Braking device integrating service braking, parking braking and power-off braking

Abstract

The invention belongs to the technical field of braking equipment, and discloses a service braking, parking braking and power-off braking three-in-one braking device which comprises an execution part, a suction plate, an electromagnet and an elastic part. The execution part is provided with a first end connected to a brake cable and a second end opposite to the first end; the attraction plate acts on the execution part and can drive the execution part to move in the direction from the first end to the second end, the electromagnet generates magnetic attraction force on the attraction plate when powered on so that the attraction plate can be attached to the electromagnet in the direction from the second end to the first end, the elastic part acts on the attraction plate, and when the attraction plate is attached to the electromagnet, the elastic part does not act on the attraction plate. When the unmanned forklift is powered off, the electromagnet loses magnetism, the elastic piece recovers deformation and drives the suction plate to move, the executing piece pulls the brake cable, the brake cable applies pulling force to the brake calipers or the brake drum, and finally the unmanned forklift completes the braking action. Therefore, the power-off braking function of the unmanned forklift is realized.

Description

Technical Field

[0001] This application belongs to the technical field of braking equipment, and particularly relates to a braking device that combines service braking, parking braking, and power-off braking. Background Art

[0002] An unmanned forklift, also known as an automatic guided forklift or AGV forklift, is an intelligent logistics equipment that realizes cargo handling, stacking, and transportation through automation technology. By combining sensors, navigation systems, artificial intelligence, and mechanical control technology, it can complete material handling tasks in a warehouse or production line without manual operation. The braking system is one of the core systems to ensure the safe operation of the unmanned forklift, and it is responsible for achieving precise parking, emergency obstacle avoidance, and stable handling.

[0003] The existing braking system has two functions: service braking and parking braking. Service braking can brake the unmanned forklift during operation to stop it at a preset position or for emergency obstacle avoidance; parking braking can provide a certain resistance to the unmanned forklift when it stops to prevent dangerous situations such as the unmanned forklift rolling backward. However, since the existing braking system is usually driven by electric energy or controlled by electrical signals, if the power suddenly fails during the operation of the unmanned forklift, the braking system will be unable to brake the unmanned forklift, which may lead to dangerous situations such as the unmanned forklift rolling backward, thus affecting the safety of the unmanned forklift. Summary of the Invention

[0004] This application provides a braking device that combines service braking, parking braking, and power-off braking to ensure that the braking system can still brake the unmanned forklift when the power suddenly fails during operation, thereby improving the safety of the unmanned forklift.

[0005] The technical solution adopted in this application is as follows:

[0006] A braking device that combines service braking, parking braking, and power-off braking, comprising:

[0007] An actuator, the actuator having a first end connected to a brake cable and a second end opposite to the first end;

[0008] A suction plate, the suction plate acting on the actuator and capable of driving the actuator to move in the direction from the first end to the second end;

[0009] An electromagnet, when the electromagnet is energized, it generates a magnetic suction force on the suction plate, causing the suction plate to fit against the electromagnet in the direction from the second end to the first end;

[0010] An elastic member, the elastic member acts on the suction plate, and when the suction plate fits against the electromagnet, the elastic member deforms and exerts an elastic force on the suction plate in the direction from the first end to the second end.

[0011] By adopting the above technical solution, when using the braking device in this application, first install the braking device on the driverless forklift, then connect the brake wire of the driverless forklift to the first end of the actuator, and then electrically connect the electromagnet to the electrical system of the driverless forklift to supply power to the electromagnet.

[0012] After supplying power to the electromagnet, the electromagnet generates magnetism and exerts a magnetic force on the suction plate, thereby causing the suction plate to move along the second end to the first end and fit against the electromagnet. When the suction plate moves in the direction from the second end to the first end, the elastic member deforms under the action of the suction plate, so that the elastic member exerts an elastic force on the suction plate in the direction from the first end to the second end.

[0013] However, when the driverless forklift loses power, the electromagnet loses its magnetism, thereby causing the electromagnet to lose the magnetic force on the suction plate, so that the elastic member gradually recovers its deformation and drives the suction plate to move, so that the suction plate drives the actuator to move in the direction from the first end to the second end, so that the actuator pulls the brake wire, and the brake wire exerts a pulling force on the brake caliper or the brake drum, and finally the driverless forklift completes the braking action, thereby realizing the function of power-off braking of the driverless forklift, avoiding the dangerous situation such as the driverless forklift being unable to brake when suddenly losing power and slipping, and greatly improving the safety of the driverless forklift equipped with the braking device in this application.

[0014] Optionally, the actuator includes a pull rod sleeve, a pull rod disposed through the pull rod sleeve, and a pin shaft disposed on the pull rod. The end portions of the pull rod sleeve and the pull rod away from each other respectively constitute the first end and the second end. The pull rod sleeve is provided with a mating groove extending from the first end to the second end. The pin shaft is disposed through the mating groove. The braking device further includes a driving member capable of driving the pull rod or the pull rod sleeve to move. The piston rod of the driving member is disposed parallel to the pull rod and connected to the second end.

[0015] By adopting the above technical solution, since the driving member in this application can drive the pull rod to move, the braking device in this application can not only achieve power-off braking, but also achieve parking braking and driving braking, thereby increasing the flexibility of the braking device, and integrating driving braking, parking braking and power-off braking together, greatly reducing the manufacturing cost of the driverless forklift equipped with the braking device in this application.

[0016] When the braking device in this application performs service braking or parking braking, the piston rod of the driving member retracts, and then the piston rod drives the second end to move. Under the combined action of the pin shaft and the groove wall of the mating groove, the pull rod drives the pull rod sleeve to move in the direction from the first end to the second end, or the pull rod sleeve drives the pull rod to move in the direction from the first end to the second end under the combined action of the pin shaft and the groove wall of the mating groove, so that the first end pulls the brake cable, and finally the brake cable applies a pulling force to the brake caliper or brake drum to complete the service braking or parking braking of the driverless forklift.

[0017] When releasing the service braking or parking braking of the driverless forklift, the piston rod of the driving member extends, and then the piston rod drives the second end to move. The pull rod or the pull rod sleeve moves in the direction from the second end to the first end, and finally the first end moves in the direction away from the second end to release the service braking or parking braking of the driverless forklift.

[0018] When the driverless forklift suddenly loses power, the suction plate loses the magnetic force and moves in the direction from the first end to the second end under the action of the elastic member, so that the suction plate drives the pull rod or the pull rod sleeve to move in the direction from the first end to the second end, and finally the first end applies a pulling force to the brake cable, so that the brake cable applies a pulling force to the brake caliper or brake drum to complete the power-off braking of the driverless forklift.

[0019] In summary, in this application, not only service braking, parking braking and power-off braking are realized, but also the service braking and parking braking functions do not affect the power-off braking function, thereby further improving the safety of the driverless forklift equipped with the braking device in this application.

[0020] Optionally, the mating groove includes an unlocking groove extending from the first end to the second end and a locking groove provided on the side of the unlocking groove. The pull rod is provided with a strip-shaped groove whose extending direction is perpendicular to the extending direction of the unlocking groove. The pin shaft passes through the strip-shaped groove. An unlocking block is provided on the side of the pull rod sleeve. When the pin shaft moves in the direction away from the first end to the position where the locking groove is located, the pin shaft slides relative to the strip-shaped groove and moves into the locking groove. When the pin shaft moves in the direction close to the first end, the pin shaft is disengaged from the locking groove under the action of the unlocking block and moves into the unlocking groove.

[0021] By adopting the above technical solution, when performing service braking or parking braking, the piston rod of the driving member retracts, and then the piston rod drives the second end to move, so that relative movement occurs between the pull rod and the pull rod sleeve. When the pin moves to the position where the locking groove is located, relative movement occurs between the pin and the strip groove, so that the pin moves into the locking groove. Then, under the cooperation of the pin and the groove wall of the locking groove, the pull rod and the pull rod sleeve move in the direction from the first end to the second end, so that the first end applies a tensile force to the brake wire in the direction from the first end to the second end. Finally, the brake wire applies a tensile force to the brake caliper or the brake drum to complete the service braking or parking braking of the driverless forklift.

[0022] When releasing the service braking or parking braking of the driverless forklift, the piston rod of the driving member extends, and then the piston rod drives the second end to move, so that the pull rod or the pull rod sleeve moves in the direction from the second end to the first end under the cooperation of the pin and the groove wall of the locking groove, thereby causing the first end to gradually lose the tensile force on the brake wire. When the first end completely loses the tensile force on the brake wire and the pin moves to the position where the unlocking block is located, the pin slides relative to the strip groove under the action of the unlocking block and disengages from the locking groove and enters the unlocking groove, so that the pull rod or the pull rod sleeve can move alone in the direction from the first end to the second end to be able to perform power-off braking at any time, thereby further improving the safety of the driverless forklift equipped with the braking device in this application.

[0023] Moreover, through the setting of the locking groove, when the piston rod extends, the actuator can move along with the piston rod in the direction from the second end to the first end, thus avoiding the situation where a separate component needs to be provided to reset the pull rod or the pull rod sleeve, and further reducing the production and manufacturing cost of the braking device.

[0024] Optionally, the pull rod is provided with an elastic portion, and the elastic portion acts on the pin and can apply a force towards the side where the locking groove is located to the pin.

[0025] By adopting the above technical solution, when the pull rod and the pull rod sleeve slide relative to each other, the pin is located in the unlocking groove, and the elastic portion undergoes elastic deformation. When the pin moves to the position where the locking groove is located under the action of the pull rod, the elastic portion recovers its deformation and moves the pin towards the direction where the locking groove is located, so that the pin moves into the locking groove, enabling the pull rod to move synchronously with the pull rod sleeve under the cooperation of the pin and the groove wall of the locking groove. After the movement of the pull rod sleeve causes the pin to move to the position where the unlocking block is located, the pull rod continues to move, so that the pin moves into the unlocking groove under the action of the unlocking block against the elastic force of the elastic portion, finally causing the pin to move into the unlocking groove, so that the pull rod and the pull rod sleeve can slide relative to each other.

[0026] In the present application, by providing an elastic part, on the one hand, when the pin shaft moves to the position where the locking groove is located, the pin shaft can automatically move into the locking groove under the action of the elastic part, and on the other hand, the matching stability between the pin shaft and the locking groove wall is increased.

[0027] Optionally, the unlocking block has a guide surface capable of cooperating with the pin shaft, and the guide surface is arranged from the first end to the second end in a direction away from the unlocking groove.

[0028] By adopting the above technical solution, since the guide surface is arranged from the first end to the second end in a direction away from the unlocking block, the smoothness of the movement of the pin shaft from the locking groove to the unlocking groove is guaranteed, thereby avoiding the pin shaft and the groove wall of the locking groove from getting stuck.

[0029] Optionally, the suction plate is provided with an avoidance gap, the pull rod sleeve is located in the avoidance gap, and a blocking plate is provided at the end of the pull rod sleeve close to the second end, and the suction plate acts on the blocking plate.

[0030] By adopting the above technical solution, since the pull rod sleeve is located in the avoidance gap and the suction plate acts on the blocking plate provided on the pull rod sleeve, on the one hand, the force position of the suction plate is positioned as close to the center position of the suction plate as possible, so as to greatly reduce the occurrence of the suction plate deflecting and getting stuck due to uneven force on the suction plate, and on the other hand, it can also increase the compactness of the braking device to reduce the volume of the braking device.

[0031] Optionally, the braking device also includes a shell, a magnet frame is arranged inside the shell, the electromagnet is arranged on the magnet frame, the suction plate is located on the side of the electromagnet away from the magnet frame, and a shock absorber is arranged on the side of the magnet frame away from the electromagnet.

[0032] By adopting the above technical solution, when the electromagnet is energized, the electromagnet instantly generates magnetism and produces magnetic attraction on the suction plate, and then the suction plate moves toward the direction of the electromagnet under the action of the magnetic attraction and fits against the electromagnet. By arranging a shock-absorbing part on the side of the magnet frame away from the electromagnet, the impact of the suction plate on the electromagnet can be reduced, thereby increasing the stability of the electromagnet.

[0033] Optionally, a heat dissipation fin is provided on a side of the suction plate facing away from the electromagnet, and a heat dissipation fan is provided on a side of the electromagnet.

[0034] By adopting the above technical solution, after the electromagnet is powered on, the electromagnet will generate heat. Since the suction plate will adhere to the electromagnet under the magnetic attraction of the electromagnet, the electromagnet will then transfer the heat to the suction plate. By providing heat dissipation fins on the side of the suction plate facing away from the electromagnet, on the one hand, it can improve the heat dissipation efficiency of the electromagnet and the suction plate, and on the other hand, it can also make the heat dissipation fins form an avoidance with the electromagnet to ensure the magnetic adsorption stability between the suction plate and the electromagnet, thereby ensuring the stability of the suction plate; and by providing a heat dissipation fan on the side of the electromagnet, it can further improve the heat dissipation efficiency of the electromagnet to reduce the working temperature of the electromagnet, and further increase the stability of the electromagnet.

[0035] Optionally, the braking device further includes a fixing plate. The actuator is provided with a guiding plate located on the side of the suction plate facing away from the electromagnet, and the fixing plate is provided with a guiding shaft passing through the guiding plate and the suction plate.

[0036] By adopting the above technical solution, since the fixing plate is provided with a guiding shaft passing through the guiding plate and the suction plate, on the one hand, the cooperation between the guiding shaft and the suction plate can guide the movement of the suction plate to increase the stability of the suction plate during movement, and on the other hand, the cooperation between the guiding plate and the guiding shaft can guide the movement of the actuator, thereby increasing the movement stability of the actuator.

[0037] Optionally, the braking device further includes a first detection member for detecting the position of the suction plate;

[0038] And / or, the braking device further includes a second detection member for detecting the position of the actuator.

[0039] By adopting the above technical solution, since the first detection member is used to detect the position of the suction plate, it can then use the first detection member to detect whether the suction plate moves to a position where it adheres to the electromagnet or whether the suction plate moves to a position where it separates from the electromagnet, so that the system for controlling the operation of the braking device can control the operation of the braking device.

[0040] Since the second detection member is used to detect the position of the actuator, it can then use the second detection member to detect the movement position of the actuator, so that the system for controlling the operation of the braking device can control the operation of the braking device.

[0041] Due to the adoption of the above technical solution, the beneficial effects obtained by this application are:

[0042] 1. The braking device in this application includes an actuator, a suction plate, an electromagnet, and an elastic member. The actuator has a first end connected to the brake cable and a second end opposite to the first end. The suction plate acts on the actuator and can drive the actuator to move in the direction from the first end to the second end. When the electromagnet is energized, it generates a magnetic suction force on the suction plate, causing the suction plate to fit against the electromagnet in the direction from the second end to the first end. The elastic member acts on the suction plate, and when the suction plate fits against the electromagnet, the elastic member deforms and applies an elastic force on the suction plate in the direction from the first end to the second end. When the unmanned forklift loses power, the electromagnet loses its magnetism, thereby causing the magnetic force of the electromagnet on the suction plate to disappear, enabling the elastic member to gradually recover its deformation and drive the suction plate to move, so that the suction plate drives the actuator to move in the direction from the first end to the second end, causing the actuator to pull the brake cable, and the brake cable applies a pulling force on the brake caliper or brake drum, finally enabling the unmanned forklift to complete the braking action, thus realizing the function of power-off braking for the unmanned forklift, avoiding dangerous situations such as the unmanned forklift being unable to brake and slipping when suddenly losing power, and greatly improving the safety of the unmanned forklift equipped with the braking device in this application.

[0043] 2. The actuator in this application includes a pull rod sleeve, a pull rod passing through the pull rod sleeve, and a pin shaft provided on the pull rod. The ends of the pull rod sleeve and the pull rod that are away from each other respectively constitute the first end and the second end. The pull rod sleeve is provided with a mating groove extending from the first end to the second end. The pin shaft passes through the mating groove. The braking device further includes a driving member capable of driving the pull rod or the pull rod sleeve to move. The piston rod of the driving member is arranged parallel to the pull rod and is connected to the second end. Since the driving member in this application can drive the pull rod to move, the braking device in this application can not only achieve power-off braking, but also achieve parking braking and driving braking, thereby increasing the flexibility of the braking device, and integrating driving braking, parking braking, and power-off braking together, greatly reducing the manufacturing cost of the unmanned forklift equipped with the braking device in this application.

[0044] 3. The mating groove in this application includes an unlocking groove extending from the first end to the second end and a locking groove provided on the side of the unlocking groove. The pull rod is provided with a strip-shaped groove whose extending direction is parallel to the extending direction of the unlocking groove. The pin shaft passes through the strip-shaped groove. An unlocking block is provided on the side of the pull rod sleeve. When the pin shaft moves in the direction away from the first end to the position where the locking groove is located, the pin shaft slides relative to the strip-shaped groove and moves into the locking groove. When the pin shaft moves in the direction close to the first end, the pin shaft disengages from the locking groove under the action of the unlocking block and moves into the unlocking groove. Through the setting of the locking groove, when the piston rod extends, the actuator can move along with the piston rod in the direction from the second end to the first end, thus avoiding the situation of needing to set up a separate component to reset the pull rod or the pull rod sleeve, and further reducing the manufacturing cost of the braking device. Description of the Drawings

[0045] The accompanying drawings described herein are used to provide a further understanding of the present application and form a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0046] Figure 1 It is a schematic structural diagram of the first perspective of the braking device described in an embodiment of the present application;

[0047] Figure 2 It is a schematic structural diagram of the second perspective of the braking device described in an embodiment of the present application, and the housing is omitted in the figure;

[0048] Figure 3 It is a schematic structural diagram of the third perspective of the braking device described in an embodiment of the present application, and the housing is omitted in the figure;

[0049] Figure 4 It is a schematic structural diagram of the fourth perspective of the braking device described in an embodiment of the present application, and the housing is omitted in the figure;

[0050] Figure 5 It is a schematic structural diagram of the fifth perspective of the braking device described in an embodiment of the present application, and the housing is omitted in the figure;

[0051] Figure 6 It is a schematic structural diagram of the cooperation relationship between the actuator and the unlocking block described in an embodiment of the present application;

[0052] Figure 7 It is a schematic structural diagram of the first perspective of the actuator described in an embodiment of the present application;

[0053] Figure 8 It is a schematic structural diagram of the second perspective of the actuator described in an embodiment of the present application.

[0054] Reference numerals:

[0055] 1. Actuator; 11. Pull rod sleeve; 111. Fitting groove; 112. Unlocking groove; 113. Locking groove; 114. Unlocking block; 115. Fixed piece; 116. Blocking plate; 117. Guide plate; 118. Guide surface; 12. Pull rod; 121. Strip-shaped groove; 13. Pin shaft; 2. Suction plate; 21. Heat dissipation fins; 3. Electromagnet; 31. Magnet holder; 311. Shock absorber; 32. Heat dissipation fan; 4. Elastic member; 5. Driving member; 6. Housing; 61. Accommodating box; 62. Fixed plate; 621. Guide shaft; 7. First detection member; 8. Second detection member. Detailed implementation manners

[0056] In order to more clearly explain the overall concept of the present application, the following will be described in detail by way of examples in combination with the drawings of the specification.

[0057] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application may be practiced in other ways than those described herein. Therefore, the scope of protection of the present application is not limited by the specific embodiments disclosed below.

[0058] In addition, in the description of the present application, it should be understood that the orientation or positional relationships indicated by the terms "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present application.

[0059] In the present application, unless otherwise clearly defined and limited, the terms "mounted", "connected", "coupled", "fixed", etc. shall be construed broadly. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or a communication connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0060] In the present application, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. In the description of this specification, the description with reference to terms such as "embodiment", "example", "one example", "example" or "specific example" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0061] Refer to Figures 1 to 8, a braking device integrating service brake, parking brake and power-off brake is disclosed, which includes an actuator 1, a suction plate 2, an electromagnet 3 and an elastic member 4. The actuator 1 has a first end connected to the brake cable and a second end opposite to the first end; the suction plate 2 acts on the actuator 1 and can drive the actuator 1 to move in the direction from the first end to the second end; when the electromagnet 3 is energized, it generates a magnetic suction force on the suction plate 2, so that the suction plate 2 fits against the electromagnet 3 in the direction from the second end to the first end; the elastic member 4 acts on the suction plate 2, and when the suction plate 2 fits against the electromagnet 3, the elastic member 4 deforms and applies an elastic force to the suction plate 2 in the direction from the first end to the second end.

[0062] It can be understood that the suction plate 2 is made of ferromagnetic materials such as iron and cobalt, which ensures that the suction plate 2 can move towards the direction where the electromagnet 3 is located under the action of the magnetic force of the electromagnet 3 and fit against the electromagnet 3 under the action of the magnetic force of the electromagnet 3.

[0063] When using the braking device in this application, first install the braking device on the driverless forklift, then connect the brake cable of the driverless forklift to the first end of the actuator 1, and then electrically connect the electromagnet 3 to the electrical system of the driverless forklift to supply power to the electromagnet 3.

[0064] After power is supplied to the electromagnet 3, the electromagnet 3 generates magnetism and produces a magnetic force on the suction plate 2, which causes the suction plate 2 to move from the second end to the first end under the action of the magnetic force and magnetically fit against the electromagnet 3. When the suction plate 2 moves in the direction from the second end to the first end, the elastic member 4 deforms under the action of the suction plate 2, so that the elastic member 4 applies an elastic force to the suction plate 2 in the direction from the first end to the second end.

[0065] However, when the driverless forklift loses power, the electromagnet 3 loses its magnetism, which causes the electromagnet 3 to lose the magnetic force on the suction plate 2. The elastic member 4 gradually recovers its deformation and drives the suction plate 2 to move, so that the suction plate 2 drives the actuator 1 to move in the direction from the first end to the second end, so that the actuator 1 pulls the brake cable, and the brake cable applies a pulling force to the brake caliper or brake drum, and finally the driverless forklift completes the braking action, thus realizing the power-off braking function of the driverless forklift and avoiding the dangerous situation such as the driverless forklift being unable to brake and slipping when suddenly losing power, so as to greatly improve the safety of the driverless forklift equipped with the braking device in this application.

[0066] This application does not specifically limit the structure of the elastic member 4. Preferably, refer to Figure 2 and Figure 8, the elastic member 4 is a nitrogen spring, and the nitrogen spring and the electromagnet 3 are both located on the same side of the suction plate 2. That is to say, when the suction plate 2 and the electromagnet 3 are magnetically attracted, the nitrogen spring is compressed and applies an elastic force to the suction plate 2 away from the side where the electromagnet 3 is located, so as to ensure the elastic driving effect of the elastic member 4 on the suction plate 2 and improve the response efficiency of the suction plate 2 when the unmanned forklift is powered off, so as to further increase the safety of the unmanned forklift. In other embodiments, the elastic member 4 can also be a spring, an elastic column, a tension spring or other structures that can apply an elastic force to the suction plate 2. When the elastic member 4 is a spring or an elastic column, the spring or the elastic column and the electromagnet 3 are located on the same side of the suction plate 2. When the elastic member 4 is a tension spring, the tension spring is located on the side of the suction plate 2 away from the electromagnet 3 and when the suction plate 2 and the electromagnet 3 are magnetically attracted together, the tension spring is in a deformed state to apply a force to the suction plate 2 away from the electromagnet 3.

[0067] This application does not specifically limit the structure of the execution element 1. Preferably, refer to Figure 3 , Figure 6 , Figure 7 and Figure 8 The actuator 1 includes a rod sleeve 11, a rod 12 inserted through the rod sleeve 11, and a pin 13 provided on the rod 12. The ends of the rod sleeve 11 and the rod 12 that are away from each other constitute a first end and a second end respectively. The rod sleeve 11 is provided with a matching groove 111 extending from the first end to the second end. The pin 13 is inserted through the matching groove 111. The braking device also includes a driving member 5 capable of driving the rod 12 or the rod sleeve 11 to move. The piston rod of the driving member 5 is provided in parallel with the rod 12 and connected to the second end.

[0068] It can be understood that the driving member 5 is located on the side of the suction plate 2 away from the electromagnet 3, so that when the piston rod of the driving member 5 is extended, the actuator 1 moves from the second end to the first end, and when the piston rod of the driving member 5 is retracted, the actuator 1 moves from the first end to the second end.

[0069] It should be noted that the above-mentioned braking device also includes a driving member 5 capable of driving the pull rod 12 or the pull rod sleeve 11 to move, which means that the driving member 5 can drive the pull rod 12 to move or the driving member 5 can drive the pull rod sleeve 11 to move; when the driving member 5 can drive the pull rod 12 to move, the end of the pull rod sleeve 11 away from the pull rod 12 constitutes the first end, and the end of the pull rod 12 away from the pull rod sleeve 11 constitutes the second end; and when the driving member 5 can drive the pull rod sleeve 11 to move, the end of the pull rod sleeve 11 away from the pull rod 12 constitutes the second end, and the end of the pull rod 12 away from the pull rod sleeve 11 constitutes the first end.

[0070] Preferably, the driving member 5 can drive the pull rod 12 to move in the direction from the first end to the second end and in the direction from the second end to the first end. That is to say, the piston rod of the driving member 5 is coaxially fixedly connected to the end of the pull rod 12 away from the pull rod sleeve 11, and the suction plate 2 acts on the pull rod sleeve 11.

[0071] Since the driving member 5 in the present application can drive the pull rod 12 to move, the braking device in the present application can not only achieve power-off braking, but also achieve parking braking and driving braking, thereby increasing the flexibility of the braking device, and integrating driving braking, parking braking and power-off braking together, greatly reducing the manufacturing cost of the driverless forklift equipped with the braking device in the present application.

[0072] When the braking device in the present application performs driving braking or parking braking, the piston rod of the driving member 5 retracts, and then the piston rod drives the pull rod 12 to move. The pull rod 12 drives the pull rod sleeve 11 to move in the direction from the first end to the second end under the cooperation of the pin shaft 13 and the wall of the mating groove 111, so that the pull rod sleeve 11 pulls the brake cable, and finally the brake cable applies a pulling force to the brake caliper or the brake drum to complete the driving braking or parking braking of the driverless forklift.

[0073] When releasing the driving braking or parking braking of the driverless forklift, the piston rod of the driving member 5 extends, and then the piston rod drives the pull rod 12 to move. The pull rod 12 moves in the direction from the second end to the first end, and finally the pull rod sleeve 11 moves in the direction from the second end to the first end to release the driving braking or parking braking of the driverless forklift.

[0074] When the driverless forklift suddenly loses power, the suction plate 2 loses the magnetic force and moves in the direction from the first end to the second end under the action of the elastic member 4, so that the suction plate 2 drives the pull rod sleeve 11 to move in the direction from the first end to the second end, and finally the pull rod sleeve 11 applies a pulling force to the brake cable, so that the brake cable applies a pulling force to the brake caliper or the brake drum to complete the power-off braking of the driverless forklift.

[0075] In summary, the present application not only realizes driving braking, parking braking and power-off braking, but also makes the driving braking and parking braking functions not affect the power-off braking function, thereby further improving the safety of the driverless forklift equipped with the braking device in the present application.

[0076] Preferably, referring to Figure 6 and Figure 8 , a fixing piece 115 is arranged at the end of the pull rod sleeve 11 away from the pull rod 12, and the brake cable is fixedly connected to the fixing piece 115 to reduce the connection difficulty between the brake cable and the pull rod sleeve 11 and ensure the connection stability between the brake cable and the pull rod sleeve 11.

[0077] The present application does not specifically limit the structure of the driving member 5. Preferably, refer to Figures 2 to 5 The driving member 5 is a servo electric cylinder, so as to ensure that the pull rod 12 can be driven and the pull rod 12 can be kept at a set position. At the same time, the temperature detection module and the pressure detection module of the servo electric cylinder can be used to judge the working state of the brake device, so as to timely repair and maintain the brake device. In other embodiments, the driving member 5 can also be a telescopic structure such as a cylinder, a hydraulic cylinder, and an electric push rod.

[0078] The present application does not specifically limit the structure of the matching groove 111. Preferably, refer to Figures 6 to 8 The mating groove 111 includes an unlocking groove 112 extending from the first end to the second end and a locking groove 113 arranged on the side of the unlocking groove 112. The pull rod 12 is provided with a strip groove 121 whose extension direction is perpendicular to the extension direction of the unlocking groove 112. The pin shaft 13 is penetrated through the strip groove 121. The side of the pull rod sleeve 11 is provided with an unlocking block 114. When the pin shaft 13 moves in a direction away from the first end to the position where the locking groove 113 is located, the pin shaft 13 slides relative to the strip groove 121 and moves into the locking groove 113. When the pin shaft 13 moves in a direction close to the first end, the pin shaft 13 disengages from the locking groove 113 under the action of the unlocking block 114 and moves into the unlocking groove 112.

[0079] When performing service braking or parking braking, the piston rod of the driving member 5 retracts, and then the piston rod drives the pull rod 12 to move in the direction from the first end to the second end, so that the pull rod 12 and the pull rod sleeve 11 move relative to each other, and when the pin shaft 13 moves to the position where the locking groove 113 is located, the pin shaft 13 and the strip groove 121 move relative to each other, so that the pin shaft 13 moves into the locking groove 113, and then the pull rod 12 and the pull rod sleeve 11 move in the direction from the first end to the second end under the cooperation of the pin shaft 13 and the groove wall of the locking groove 113, so that the pull rod sleeve 11 applies a pulling force to the brake line in the direction from the first end to the second end, and finally the brake line applies a pulling force to the brake caliper or brake drum to complete the service braking or parking braking of the unmanned forklift.

[0080] When releasing the running brake or parking brake of the driverless forklift, the piston rod of the driving member 5 extends, and then the piston rod drives the pull rod 12 to move, so that the pull rod 12 drives the pull rod sleeve 11 to move along the direction from the second end to the first end under the cooperation of the pin shaft 13 and the wall of the locking groove 113, so that the pull rod sleeve 11 gradually loses the pulling force on the brake wire; when the pull rod sleeve 11 completely loses the pulling force on the brake wire and the pin shaft 13 moves to the position where the unlocking block 114 is located, the piston rod of the driving member 5 continues to extend, so that the pin shaft 13 slides relative to the strip-shaped groove 121 under the action of the unlocking block 114 and disengages from the locking groove 113 and enters the unlocking groove 112, so that the pull rod sleeve 11 can move alone along the direction from the first end to the second end to be able to perform power-off braking at any time, thereby further improving the safety of the driverless forklift equipped with the braking device in this application.

[0081] Moreover, through the setting of the locking groove 113, when the piston rod extends, the actuator 1 can move along with the piston rod in the direction from the second end to the first end, thus avoiding the situation of setting a separate component to reset the pull rod 12 or the pull rod sleeve 11, and further reducing the production and manufacturing cost of the braking device.

[0082] This application does not specifically limit the way the pin shaft 13 moves to the locking groove 113. Preferably, the pull rod 12 is provided with an elastic part, and the elastic part acts on the pin shaft 13 and can apply a force towards the side where the locking groove 113 is located to the pin shaft 13.

[0083] When the pull rod 12 and the pull rod sleeve 11 slide relative to each other, the pin shaft 13 is located in the unlocking groove 112, and the elastic part undergoes elastic deformation. When the pin shaft 13 moves to the position where the locking groove 113 is located under the action of the pull rod 12, the elastic part recovers its deformation and moves the pin shaft 13 towards the direction where the locking groove 113 is located, so that the pin shaft 13 moves into the locking groove 113, so that the pull rod 12 realizes synchronous movement with the pull rod sleeve 11 under the cooperation of the pin shaft 13 and the wall of the locking groove 113; after the pull rod sleeve 11 moves and the pin shaft 13 moves to the position where the unlocking block 114 is located, the pull rod 12 continues to move, so that the pin shaft 13 moves towards the unlocking groove 112 under the action of the unlocking block 114 against the elastic force of the elastic part, and finally the pin shaft 13 moves into the unlocking groove 112, so that the pull rod 12 and the pull rod sleeve 11 can slide relative to each other.

[0084] In this application, by setting the elastic part, on the one hand, when the pin shaft 13 moves to the position where the locking groove 113 is located, the pin shaft 13 can automatically move into the locking groove 113 under the action of the elastic part, and on the other hand, the cooperation stability between the pin shaft 13 and the wall of the locking groove 113 is increased.

[0085] The present application does not specifically limit the structure of the elastic part. Preferably, the elastic part is a spring to ensure the elastic driving force of the elastic part on the pin 13, while also reducing the production cost of the brake device. In other implementation examples, the elastic part can also be an elastic structure such as an elastic column or a tension spring.

[0086] Preferably, the elastic portion is located in the strip groove 121, the elastic portion is located on the side of the pin 13 away from the locking groove 113, and one end of the elastic portion abuts against the groove wall of the strip groove 121, and the other end of the elastic portion abuts against the pin 13, so that the elastic portion can be hidden in the strip groove 121.

[0087] In other implementation examples, the design of the elastic part can also be eliminated, and the matching groove 111 is arranged on the side of the pull rod sleeve 11 extending in the vertical direction, and the locking groove 113 is located at the bottom of the unlocking groove 112, so that when the pin shaft 13 moves to the position where the locking groove 113 is located, the pin shaft 13 can automatically move into the locking groove 113 under the action of its own gravity.

[0088] In other embodiments, the design of the locking groove 113 can be eliminated, and a tension spring can be provided at the end of the rod sleeve 11 away from the rod 12, so that the tension spring can apply a force to the rod sleeve 11 toward the end away from the rod 12 to achieve automatic resetting of the rod sleeve 11 when the piston rod of the driving member 5 is extended.

[0089] In a preferred embodiment, referring to Figure 6 The unlocking block 114 has a guide surface 118 that can cooperate with the pin shaft 13. The guide surface 118 is set from the first end to the second end in the direction away from the unlocking groove 112, thereby ensuring the smoothness of the pin shaft 13 when it moves from the locking groove 113 to the unlocking groove 112, so as to avoid the pin shaft 13 and the groove wall of the locking groove 113 from getting stuck.

[0090] The present application does not specifically limit the structure of the pull rod 12. Preferably, the pull rod 12 includes a block-shaped component and a rod-shaped component fixedly connected to the block-shaped component. The block-shaped component is inserted into the pull rod sleeve 11, and the rod-shaped component is located outside the pull rod sleeve 11. The strip groove 121 is provided in the block-shaped component and penetrates the block-shaped component. Both ends of the pin shaft 13 extend out of the strip groove 121. The pull rod sleeve 11 is provided with two sets of matching grooves 111 corresponding to the pin shaft 13, so that the two ends of the pin shaft 13 extend out of the corresponding matching grooves 111 respectively, so that the pin shaft 13 is subjected to balanced force, thereby increasing the stability of the pin shaft 13. In other implementation examples, the pull rod 12 can also be a rod-shaped structure or a block-shaped structure.

[0091] Preferably, the unlocking block 114 has unlocking parts located on opposite sides of the pull rod sleeve 11 and a connecting part for connecting the two unlocking parts. That is to say, the unlocking block 114 is a C-shaped structure, and the two unlocking parts are respectively arranged corresponding to the two ends of the pin shaft 13 to ensure that when the locking pin is located in the locking groove 113 and the pull rod 12 slides relative to the pull rod sleeve 11 along the direction from the second end to the first end, the pin shaft 13 can move smoothly from the locking groove 113 to the unlocking groove 112 under the action of the unlocking block 114.

[0092] In other embodiments, the actuator 1 may also be other structures capable of synchronous movement in the direction from the first end to the second end and relative sliding in the direction from the second end to the first end, for example, a slider and a groove structure with closed ends.

[0093] In a preferred embodiment, the suction plate 2 is provided with an avoidance gap, the rod sleeve 11 is located in the avoidance gap, and a blocking plate 116 is provided at the end of the rod sleeve 11 close to the second end, and the suction plate 2 acts on the blocking plate 116 .

[0094] It is understandable that the blocking plate 116 is located on the side of the suction plate 2 away from the electromagnet 3 so that when the suction plate 2 moves from the first end to the second end, the suction plate 2 can drive the pull rod sleeve 11 to move under the action of the blocking plate 116 .

[0095] Since the pull rod sleeve 11 is located in the avoidance gap and the suction plate 2 acts on the blocking plate 116 provided on the pull rod sleeve 11, on the one hand, the force position of the suction plate 2 is positioned as close to the center position of the suction plate 2 as possible, so as to greatly reduce the occurrence of deflection and jamming of the suction plate 2 due to uneven force on the suction plate 2. On the other hand, it can also increase the compactness of the braking device to reduce the volume of the braking device.

[0096] In a preferred embodiment, referring to Figures 1 to 5 The braking device also includes a shell 6, a magnet frame 31 is arranged inside the shell 6, the electromagnet 3 is arranged on the magnet frame 31, the suction plate 2 is located on the side of the electromagnet 3 away from the magnet frame 31, and a shock absorbing member 311 is arranged on the side of the magnet frame 31 away from the electromagnet 3.

[0097] It can be understood that the shock absorber 311 is located between the magnet frame 31 and the shell 6, and the electromagnet 3, the elastic member 4, the actuator 1 and the suction plate 2 are all arranged inside the shell 6, so that the other components of the braking device except the shell 6 are integrated inside the shell 6, so as to achieve the effect of facilitating the installation of the braking device on the unmanned forklift.

[0098] When the electromagnet 3 is energized, the electromagnet 3 instantaneously generates magnetism and generates a magnetic suction force on the suction plate 2, and then causes the suction plate 2 to move in the direction of the electromagnet 3 under the action of the magnetic suction force and fit against the electromagnet 3. By providing a shock absorber 311 on the side of the magnet holder 31 facing away from the electromagnet 3, the impact of the suction plate 2 on the electromagnet 3 can be reduced, thereby increasing the stability of the electromagnet 3.

[0099] This application does not specifically limit the structure of the shock absorber 311. Preferably, the shock absorber 311 is a spring located between the magnet holder 31 and the outer casing 6. In other embodiments, the shock absorber 311 can also be other structures such as elastic columns.

[0100] Preferably, a connecting column is provided on the side of the magnet holder 31 facing away from the electromagnet 3. The connecting column extends out of the outer casing 6 and a nut is threadedly connected to the connecting column on both the inner and outer sides of the outer casing 6 to relatively fix the magnet holder 31.

[0101] Preferably, referring to Figure 1 , a receiving box 61 is provided at a position of the outer casing 6 near the first end. The receiving box 61 is located outside the outer casing 6 and is in communication with the inside of the outer casing 6. The brake wire can extend into the receiving box 61 and be connected to the first end in the receiving box 61.

[0102] In a preferred embodiment, referring to Figure 2 and Figure 3 , heat dissipation fins 21 are provided on the side of the suction plate 2 facing away from the electromagnet 3, and a heat dissipation fan 32 is provided on the side of the electromagnet 3.

[0103] After the electromagnet 3 is energized, the electromagnet 3 generates heat. Since the suction plate 2 will fit against the electromagnet 3 under the action of the magnetic suction force of the electromagnet 3, the electromagnet 3 will transfer the heat to the suction plate 2. By providing heat dissipation fins 21 on the side of the suction plate 2 facing away from the electromagnet 3, on the one hand, it can improve the heat dissipation efficiency of the electromagnet 3 and the suction plate 2, and on the other hand, it can also make the heat dissipation fins 21 form an avoidance with the electromagnet 3 to ensure the magnetic suction stability of the suction plate 2 and the electromagnet 3, thereby ensuring the stability of the suction plate 2; and by providing a heat dissipation fan 32 on the side of the electromagnet 3, it can further improve the heat dissipation efficiency of the electromagnet 3 to reduce the working temperature of the electromagnet 3, thereby increasing the stability of the electromagnet 3.

[0104] In a preferred embodiment, referring to Figures 1 to 5 , the braking device further includes a fixing plate 62. The actuator 1 is provided with a guiding plate 117 on the side of the suction plate 2 facing away from the electromagnet 3, and the fixing plate 62 is provided with a guiding shaft 621 passing through the guiding plate 117 and the suction plate 2.

[0105] It can be understood that the guiding shaft is arranged parallel to the direction from the first end to the second end.

[0106] Since the fixed plate 62 is provided with a guide shaft 621 passing through the guide plate 117 and the suction plate 2, on the one hand, the cooperation between the guide shaft 621 and the suction plate 2 can guide the movement of the suction plate 2 to increase the stability of the suction plate 2 during movement. On the other hand, the cooperation between the guide plate 117 and the guide shaft 621 can guide the movement of the actuator 1, thereby increasing the movement stability of the actuator 1.

[0107] Specifically, the blocking plate 116 is fixedly connected to the guide plate 117, so that when the drawbar sleeve 11 moves, the drawbar sleeve 11 can drive the guide plate 117 to move under the action of the blocking plate 116, so that the guide plate 117 and the guide shaft 621 slide relative to each other and guide the drawbar sleeve 11.

[0108] Preferably, the fixed plate 62 is disposed inside the housing 6 and fixedly connected to the housing 6. A plurality of guide shafts 621 are arranged at intervals. One end of each guide shaft 621 is fixedly connected to the fixed plate 62, and the other end of the guide shaft 621 extends out of the housing 6 and is fixedly connected to the housing 6 by a nut to increase the stability of the guide shaft 621; moreover, the fixed plate 62 is provided with a notch for the piston rod and the drawbar 12 to pass through.

[0109] Preferably, the shock absorber 311 is sleeved outside the guide shaft 621 to increase the stability of the shock absorber 311.

[0110] Preferably, a shock absorber 311 is also provided between the suction plate 2 and the magnet holder 31 to reduce the impact on the electromagnet 3 when the suction plate 2 moves towards the direction where the electromagnet 3 is located.

[0111] In a preferred embodiment, referring to Figures 1 to 4 , the braking device further includes a first detection member 7. The first detection member 7 is used to detect the position of the suction plate 2, and then it can be used to detect whether the suction plate 2 moves to a position where it fits with the electromagnet 3 or whether the suction plate 2 moves to a position where it separates from the electromagnet 3 by using the first detection member 7, so that the system for controlling the operation of the braking device can control the operation of the braking device.

[0112] This application does not specifically limit the structure of the first detection member 7. Preferably, the first detection member 7 is a limit switch. The detection end of the limit switch can send the position signal of the suction plate 2 to the system for controlling the operation of the braking device, so that the system can control the braking device; the limit switch can be a mechanically triggered or inductive limit switch. In other embodiments, the first detection member 7 can also be other devices such as a distance sensor that can detect the position of the suction plate 2.

[0113] In a preferred embodiment, referring to Figure 4 and Figure 5, the braking device further includes a second detector 8 for detecting the position where the actuator 1 is located, so that the system for controlling the operation of the braking device controls the operation of the braking device. At the same time, the second detector 8 can also play a role in secondary protection to prevent the piston rod of the driving member 5 from moving excessively, so as to ensure the stable operation of the braking device.

[0114] This application does not specifically limit the structure of the second detector 8. Preferably, the second detector 8 is a limit switch. The detection end of the limit switch can send the position signal of the blocking plate 116 to the system for controlling the operation of the braking device, so that the system controls the braking device to ensure that the pull rod sleeve 11 moves to an appropriate position; the limit switch can be a mechanically triggered or inductive limit switch. In other embodiments, the first detector 7 can also be other devices such as a distance sensor that can detect the position of the blocking plate 116.

[0115] What is not described in this application can be achieved by adopting or referring to the existing technology.

[0116] Each embodiment in this specification is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments.

[0117] The above description is only for the embodiments of this application and is not intended to limit this application. For those skilled in the art, this application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the scope of the claims of this application.

Claims

1. A braking device integrating service braking, parking braking, and power-off braking, characterized in that, Comprising: An actuator (1), the actuator (1) having a first end connected to a brake cable and a second end opposite to the first end; A suction plate (2), the suction plate (2) acting on the actuator (1) and capable of driving the actuator (1) to move in a direction from the first end to the second end; An electromagnet (3), when the electromagnet (3) is energized, it generates a magnetic suction force on the suction plate (2), so that the suction plate (2) fits against the electromagnet (3) in a direction from the second end to the first end; An elastic member (4), the elastic member (4) acting on the suction plate (2), and when the suction plate (2) fits against the electromagnet (3), the elastic member (4) deforms and applies an elastic force to the suction plate (2) in a direction from the first end to the second end.

2. The braking device integrating service braking, parking braking and power-off braking according to claim 1, wherein The actuator (1) includes a pull rod sleeve (11), a pull rod (12) inserted through the pull rod sleeve (11), and a pin shaft (13) provided on the pull rod (12). The end portions of the pull rod sleeve (11) and the pull rod (12) away from each other respectively constitute the first end and the second end. The pull rod sleeve (11) is provided with a mating groove (111) extending from the first end to the second end. The pin shaft (13) is inserted through the mating groove (111). The braking device further includes a driving member (5) capable of driving the pull rod (12) or the pull rod sleeve (11) to move. The piston rod of the driving member (5) is arranged parallel to the pull rod (12) and is connected to the second end.

3. A braking device that combines service braking, parking braking, and power-off braking as claimed in claim 2, characterized in that, The mating groove (111) includes an unlocking groove (112) extending from the first end to the second end and a locking groove (113) provided on the side of the unlocking groove (112). The pull rod (12) is provided with a strip-shaped groove (121) whose extending direction is perpendicular to the extending direction of the unlocking groove (112). The pin shaft (13) is inserted through the strip-shaped groove (121). An unlocking block (114) is provided on the side of the pull rod sleeve (11). When the pin shaft (13) moves in a direction away from the first end to the position where the locking groove (113) is located, the pin shaft (13) slides relative to the strip-shaped groove (121) and moves into the locking groove (113). When the pin shaft (13) moves in a direction close to the first end, the pin shaft (13) disengages from the locking groove (113) under the action of the unlocking block (114) and moves into the unlocking groove (112).

4. A braking device integrating service braking, parking braking, and power-off braking according to claim 3, characterized in that, The pull rod (12) is provided with an elastic portion, and the elastic portion acts on the pin shaft (13) and can apply a force to the pin shaft (13) towards the side where the locking groove (113) is located.

5. The braking device that combines service braking, parking braking, and power-off braking according to claim 3, characterized in that, The unlocking block (114) has a guiding surface (118) capable of cooperating with the pin shaft (13), and the guiding surface (118) is arranged in a direction away from the unlocking groove (112) from the first end to the second end.

6. The braking device integrating service braking, parking braking and power-off braking according to claim 2, characterized in that, The suction plate (2) is provided with an avoidance gap, the pull rod sleeve (11) is located in the avoidance gap, and a blocking plate (116) is provided at the end of the pull rod sleeve (11) close to the second end, and the suction plate (2) acts on the blocking plate (116).

7. A braking device integrating service braking, parking braking and power-off braking according to any one of claims 1-6, characterized in that, The braking device further comprises a housing (6), a magnet frame (31) being arranged inside the housing (6), the electromagnet (3) being arranged on the magnet frame (31), the suction plate (2) being located on a side of the electromagnet (3) facing away from the magnet frame (31), and a shock absorbing member (311) being arranged on a side of the magnet frame (31) facing away from the electromagnet (3).

8. A braking device that combines service braking, parking braking, and power-off braking, according to any one of claims 1-6, characterized in that, A heat dissipation fin (21) is provided on the side of the suction plate (2) facing away from the electromagnet (3), and a heat dissipation fan (32) is provided on the side of the electromagnet (3).

9. A braking device that combines service braking, parking braking, and power-off braking, according to any one of claims 1-6, characterized in that, The braking device also includes a fixed plate (62), the actuator (1) is provided with a guide plate (117) located on the side of the suction plate (2) away from the electromagnet (3), and the fixed plate (62) is provided with a guide shaft (621) penetrating the guide plate (117) and the suction plate (2).

10. A braking device integrating service braking, parking braking, and power-off braking according to any one of claims 1-6, characterized in that, The braking device further comprises a first detection member (7), wherein the first detection member (7) is used to detect the position of the suction plate (2); And / or, the braking device further comprises a second detection member (8), wherein the second detection member (8) is used to detect the position of the actuator (1).

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