Automatic braking device, AGV vehicle and control method

Abstract

The present invention discloses an automatic brake device, wherein the automatic brake device of the present invention is composed of a driving device, a lever device and a pressing device that cooperate to drive a brake pedal to complete braking and resetting actions. In addition, the present invention also discloses an AGV trolley and a control method using the automatic brake device. Compared with the prior art, the automatic brake device of the present invention can automatically drive the pedal to control the piston of the master brake cylinder to achieve the braking function, and can complete the braking operation when the AGV loses power; it has high automation and high safety.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation, and in particular to an automatic braking device, an AGV trolley and a control method. Background Art

[0002] Most of the current unmanned tractors are based on the transformation of manual tractors. Manual driving relies on the brake pedal to control the piston of the master brake cylinder, thereby controlling the brake pads to achieve emergency braking, which can provide greater braking force; while the modified unmanned tractors rely on the brake function of the driving motor to achieve emergency braking and parking braking functions during automatic operation. The brake torque of the motor is affected by the size and power of the motor. As the speed demand of tractors increases, the brake force of the motor alone cannot provide the parking brake force required for emergency braking of the tractor during fast driving or traction on a large slope, resulting in insufficient braking performance, long braking distance, and inability to brake on slopes. In addition, the motors of many tractors do not have a brake function, which increases the limitations of the transformation.

[0003] Assuming that the manual braking mode is applied to the AGV braking system, a device that can imitate manual braking is designed to automatically drive the pedal to control the master brake cylinder piston, which can achieve the same effect as manual braking. Summary of the invention

[0004] The first object of the present invention is to provide an automatic braking device, which can automatically drive the brake pedal to achieve a braking function.

[0005] In order to achieve the above invention object, the present invention adopts the following technical scheme:

[0006] An automatic braking device comprises a base plate, a driving device, a lever device and a pressing device; the driving device comprises a driving motor, a first mounting bracket and a slider assembly, the first mounting bracket is arranged on the base plate, the slider assembly and the driving motor are arranged on the first mounting bracket, and the driving motor can drive the slider assembly to move up and down; the pressing device comprises a mounting seat and a linear slide rail assembly, the linear slide rail assembly can be slidably arranged on the mounting seat, and the linear slide rail assembly is used to connect with the brake pedal of the AGV; the lever device comprises a second mounting bracket and a connecting rod, the second mounting bracket is arranged on the base plate and is located between the driving device and the pressing device, the connecting rod is rotatably mounted on the bracket, one end of the connecting rod is connected to the slider assembly, and the other end is connected to the linear slide rail assembly; when the slider assembly moves upward or downward, the linear slide rail assembly moves downward or upward accordingly to press or release the brake pedal of the AGV.

[0007] The automatic brake device of the present invention drives the slider assembly to move up and down through the driving motor when the AGV is powered on normally, connects the slider assembly and the linear slide assembly through the lever device, and connects the linear slide assembly to the brake pedal of the AGV through the linear slide assembly. When the slider assembly moves up or down, the linear slide assembly moves down or up accordingly to press or release the brake pedal of the AGV. Compared with the prior art, the automatic brake device of the present invention, when the AGV is powered on normally, the driving device, the lever device and the pressing device cooperate to drive the brake pedal to complete the braking and resetting actions, and has a high degree of automation and a large braking force.

[0008] It also includes a reset mechanism, which is arranged on the first mounting bracket. The slider assembly is linked to the reset mechanism. When the slider assembly moves downward, it drives the reset mechanism to move downward, so that it is in an energy storage state. The reset mechanism of this solution is in an energy storage state when the drive motor is working normally. When the drive motor is in a state of instant power failure, the energy stored in the reset mechanism is released, thereby providing power for the slider assembly to move upward, so that the linear slide assembly completes the brake pedal pressing action of the AGV.

[0009] Preferably, the slider assembly includes a transmission screw, a screw nut and a connecting slider, the transmission screw is arranged on the first mounting bracket, the end of the transmission screw is transmission-connected to the driving motor, and the connecting slider is linked with the screw nut; the reset mechanism includes a guide rod, a linear bearing, a guide rod bracket and an elastic member, the guide rod is arranged on the first mounting bracket through the guide rod bracket, the linear bearing can be slidably arranged on the guide rod, the elastic member is sleeved on the guide rod and abuts between the linear bearing and the guide rod bracket, and the screw nut is connected to the linear bearing through a linkage plate; when the driving motor is started and the screw nut moves downward, the connecting slider and the linkage plate can be linked downward with the screw nut to compress the elastic member, and when the driving motor is turned off, the elastic member is reset and drives the screw nut and the connecting slider to move upward. When the driving motor of this solution is energized, the transmission screw and the screw nut cooperate to make the connecting slider move up and down, thereby realizing the pressing or resetting action of the brake pedal, and provide pressure to the elastic part in the resetting state to compress it; when the AGV fails and the driving motor loses power, the elastic force accumulated in the elastic part makes the screw nut move upward, thereby realizing the pressing action of the brake pedal.

[0010] Furthermore, a fixing seat is provided on the first mounting bracket, and the slider assembly includes a first transmission wheel and a second transmission wheel, wherein the first transmission wheel is fixedly connected to the output end of the driving motor, the second transmission wheel is fixedly connected to the upper end of the transmission screw, and the first transmission wheel is meshedly connected to the second transmission wheel. This solution realizes the transmission connection between the driving motor and the transmission screw through the first transmission wheel and the second transmission wheel, and has a simple connection structure and high transmission efficiency.

[0011] In order to enable the AGV to obtain the position of the lead screw nut after power is turned on, thereby determining the state of the brake pedal, the driving device includes a first proximity switch and a second proximity switch, and a sensing block is provided on the connecting slider. The first proximity switch and the second proximity switch are both arranged on the first mounting bracket and correspond one-to-one to the positions of the sensing block when the lead screw nut is located on the upper side and the lower side of the transmission lead screw, respectively. The first proximity switch and the second proximity switch trigger the position signal by sensing the sensing block and send the position signal to the AGV.

[0012] Preferably, it also includes a limiting mechanism and a limiting sleeve, the limiting mechanism includes an adjusting block and an adjusting screw, the adjusting block is arranged on the first mounting bracket and is located above the connecting rod, the adjusting block is provided with a screw hole, the adjusting screw is longitudinally arranged above the connecting rod through the screw hole, and the limiting sleeve is sleeved on the lower side of the guide rod. This scheme is used to limit the longitudinal displacement distance of the slider assembly, and the limiting mechanism is used to limit the rising height of the linkage plate. When the screw nut rises to the preset height h1, the adjusting screw abuts against the connecting rod to prevent the slider assembly from continuing to move upward. In addition, the use of a threaded connection method is conducive to adjusting the maximum height according to actual needs. When the screw nut drops to the preset height h2, the limiting sleeve abuts between the bottom of the guide rod and the linear bearing to prevent the slider assembly from continuing to move downward.

[0013] Preferably, a first follower is provided at one end of the connecting rod, a first U-shaped groove is provided on the connecting slider, the first follower is slidably connected to the first U-shaped groove, a second follower is provided at the other end of the connecting rod, and the connecting rod is movably connected to the pressing device through the second follower. When the connecting slider moves synchronously with the screw nut, the first follower slides in the first U-shaped groove, and the connecting rod can swing with the movement of the connecting slider.

[0014] Preferably, the linear slide assembly includes a lifting slider, a lifting arm and a pedal connection block, the front end surface of the mounting seat is longitudinally provided with a guide rail, the lifting slider is installed on the guide rail and can slide along the guide rail, one end of the lifting arm is fixedly connected to the lifting slider and movably connected to the connecting rod, the other end of the lifting arm is provided with a third follower, the side of the pedal connection block close to the lifting arm is provided with a slope surface, the third follower presses against the slope surface and can slide along the slope surface, and the other side of the pedal connection block is fixedly connected to the brake pedal. The lifting slider of this scheme can slide synchronously with the swing of the connecting rod, when the end of the connecting rod close to the lifting slider swings to a low position, it applies downward pressure to the lifting arm to move the lifting arm downward, the third follower slides downward along the slope surface, and provides pressure to the pedal connection block, so that the pedal connection block rotates to drive the brake pedal to complete the braking action; or, the end of the connecting rod close to the lifting slider swings to a high position to provide an upward supporting force to the lifting arm to move the lifting arm upward, and the third follower slides upward synchronously, so that the pedal connection block rotates to drive the brake pedal to complete the reset action.

[0015] The second invention purpose of the present invention is to provide an AGV trolley, including a vehicle body, a driving system, a braking system, a control terminal and a driving wheel, wherein the driving system, the braking system and the control terminal are all installed on the vehicle body, the driving wheel is installed at the bottom of the vehicle body and is transmission-connected with the driving system and the braking system, the control terminal is respectively communication-connected with the driving system and the braking system, the control terminal is used to receive and process the feedback signals generated by the driving system and the braking system, and to generate control instructions to control the running state of the vehicle body, the braking system includes a pedal mechanism and the above-mentioned automatic braking device, and the brake pedal of the pedal mechanism is fixedly connected with the automatic braking device. Compared with the prior art, the AGV trolley of the present invention can realize the automatic braking function in both normal power-on and instantaneous power-off conditions due to the application of the automatic braking device of the above-mentioned scheme, and its braking system has a high degree of automation and safety.

[0016] The third invention object of the present invention is to provide a control method based on the above-mentioned AGV vehicle, comprising the following steps:

[0017] a. The control terminal triggers the brake system to start, and determines the state of the brake pedal through the position signals of the first proximity switch and the second proximity switch. b. When the first proximity switch triggers the position signal and feeds back to the control terminal, the control terminal receives the position signal of the first proximity switch, determines that the brake pedal is in a pressed state, and sends a "reset" command to the brake system, and enters step c; when the second proximity switch triggers the position signal and feeds back to the control terminal, the control terminal receives the position signal of the second proximity switch, determines that the brake pedal is in a reset state, and enters step d. c. The brake system receives the "reset" command, and the drive motor drives the slider assembly to move downward until the control terminal receives the position signal sent by the second proximity switch, and enters step d. d. When the AGV trolley is in normal working state, the drive motor is continuously powered on, and the drive motor controls the slider assembly to maintain the current height so that the brake pedal is in a reset state, and enters step e; when the AGV trolley fails, the drive motor loses power instantly, and the reset mechanism controls the slider assembly to move upward so that the pressing device presses the brake pedal, and enters step g. e. The control terminal sends a "brake" command to the brake system, and enters step f. f. The driving motor drives the slider assembly to move upward until the first proximity switch is triggered and sends a position signal. The control terminal receives the position signal sent by the first proximity switch, determines that the brake pedal is in a pressed state, and enters step g. g. The brake system ends its work. Compared with the prior art, the control method of the present invention can efficiently and automatically realize the braking function of the AGV trolley, further improving the working efficiency and safety of the AGV trolley. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is the structure diagram of the automatic brake device Figure 1 ;

[0019] Figure 2 This is a schematic diagram of the structure of the drive device. Figure 1 ;

[0020] Figure 3 This is a schematic diagram of the structure of the drive device. Figure 2 ;

[0021] Figure 4 This is the structure diagram of the automatic brake device Figure 2 ;

[0022] Figure 5 It is the assembly drawing of the slider assembly and the drive motor;

[0023] Figure 6 It is a schematic diagram of the structure of the lever device;

[0024] Figure 7 It is the assembly drawing of the lever device, the pressing device and the pedal mechanism;

[0025] Figure 8It is the assembly drawing of the automatic brake device and the pedal mechanism;

[0026] Fig. 9 It is a structural diagram of the AGV car.

[0027] Description of labels:

[0028] Automatic brake device 1, base plate 2, drive device 3, transmission screw 311, linkage plate 312, screw nut 3120, induction block 3121, connecting slider 3122, first U-shaped groove 3123, discharge resistor 317, limiting sleeve 318, limiting mechanism 32, adjustment block 320, adjustment screw 321, reset mechanism 33, guide rod 330, elastic member 331, linear bearing 332, guide rod bracket 333, first proximity switch 34, second proximity switch 35, first transmission wheel 36, second Transmission wheel 37, first mounting bracket 38, mounting plate 380, air avoidance 381, fixing seat 382, ​​driving motor 30, lever device 4, second mounting bracket 41, connecting rod 42, first follower 420, second follower 421, pressing device 5, mounting seat 51, guide rail 510, linear slide rail assembly 52, lifting slider 520, lifting arm 521, pedal connecting block 522, third follower 523, second U-shaped groove 5211, slope surface 5221, pedal mechanism 7, AGV trolley 8. DETAILED DESCRIPTION

[0029] The technical solution of the present invention is further described below with reference to the accompanying drawings:

[0030] In the description of the present invention, it should be understood that the directions or positional relationships indicated by "upper", "lower", "left", "right", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention. The fixed connection described in the present invention includes traditional fixed connection methods such as screw connection and riveting.

[0031] Embodiment 1:

[0032] like Figure 1-8As shown, the automatic brake device 1 of this embodiment includes a base plate 2, a driving device 3, a lever device 4 and a pressing device 5; the driving device 3 includes a driving motor 30, a first mounting bracket 38 and a slider assembly, the first mounting bracket 38 is arranged on the base plate 2, the slider assembly and the driving motor 30 are arranged on the first mounting bracket 38, and the driving motor 30 can drive the slider assembly to move up and down; the pressing device 5 includes a mounting seat 51 and a linear slide rail assembly 52, the linear slide rail assembly 52 can be slid up and down and is arranged on the mounting seat 51, The linear slide rail assembly 52 is used to connect with the brake pedal of the AGV; the lever device 4 includes a second mounting bracket 41 and a connecting rod 42, the second mounting bracket is arranged on the base plate 2 and is located between the driving device 3 and the pressing device 5, the connecting rod 42 is rotatably mounted on the bracket, one end of the connecting rod 42 is connected to the slider assembly, and the other end is connected to the linear slide rail assembly 52; when the slider assembly moves upward or downward, the linear slide rail assembly 52 moves downward or upward accordingly to press or release the brake pedal of the AGV.

[0033] In order to make the automatic brake device 1 have an emergency stop function when the drive motor 30 loses power momentarily, it also includes a reset mechanism 33, which is arranged on the first mounting bracket 38. The slider assembly is linked with the reset mechanism 33. When the slider assembly moves downward, it drives the reset mechanism 33 to move downward, so that it is in an energy storage state. The reset mechanism 33 of this solution is in an energy storage state when the drive motor 30 is working normally. When the drive motor 30 is in a state of momentary power failure, the energy stored in the reset mechanism 33 is released, thereby providing power for the slider assembly to move upward, so that the linear slide rail assembly 52 completes the brake pedal pressing action of the AGV, thereby completing the braking operation.

[0034] The slider assembly includes a transmission screw 311, a screw nut 3120 and a connecting slider 3122. The transmission screw 311 is arranged on the first mounting bracket 38. The end of the transmission screw 311 is transmission-connected to the drive motor 30. The connecting slider 3122 is linked to the screw nut 3120. The reset mechanism 33 includes a guide rod 330, a linear bearing 332, a guide rod bracket 333 and an elastic member 331. The guide rod 330 is arranged on the first mounting bracket 38 through the guide rod bracket 333. The linear bearing 332 is slidably arranged on the guide rod 330. The elastic member 331 is sleeved on the guide rod 330 and abuts between the linear bearing 332 and the guide rod bracket 333, and the screw nut 3120 is connected to the linear bearing 332 through the linkage plate 312; when the drive motor 30 is started and the screw nut 3120 moves downward, the connecting slider 3122 and the linkage plate 312 can be linked downward with the screw nut 3120 to compress the elastic member 331. When the drive motor 30 is turned off, the elastic member 331 is reset and drives the screw nut 3120 and the connecting slider 3122 to move upward. When the driving motor 30 of this solution is powered on, the transmission screw 311 cooperates with the screw nut 3120 to make the connecting slider 3122 move up and down to achieve the pressing or resetting action of the brake pedal, and provides pressure to the elastic member 331 to compress it when the pedal is reset; when the AGV fails and the driving motor 30 is powered off, the elastic force accumulated by the elastic member 331 makes the screw nut 3120 move upward to achieve the pressing action of the brake pedal. It should be noted that the transmission screw 311 is a ball screw.

[0035] Further, a fixing seat 382 is provided on the first mounting bracket 38, and the slider assembly includes a first transmission wheel 36 and a second transmission wheel 37, wherein the first transmission wheel 36 is fixedly connected to the output end of the driving motor 30, and the second transmission wheel 37 is fixedly connected to the upper end of the transmission screw 311, and the first transmission wheel 36 is meshedly connected with the second transmission wheel 37. In this solution, the driving motor 30 and the transmission screw 311 are connected by the first transmission wheel 36 and the second transmission wheel 37, and the connection structure is simple and the transmission efficiency is high.

[0036] Specifically, the first mounting bracket 38 includes a longitudinally arranged mounting plate 380, the fixed seat 382 is arranged on the upper side of the mounting plate 380, the first transmission wheel 36 and the second transmission wheel 37 are both arranged on the upper side of the fixed seat 382, ​​the drive motor 30 and the transmission screw 311 are both arranged on the lower side of the fixed seat 382, ​​and the middle parts of the first transmission wheel 36 and the second transmission wheel 37 are provided with connecting holes, the output shaft of the drive motor 30 passes through the fixed seat 382 and is connected with the connecting hole of the first transmission wheel 36, the upper end of the transmission screw 311 passes through the fixed seat 382 and is connected with the connecting hole of the second transmission wheel 37, and the fixed seat 382 is provided with through holes corresponding to the drive motor 30 and the transmission screw 311.

[0037] As a preferred solution, the reset mechanism 33 is provided with two groups and symmetrically arranged on both sides of the transmission screw 311, and the elastic member 331 is a compression spring. This solution is conducive to keeping the linkage plate 312 balanced and making the linkage plate 312 move smoothly.

[0038] As a preferred solution, a discharge resistor 317 is further included, and the discharge resistor 317 is arranged on the mounting plate 380, and the two ends of the discharge resistor 317 are connected in parallel with the two ends of the drive motor 30. When the drive motor 30 loses power instantly, the screw nut 3120 moves upward and drives the transmission screw 311 to rotate, thereby rotating the drive motor 30, and the drive motor 30 generates current and the current is discharged by the discharge resistor 317.

[0039] In order to enable the automatic braking device 1 to obtain the position of the lead screw nut 3120 after power is supplied, thereby determining the state of the brake pedal, the driving device 3 includes a first proximity switch 34 and a second proximity switch 35. A sensing block 3121 is provided on the connecting slider 3122. The first proximity switch 34 and the second proximity switch 35 are both provided on the first mounting bracket 38 and correspond one-to-one to the positions of the sensing block 3121 when the lead screw nut 3120 is located on the upper side and the lower side of the transmission lead screw 311, respectively. The first proximity switch 34 and the second proximity switch 35 trigger a position signal by sensing the sensing block 3121 and send the position signal to the AGV.

[0040] As a preferred solution, the middle part of the mounting plate 380 is provided with an air avoidance opening 381 which runs through the front and rear ends thereof; the slider assembly, the reset mechanism 33, and the drive motor 30 are all arranged on the front end surface of the mounting plate 380; the first proximity switch 34 and the second proximity switch 35 are both arranged on the rear end surface of the mounting plate 380 and correspond to the upper and lower sides of the air avoidance opening 381 respectively; the sensing block 3121 is made of metal, which is arranged on the rear side of the connecting slider 3122 and can move up and down in the air avoidance opening 381; the first proximity switch 34 and the second proximity switch 35 trigger the position signal by sensing the sensing block 3121 and send the position signal to the AGV.

[0041] In order to limit the maximum longitudinal displacement distance of the slider assembly, a limiting mechanism 32 and a limiting sleeve 318 are also included. The limiting mechanism 32 includes an adjustment block 320 and an adjustment screw 321. The adjustment block 320 is arranged on the first mounting bracket 38 and is located above the connecting rod 42. The adjustment block 320 is provided with a screw hole. The adjustment screw 321 is longitudinally arranged above the connecting rod 42 through the screw hole. The limiting mechanism 32 of this scheme is used to limit the rising height of the linkage plate 312. When the screw nut 3120 rises to the preset height h1, the adjustment screw 321 abuts against the connecting rod 42 to prevent the slider assembly from continuing to move upward. In addition, the use of a threaded connection between the adjustment screw 321 and the adjustment block 320 is conducive to adjusting the maximum height according to actual needs. The limiting sleeve 318 is sleeved on the lower side of the guide rod 330 for connection. When the screw nut 3120 drops to the preset height h2, the limiting sleeve 318 abuts between the bottom of the guide rod 330 and the linkage plate 312, thereby preventing the slider assembly from continuing to move downward.

[0042] A first follower 420 is provided at one end of the connecting rod 42, a first U-shaped groove is provided on the connecting slider 3122, the first follower 420 is slidably connected to the first U-shaped groove 3123, and a second follower 421 is provided at the other end of the connecting rod 42, and the connecting rod 42 is movably connected to the pressing device 5 through the second follower 421. When the connecting slider 3122 moves synchronously with the screw nut 3120, the first follower 420 slides in the first U-shaped groove 3123, and the connecting rod 42 can swing with the movement of the connecting slider 3122.

[0043] The above-mentioned linear slide rail assembly 52 includes a lifting slider 520, a lifting arm 521 and a pedal connecting block 522. The front end surface of the mounting seat 51 is longitudinally provided with a guide rail 510. The lifting slider 520 is installed on the guide rail 510 and can slide along the guide rail 510. One end of the lifting arm 521 is fixedly connected to the lifting slider 520 and is movably connected to the connecting rod 42 through a second follower 421. The other end of the lifting arm 521 is provided with a third follower 523. The side of the pedal connecting block 522 close to the lifting arm 521 is provided with a slope surface 5221. The third follower 523 presses against the slope surface 5221 and can slide along the slope surface 5221. The other side of the pedal connecting block 522 is fixedly connected to the brake pedal. The lifting slider 520 of the present solution can slide synchronously with the swing of the connecting rod 42. When the end of the connecting rod 42 close to the lifting slider 520 swings to a low position, downward pressure is applied to the lifting arm 521 to cause the lifting arm 521 to move downward, and the third follower 523 slides downward along the slope surface 5221 and provides pressure to the pedal connecting block 522 to rotate the pedal connecting block 522 to drive the brake pedal to complete the braking action; or, the end of the connecting rod 42 close to the lifting slider 520 swings to a high position, and an upward supporting force is applied to the lifting arm 521 to cause the lifting arm 521 to move upward, and the third follower 523 moves upward synchronously to cause the pedal connecting block 522 to rotate to drive the brake pedal to complete the resetting action.

[0044] As a preferred solution, one end of the lifting arm 521 is provided with a second U-shaped groove 5211, and the second follower 421 is slidably connected to the second U-shaped groove 5211. When the connecting rod 42 swings up and down, the second follower 421 slides in the second U-shaped groove 5211 and drives the lifting arm 521 to move up and down.

[0045] Working principle:

[0046] The automatic brake device 1 of the present invention is in the state that the AGV is normally powered on, and the driving motor 30 drives the transmission screw 311 to rotate forward or reversely to make the slider assembly move up and down, thereby triggering the AGV braking or reset operation, wherein the braking process is: the driving motor 30 drives the transmission screw 311 to rotate forward to make the slider assembly move upward, and the slider assembly rises to the preset maximum height h1 and then stops. At this time, the end of the connecting rod 42 connected to the slider assembly swings to a high position, and the other end of the connecting rod 42 swings to a low position. The linear slide assembly 52 slides to a low position synchronously with the swing of the connecting rod 42 and drives the brake pedal to complete the braking action. The reset process is: the driving motor 30 drives the transmission screw 311 to rotate reversely to make the slider assembly move downward, and the slider assembly moves down to the preset minimum height h2 and then stops. At this time, the end of the connecting rod 42 connected to the connecting slider 3122 swings to a low position, and the other end of the connecting rod 42 swings to a high position. The linear slide assembly 52 slides synchronously with the swing of the connecting rod 42 and drives the brake pedal to complete the reset action and maintain the reset state, so that the reset mechanism is in an energy storage state. When the AGV loses power momentarily, the drive motor 30 of the drive device 3 of the present invention stops working, the elastic member 331 provides elastic force for the slider assembly to move the slider assembly upward, the connecting rod 42 swings synchronously with the rise of the slider assembly, and the linear slide rail assembly 52 is linked with the slider assembly to trigger the brake pedal to complete the braking operation.

[0047] Compared with the prior art, the automatic brake device 1 of the present invention drives the slider assembly to move up and down through the driving motor 30 when the AGV is normally powered on, connects the slider assembly and the linear slide assembly 52 through the lever device 4, and connects the linear slide assembly 52 to the brake pedal of the AGV. When the slider assembly moves up or down, the linear slide assembly 52 moves down or up accordingly to press or release the brake pedal of the AGV. Therefore, when the AGV is normally powered on, the automatic brake device 1 of the present invention cooperates with the driving device 3, the lever device 4 and the pressing device 5 to drive the brake pedal to complete the braking and resetting actions, and has a high degree of automation and a large braking force.

[0048] Embodiment 2:

[0049] See also Fig. 9As shown, the AGV vehicle 8 of this embodiment includes a vehicle body, a driving system, a braking system, a control terminal and a driving wheel. The driving system, the braking system and the control terminal are all installed on the vehicle body. The driving wheel is installed at the bottom of the vehicle body and is transmission-connected to the driving system and the braking system. The control terminal is respectively communicated with the driving system and the braking system. The control terminal is used to receive and process feedback signals generated by the driving system and the braking system, and generate control instructions to control the operating state of the vehicle body. The braking system includes a pedal mechanism 7 and the above-mentioned automatic braking device 1, and the brake pedal of the pedal mechanism 7 is fixedly connected to the automatic braking device 1.

[0050] Compared with the prior art, the AGV trolley 8 of the present invention uses the automatic braking device 1 of the above-mentioned solution, so it can realize the automatic braking function in normal power-on and instantaneous power-off conditions, and its braking system has a higher level of automation and safety.

[0051] Embodiment three:

[0052] This embodiment discloses a control method based on the above-mentioned AGV vehicle 8, comprising the following steps:

[0053] a. The control terminal triggers the brake system to start, and determines the state of the brake pedal through the position signals of the first proximity switch 34 and the second proximity switch 35. b. When the first proximity switch 34 triggers the position signal and feeds back to the control terminal, the control terminal receives the position signal of the first proximity switch 34, determines that the brake pedal is in a pressed state, sends a "reset" command to the brake system, and enters step c; when the second proximity switch 35 triggers the position signal and feeds back to the control terminal, the control terminal receives the position signal of the second proximity switch 35, determines that the brake pedal is in a reset state, and enters step d. c. The brake system receives the "reset" command, and the drive motor 30 drives the slider assembly to move downward until the control terminal receives the position signal sent by the second proximity switch 35, and enters step d. d. When the AGV trolley 8 is in a normal working state, the drive motor 30 is continuously powered on, and the drive motor 30 controls the slider assembly to maintain the current height so that the brake pedal is in a reset state, and enters step e; when the AGV trolley 8 fails, the drive motor 30 loses power instantly, and the reset mechanism 33 controls the slider assembly to move upward so that the pressing device presses the brake pedal, and enters step g. e. The control terminal sends a "brake" command to the brake system, and enters step f. f. The drive motor 30 drives the slider assembly to move upward until the first proximity switch 34 is triggered and sends a position signal. The control terminal receives the position signal sent by the first proximity switch 34, determines that the brake pedal is in a pressed state, and enters step g. g. The brake system ends its work.

[0054] It should be noted that the “current height” in step d refers to the height when the screw nut 3120 slides to the lower side of the transmission screw 311 .

[0055] Compared with the prior art, the control method of the present invention can efficiently and automatically realize the braking function of the AGV trolley 8, which is beneficial to further improve the working efficiency and safety of the AGV trolley 8.

[0056] According to the disclosure and teaching of the above description, those skilled in the art to which the present invention belongs may also make changes and modifications to the above embodiments. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the scope of protection of the claims of the present invention. In addition, although some specific terms are used in this specification, these terms are only for the convenience of description and do not constitute any limitation to the present invention.

Claims

1. An automatic braking device, characterized in that: It includes a base plate, a driving device, a lever device and a pressing device; A driving device, comprising a driving motor, a first mounting bracket and a slider assembly, wherein the first mounting bracket is arranged on the substrate, the slider assembly and the driving motor are arranged on the first mounting bracket, and the driving motor can drive the slider assembly to move up and down; A pressing device, comprising a mounting seat and a linear slide assembly, wherein the linear slide assembly is slidably arranged on the mounting seat, and the linear slide assembly is used to connect with the brake pedal of the AGV; A lever device, comprising a second mounting bracket and a connecting rod, wherein the second mounting bracket is arranged on the base plate and is located between the driving device and the pressing device, the connecting rod is rotatably mounted on the bracket, one end of the connecting rod is connected to the slider assembly, and the other end is connected to the linear slide rail assembly; When the slider assembly moves upward or downward, the linear slide rail assembly moves downward or upward accordingly to press or release the brake pedal of the AGV; it also includes a reset mechanism, which is arranged on the first mounting bracket, and the slider assembly is linked with the reset mechanism. When the slider assembly moves downward, it drives the reset mechanism to move downward to be in an energy storage state; the slider assembly includes a transmission screw, a screw nut and a connecting slider, the transmission screw is arranged on the first mounting bracket, the end of the transmission screw is connected to the drive motor, and the connecting slider is linked with the screw nut; The reset mechanism comprises a guide rod, a linear bearing, a guide rod bracket and an elastic member, wherein the guide rod is arranged on the first mounting bracket through the guide rod bracket, the linear bearing is slidably arranged on the guide rod, the elastic member is sleeved on the guide rod and abuts between the linear bearing and the guide rod bracket, and the lead screw nut is connected to the linear bearing by setting a linkage plate; When the driving motor is started and the lead screw nut moves downward, the connecting slider and the linkage plate can be linked downward with the lead screw nut to compress the elastic member. When the driving motor is turned off, the elastic member is reset and drives the lead screw nut and the connecting slider to move upward. A fixed seat is provided on the first mounting bracket, and the slider assembly includes a first transmission wheel and a second transmission wheel. The first transmission wheel is fixedly connected to the output end of the driving motor, and the second transmission wheel is fixedly connected to the upper end of the transmission screw. The first transmission wheel is meshed with the second transmission wheel.

2. An automatic braking device according to claim 1, characterized in that: The driving device includes a first proximity switch and a second proximity switch. A sensing block is provided on the connecting slider. The first proximity switch and the second proximity switch are both arranged on the first mounting bracket and correspond one-to-one to the positions of the sensing blocks when the lead screw nut is located on the upper side and the lower side of the transmission lead screw, respectively. The first proximity switch and the second proximity switch trigger a position signal by sensing the sensing block and send the position signal to the AGV.

3. The automatic braking device according to claim 1, characterized in that: It also includes a limiting mechanism and a limiting sleeve, the limiting mechanism includes an adjusting block and an adjusting screw, the adjusting block is arranged on the first mounting bracket and is located above the connecting rod, the adjusting block is provided with a screw hole, the adjusting screw is longitudinally arranged above the connecting rod through the screw hole, and the limiting sleeve is sleeved on the lower side of the guide rod.

4. The automatic braking device according to claim 1, characterized in that: A first follower is provided at one end of the connecting rod, a first U-shaped groove is provided on the connecting slider, the first follower is slidably connected to the first U-shaped groove, a second follower is provided at the other end of the connecting rod, and the connecting rod is movably connected to the pressing device through the second follower.

5. The automatic braking device according to claim 1, characterized in that: The linear slide assembly includes a lifting slider, a lifting arm and a pedal connecting block. The front end surface of the mounting seat is longitudinally provided with a guide rail, the lifting slider is installed on the guide rail and can slide along the guide rail, one end of the lifting arm is fixedly connected to the lifting slider and is movably connected to the connecting rod, the other end of the lifting arm is provided with a third follower, the side of the pedal connecting block close to the lifting arm is provided with a slope surface, the third follower is pressed against the slope surface and can slide along the slope surface, and the other side of the pedal connecting block is fixedly connected to the brake pedal.

6. AGV vehicle, including a vehicle body, a driving system, a braking system, a control terminal and a driving wheel, wherein the driving system, the braking system and the control terminal are all installed on the vehicle body, the driving wheel is installed at the bottom of the vehicle body and is in driving connection with the driving system and the braking system, the control terminal is respectively in communication connection with the driving system and the braking system, and the control terminal is used to receive and process the feedback signals generated by the driving system and the braking system, and generate control instructions to control the running state of the vehicle body, characterized in that: The brake system comprises a pedal mechanism and an automatic brake device as described in any one of claims 1 to 5, wherein a brake pedal of the pedal mechanism is connected to the automatic brake device.

7. The control method of the AGV according to claim 6 is characterized in that: The following steps are involved: a. The control terminal activates the brake system and determines the state of the brake pedal through the position signal of the first proximity switch and the second proximity switch; b. When the first proximity switch triggers a position signal and feeds back to the control terminal, the control terminal receives the position signal of the first proximity switch, determines that the brake pedal is in a pressed state, sends a "reset" command to the brake system, and proceeds to step c; When the second proximity switch triggers a position signal and feeds back to the control terminal, the control terminal receives the position signal of the second proximity switch, determines that the brake pedal is in a reset state, and enters step d; c. The brake system receives a "reset" command, and the drive motor drives the slider assembly to move downward until the control terminal receives a position signal sent by the second proximity switch, and proceeds to step d; d. When the AGV is in normal working condition, the drive motor is continuously powered on, and the drive motor controls the slider assembly to maintain the current height so that the brake pedal is in the reset state, and enters step e; When the AGV fails, the drive motor loses power instantly, and the reset mechanism controls the slider assembly to move upward so that the pressing device presses the brake pedal, and then enters step g; e. The control terminal sends a "brake" command to the brake system and proceeds to step f; f. The drive motor drives the slider assembly to move upward until the first proximity switch is triggered and sends a position signal, the control terminal receives the position signal sent by the first proximity switch, determines that the brake pedal is in a pressed state, and proceeds to step g; g. The brake system stops working.

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