A driving brake system of an AGV tractor

Abstract

The utility model discloses a kind of driving brake systems of AGV tractor, including air compressor, pneumatic electromagnetic reversing valve, brake cylinder, pedal assembly, brake master cylinder and wheel brake assembly being installed on vehicle body assembly, air compressor is connected with pneumatic electromagnetic reversing valve, pneumatic electromagnetic reversing valve is connected with brake cylinder, the power output end of brake cylinder is connected with pedal assembly, for driving pedal assembly rotation, pedal assembly is connected with brake master cylinder, the rotating action of pedal assembly drives brake master cylinder movable end movement, brake master cylinder is filled with hydraulic oil inside and is connected with wheel brake assembly;Air inlet of pneumatic electromagnetic reversing valve is connected with air compressor, outlet is connected with brake cylinder.The utility model increases a pneumatic braking system on the basis of original seat driving tractor, provides security for AGV vehicle type.

Description

Technical Field

[0001] This utility model relates to the field of tractor technology, specifically to a service braking system for an AGV tractor. Background Technology

[0002] Automated Guided Vehicles (AGVs), as a type of wheeled mobile robot, have become core equipment for automated material handling in modern smart factories and warehousing and logistics centers due to their high degree of automation and flexibility. Their applications have expanded from early single scenarios to complex logistics processes in multiple industries such as manufacturing, warehousing, healthcare, and food.

[0003] With the increasing number of intelligent automated warehousing products, some manually driven AGV models lack the space to install electromagnetic brakes and use a foot-operated mechanical parking structure for braking, making it impossible to control by wire. Therefore, they cannot meet the control requirements for AGV braking and cannot provide safety guarantees for AGV vehicles. Utility Model Content

[0004] In view of the deficiencies of all or part of the prior art described above, the purpose of this utility model is to provide a service braking system for an AGV tractor, which uses a pneumatic braking system as an electronic braking device on the AGV intelligent forklift, allowing the AGV system's on-board controller to control and detect the vehicle's status in real time, realizing AGV drive-by-wire braking and pneumatic braking, thereby providing safety assurance for AGV vehicles.

[0005] To achieve the above-mentioned objectives, this utility model provides the following technical solution: This utility model provides a service braking system for an AGV tractor, including an air compressor, a pneumatic solenoid directional valve, a brake cylinder, a pedal assembly, a master cylinder, and wheel brake components mounted on the vehicle body assembly. The air compressor is connected to the pneumatic solenoid directional valve, which is connected to the brake cylinder. The power output end of the brake cylinder is connected to the pedal assembly to drive the pedal assembly to rotate. The pedal assembly is connected to the master cylinder, and the rotation of the pedal assembly drives the movable end of the master cylinder to move. The master cylinder is filled with hydraulic oil and connected to the wheel brake components. The air inlet of the pneumatic solenoid directional valve is connected to the air compressor, and the air outlet is connected to the brake cylinder.

[0006] This invention introduces components such as an air compressor, a pneumatic solenoid directional valve, and a brake cylinder. The air compressor provides compressed air. For example, when braking is required, the pneumatic solenoid directional valve guides the compressed air into the brake cylinder. The power output end of the brake cylinder extends, causing the pedal assembly to rotate. This, in turn, causes the hydraulic oil in the master cylinder to brake the wheel brake components, thus achieving vehicle braking. The vehicle controller / on-board controller of the tractor is connected to the pneumatic solenoid directional valve to control the direction of gas flow (the direction in which gas enters the brake cylinder), thereby controlling the action of the power output end of the brake cylinder. This invention adds a pneumatic braking system to the original tractor, using it for the electronic braking device on the AGV intelligent forklift. This allows the AGV system's on-board controller to control and monitor the vehicle's status in real time, enabling AGV drive-by braking and pneumatic braking, thereby providing safety assurance for the AGV vehicle.

[0007] It also includes a brake switch, which is a normally open limit switch. When the brake switch disconnects from the pedal assembly, it sends a signal to the vehicle controller, indicating successful braking. The brake switch facilitates real-time control and monitoring of the vehicle's status by the vehicle controller.

[0008] Upon receiving a signal indicating successful braking, the pneumatic solenoid directional valve moves its valve core to switch the compressed air flow path, thereby changing the airflow direction entering the brake cylinder. The compressed air is redirected within the brake cylinder, causing the power output end of the brake cylinder to retract, which in turn resets the pedal assembly, master cylinder, and wheel brake components. The pneumatic solenoid directional valve enables air reversal within the cylinder, thus allowing for both braking control and brake release / reset.

[0009] Manual driving is also possible, by pressing the pedal assembly. The rotation of the pedal assembly drives the movable end of the master brake cylinder, which is filled with hydraulic oil and connected to the wheel brake assembly. Two modes are possible: in driverless mode, pneumatic braking can be achieved using compressed air; under certain special circumstances, manual driving can be switched, still achieving vehicle braking and improving safety performance.

[0010] The master cylinder is also equipped with a connector, which is connected to a brake steel pipe. The brake steel pipe is connected to the wheel brake assembly, and the hydraulic oil inside the master cylinder is introduced into the wheel brake assembly for braking.

[0011] The movable end of the master cylinder is the master piston rod. When the master piston rod retracts, hydraulic oil enters the wheel brake assembly through the brake steel pipe, and the vehicle brakes. When the master piston rod extends, the hydraulic oil stops flowing, and the vehicle braking ends.

[0012] It also includes a bracket assembly fixed to the vehicle body assembly, on which the pedal assembly, brake master cylinder, and brake cylinder are all mounted; the pedal assembly passes through the bracket assembly, and its rear end contacts the power output end of the brake cylinder. The pedal assembly is located on one side of the bracket assembly, and the brake cylinder is located on the other side of the bracket assembly. By creating through holes in the bracket assembly, multiple components can be placed in a more organized manner.

[0013] The pedal assembly and the bracket assembly are connected by a pin hinge. A torsion spring is fitted on the pin. One end of the torsion spring is fixed to the pedal assembly, and the other end is fixed to the bracket assembly. When the pedal assembly is released, the torque of the torsion spring causes the pedal assembly to automatically reset.

[0014] It also includes a reversing valve mounting plate, which is L-shaped and fixed on the bracket assembly, and the pneumatic solenoid reversing valve is mounted on the reversing valve mounting plate.

[0015] The master cylinder is a piston structure. The master cylinder body is fixed to the bracket assembly, and the piston rod passes through the bracket assembly and is fixedly connected to the pedal assembly. The pedal assembly is located on one side of the bracket assembly, and the master cylinder is located on the other side of the bracket assembly. By opening through holes in the bracket assembly, multiple components can be placed in a reasonable manner. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the specific embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a structural schematic diagram of the AGV tractor in Example 1; Figure 2 This is a schematic diagram of the first angle structure of the service braking system of an AGV tractor in Embodiment 1. Figure 1 (Enlarged view of A in the middle) Figure 3 This is a second-angle structural schematic diagram of the service braking system of an AGV tractor in Embodiment 1.

[0018] Figure label: 1-Car body assembly; 2-Air compressor; 3-Pneumatic solenoid directional valve; 4-Brake cylinder; 401-Piston rod; 5-Pedal assembly; 6-Brake master cylinder; 601-Master piston rod; 602-Connector; 603-Brake steel pipe; 7-Bracket assembly; 8-Directional valve mounting plate; 9-Pin; 10-Brake spring; 11-Brake switch. Detailed Implementation

[0019] The technical solutions in specific embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0020] Example 1 A service braking system for an AGV tractor, see [reference] Figures 1 to 3 The system includes an air compressor 2, a pneumatic solenoid directional valve 3, a brake cylinder 4, a pedal assembly 5, a master cylinder 6, and wheel brake components, all mounted on the vehicle body assembly 1. The vehicle body assembly 1 is the carrier of the entire service braking system / device, and all components of the entire service braking system / device are mounted on the vehicle body assembly 1. The air compressor 2 is mounted at the rear end of the vehicle body assembly 1 to provide compressed air for the entire service braking system. A bracket assembly 7 (bracket welded assembly) is fixed at the front end of the vehicle body assembly 1. The pedal assembly 5, the master cylinder 6, and the brake cylinder 4 are all mounted on the bracket assembly 7. Air compressor 2 is connected to pneumatic solenoid directional valve 3, which is connected to brake cylinder 4. The power output end of brake cylinder 4 is connected to pedal assembly 5 to drive pedal assembly 5 to rotate. Pedal assembly 5 is connected to brake master cylinder 6. The rotation of pedal assembly 5 drives the movable end of brake master cylinder 6 to move. Brake master cylinder 6 is filled with hydraulic oil and connected to the wheel brake assembly (not shown). The air inlet of pneumatic solenoid directional valve 3 is connected to air compressor 2, and the air outlet is connected to brake cylinder 4. In this embodiment, pneumatic solenoid directional valve 3 is a two-position five-way solenoid valve. The specific type of valve is not limited, as long as it can realize the reversal of gas within brake cylinder 4.

[0021] It also includes a reversing valve fixing plate 8. In this embodiment, the reversing valve fixing plate 8 is L-shaped. One end of the reversing valve fixing plate 8 is fixed to the upper part of the bracket assembly 7 by screws. The pneumatic solenoid reversing valve 3 is installed on the other end of the reversing valve fixing plate 8. The compressed air generated by the air compressor 2 enters the pneumatic solenoid reversing valve 3 through the air pipe. The air outlet of the pneumatic solenoid reversing valve 3 is connected to the air inlet of the brake cylinder 4 through the air pipe.

[0022] The pedal assembly 5 (pedal welding assembly) is hinged to the bracket assembly 7 via a pin 9. The pedal assembly 5 is fixed to the bracket assembly 7 via the pin 9, and the pedal assembly 5 can rotate relative to the bracket assembly 7. A torsion spring (brake spring 10) is fitted on the pin 9 (brake pin). One end of the torsion spring is fixed to the pedal assembly 5, and the other end is fixed to the bracket assembly 7. The spring is slightly compressed to maintain a certain elastic force, keeping the pedal assembly 5 in a lifted state. When the pedal assembly 5 is released, the torsion force of the torsion spring causes the pedal assembly 5 to automatically return to its original position. The pedal assembly 5 is located on one side of the bracket assembly 7, and the brake cylinder 4 and brake master cylinder 6 are located on the other side of the bracket assembly 7. The pedal assembly 5 passes through the bracket assembly 7. The power output end of the brake cylinder 4 is a piston rod 401, and the rear end of the pedal assembly 5 contacts the power output end (upper piston rod 401) of the brake cylinder 4. The master cylinder 6 is a piston structure. The pump body of the master cylinder 6 is fixed on the bracket assembly 7. The movable end of the master cylinder 6 is the master piston rod 601. The end of the master piston rod 601 passes through the bracket assembly 7 and is fixedly connected to the pedal assembly 5. Hydraulic oil is injected into the master cylinder 6.

[0023] The master cylinder 6 is also equipped with a connector 602, to which a brake steel pipe 603 is connected. The brake steel pipe 603 is connected to the wheel brake assembly, allowing hydraulic oil from inside the master cylinder 6 to be introduced into the wheel brake assembly for braking. When the master piston rod 601 retracts, hydraulic oil enters the wheel brake assembly through the brake steel pipe 603, and the vehicle brakes; when the master piston rod 601 extends, the hydraulic oil stops flowing, and the vehicle braking ends.

[0024] It also includes a brake switch 11, a normally open limit switch, fixed on the bracket assembly 7, with its lower end in contact with the pedal assembly 5, in a triggered state. When the pedal assembly 5 rotates, the brake switch 11 disconnects from the pedal assembly 5, sending a signal to the vehicle controller, providing feedback to the vehicle indicating successful braking. After receiving the feedback signal, the vehicle controller moves the valve core of the pneumatic solenoid reversing valve 3, causing the compressed air to reverse direction within the brake cylinder 4. The upper piston rod 401 of the brake cylinder 4 retracts, achieving gas reversal. Under the action of the torsion spring, the pedal assembly 5 is reset, and the movable end of the brake master cylinder 6, fixedly connected to the pedal assembly 5, is reset, hydraulic oil stops flowing, and the wheel brake assembly stops braking, resetting. This embodiment utilizes the pneumatic solenoid reversing valve 3 to achieve gas reversal, thus controlling vehicle braking and releasing the brake to achieve reset.

[0025] Manual driving is also possible. By pressing the pedal assembly 5, the rotation of the pedal assembly 5 drives the movable end of the brake master cylinder 6. The brake master cylinder 6 is filled with hydraulic oil and connected to the wheel brake assembly. This embodiment can include two modes: in unmanned driving mode, compressed air can be used to achieve pneumatic braking; in certain special circumstances, it can also be switched to manual driving, which can still achieve vehicle braking, thus improving safety performance.

[0026] The above describes the mounting components of an AGV tractor's braking system provided in this embodiment. This device has two braking states: braking during manual driving and braking when the AGV is unmanned. The usage process and principle of this utility model are explained in conjunction with Embodiment 1: When driving manually, the driver presses the front end of the pedal assembly 5 (pedal), the pedal assembly 5 rotates, driving the master piston rod 601 of the master brake cylinder 6 to retract, and hydraulic oil enters the wheel brake assembly through the brake steel pipe 603, thus braking the vehicle.

[0027] When the AGV is driven unmanned, the air compressor 2 generates compressed air. The compressed air enters the pneumatic solenoid directional valve 3 through an air pipe. The outlet of the pneumatic solenoid directional valve 3 is connected to the inlet of the brake cylinder 4 through an air pipe. The compressed air enters the brake cylinder 4, and the piston rod 401 at the upper end of the brake cylinder 4 extends, driving the pedal assembly 5 to rotate. This, in turn, drives the main piston rod 601 of the brake master cylinder 6 to retract. Hydraulic oil enters the wheel brake assembly through the brake steel pipe 603, and the vehicle brakes. When the pedal assembly 5 rotates, the brake switch 11 disconnects from the pedal assembly 5 and sends a signal to the vehicle controller, providing feedback to the vehicle that the braking was successful. At this time, the pneumatic solenoid reversing valve 3 moves by the valve core to switch the flow path of compressed air, thereby changing the airflow direction into the two chambers of the brake cylinder 4. The compressed air reverses direction in the brake cylinder 4, and its upper piston rod 401 retracts. The pedal assembly 5 is reset under the action of the torsion spring. The pedal assembly 5 drives the main piston rod 601 of the brake master cylinder 6 to extend, the hydraulic oil stops flowing, and the wheel brake assembly stops braking.

[0028] The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made to this utility model without departing from the principle of this utility model, and these improvements and modifications also fall within the scope of protection of the claims of this utility model.

Claims

1. A service braking system for an AGV tractor, characterized in that, The system includes an air compressor (2), a pneumatic solenoid directional valve (3), a brake cylinder (4), a pedal assembly (5), a master cylinder (6), and wheel brake components, all mounted on the vehicle body assembly (1). The air compressor (2) is connected to the pneumatic solenoid directional valve (3), which is connected to the brake cylinder (4). The power output end of the brake cylinder (4) is connected to the pedal assembly (5) to drive the pedal assembly (5) to rotate. The pedal assembly (5) is connected to the master cylinder (6), and the rotation of the pedal assembly (5) drives the movable end of the master cylinder (6) to move. The master cylinder (6) is filled with hydraulic oil and connected to the wheel brake components. The air inlet of the pneumatic solenoid directional valve (3) is connected to the air compressor (2), and the air outlet is connected to the brake cylinder (4).

2. The service braking system of an AGV tractor according to claim 1, characterized in that, It also includes a brake switch (11), which is a limit switch with normally open contacts. When the brake switch (11) disconnects from the pedal assembly (5), it sends a signal to the vehicle controller to provide feedback on successful braking.

3. The service braking system of an AGV tractor according to claim 2, characterized in that, After receiving a signal indicating successful braking, the pneumatic solenoid reversing valve (3) moves its valve core to switch the flow path of compressed air, thereby changing the airflow direction into the brake cylinder (4). The compressed air reverses direction within the brake cylinder (4), and the power output end of the brake cylinder (4) retracts, driving the pedal assembly (5), brake master cylinder (6), and wheel brake assembly to reset.

4. The service braking system of an AGV tractor according to claim 1, characterized in that, Manual driving is also possible by stepping on the pedal assembly (5). The rotation of the pedal assembly (5) drives the movable end of the master brake pump (6). The master brake pump (6) is filled with hydraulic oil and connected to the wheel brake assembly.

5. The service braking system of an AGV tractor according to claim 1, characterized in that, The master cylinder (6) is also provided with a connector (602), and a brake steel pipe (603) is connected to the connector (602). The brake steel pipe (603) is connected to the wheel brake assembly, and the hydraulic oil inside the master cylinder (6) is introduced into the wheel brake assembly for braking.

6. The service braking system of an AGV tractor according to claim 5, characterized in that, The movable end of the master cylinder (6) is the master piston rod (601). When the master piston rod (601) retracts, hydraulic oil enters the wheel brake assembly through the brake steel pipe (603), and the vehicle brakes. When the master piston rod (601) extends, the hydraulic oil stops flowing, and the vehicle brakes.

7. The service braking system of an AGV tractor according to claim 1, characterized in that, It also includes a bracket assembly (7) fixed on the vehicle body assembly (1), the pedal assembly (5), the master cylinder (6) and the brake cylinder (4) are all mounted on the bracket assembly (7); the pedal assembly (5) passes through the bracket assembly (7), and the rear end of the pedal assembly (5) contacts the power output end of the brake cylinder (4).

8. The service braking system of an AGV tractor according to claim 7, characterized in that, The pedal assembly (5) and the bracket assembly (7) are hinged together by a pin (9). A torsion spring is fitted on the pin (9). One end of the torsion spring is fixed to the pedal assembly (5), and the other end is fixed to the bracket assembly (7). When the pedal assembly (5) is released, the torsion force of the torsion spring causes the pedal assembly (5) to automatically reset.

9. The service braking system of an AGV tractor according to claim 7, characterized in that, It also includes a reversing valve fixing plate (8), which is L-shaped and fixed on the bracket assembly (7), and the pneumatic solenoid reversing valve (3) is mounted on the reversing valve fixing plate (8).

10. The service braking system of an AGV tractor according to claim 7, characterized in that, The master cylinder (6) is a piston structure. The pump body of the master cylinder (6) is fixed on the bracket assembly (7). The end of the master piston rod (601) passes through the bracket assembly (7) and is fixedly connected to the pedal assembly (5).

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