CN118030743A - Mechanical transmission brake device of rail-mounted inspection robot - Google Patents
Mechanical transmission brake device of rail-mounted inspection robot Download PDFInfo
- Publication number
- CN118030743A CN118030743A CN202410436999.8A CN202410436999A CN118030743A CN 118030743 A CN118030743 A CN 118030743A CN 202410436999 A CN202410436999 A CN 202410436999A CN 118030743 A CN118030743 A CN 118030743A
- Authority
- CN
- China
- Prior art keywords
- brake
- arm
- ratchet
- rail
- inspection robot
- 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.)
- Granted
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 56
- 230000009347 mechanical transmission Effects 0.000 title description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 175
- 230000005540 biological transmission Effects 0.000 claims abstract description 80
- 230000009471 action Effects 0.000 claims description 18
- 230000033001 locomotion Effects 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 238000003825 pressing Methods 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 5
- 238000007906 compression Methods 0.000 description 4
- 230000006835 compression Effects 0.000 description 3
- 230000002441 reversible effect Effects 0.000 description 3
- 239000003245 coal Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000003518 caustics Substances 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The invention provides a transmission braking device of a rail-mounted inspection robot, which comprises a bracket, a main driving wheel, a ratchet wheel structure, a braking arm, a second transmission mechanism and a plurality of braking seats, wherein the bracket is arranged on the main driving wheel; the main driving wheel is rotatably arranged on the bracket; the bottom end of the brake arm is hinged with the support, and the ratchet mechanism is connected with the brake arm through a second transmission mechanism to drive the brake arm to swing; the plurality of brake seats are uniformly arranged above the track at intervals along the extending direction of the track; when the rotating speed of the ratchet mechanism is greater than a preset value, the ratchet mechanism is in a locking state and drives the brake arm to swing to a working position from an initial position through the second transmission mechanism, so that the brake end of the brake arm is clamped with any brake seat to realize braking, and the problems that when the inspection robot runs on a large-gradient track for a long time, a motor is in braking failure, power failure and power failure occur in the running process, so that the computer cannot control the inspection robot, and serious safety accidents are caused due to the slope sliding phenomenon are solved.
Description
Technical Field
The invention relates to the technical field of coal mine inspection, in particular to a mechanical transmission brake device of a rail-mounted inspection robot.
Background
At present, in the technical field of coal mine inspection, an inspection robot utilizes computer control to finish daily inspection work, has omnibearing monitoring capability, can detect environment and dangerous sources, form report analysis and find abnormality to inform responsible persons, and has incomparable advantages of manual inspection in the aspects of solving potential safety hazards and timely processing and analysis.
The following potential safety hazards exist when the inspection robot runs on a high-gradient track for a long time:
1) The driving wheel and the clamping wheel can be aged and worn when running on the high-gradient track for a long time;
2) In the running process, the motor brake fails, and the power failure condition can also occur, so that the computer can not control the inspection robot;
The above reasons can lead to the occurrence of a slope sliding phenomenon to cause serious safety accidents.
Disclosure of Invention
The invention aims to provide a mechanical transmission brake device of a rail-mounted inspection robot, which at least solves the problems that when the inspection robot in the prior art runs on a large-gradient track for a long time, a driving wheel and a clamping wheel are aged and worn, a motor brake fails in the running process, power failure and power failure occur, so that a computer cannot control the inspection robot, and serious safety accidents are caused by the phenomenon of sliding.
In order to achieve the above purpose, the invention provides a transmission brake device of a rail-mounted inspection robot, which comprises a bracket, a main driving wheel, a ratchet mechanism, a brake arm and a plurality of brake seats, wherein the bracket is fixedly arranged on a bottom plate of the rail-mounted inspection robot; the main driving wheel is rotatably arranged on the bracket, and the rim of the main driving wheel is abutted with the track of the rail-mounted inspection robot; the ratchet mechanism is rotatably arranged on the bracket, and the main driving wheel is connected with the ratchet mechanism through a first transmission mechanism to drive the ratchet mechanism to rotate; the bottom end of the brake arm is hinged with the support, the upper end of the brake arm is a brake end, and the ratchet mechanism is connected with the brake arm through a second transmission mechanism to drive the brake arm to swing; the plurality of brake seats are uniformly arranged above the track at intervals along the extending direction of the track; the brake arm is provided with an initial position and a working position, when the rotating speed of the ratchet mechanism is smaller than a preset value, the ratchet mechanism is in an idle state, and when the rotating speed of the ratchet mechanism is larger than the preset value, the ratchet mechanism is in a locking state and drives the brake arm to swing from the initial position to the working position through the second transmission mechanism, so that the brake end of the brake arm is clamped with any brake seat to realize braking.
Further, the main driving wheel includes: the rail contact wheel and the first belt pulley are rotatably arranged on the bracket through a first pin shaft, and the rim of the rail contact wheel is completely abutted with the rail; the first belt pulley is coaxially connected with the track contact wheel so as to synchronously rotate; the first transmission mechanism is a transmission belt, and the first belt pulley is connected with the ratchet mechanism through the transmission belt.
Further, the ratchet mechanism includes: the first end of the first connecting shaft is rotatably connected with the bracket through a bearing mechanism; the second belt pulley is fixedly arranged on the first connecting shaft through a coupler so as to rotate synchronously with the first connecting shaft, and the first belt pulley is connected with the second belt pulley through a transmission belt so as to drive the second belt pulley to rotate; the clockwise ratchet plate is arranged on the first connecting shaft through a bearing to rotate relative to the first connecting shaft, the clockwise ratchet plate is of a cavity structure, the bottom end of the clockwise ratchet plate is of a circular cavity, and the front end of the clockwise ratchet plate is of a clockwise gear ring; the first end of the second connecting shaft is rotatably connected with the second end of the first connecting shaft through a bearing, and the second end of the second connecting shaft is rotatably connected with the bracket through a bearing; the anticlockwise ratchet plate is fixedly arranged on the second connecting shaft, is of a cavity structure, is of a round cavity at the bottom end, and is of a clockwise gear ring at the front end; the centrifugal wheel disc is rotatably arranged on the first connecting shaft through a bearing, and the second belt pulley is fixedly connected with the centrifugal wheel disc through a coupler so as to drive the centrifugal wheel disc to synchronously rotate; the centrifugal wheel disc is positioned between the clockwise ratchet disc and the anticlockwise ratchet disc; the first inner wall of the centrifugal wheel disc is provided with a plurality of first pawls along the circumferential direction, and the plurality of first pawls are respectively connected with the first inner wall of the centrifugal wheel disc through a plurality of first springs; a plurality of second pawls are arranged on the second inner wall of the centrifugal wheel disc along the circumferential direction, and the second pawls are respectively connected with the second inner wall of the centrifugal wheel disc through a plurality of second springs; the arrangement direction of the plurality of first pawls is opposite to the arrangement direction of the plurality of second pawls; the cam is fixedly arranged on the second connecting shaft and synchronously rotates with the second connecting shaft; the clockwise ratchet plate and the anticlockwise ratchet plate are fixedly connected to synchronously rotate; when the advancing speed of the rail-mounted inspection robot along the first direction or the second direction is smaller than the preset value, the second belt pulley drives the centrifugal wheel disc to idle through the coupling; when the travelling speed of the rail-mounted inspection robot along the first direction is greater than the preset value, a plurality of first pawls on the centrifugal wheel disc are thrown away against the elastic force of a spring and are coupled with a clockwise gear ring of a clockwise ratchet wheel disc so as to drive a cam to rotate clockwise through the clockwise ratchet wheel disc; when the travelling speed of the rail-mounted inspection robot along the second direction is greater than the preset value, a plurality of second pawls on the centrifugal wheel disc are thrown away against the elastic force of a spring and are coupled with a counter-clockwise gear ring of the counter-clockwise ratchet disc so as to drive the cam to rotate anticlockwise through the counter-clockwise ratchet disc; the cam rotates clockwise or anticlockwise to drive the brake arm to swing through the second transmission mechanism.
Further, the number of the first pawls and the number of the second pawls are 2, and the two first pawls are oppositely arranged along the radial direction of the first inner wall of the centrifugal wheel disc; the two second pawls are oppositely arranged along the radial direction of the second inner wall of the centrifugal wheel disc.
Further, the circumferential included angle between the first pawl and the second pawl along the centrifugal wheel disc is 90 degrees.
Further, the second transmission mechanism includes: the sliding shaft mechanism is movably arranged on the bracket and opposite to the ratchet mechanism, and the sliding shaft mechanism is provided with a first action position and a second action position; the limiting mechanism is arranged on the outer side wall of the sliding shaft mechanism and used for limiting the sliding shaft mechanism when the sliding shaft mechanism is in the second action position; one end of the rotary transmission mechanism is abutted against the sliding shaft mechanism, and the other end of the rotary transmission mechanism is abutted against the brake arm; when the sliding shaft mechanism is positioned at the first action position, the ratchet mechanism drives the sliding shaft mechanism to move to the second action position and is limited and locked through the limiting mechanism; the sliding shaft mechanism extrudes the rotary transmission mechanism to drive the brake arm to swing.
Further, the slide shaft mechanism includes: the outer cylinder sleeve, the sliding shaft, the roller and the wedge block are fixedly arranged on the bracket; the sliding shaft is telescopically arranged in the outer barrel sleeve along the extending direction of the outer barrel sleeve and is connected with the outer barrel sleeve through a third spring; the roller is arranged at the rear end of the sliding shaft and is contacted with the ratchet mechanism; the wedge block is arranged at the front end of the sliding shaft; the ratchet mechanism drives the sliding shaft to stretch along the outer cylinder sleeve through the roller, and the wedge block extrudes the rotary transmission mechanism to drive the brake arm to swing.
Further, the limit mechanism includes: the limiting ejector rod and the spring pressing knob are arranged on the side wall of the outer barrel sleeve in a telescopic movement along the radial direction of the outer barrel sleeve and are connected with the outer barrel sleeve through a fourth spring; the spring compression knob is arranged on the outer side of the limiting ejector rod and used for limiting rebound of the fourth spring; the sliding shaft is provided with an annular limiting groove, and the limiting ejector rod is embedded into the annular limiting groove under the action of the elastic force of the fourth spring so as to limit the sliding shaft.
Further, the rotation transmission mechanism includes: the fixed force arm rod, the rotary force arm rod and the arm rod stretching spring are fixedly arranged above the base; the rotating force arm rod is rotatably arranged above the base, and the rotating force arm rod and the fixed force arm rod are on the same plane; one end of the tension arm rod tension spring is connected with the fixed tension arm rod, and the other end of the tension arm rod tension spring is connected with the rotary tension arm rod; the first limiting ring is of a semicircular empty barrel structure and is arranged on the fixed force arm lever; the second limiting ring is of a semicircular barrel section structure and is arranged on the rotating force arm lever; when the first limiting ring and the second limiting ring are mutually closed, an annular limiting mechanism is formed and clamps the brake arm, and the wedge block extrudes the rotating force arm rod to enable the first limiting ring and the second limiting ring to be mutually separated so that the brake arm swings from an initial position to a working position.
Further, the brake arm includes: the device comprises a swing arm, a brake arm tension spring and a connecting rod transmission mechanism, wherein the bottom end of the swing arm is hinged with a bracket, and the upper end of the swing arm is a brake end; one end of the brake arm tension spring is connected with the bracket, and the other end of the brake arm tension spring is connected with the swing arm; one end of the connecting rod transmission mechanism is hinged with the brake arm, and the other end of the connecting rod transmission mechanism is abutted with the annular limiting mechanism; when the first limiting ring and the second limiting ring are separated from each other, the connecting rod transmission mechanism is separated from the annular limiting mechanism, and the swing arm swings from the initial position to the working position under the action of the tension spring of the brake arm so as to be clamped with any brake seat to realize braking.
The invention relates to a transmission brake device of a rail-mounted inspection robot, which comprises a bracket, a bottom plate, a main driving wheel, a ratchet wheel structure, a first transmission mechanism, a brake arm, a second transmission mechanism and a plurality of brake seats; the main driving wheel is rotatably arranged on the bracket, and the rim of the main driving wheel is abutted with the track of the rail-mounted inspection robot; the ratchet mechanism is rotatably arranged on the bracket, and the main driving wheel is connected with the ratchet mechanism through a first transmission mechanism to drive the ratchet mechanism to rotate; the bottom end of the brake arm is hinged with the support, the upper end of the brake arm is a brake end, and the ratchet mechanism is connected with the brake arm through a second transmission mechanism to drive the brake arm to swing; the plurality of brake seats are uniformly arranged above the track at intervals along the extending direction of the track; when the rotating speed of the ratchet mechanism is smaller than a preset value, the ratchet mechanism is in an idle state, the brake arm is in the initial position, when the rotating speed of the ratchet mechanism is larger than the preset value, the ratchet mechanism is in a locking state and drives the brake arm to swing to the working position from the initial position through the second transmission mechanism, so that the braking end of the brake arm and any one braking seat are clamped with each other to realize braking, the problem that when the inspection robot runs on a high-gradient track for a long time, the driving wheel and the clamping wheel are worn and aged, the motor brake is out of order in the running process, and the situation of power failure and power failure occurs, so that the computer cannot control the inspection robot, and a major safety accident is caused by a slope sliding phenomenon is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 is a schematic diagram of the overall structure of an alternative mechanical transmission brake device of a rail-mounted inspection robot according to an embodiment of the present invention;
FIG. 2 is a schematic cross-sectional view of a main driving wheel of a mechanical transmission brake device of a rail-mounted inspection robot according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of a ratchet mechanism of a mechanical transmission brake device of a rail-mounted inspection robot according to an alternative embodiment of the present invention;
FIG. 4 is a schematic diagram of a second transmission mechanism of a mechanical transmission brake device of a rail-mounted inspection robot according to an alternative embodiment of the invention;
FIG. 5 is a schematic view of a brake arm of an alternative mechanical transmission brake device of a rail-mounted inspection robot according to an embodiment of the present invention;
Wherein the above figures include the following reference numerals:
10. A bracket; 20. a bottom plate; 30. a main driving wheel; 31. a rail contact wheel; 32. a first pulley; 40. a track; 50. a ratchet mechanism; 51. a first connecting shaft; 52. a second pulley; 53. a clockwise ratchet disc; 54. a second connecting shaft; 55. a counter-clockwise ratchet plate; 56. a centrifugal wheel disc; 561. a first centrifugal wheel disc; 562. a second centrifugal wheel disc; 57. a first pawl; 58. a second pawl; 59. a cam; 60. a first transmission mechanism; 70. a brake arm; 71. swing arms; 72. a brake arm tension spring; 73. a link transmission mechanism; 80. a second transmission mechanism; 81. a slide shaft mechanism; 82. a limiting mechanism; 83. a rotary transmission mechanism; 811. an outer cylinder sleeve; 812. a slide shaft; 813. a roller; 814. wedge blocks; 821. limiting ejector rod; 822. the spring compresses the knob; 831. a fixed force arm lever; 832. a base; 833. a rotating force arm lever; 834. a force arm extension spring; 835. a first stop collar; 836. a second limiting ring; 90. and a brake seat.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
According to the embodiment of the invention, as shown in fig. 1 to 5, the transmission brake device of the rail-mounted inspection robot comprises a bracket 10, a main driving wheel 30, a ratchet mechanism 50 and a brake arm 70, wherein the bracket 10 is fixedly arranged on a bottom plate 20 of the rail-mounted inspection robot; the main driving wheel 30 is rotatably installed on the bracket 10, and the rim of the main driving wheel 30 is abutted with the track 40 of the rail-mounted inspection robot; the ratchet mechanism 50 is rotatably mounted on the bracket 10, and the main driving wheel 30 is connected with the ratchet mechanism 50 through a first transmission mechanism 60 to drive the ratchet mechanism 50 to rotate; the bottom end of the brake arm 70 is hinged with the support 10, the upper end of the brake arm 70 is a brake end, and the ratchet mechanism 50 is connected with the brake arm 70 through a second transmission mechanism 80 to drive the brake arm 70 to swing; the brake seats 90 are uniformly arranged above the track 40 at intervals along the extending direction of the track 40; wherein, the brake arm 70 has an initial position and a working position, when the rotation speed of the ratchet mechanism 50 is less than a preset value, the ratchet mechanism 50 is in an idle state, the brake arm 70 is in the initial position, when the rotation speed of the ratchet mechanism 50 is greater than the preset value, the ratchet mechanism 50 is in a locking state, and the brake arm 70 is driven to swing from the initial position to the working position through the second transmission mechanism 80, so that the brake end of the brake arm 70 is clamped with any one brake seat 90 to realize braking; the problem of among the prior art patrol and examine the robot when long-time on the heavy grade track, drive wheel and tight wheel ageing wear, motor brake is malfunctioning in the operation, appears cutting off the power supply, the circumstances of having a power failure to lead to the computer unable control patrol and examine the robot, appear the swift current slope phenomenon and cause serious incident is solved.
Further, as shown in fig. 1 and 2, the main driving wheel includes a track contact wheel 31 and a first belt pulley 32, the track contact wheel 31 and the first belt pulley 32 are connected in a synchronous rotation manner through a first pin shaft, and when the inspection robot moves forward or backward on a high-gradient track, the track contact wheel 31 rotates clockwise or anticlockwise, so as to drive the first belt pulley 32 to rotate; the first belt pulley 32 is connected with the ratchet mechanism 50 through a transmission belt, the transmission belt has good elasticity, and the transmission is stable and can be buffered during operation, so that the phenomenon of blocking of the transmission can be avoided to a certain extent; axial limiting sleeves are fixedly arranged at two ends of the first pin shaft, so that the track contact wheel 31 and the first belt pulley 32 do not exceed a preset movement range and position.
Further, as shown in fig. 3, the ratchet mechanism 50 includes a first coupling shaft 51, a second pulley 52, a clockwise ratchet plate 53, a second coupling shaft 54, a counterclockwise ratchet plate 55, a centrifugal plate 56, a plurality of first pawls 57, a plurality of second pawls 58, a cam 59; the ratchet mechanism 50 has extremely high rigidity and strength, can bear larger impact force and inertia force, can work under high-speed and heavy-load conditions, and can realize forward transmission and reverse transmission, so that the system has the characteristic of bidirectional transmission, and the flexibility and the versatility of the mechanism are improved; a first end of the first connecting shaft 51 is rotatably connected to the bracket 10 through a bearing mechanism; the second pulley 52 is fixedly installed on the first connecting shaft 51 through a coupling to rotate synchronously with the first connecting shaft 51, and the first pulley 32 is connected with the second pulley 52 through a transmission belt to drive the second pulley 52 to rotate; the clockwise ratchet plate 53 is arranged on the first connecting shaft 51 through a bearing to rotate relative to the first connecting shaft 51, the clockwise ratchet plate 53 is of a cavity structure, the bottom end is a circular cavity, and the front end is a clockwise gear ring; the first end of the second connecting shaft 54 is rotatably connected with the second end of the first connecting shaft 51 through a bearing, and the second end of the second connecting shaft 54 is rotatably connected with the bracket 10 through a bearing; the two connecting shafts can play a role in fixed connection and have the safety protection effects of separation, overload protection and the like; the anticlockwise ratchet plate 55 is fixedly arranged on the second connecting shaft 54, the anticlockwise ratchet plate 55 is of a cavity structure, the bottom end of the anticlockwise ratchet plate is of a circular cavity, and the front end of the anticlockwise ratchet plate is of an anticlockwise gear ring; the centrifugal wheel disc 56 is fixedly mounted on the first connecting shaft 51, and the second belt pulley 52 is fixedly connected with the first connecting shaft 51 through a coupler so as to drive the centrifugal wheel disc 56 to synchronously rotate through the first connecting shaft 51; the centrifugal wheel disc 56 is located between the clockwise ratchet wheel disc 53 and the anticlockwise ratchet wheel disc 55, the centrifugal wheel disc 56 comprises a first centrifugal wheel disc 561 and a second centrifugal wheel disc 562, the first centrifugal wheel disc 561 and the second centrifugal wheel disc 562 are fixedly connected through screws, the first centrifugal wheel disc 561 is embedded in a circular cavity of the clockwise ratchet wheel disc 53 and is not contacted with the circular cavity, the second centrifugal wheel disc 562 is embedded in the circular cavity of the anticlockwise ratchet wheel disc 55 and is not contacted with the circular cavity, a plurality of first pawls 57 are arranged on the inner wall of the first centrifugal wheel disc 561 along the circumferential direction, and the plurality of first pawls 57 are connected with the inner wall of the first centrifugal wheel disc 561 through a plurality of first springs respectively; the inner wall of the second centrifugal wheel 562 is provided with a plurality of second pawls 58 along the circumferential direction, and the plurality of second pawls 58 are respectively connected with the inner wall of the second centrifugal wheel 562 through a plurality of second springs; the arrangement direction of the plurality of first pawls 57 is opposite to the arrangement direction of the plurality of second pawls 58; the cam 59 is fixedly arranged on the second connecting shaft 54 and rotates synchronously with the second connecting shaft 54; wherein the clockwise ratchet plate 53 and the counterclockwise ratchet plate 55 are fixedly connected to rotate synchronously by a plurality of bolts; when the forward or reverse travelling speed of the rail-mounted inspection robot along the track 40 is smaller than the preset value, the rail-mounted inspection robot is in a normal running state, and the second belt pulley 52 drives the centrifugal wheel disc 56 to idle through the coupling and the first connecting shaft 51; when the running speed of the track-mounted inspection robot running along the track 40 in the forward direction is greater than a preset value, the preset value is a limit speed value, which indicates that the track-mounted inspection robot is in a runaway state, and the plurality of first pawls 57 on the first centrifugal wheel disc 561 overcome the elastic force of the springs and are thrown away and are coupled with the clockwise gear ring of the clockwise ratchet wheel disc 53 so as to drive the cam 59 to rotate clockwise through the clockwise ratchet wheel disc 53; when the travelling speed of the rail-mounted inspection robot in the reverse travelling direction is greater than a preset value, the plurality of second pawls 58 on the second centrifugal wheel disc 562 are thrown away against the elastic force of the spring and are coupled with the anticlockwise gear ring of the anticlockwise ratchet wheel disc 55 so as to drive the cam 59 to rotate anticlockwise through the anticlockwise ratchet wheel disc 55, the centrifugal force is an inertial force generated by an object in the rotating motion, and the direction of the inertial force always points to the radial direction of the motion track of the object and is perpendicular to the speed direction; when the object does circular motion, particularly high-speed circular motion, the object needs to bear relatively large centripetal force, and when the external force borne by the object is insufficient to support the centripetal force required by the circular motion, the object has a centrifugal tendency; the cam 59 rotates clockwise or counterclockwise to drive the brake arm 70 to oscillate by the second transmission mechanism 80.
Further, as shown in fig. 3, the number of the first pawls 57 and the number of the second pawls 58 are 2, the two first pawls 57 are oppositely disposed along the radial direction of the inner wall of the first centrifugal wheel disc 561, and the two second pawls 58 are oppositely disposed along the radial direction of the inner wall of the second centrifugal wheel disc 562; the two first pawls 57 or the two second pawls 58 are disposed opposite to each other in the radial direction so that the centrifugal wheel 56 rotates more stably and is uniformly stressed.
Further, as shown in fig. 3, the included angle between the two first pawls 57 and the two second pawls 58 along the circumferential direction of the centrifugal wheel 56 is 90 ° and the included angle between the two second pawls 58 along the circumferential direction of the first centrifugal wheel 561 is 90 °, so that the two first pawls 57 and the two second pawls 58 are uniformly arranged along the circumferential directions of the first centrifugal wheel 561 and the second centrifugal wheel 562, respectively, and the centrifugal wheel 56 rotates more stably.
Further, as shown in fig. 4, the second transmission mechanism 80 includes a slide shaft mechanism 81, a stopper mechanism 82, and a rotation transmission mechanism 83, the slide shaft mechanism 81 being movably provided on the bracket 10 and opposite to the ratchet mechanism 50, the slide shaft mechanism 81 having a first operation position and a second operation position; the limiting mechanism 82 is arranged on the outer side wall of the sliding shaft mechanism 81, and the limiting mechanism 82 is used for limiting the sliding shaft mechanism 81 when the sliding shaft mechanism 81 is in the second action position; one end of the rotation transmission mechanism 83 is abutted against the sliding shaft mechanism 81, and the other end is abutted against the brake arm 70; when the sliding shaft mechanism 81 is at the first action position, the ratchet mechanism 50 drives the sliding shaft mechanism 81 to move to the second action position and is limited and locked by the limiting mechanism 82; the slide shaft mechanism 81 presses the rotation transmission mechanism 83 to drive the brake arm 70 to swing.
Further, as shown in fig. 4, the slide shaft mechanism 81 includes an outer cylinder housing 811, a slide shaft 812, a roller 813, and a wedge block 814, the outer cylinder housing 811 being fixedly provided on the bracket 10; a slide shaft 812 is provided in the outer tube housing 811 so as to be telescopic in the extending direction of the outer tube housing 811, the slide shaft 812 being connected to the outer tube housing 811 by a third spring; the roller 813 is arranged at the rear end of the sliding shaft 812 and is contacted with the ratchet mechanism 50; wedge block 814 is disposed at the front end of slide shaft 812; the ratchet mechanism 50 drives the sliding shaft 812 to move telescopically along the outer barrel sleeve 811 through the roller 813, the wedge block 814 extrudes the rotary transmission mechanism 83 to drive the brake arm 70 to swing, the outer barrel sleeve 811 is used for protecting the sliding shaft 812 from being damaged by corrosive substances such as dust, liquid and the like, the outer barrel sleeve 811 serves as an auxiliary clamping piece to ensure the correct position and angle of the sliding shaft 812 in use, friction of the sliding shaft 812 can be reduced, the contact surface becomes smooth, so that the precision and stability of movement are ensured, the wedge block 814 can support pushing of the sliding shaft, the load of the sliding shaft is more balanced, extrusion deformation cannot occur, and stability in the pushing process is ensured.
Further, as shown in fig. 4, the limit mechanism 82 includes a limit jack 821 and a spring pressing knob 822, the limit jack 821 is provided on a side wall of the outer cylinder 811 in a retractable motion along a radial direction of the outer cylinder 811 and is connected with the outer cylinder 811 through a fourth spring with the limit jack 821; the spring compression knob 822 is arranged outside the limit ejector rod 821; the sliding shaft 812 is provided with an annular limiting groove, the limiting ejector rod 821 is embedded into the annular limiting groove under the action of the elastic force of the fourth spring to limit the sliding shaft 812, the limiting ejector rod 821 is used for limiting the maximum sliding range of the sliding shaft 812, the sliding shaft 812 can be ensured to stop at a specific position by accurately defining the position of a limiting point, the sliding shaft 812 is prevented from exceeding the specific position to collide with other parts, damage or faults are avoided, the limiting ejector rod 821 plays roles of adjusting the movement range, protecting safety, controlling precision, preventing collision and the like, and when the limiting ejector rod 821 is embedded into the limiting groove, the fourth spring is always limited by the spring compression knob 822 in the compression process, and the fourth spring is prevented from rebounding.
Further, as shown in fig. 4, the rotation transmission mechanism 83 includes: the fixed force arm lever 831, the base 832, the rotating force arm lever 833, the force arm lever extension spring 834, the first limit ring 835 and the second limit ring 836, the fixed force arm lever 831 is fixedly arranged above the base 832 through the fixed ring sleeve, the rotating force arm lever 833 is rotatably arranged above the base 832, and the rotating force arm lever 833 and the fixed force arm lever 831 are on the same plane; the arm lever can convert a smaller force into a larger force, so that the purposes of simple operation and great kinetic energy lifting are realized, one end of the arm lever extension spring 834 is connected with the fixed arm lever 831, and the other end of the arm lever extension spring 834 is connected with the rotary arm lever 833; the first limiting ring 835 is of a semicircular empty barrel structure, the second limiting ring 836 is of a semicircular barrel section structure, the first limiting ring 835 is arranged on the fixed force arm rod 831, the second limiting ring 836 is arranged on the rotating force arm rod 833, an annular limiting mechanism is formed when the first limiting ring 835 and the second limiting ring are mutually closed and clamps the brake arm 70, the wedge block 814 extrudes the rotating force arm rod 833 to enable the first limiting ring 835 and the second limiting ring 836 to be mutually separated so that the brake arm 70 swings from an initial position to a working position, the arm rod tension spring 834 is made of high-quality materials, has high strength and durability, can keep stable performance no matter bearing a large range of tensile force or long-time use, is not easy to deform or damage, and provides reliable guarantee for long-term operation of equipment, a semi-closed structure is formed when the first limiting ring 835 and the second limiting ring 836 are mutually closed, friction force is increased, and the brake arm 70 can be clamped more stably and firmly.
Further, as shown in fig. 5, the brake arm 70 includes a swing arm 71, a brake arm tension spring 72 and a link transmission mechanism 73, the bottom end of the swing arm 71 is hinged with the bracket 10, and the upper end of the swing arm 71 is a brake end; one end of a brake arm tension spring 72 is connected with the bracket 10, and the other end is connected with the swing arm 71; one end of the connecting rod transmission mechanism 73 is hinged with the brake arm 70, and the other end of the connecting rod transmission mechanism 73 is abutted with the annular limiting mechanism; when the first limit ring 835 and the second limit ring 836 are separated from each other, the link transmission mechanism 73 is separated from the annular limit mechanism, and the swing arm 71 swings from the initial position to the working position under the action of the brake arm tension spring 72 so as to be clamped with any one of the brake seats 90 to realize braking, so that the inspection robot stops walking at the moment; the limiting ejector rod 821 is pulled open, the sliding shaft 812 automatically moves upwards under the thrust of the third spring, at the moment, the wedge 814 and the rotating force arm rod 833 are separated, the rotating force arm rod 833 is restored under the action of the pulling force of the tension arm rod tension spring 834, the connecting rod transmission mechanism 73 of the brake arm 70 is pulled to restore to the initial position, at the moment, the brake arm 70 swings from the working position to the initial position, the whole shock resistance and the deformation capacity of the structure can be improved through hinged connection, the whole structure is stable and reliable, a plurality of brake seats are densely distributed on a large-gradient track, and the brake arm can be clamped with any manufacturing seat more effectively and rapidly, so that braking is realized.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a hang rail formula inspection robot transmission brake equipment which characterized in that includes: the support (10) is fixedly arranged on a bottom plate (20) of the rail-mounted inspection robot;
The main driving wheel (30), the main driving wheel (30) is rotatably installed on the bracket (10), and the rim of the main driving wheel (30) is abutted with the track (40) of the rail-mounted inspection robot;
a ratchet mechanism (50) rotatably mounted on the bracket (10), the main driving wheel (30) being connected with the ratchet mechanism (50) through a first transmission mechanism (60) to drive the ratchet mechanism (50) to rotate;
the bottom end of the brake arm (70) is hinged with the bracket (10), the upper end of the brake arm (70) is a brake end, and the ratchet mechanism (50) is connected with the brake arm (70) through a second transmission mechanism (80) to drive the brake arm (70) to swing;
A plurality of brake seats (90), wherein the brake seats (90) are uniformly arranged above the track (40) at intervals along the extending direction of the track (40);
The brake arm (70) has an initial position and a working position, when the rotating speed of the ratchet mechanism (50) is smaller than a preset value, the ratchet mechanism (50) is in an idle state, the brake arm (70) is in the initial position, and when the rotating speed of the ratchet mechanism (50) is larger than the preset value, the ratchet mechanism (50) is in a locking state and drives the brake arm (70) to swing to the working position from the initial position through the second transmission mechanism (80), so that the brake end of the brake arm (70) and any one brake seat (90) are clamped with each other to realize braking.
2. A rail mounted inspection robot transmission brake apparatus according to claim 1, characterized in that the main drive wheel (30) comprises:
The rail contact wheel (31) is rotatably arranged on the bracket (10) through a first pin shaft, and the rim of the rail contact wheel (31) is completely abutted with the rail (40);
-a first pulley (32), said first pulley (32) being coaxially connected to said track contact wheel (31) for synchronous rotation;
The first transmission mechanism (60) is a transmission belt, and the first belt pulley (32) is connected with the ratchet mechanism (50) through the transmission belt.
3. The rail mounted inspection robot drive brake apparatus of claim 2, wherein the ratchet mechanism (50) comprises:
A first connecting shaft (51), wherein a first end of the first connecting shaft (51) is rotatably connected with the bracket (10) through a bearing mechanism;
A second pulley (52), the second pulley (52) being bearing-mounted on the first connecting shaft (51) so as to be rotatable relative to the first connecting shaft (51), the first pulley (32) being connected to the second pulley (52) through the transmission belt so as to drive the second pulley (52) to rotate;
The clockwise ratchet plate (53) is arranged on the first connecting shaft (51) through a bearing so as to rotate relative to the first connecting shaft (51), and the inner ring of the clockwise ratchet plate (53) is a clockwise gear ring;
a second connecting shaft (54), wherein a first end of the second connecting shaft (54) is rotatably connected with a second end of the first connecting shaft (51) through a bearing, and a second end of the second connecting shaft (54) is rotatably connected with the bracket (10) through a bearing;
the anti-clockwise ratchet plate (55) is fixedly arranged on the second connecting shaft (54), and the inner ring of the anti-clockwise ratchet plate (55) is an anti-clockwise gear ring;
The centrifugal wheel disc (56), the centrifugal wheel disc (56) is rotatably arranged on the first connecting shaft (51) through a bearing, and the second belt pulley (52) is fixedly connected with the centrifugal wheel disc (56) through a coupler so as to drive the centrifugal wheel disc (56) to synchronously rotate; -the centrifugal wheel disc (56) is located between the clockwise ratchet disc (53) and the counter-clockwise ratchet disc (55); a plurality of first pawls (57) are arranged on the first inner wall of the centrifugal wheel disc (56) along the circumferential direction, and the plurality of first pawls (57) are connected with the first inner wall of the centrifugal wheel disc (56) through a plurality of first springs respectively; a plurality of second pawls (58) are arranged on the second inner wall of the centrifugal wheel disc (56) along the circumferential direction, and the second pawls (58) are respectively connected with the second inner wall of the centrifugal wheel disc (56) through a plurality of second springs; the arrangement direction of the plurality of first pawls (57) is opposite to the arrangement direction of the plurality of second pawls (58);
A cam (59) fixedly provided on the second connecting shaft (54) and rotating in synchronization with the second connecting shaft (54);
wherein the clockwise ratchet plate (53) and the anticlockwise ratchet plate (55) are fixedly connected to rotate synchronously; when the advancing speed of the rail-mounted inspection robot along the first direction or the second direction is smaller than the preset value, the second belt pulley (52) drives the centrifugal wheel disc (56) to idle through a coupling; when the travelling speed of the rail-mounted inspection robot along the first direction is greater than the preset value, the plurality of first pawls (57) on the centrifugal wheel disc (56) are thrown away against the elastic force of a spring and are coupled with a clockwise gear ring of the clockwise ratchet wheel disc (53) so as to drive the cam (59) to rotate clockwise through the clockwise ratchet wheel disc (53); when the travelling speed of the rail-mounted inspection robot along the second direction is greater than the preset value, the plurality of second pawls (58) on the centrifugal wheel disc (56) are thrown away against the elastic force of a spring and are coupled with a counter-clockwise gear ring of the counter-clockwise ratchet wheel disc (55) so as to drive the cam (59) to rotate anticlockwise through the counter-clockwise ratchet wheel disc (55);
the cam (59) rotates clockwise or counterclockwise to drive the brake arm (70) to swing through the second transmission mechanism (80).
4. A rail-mounted inspection robot transmission brake device according to claim 3, wherein the number of the first pawls (57) and the number of the second pawls (58) are 2, and the two first pawls (57) are oppositely arranged along the radial direction of the first inner wall of the centrifugal wheel disc (56); the two second pawls (58) are disposed opposite each other in a radial direction of the second inner wall of the centrifugal disk (56).
5. The transmission brake device of a rail-mounted inspection robot according to claim 4, wherein the first pawl (57) and the second pawl (58) have a circumferential angle of 90 ° along the centrifugal wheel (56).
6. A rail mounted inspection robot drive brake apparatus as claimed in claim 1, wherein the second drive mechanism (80) comprises:
A slide shaft mechanism (81), the slide shaft mechanism (81) being movably arranged on the bracket (10) and being opposite to the ratchet mechanism (50), the slide shaft mechanism (81) having a first operating position and a second operating position;
the limiting mechanism (82) is arranged on the outer side wall of the sliding shaft mechanism (81), and the limiting mechanism (82) is used for limiting the sliding shaft mechanism (81) when the sliding shaft mechanism (81) is in the second action position;
a rotation transmission mechanism (83), wherein one end of the rotation transmission mechanism (83) is abutted against the sliding shaft mechanism (81), and the other end is abutted against the brake arm (70);
Wherein, when the sliding shaft mechanism (81) is positioned at the first action position, the ratchet mechanism (50) drives the sliding shaft mechanism (81) to move to the second action position and is limited and locked by the limiting mechanism (82); the sliding shaft mechanism (81) presses the rotary transmission mechanism (83) to drive the brake arm (70) to swing.
7. A rail mounted inspection robot drive brake apparatus as claimed in claim 6, wherein the slide shaft mechanism (81) comprises:
An outer cylinder sleeve (811), wherein the outer cylinder sleeve (811) is fixedly arranged on the bracket (10);
A slide shaft (812), wherein the slide shaft (812) is telescopically arranged in the outer cylinder sleeve (811) along the extending direction of the outer cylinder sleeve (811), and the slide shaft (812) is connected with the outer cylinder sleeve (811) through a third spring;
a roller (813), wherein the roller (813) is arranged at the rear end of the sliding shaft (812) and is contacted with the ratchet mechanism (50);
A wedge block (814) provided at the front end of the slide shaft (812);
The ratchet mechanism (50) drives the sliding shaft (812) to stretch and retract along the outer cylinder sleeve (811) through the roller (813), and the wedge block (814) extrudes the rotary transmission mechanism (83) to drive the brake arm (70) to swing.
8. The rail mounted inspection robot drive brake apparatus of claim 7, wherein the limit mechanism (82) comprises:
A limit push rod (821) which is arranged on the side wall of the outer cylinder sleeve (811) in a telescopic motion along the radial direction of the outer cylinder sleeve (811) and is connected with the outer cylinder sleeve (811) through a fourth spring with the limit push rod (821);
the spring pressing knob (822) is arranged outside the limiting ejector rod (821) and used for limiting rebound of the fourth spring;
The sliding shaft (812) is provided with an annular limiting groove, and the limiting ejector rod (821) is embedded into the annular limiting groove under the action of the elastic force of the fourth spring so as to limit the sliding shaft (812).
9. The transmission brake device of a rail-mounted inspection robot of claim 7, wherein the rotation transmission mechanism (83) comprises:
A fixed force arm (831), the fixed force arm (831) being fixedly arranged above the base (832);
A rotation force arm (833), the rotation force arm (833) being rotatably disposed above the base (832), and the rotation force arm (833) and the fixed force arm (831) being in the same plane;
A force arm extension spring (834), wherein one end of the force arm extension spring (834) is connected with the fixed force arm (831), and the other end of the force arm extension spring (834) is connected with the rotating force arm (833);
The first limiting ring (835) is of a semicircular empty barrel structure, and the first limiting ring (835) is arranged on the fixed force arm lever (831);
the second limiting ring (836), the said second limiting ring (836) is a semicircular barrel section structure, the said second limiting ring (836) is set up on the said rotary force arm lever (833);
Wherein, when the first limit ring (835) and the second limit ring (836) are mutually closed, an annular limit mechanism is formed and the brake arm (70) is blocked, and the wedge block (814) presses the rotating force arm lever (833) to separate the first limit ring (835) and the second limit ring (836) from each other so as to enable the brake arm (70) to swing from an initial position to a working position.
10. The rail mounted inspection robot drive brake apparatus of claim 9, wherein the brake arm (70) comprises:
the bottom end of the swing arm (71) is hinged with the bracket (10), and the upper end of the swing arm (71) is a braking end;
a brake arm tension spring (72), wherein one end of the brake arm tension spring (72) is connected with the bracket (10), and the other end is connected with the swing arm (71);
The connecting rod transmission mechanism (73), one end of the connecting rod transmission mechanism (73) is hinged with the brake arm (70), and the other end of the connecting rod transmission mechanism (73) is abutted with the annular limiting mechanism;
When the first limiting ring (835) and the second limiting ring (836) are separated from each other, the link transmission mechanism (73) is separated from the annular limiting mechanism, and the swing arm (71) swings from an initial position to a working position under the action of the brake arm tension spring (72) so as to be clamped with any one of the brake seats (90) to realize braking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410436999.8A CN118030743B (en) | 2024-04-12 | Mechanical transmission brake device of rail-mounted inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410436999.8A CN118030743B (en) | 2024-04-12 | Mechanical transmission brake device of rail-mounted inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118030743A true CN118030743A (en) | 2024-05-14 |
| CN118030743B CN118030743B (en) | 2024-06-25 |
Family
ID=
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1123512A (en) * | 1967-02-06 | 1968-08-14 | Walter Lewis Blackburn | Ratchet winch |
| DE102008006170A1 (en) * | 2008-01-26 | 2009-07-30 | Eisenmann Anlagenbau Gmbh & Co. Kg | Device for handling objects, particularly workpieces and tools, has handling device and transport system with which handling device is moved, and transport system is electric trolley conveyor with rail system running above base level |
| CN208962041U (en) * | 2016-02-23 | 2019-06-11 | 库卡德国有限公司 | Joint of robot brake and robot at least one joint of robot brake |
| CN110421579A (en) * | 2019-08-27 | 2019-11-08 | 天津华宁电子有限公司 | A kind of mining intrinsic safety type rail polling robot automatically walk system |
| CN112454391A (en) * | 2020-12-31 | 2021-03-09 | 杭州景上信息技术有限公司 | Intelligent inspection robot main body mechanism |
| CN214686575U (en) * | 2021-03-23 | 2021-11-12 | 广东工业大学 | Wheel clamp module for inspection and operation |
| CN214985373U (en) * | 2021-01-27 | 2021-12-03 | 易程融创信息科技有限公司 | Brake equipment and have its track robot |
| CN114770465A (en) * | 2022-05-26 | 2022-07-22 | 南京天创电子技术有限公司 | Hang rail robot walking drive structure |
| WO2023284180A1 (en) * | 2021-07-16 | 2023-01-19 | 煤炭科学技术研究院有限公司 | Inspection robot walking device and inspection robot system thereof |
| CN218398105U (en) * | 2022-10-21 | 2023-01-31 | 湖南超能机器人技术有限公司 | Inspection robot |
| CN117245627A (en) * | 2023-09-26 | 2023-12-19 | 湖南超能机器人技术有限公司 | Braking device, rail hanging robot system and rail hanging robot braking method |
| CN220337326U (en) * | 2023-06-07 | 2024-01-12 | 帕西尼感知科技(张家港)有限公司 | Brake device, motor and robot thereof |
| CN117537016A (en) * | 2023-11-13 | 2024-02-09 | 北京邮电大学 | Electromagnetic power-off braking mechanism for rail-mounted inspection robot |
| CN220593216U (en) * | 2023-08-23 | 2024-03-15 | 鸡西龙祥新能源科技有限公司 | Rail hanging driving mechanism of rail robot |
| CN117773878A (en) * | 2023-09-04 | 2024-03-29 | 广东电网有限责任公司 | Rail-mounted intelligent inspection robot and inspection method thereof |
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1123512A (en) * | 1967-02-06 | 1968-08-14 | Walter Lewis Blackburn | Ratchet winch |
| DE102008006170A1 (en) * | 2008-01-26 | 2009-07-30 | Eisenmann Anlagenbau Gmbh & Co. Kg | Device for handling objects, particularly workpieces and tools, has handling device and transport system with which handling device is moved, and transport system is electric trolley conveyor with rail system running above base level |
| CN208962041U (en) * | 2016-02-23 | 2019-06-11 | 库卡德国有限公司 | Joint of robot brake and robot at least one joint of robot brake |
| CN110421579A (en) * | 2019-08-27 | 2019-11-08 | 天津华宁电子有限公司 | A kind of mining intrinsic safety type rail polling robot automatically walk system |
| CN112454391A (en) * | 2020-12-31 | 2021-03-09 | 杭州景上信息技术有限公司 | Intelligent inspection robot main body mechanism |
| CN214985373U (en) * | 2021-01-27 | 2021-12-03 | 易程融创信息科技有限公司 | Brake equipment and have its track robot |
| CN214686575U (en) * | 2021-03-23 | 2021-11-12 | 广东工业大学 | Wheel clamp module for inspection and operation |
| WO2023284180A1 (en) * | 2021-07-16 | 2023-01-19 | 煤炭科学技术研究院有限公司 | Inspection robot walking device and inspection robot system thereof |
| CN114770465A (en) * | 2022-05-26 | 2022-07-22 | 南京天创电子技术有限公司 | Hang rail robot walking drive structure |
| CN218398105U (en) * | 2022-10-21 | 2023-01-31 | 湖南超能机器人技术有限公司 | Inspection robot |
| CN220337326U (en) * | 2023-06-07 | 2024-01-12 | 帕西尼感知科技(张家港)有限公司 | Brake device, motor and robot thereof |
| CN220593216U (en) * | 2023-08-23 | 2024-03-15 | 鸡西龙祥新能源科技有限公司 | Rail hanging driving mechanism of rail robot |
| CN117773878A (en) * | 2023-09-04 | 2024-03-29 | 广东电网有限责任公司 | Rail-mounted intelligent inspection robot and inspection method thereof |
| CN117245627A (en) * | 2023-09-26 | 2023-12-19 | 湖南超能机器人技术有限公司 | Braking device, rail hanging robot system and rail hanging robot braking method |
| CN117537016A (en) * | 2023-11-13 | 2024-02-09 | 北京邮电大学 | Electromagnetic power-off braking mechanism for rail-mounted inspection robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105293247B (en) | A kind of limiter of speed and its application method | |
| CN205151436U (en) | Overspeed governor | |
| CN107089610B (en) | Gradual centrifugal brake | |
| CN110758499A (en) | Overload-prevention type conveying device for production and processing of titanium alloy plates | |
| CN118030743B (en) | Mechanical transmission brake device of rail-mounted inspection robot | |
| CN118030743A (en) | Mechanical transmission brake device of rail-mounted inspection robot | |
| CN112594200B (en) | Impeller locking structure of magnetic suspension blower | |
| CN106744446B (en) | The electric block that scheduling process transports plant equipment is manufactured for workshop | |
| CN204845950U (en) | One -way couple braking formula mine car | |
| CN202529673U (en) | Gravity eccentric shaft type safety tongs | |
| CN111824895B (en) | Unexpected protection device that removes of car | |
| CN113734227B (en) | Belt type braking device and manual relieving mechanism thereof | |
| CN101789330B (en) | Mechanical rotational angle super acceleration switching device | |
| CN101837915A (en) | Safety anti-falling device of construction elevator | |
| CN113816262A (en) | Anti-collision limiting device | |
| CN108132151B (en) | A kind of engine quick-assembling trolley hold-down mechanism | |
| CN203283988U (en) | Anti-dropping safety device | |
| CN220980094U (en) | Torque protection device of cycloidal pin gear speed reducer | |
| CN205997890U (en) | Unidirectional double track disc spring brake type mine car | |
| CN218267060U (en) | Transmission mechanism for switch machine and switch machine | |
| CN117532635B (en) | Inspection robot | |
| CN111561523B (en) | Transmission connection structure | |
| CN220074566U (en) | Disassembling tool for friction distance limiter | |
| CN219255414U (en) | Mounting mechanism of rubber damping sleeve | |
| CN104150312B (en) | Accidental movement of elevator cage safeguard protection device |
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 | ||
| GR01 | Patent grant |