Automatic brake device

Abstract

The utility model relates to an automatic brake device which comprises a chassis, wheels, a transmission shaft and a brake disc, the transmission shaft is in transmission connection with a motor, the brake disc is respectively fixed with the transmission shaft and the wheels, a brake mechanism is arranged on the brake disc, the brake mechanism is connected with a driving unit, the driving unit is electrically connected with a controller, and the controller is connected with a detection unit. The detection unit comprises a distance measuring sensor and a rotating speed sensor; the distance measuring sensor is fixed with the chassis; the output end of the distance measuring sensor is connected with the input end of the controller; the rotating speed sensor is fixed to the chassis and arranged close to the brake disc, the inductor is fixedly arranged on the brake disc, and the output end of the rotating speed sensor is connected with the input end of the controller. The brake disc and the brake mechanism are arranged, the obstacle distance and the rotating speed of the brake disc are detected through the detection unit, the controller controls the driving unit to enable the brake mechanism to make contact with the brake disc, and a hardware basis is provided for flexible deceleration parking of the robot.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot movement control technical field, concretely relates to an automatic brake device. BACKGROUND

[0002] The existing robot that adopts wheel walking is provided with a moving mechanism, the moving mechanism generally includes a chassis, wheels, a transmission shaft and a motor, the transmission shaft is rotatably connected with the chassis, the transmission shaft is fixed with the wheels, the wheels are arranged on the two sides of the chassis, the transmission shaft is in transmission connection with the output shaft of the motor, the motor rotates to drive the transmission shaft to rotate during operation, and then the wheels rotate, and the robot walks. Generally, robots are provided with an obstacle avoidance module or a distance measurement module (such as an ultrasonic sensor and an infrared sensor), such as a mobile robot disclosed in CN211236691U, the distance between the obstacle and the robot is detected, so as to realize obstacle avoidance or automatic parking.

[0003] The existing robot that adopts wheel walking generally controls the motor to stop power supply when parking, and the robot stops after the inertia gradually disappears. If the robot does not stop in time during this process, there will be a risk of collision. Alternatively, a reduction motor is used, the reduction motor has a locking shaft function, the controller controls the reduction motor to stop power supply, the motor is locked, and the transmission shaft and the wheels are instantaneously stopped. Although the robot stops in time, the robot still has inertia, and the wheels may slip, and the robot may easily roll over. SUMMARY

[0004] The utility model discloses a kind of automatic brake devices to solve the problem that the existing robot that adopts wheel walking stops not in time or appears wheel slip phenomenon when parking is presented, brake disc and brake mechanism are arranged, obstacle distance and brake disc rotating speed are detected by detection unit, controller controls drive unit to make brake mechanism contact with brake disc, to provide hardware basis for flexible deceleration parking.

[0005] To achieve the above object, the utility model provides an automatic brake device, including chassis, wheel and transmission shaft, the transmission shaft is in transmission connection with motor, further including brake disc, the brake disc is respectively fixed with transmission shaft and wheel, brake disc is provided with brake mechanism, the brake mechanism is connected with drive unit, drive unit is electrically connected with controller, the controller is connected with detection unit, and the detection unit includes distance measurement sensor and rotating speed sensor;

[0006] The distance measurement sensor is fixed with the chassis, and the output end of the distance measurement sensor is connected to the input end of the controller.

[0007] The rotating speed sensor is fixed with the chassis, and the rotating speed sensor is arranged close to the position of the brake disc. The brake disc is fixedly provided with an inductor. The output end of the rotating speed sensor is connected to the input end of the controller.

[0008] Further, the driving unit comprises a hydraulic oil tank, a hydraulic pipeline, a hydraulic cylinder and an electric push rod, the hydraulic cylinder comprises a cylinder body and a piston, the cylinder body is communicated with the hydraulic oil tank, and the cylinder body is connected with the hydraulic pipeline, and the other end of the hydraulic pipeline is connected with the brake mechanism.

[0009] The piston is arranged in the cylinder body and is in sliding connection with the cylinder body, and the other end of the piston is fixedly connected with the electric push rod.

[0010] The electric push rod is provided with a forward / reverse rotation circuit, and the forward / reverse rotation circuit is electrically connected with the controller.

[0011] The driving unit structure is optimized, the electric push rod drives the piston, the stroke of the electric push rod is controlled, the pressure in the hydraulic pipeline is controlled, and thus the contact area of the brake mechanism and the brake disc is adjustable, and flexible deceleration parking is realized.

[0012] Further, the forward / reverse rotation circuit comprises a driving chip, the input end of the driving chip is connected with the output end of the controller, and the output end of the driving chip is connected with the electric push rod.

[0013] The driving chip is arranged to realize the forward / reverse rotation control of the motor in the electric push rod, so that the electric push rod is elongated and reset.

[0014] Further, the driving unit further comprises a shell, the shell is in a hollow cylindrical structure, and the hydraulic cylinder and the electric push rod are arranged in the shell.

[0015] The shell is arranged to facilitate the installation of the driving unit and the chassis, and to protect the hydraulic cylinder and the electric push rod.

[0016] Further, the brake mechanism comprises a floating caliper, the floating caliper is fixed with the chassis and arranged on the outside of the brake disc, and the floating caliper is connected with the hydraulic pipeline.

[0017] Further, the distance measuring sensor comprises a laser radar.

[0018] Further, the rotating speed sensor comprises a Hall sensor, and the sensor comprises a magnet block.

[0019] Through the above technical scheme, the utility model has the beneficial effects that:

[0020] The utility model discloses a robot flexible deceleration parking provides hardware basis. Braking distance is related with the speed, and the speed is directly proportional to the rotating speed of motor, and sets up the rotating speed sensor and detects the rotating speed of brake disc. In addition, the force of braking should be related with the distance between robot and obstacle, and the force of braking is greater when the distance is closer, avoids the collision between robot and obstacle, and sets up the distance measuring sensor and detects the distance between robot and obstacle. The controller synthetically brake disc rotating speed and the distance between robot and obstacle drive brake mechanism work through drive unit, make brake mechanism and brake disc contact, and then make the wheel stop through gradually increasing friction, and complete robot parking. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is one of structure schematic diagram of automatic brake device of the utility model;

[0022] Figure 2 It is one of drive mechanism schematic diagram of automatic brake device of the utility model;

[0023] Figure 3 It is two of drive mechanism schematic diagram of automatic brake device of the utility model;

[0024] Figure 4 It is the circuit principle drawing of drive mechanism of automatic brake device of the utility model.

[0025] Drawing reference: 1 is brake disc, 2 is controller, 3 is distance measuring sensor, 4 is rotating speed sensor, 5 is hydraulic oil tank, 6 is hydraulic pipeline, 7 is cylinder, 8 is electric push rod, 9 is piston, 10 is drive chip, 11 is shell, 12 is floating caliper. DETAILED DESCRIPTION

[0026] Embodiment 1

[0027] As Figures 1-4 Shown, an automatic brake device, including chassis, wheel and transmission shaft, the transmission shaft drive connection has motor, still including brake disc 1, brake disc 1 is fixed with transmission shaft and wheel respectively, and brake disc 1 is provided with brake mechanism, the brake mechanism is connected with drive unit, and drive unit electrically connected with controller 2, the controller 2 is connected with detection unit, and the detection unit includes distance measuring sensor 3 and rotating speed sensor 4;

[0028] The distance measuring sensor 3 is fixed with the chassis, and the output end of the distance measuring sensor 3 is connected to the input end of the controller 2;

[0029] The rotating speed sensor 4 is fixed with the chassis, and the rotating speed sensor 4 is arranged close to the position of the brake disc 1, and the brake disc 1 is fixedly provided with an inductor, and the output end of the rotating speed sensor 4 is connected to the input end of the controller 2.

[0030] The driving unit comprises a hydraulic oil tank 5, a hydraulic pipeline 6, a hydraulic cylinder and an electric push rod 8, the hydraulic cylinder comprises a cylinder body 7 and a piston 9, the cylinder body 7 is communicated with the hydraulic oil tank 5, the cylinder body 7 is connected with the hydraulic pipeline 6, and the other end of the hydraulic pipeline is connected with a brake mechanism;

[0031] The piston 9 is arranged in the cylinder body 7 and is in sliding connection with the cylinder body 7, and the other end of the piston 9 is fixedly connected with the electric push rod 8.

[0032] The electric push rod 8 is provided with a forward and reverse rotation circuit, and the forward and reverse rotation circuit is electrically connected with the controller 2.

[0033] The forward and reverse rotation circuit comprises a driving chip 10, an input end of the driving chip 10 is connected with an output end of the controller 2, and an output end of the driving chip 10 is connected with the electric push rod 8.

[0034] The driving unit further comprises a shell 11, the shell 11 is in a hollow cylindrical structure, the hydraulic cylinder and the electric push rod 8 are arranged in the shell 11.

[0035] The brake mechanism comprises a floating caliper 12, the floating caliper 12 is fixed with the chassis and arranged outside the brake disc 1, and the floating caliper 12 is connected with the hydraulic pipeline 6.

[0036] The distance measuring sensor 3 comprises a laser radar.

[0037] The rotating speed sensor 4 comprises a Hall sensor, and the sensor comprises a magnet block.

[0038] In the embodiment, the controller 2 adopts an STM32 single-chip microcomputer, an ADC pin of the controller 2 is connected with the laser radar and the Hall sensor, the driving chip 10 adopts an L289N, the number of the laser radars can be set to be multiple in order to increase the detection effect, and the laser radars are selected from benewake TF-NOVA laser radars, and the detection distance is 0.1m~14m.

[0039] When working, the robot works, the motor rotates to drive the transmission shaft to rotate, and then the wheel rotates to drive the robot to walk. In the walking process, the laser radar continuously detects whether there is an obstacle in the advancing direction of the robot, and when the laser radar detects an obstacle, it indicates that the distance between the robot and the obstacle is within 14m.

[0040] When braking, the motor stops rotating, the robot wheel continues to rotate due to inertia, the brake disc 1 continues to rotate, and the Hall sensor continues to detect the rotation speed of the brake disc 1. The controller 2 outputs a PWM signal to make the drive chip 10 control the electric push rod 8 to work, the extension end of the electric push rod 8 is fixed with the piston 9, the cylinder body 7 at the front end of the piston 9 is communicated with the hydraulic oil tank 5, the hydraulic oil is arranged in the cylinder body 7, the piston 9 slides in the cylinder body 7 along with the extension end of the electric push rod 8, the pressure in the hydraulic pipeline 6 is increased by extruding the hydraulic oil in the cylinder body 7 (similar to a syringe), the hydraulic oil enters the floating caliper 12, the floating caliper 12 gradually contacts the brake disc 1, until the floating caliper 12 completely contacts the brake disc 1. The inertia of the robot is gradually eliminated by gradually increasing the friction, so that the robot stops walking. Flexible deceleration parking is realized.

[0041] The above-mentioned embodiments are only preferred embodiments of the present application, and are not intended to limit the scope of the present application. Therefore, equivalent changes or modifications made in accordance with the structure, features and principles described in the patent range of the present application should be included in the patent range of the present application.

Claims

1. An automatic braking device, comprising a chassis, wheels, and a drive shaft, wherein a motor is drivenly connected to the drive shaft, characterized in that, It also includes a brake disc (1), which is fixed to the drive shaft and the wheel respectively. A braking mechanism is provided on the brake disc (1). The braking mechanism is connected to a drive unit. The drive unit is electrically connected to a controller (2). The controller (2) is connected to a detection unit. The detection unit includes a distance sensor (3) and a speed sensor (4). The ranging sensor (3) is fixed to the chassis, and the output end of the ranging sensor (3) is connected to the input end of the controller (2); The speed sensor (4) is fixed to the chassis and is positioned close to the brake disc (1). A sensor is fixedly mounted on the brake disc (1). The output of the speed sensor (4) is connected to the input of the controller (2).

2. The automatic braking device according to claim 1, characterized in that, The drive unit includes a hydraulic oil tank (5), a hydraulic pipeline (6), a hydraulic cylinder and an electric push rod (8). The hydraulic cylinder includes a cylinder (7) and a piston (9). The cylinder (7) is connected to the hydraulic oil tank (5), and the cylinder (7) is connected to the hydraulic pipeline (6). The other end of the hydraulic pipeline (6) is connected to the braking mechanism. The piston (9) is disposed inside the cylinder (7), and the piston (9) is slidably connected to the cylinder (7). The other end of the piston (9) is fixedly connected to the electric push rod (8). The electric push rod (8) is equipped with a forward and reverse circuit, which is electrically connected to the controller (2).

3. An automatic braking device according to claim 2, characterized in that, The forward and reverse circuit includes a driver chip (10), the input terminal of which is connected to the output terminal of the controller (2), and the output terminal of the driver chip (10) is connected to the electric push rod (8).

4. An automatic braking device according to claim 2, characterized in that, The drive unit also includes a housing (11), which is a hollow cylindrical structure. A hydraulic cylinder and an electric push rod (8) are installed inside the housing (11).

5. An automatic braking device according to claim 2, characterized in that, The braking mechanism includes a floating caliper (12), which is fixed to the chassis and located on the outside of the brake disc (1). The floating caliper (12) is connected to the hydraulic line (6).

6. An automatic braking device according to claim 1, characterized in that, The ranging sensor (3) includes a lidar.

7. An automatic braking device according to claim 1, characterized in that, The speed sensor (4) includes a Hall sensor, and the sensor includes a magnet.

Images