.
A represents first brake piece 17 in above-mentioned attached drawing 13, and b represents the second brake block 18.
Specific implementation mode；When the braking mechanism designed using the present invention in robot, robot is due to passing through induction
Device can incude braking distance in advance, so robot generally passes through brake snubbing in use；When robot needs gently
In a flash, control hydraulic stem 9 works, and the hydraulic pressure interior bar on hydraulic stem 9 pushes drive arc block 16 towards the side for being equipped with brake disc 1
Mobile, drive arc block 16 will push the second drive block 8 to be moved towards the side for being equipped with brake disc 1；Second drive block 8 moves
Under the action of two leaf spring 11 two the first drive block 7 movements will be pushed by two the first oscillating rods 15；Two first
7 movement of drive block will drive corresponding four driving plates 10 to move；Four movements of driving plate 10 drive two the second brake blocks
18 move towards the side for being equipped with brake disc 1；Two 7 movements of the first drive block simultaneously will be in the effect of two leaf springs 11
Under, drive two the first oscillating rod 15 movements；Two the first oscillating rod 15 movements drive third drive block 12 to move；Third drives
The movement of block 12 drives first brake piece 17 to be moved towards the side for being equipped with brake disc 1；When first brake piece 17 and brake disc 1 connect
When touching, the hydraulic pressure interior bar on hydraulic stem 9, which continues to press on 16 movement of drive arc block, will make two the first oscillating rod 15 compressions two
A leaf spring 11；Two leaf springs 11 will will be in the pressure transmission to two the first oscillating rods 15；Two the first oscillating rods 15 should
In pressure transmission to third drive block 12；Third drive block 12 will be in the pressure transmission to first brake piece 17；So that first stops
Pressure between vehicle piece 17 and brake disc 1 becomes larger；As shown in figure 13, i.e., first brake piece 17 plays braking action to brake disc 1；
Two the second brake blocks 18 contact in moving process with brake disc 1 at this time, when robot needs heavy brake, hydraulic stem 9 at this time
On hydraulic pressure interior bar push drive arc block 16；Drive arc block 16 will pass through two the first oscillating rods 15 and two the first drive blocks
7 push corresponding four driving plates 10；Four driving plates 10 push corresponding two the second brake blocks 18；So that two second brakes
Pressure between vehicle piece 18 and brake disc 1 becomes larger；I.e. the second brake block 18 plays braking action to brake disc 1；In this state
Lower first brake piece 17 and the second brake block 18 work simultaneously；The braking effect of first brake piece 17 reaches stable.
Claims (5)
1. a kind of bilateral braking mechanism of the robot based on wheeled platform, it is characterised in that：It includes brake disc, brake fixation
Shell, brake units, drive shaft, wherein drive shaft are fixedly mounted on robot mounting bracket；Drive shaft and robotically-driven output
Axis connection；Brake disc is installed on the driving shaft；Brake set casing is fixedly mounted on robot mounting bracket；Brake set casing and brake
Hull coordinates；Four brake units are symmetrically mounted at the both sides of brake disc in pairs；Two brakes positioned at the same side are single
Member is symmetrical with the center for the set casing that brakes；
Above-mentioned brake units include fixed support, guide groove, the first drive block, the second drive block, hydraulic stem, driving plate, leaf spring, the
Three drive blocks, the first guide block, the second guide block, the first oscillating rod, drive arc block, first brake piece, the second brake block, first swing
Mounting groove, second swing mounting groove, third swing mounting groove, wherein the side of fixed support is provided with guide groove；The one of fixed support
End is mounted on the one side of brake set casing；The side of second drive block is provided with third and swings mounting groove；Second drive block
One end is equipped with the second guide block；Second drive block is by the second guide block and fixes being fitted to admittedly for the guide groove opened in support
In fixed support；It is not provided on second drive block on the one side of third swing mounting groove and drive arc block is installed；The one of hydraulic stem
End is mounted on brake set casing and is equipped on the side of fixed support；The other end of hydraulic stem is connect with drive arc block；
The both ends institute mounting structure of second drive block is identical；Wherein appoint in the structure installed for the second drive block both ends
Meaning one end, is connected between one end of the first oscillating rod and the second drive block by revolute pair；First oscillating rod and second drives
Third on motion block swings mounting groove cooperation；The side of first drive block is provided with the first swing mounting groove；The one of first drive block
The other end with the first oscillating rod is held to be connected by revolute pair；First on first oscillating rod and the first drive block swings peace
Tankage coordinates；One end of two driving plates is symmetrically mounted at the both sides of the first drive block；Two driving plates and the first drive block
On opened first swing mounting groove cooperation；Second brake block is mounted on the other end of two driving plates；Second brake block is close
Brake disc；There are one the first oscillating rods by revolute pair connection for the other end of first drive block；First oscillating rod and the first driving
First opened on block swings mounting groove cooperation；First oscillating rod is located between two driving plates；
The side of third drive block is provided with third and swings mounting groove；One end of third drive block is equipped with the first guide block；Third is driven
Motion block is fixed with being fitted to for guide groove opened in fixed support in support by the first guide block；Third drive block passes through
The other end of three swing mounting grooves and two the first oscillating rods close to brake disc is connected by revolute pair；First brake piece
Mounted on the other side of third drive block；First brake piece coordinates with brake disc；
Two leaf springs are separately mounted on two the first oscillating rods of homonymy；Two leaf springs drive respectively close to corresponding first
Motion block；
The half of spacing of the spacing between the second brake block and brake disc between above-mentioned first brake piece and brake disc.
2. a kind of bilateral braking mechanism of robot based on wheeled platform according to claim 1, it is characterised in that：On
It is 0.3mm to state the spacing between first brake piece and brake disc.
3. a kind of bilateral braking mechanism of robot based on wheeled platform according to claim 1, it is characterised in that：On
The braking quality for stating first brake disk is the half of the second brake block braking quality.
4. a kind of bilateral braking mechanism of robot based on wheeled platform according to claim 1, it is characterised in that：On
It states and is connected by linear bearing between the guide groove opened in the first guide block and the second guide block and fixed support.
5. a kind of bilateral braking mechanism of robot based on wheeled platform according to claim 1, it is characterised in that：On
It is atmospheric pressure pole to state as the alternative of hydraulic stem.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810604605.XA CN108730374B (en) | 2018-06-13 | 2018-06-13 | Bilateral brake mechanism of robot based on wheeled platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810604605.XA CN108730374B (en) | 2018-06-13 | 2018-06-13 | Bilateral brake mechanism of robot based on wheeled platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108730374A true CN108730374A (en) | 2018-11-02 |
| CN108730374B CN108730374B (en) | 2020-06-05 |
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ID=63929535
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810604605.XA Active CN108730374B (en) | 2018-06-13 | 2018-06-13 | Bilateral brake mechanism of robot based on wheeled platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108730374B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105587801A (en) * | 2016-03-28 | 2016-05-18 | 富阳鸿祥技术服务有限公司 | Nested double-brake-piece brake unit |
| CN105650146A (en) * | 2016-03-28 | 2016-06-08 | 杭州启澄科技有限公司 | Double-brake-pad braking unit based on sliding displacement |
| CN205396056U (en) * | 2016-03-28 | 2016-07-27 | 富阳鸿祥技术服务有限公司 | Disc type brake unit based on pressure is rotatory |
| JP2018035595A (en) * | 2016-08-31 | 2018-03-08 | 立川ブラインド工業株式会社 | Brake device and shielding device |
| CN108045358A (en) * | 2016-03-28 | 2018-05-18 | 杭州富阳鸿祥技术服务有限公司 | A kind of brake units based on pressure rotation |
-
2018
- 2018-06-13 CN CN201810604605.XA patent/CN108730374B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105587801A (en) * | 2016-03-28 | 2016-05-18 | 富阳鸿祥技术服务有限公司 | Nested double-brake-piece brake unit |
| CN105650146A (en) * | 2016-03-28 | 2016-06-08 | 杭州启澄科技有限公司 | Double-brake-pad braking unit based on sliding displacement |
| CN205396056U (en) * | 2016-03-28 | 2016-07-27 | 富阳鸿祥技术服务有限公司 | Disc type brake unit based on pressure is rotatory |
| CN108045358A (en) * | 2016-03-28 | 2018-05-18 | 杭州富阳鸿祥技术服务有限公司 | A kind of brake units based on pressure rotation |
| JP2018035595A (en) * | 2016-08-31 | 2018-03-08 | 立川ブラインド工業株式会社 | Brake device and shielding device |
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| CN108730374B (en) | 2020-06-05 |
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