Break system for autonomous mobile robot

Abstract

According to one embodiment of the present invention, a brake system for an autonomous driving robot comprises: an electric motor connected to a motor shaft and generating rotational driving force on the motor shaft; a brake disc coupled to the motor shaft and rotating together with the motor shaft around the motor shaft; a brake lining spaced apart from one side of the brake disc, having a contact pad coupled to a surface facing the brake disc, capable of switching between a braking state in which it is in close contact with the brake disc and a release state in which it is spaced apart from the brake disc by a driving force; a solenoid connected to the brake lining and capable of transmitting driving force to the brake lining; a control unit electrically connected to the electric motor and the solenoid and driving the electric motor and the solenoid; and an elastic body installed on the brake lining and providing a restoring force so that the brake lining is restored to the release state by an elastic force.

Description

Technology Field

[0001] The present invention relates to a brake system for an autonomous driving robot, and more specifically, to a brake system for an autonomous driving robot that can perform a braking function even if a failure occurs in the electric motor of the EMB (Electro-mechanical Brake), and can also prevent the driving robot from sliding, particularly on an incline. Background Technology

[0002] Generally, the brake system of a mobile robot is a braking system used to decelerate or stop a moving robot, or to maintain a stationary state on an incline. Typically, friction brakes are used to perform braking action by converting kinetic energy into thermal energy using friction and releasing it into the atmosphere. In this system, pads on both sides of a disc that rotates with the wheel are pressed by hydraulic pressure to perform the braking function.

[0003] However, since these hydraulic brakes are implemented by using hydraulic pressure to forcefully push the pads toward the disc during braking, they inevitably involve a complex configuration consisting of a master cylinder that generates hydraulic pressure via a booster that distributes pedal force, hydraulic lines extending to the wheel cylinders, and various devices that control and assist them. Consequently, due to this complexity and the reliability of braking performance resulting from the use of hydraulics, there is an inherent vulnerability that limits the ability to enhance stability to some extent.

[0004] Accordingly, unlike these hydraulic disc brakes, an EMB (Electro-mechanical Brake) is used to brake using an actuator driven by an electric motor and mechanical operating principles.

[0006] However, in the above case, not only is the braking function unable to be performed in the event of an electric motor failure, but there is also a safety issue in that the rotational force of the electric motor is maintained by inertia, particularly when the motor fails on an incline, which may cause the free-roaming robot to slide. Prior art literature

[0007] Korean Patent Publication No. 10-1915394 (Published Nov. 05, 2018) Korean Patent Publication No. 10-2484971 (Published Jan. 09, 2023) The problem to be solved

[0008] The problem to be solved by the present invention is to provide a brake system for an autonomous driving robot that not only prevents the braking function from being performed in the event of an electric motor failure, but also prevents the autonomous driving robot from sliding by maintaining the rotational force of the electric motor by inertia, particularly when the electric motor fails on an incline.

[0009] Other problems to be solved by the present invention will become clearer from the following detailed description and drawings. means of solving the problem

[0010] According to one embodiment of the present invention, a brake system for an autonomous driving robot comprises: an electric motor connected to a motor shaft and generating rotational driving force on the motor shaft; a brake disc coupled to the motor shaft and rotating together with the motor shaft around the motor shaft; a brake lining spaced apart from one side of the brake disc, having a contact pad coupled to a surface facing the brake disc, capable of switching between a braking state in which it is in close contact with the brake disc and a release state in which it is spaced apart from the brake disc by a driving force; a solenoid connected to the brake lining and capable of transmitting driving force to the brake lining; a control unit electrically connected to the electric motor and the solenoid and driving the electric motor and the solenoid; and an elastic body installed on the brake lining and providing a restoring force so that the brake lining is restored to the release state by an elastic force.

[0012] Here, the brake system for the autonomous driving robot may further include a load shaft connecting the brake lining and the solenoid; and an extension pin installed on the load shaft.

[0013] And, the brake system for the autonomous driving robot may further include a stopper fixedly installed at a distance from the front of the brake lining in the direction of the elastic force of the elastic body.

[0014] At this time, the elastic body is installed between the brake lining and the stopper, and it is preferable that one end of the elastic body is connected to the brake lining.

[0016] In addition, the brake disc may have a plurality of pitch holes that are spaced apart from each other and formed through in the thickness direction along the guideline (L) in a circular shape.

[0017] Additionally, the brake system for the autonomous driving robot may further include: a transceiver electrically connected to the control unit, installed on one side of the brake disc and positioned at a location corresponding to the pitch hole, and capable of transmitting light; and a receiver electrically connected to the control unit, installed on the other side of the brake disc and positioned opposite the transceiver with the pitch hole as the center, and generating a first reception signal and transmitting it to the control unit when the light passing through the pitch hole is received.

[0018] At this time, the control unit can drive the solenoid so that the brake lining becomes the braking state according to the change in the reception state of the first reception signal.

[0020] In addition, on the opposing surface of the brake disc facing the transmitting and receiving unit, a reflection area that reflects the light and an absorption area that absorbs the light may be alternately arranged between the plurality of pitch holes.

[0021] At this time, when the light is received, the above-mentioned transceiver can generate a second reception signal and transmit it to the above-mentioned control unit.

[0022] Here, the control unit can determine the reverse rotation and forward rotation of the brake disc by arranging the first received signal, the second received signal, and the no signal in a time series. Effects of the invention

[0023] The brake system for an autonomous driving robot according to the present invention has the following effects.

[0024] First, there is an advantage in that the braking function can be performed even if the electric motor of the EMB (Electro-mechanical Brake) fails.

[0025] Second, there is the advantage of preventing the driving robot from sliding on slopes, thereby preventing safety issues in advance. Brief explanation of the drawing

[0026] FIG. 1 is a drawing for explaining a brake system for an autonomous driving robot according to an embodiment of the present invention. Figure 2 is a diagram showing the brake lining of the brake system for an autonomous driving robot of Figure 1 when it is in a braking state. Figure 3 is a diagram showing the time when the brake lining of the brake system for the autonomous driving robot of Figure 1 is in a released state. Figure 4 is a diagram showing the sensor part of the brake system for an autonomous driving robot of Figure 1. Figure 5 is a view of the brake system for the autonomous driving robot of Figure 4 from point A. Figure 6 is a view of the brake disc of Figure 4 seen from B. FIG. 7 is a block diagram of a brake system for an autonomous driving robot according to an embodiment of the present invention. Specific details for implementing the invention

[0027] Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the attached FIGS. 1 to 7. Embodiments of the present invention may be modified in various forms, and the scope of the present invention should not be interpreted as being limited to the embodiments described below. These embodiments are provided to further explain the present invention in detail to those skilled in the art to which the invention pertains. Accordingly, the shape of each element shown in the drawings may be exaggerated to emphasize a clearer explanation.

[0029] Throughout the specification, when a part is described as being “connected” to another part, this includes not only cases where they are “directly connected” but also cases where they are “electrically connected” with other elements interposed between them. Furthermore, when a part is described as being “included” with a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but rather that other components may be included, and it should be understood that this does not preclude the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0031] FIG. 1 is a drawing for explaining a brake system for an autonomous driving robot according to an embodiment of the present invention; FIG. 2 is a drawing showing the brake lining of the brake system for an autonomous driving robot of FIG. 1 in a braking state; FIG. 3 is a drawing showing the brake lining of the brake system for an autonomous driving robot of FIG. 1 in a released state; FIG. 4 is a drawing showing a sensor part of the brake system for an autonomous driving robot of FIG. 1; FIG. 5 is a drawing of the brake system for an autonomous driving robot of FIG. 4 viewed from the right; FIG. 6 is a drawing of the brake disc of FIG. 4 viewed from B; and FIG. 7 is a block diagram of the brake system for an autonomous driving robot according to an embodiment of the present invention.

[0032] However, since the brake system for an autonomous driving robot shown in FIGS. 1 to 7 is merely an embodiment of the present invention, the present invention is not to be interpreted as being limited through FIGS. 1 to 7.

[0034] Referring to FIGS. 1 to 6, the brake system (1) for an autonomous driving robot according to the present embodiment is intended to prevent an accident in which the autonomous driving robot is pushed by inertia due to an electric motor failure on an incline.

[0035] A brake system (1) for an autonomous driving robot may include an electric motor (10), a brake disc (20), a control unit (30), a solenoid (40), a brake lining (50), a pad (60), an elastic body (70), a stopper (80), and a sensor module (90).

[0037] The electric motor (10) is electrically connected to the control unit (30) and generates rotational driving force on the motor shaft (11) through a control signal from the control unit (30). That is, when a driving signal is input from the control unit (30), the motor shaft (11) is rotated, and when a stop signal is input from the control unit (30), the rotation of the motor shaft (11) is stopped.

[0038] The brake disc (20) is disc-shaped and its center is fixedly coupled to the center of the motor shaft (11). The brake disc (20) rotates together with the motor shaft (11).

[0039] The brake disc (20) is formed with a plurality of pitch holes (20a) spaced apart from each other along the guideline (L) and penetrating in the thickness direction of the brake disc (20).

[0040] At this time, referring to FIG. 6, on the opposing surface of the brake disc (20) facing the transmitting and receiving unit (91), a reflection area (R) that reflects light (laser, infrared, etc.) and an absorption area (S) that absorbs the light may be alternately arranged between a plurality of pitch holes (20a).

[0042] The control unit (30) is electrically connected to the electric motor (10) and can transmit control signals, such as rotation signals and stop signals, to the electric motor (10).

[0043] The control unit (30) is electrically connected to the solenoid (40) and can control the operation of the solenoid (40) by transmitting a control signal to the solenoid (40).

[0045] Specifically, the control unit (300) can drive the solenoid (40) so that the brake lining (50) becomes a braking state according to the change in the reception state of the first reception signal from the receiver (92). In addition, the control unit (300) can drive the solenoid (40) so that the brake lining (50) becomes a braking state when the second reception signal is transmitted from the transmitter / receiver (91).

[0046] Here, the control unit (30) can determine the reverse rotation and forward rotation of the brake disc by arranging the first received signal, the second received signal, and the no signal in a time series.

[0047] For example, the control unit (30) can determine that forward rotation is delayed if it receives the first receiving signal → second receiving signal → first receiving signal in that order, and determine that reverse rotation is delayed if it receives the first receiving signal → no signal → first receiving signal in that order.

[0049] To explain the first embodiment, the first receiving signal is periodically received in the initial state where the electric motor (10) is stopped by a stop signal from the control unit (300). That is, the light is received by the receiving unit (92) through the pitch hole (20a) of the brake disc (20).

[0050] Next, the control unit (300) determines that if the reception signal is not received or the second reception signal is received, a slipping phenomenon has occurred in the brake disc (20). At this time, the control unit (300) can drive the solenoid (40) so that the brake lining (50) becomes in a braking state.

[0052] To explain the second embodiment, the second receiving signal is periodically received in the initial state where the electric motor (10) is stopped by a stop signal from the control unit (300). That is, the light is received by the transmitting and receiving unit (91) through the reflection area (R) of the brake disc (20).

[0053] Next, the control unit (300) determines that if the receiving signal is not received or the first receiving signal is received, a slipping phenomenon has occurred on the brake disc (20). At this time, the control unit (300) can drive the solenoid (40) so that the brake lining (50) becomes in a braking state.

[0055] To explain the third embodiment, in the initial state where the electric motor (10) is stopped by a stop signal from the control unit (300), no reception signal is received. That is, the light is being absorbed through the absorption area (S) of the brake disc (20).

[0056] Next, the control unit (300) determines that if the first reception signal or the second reception signal is received, a slipping phenomenon has occurred on the brake disc (20). At this time, the control unit (300) can drive the solenoid (40) so that the brake lining (50) becomes in a braking state.

[0058] The solenoid (40) is connected to the brake lining (50) via the load shaft (41). At this time, the center of the disc-shaped extension pin (42) is connected to the load shaft (41).

[0059] A brake lining (50) is installed spaced apart from one side of a brake disc (20). A contact pad (60) is attached to the side of the brake lining (50) facing the brake disc (20).

[0061] The brake lining (50) can be switched between a braking state and a release state by the driving force of the solenoid (40). At this time, the braking state is a state in which the brake disc (20) and the contact pad (60) are in close contact, and the release state is a state in which the brake disc (20) and the contact pad (60) are separated.

[0062] The contact pad (60) is attached to the surface of the brake disc (20) of the brake lining (50) that faces it, and is preferably made of a material with friction.

[0064] The elastic body (70) is installed on the brake lining (50) and can provide a restoring force so that the brake lining (50) is restored to the released state by means of elastic force. It is preferable that the elastic body (70) be a spring.

[0065] The elastic body (70) is installed between the brake lining (50) and the stopper (80). One end of the elastic body (70) is connected to the brake lining (50), and the other end can be connected to the stopper (80).

[0066] The stopper (80) is fixedly installed spaced apart from the front of the brake lining (50) in the direction of the elastic force of the elastic body (70).

[0067] The sensor module (90) is for detecting when the electric motor (10) is in a stopped state and slippage occurs on an inclined surface, and includes a transmitting / receiving unit (91) and a receiving unit (92).

[0068] The sensor module (90) can generate a detection signal that detects the rotation of the brake disc (20) and transmit it to the control unit (30).

[0070] The transmitting and receiving unit (91) is installed on one side of the brake disc (20) and positioned at a location corresponding to a preset pitch hole (20a) to transmit and receive light.

[0071] The transmitting and receiving unit (91) is electrically connected to the control unit (30), and when it receives reflected light that is reflected from the reflection area (R) of the light it has transmitted, it generates a second receiving signal and transmits it to the control unit (30).

[0073] The receiver (92) is electrically connected to the control unit (30) and is installed at a position opposite to the transmitting and receiving unit (91) centered on the pre-set pitch hole (20a). When the light passing through the pitch hole (20a) is received, the receiver (92) generates a first reception signal and transmits it to the control unit.

[0075] Consequently, the brake system for an autonomous driving robot according to the present invention not only performs a braking function even if a failure occurs in the electric motor of the EMB (Electro-mechanical Brake), but also has a significant effect of preventing the driving robot from sliding, particularly on an incline.

[0077] Although the present invention has been described in detail through preferred embodiments, other forms of embodiments are also possible. Therefore, the technical concept and scope of the claims described below are not limited to the preferred embodiments. Explanation of the symbols

[0078] 1: Brake system for autonomous robots 10: Electric motor 11: Motor shaft 20: Brake disc 20a: Pitch hole L: Guidelines 30: Control unit 40: Solenoid 41: Load axis 42: Extension pin 50: Brake lining 60: Contact pad 70: Spring 80: Stopper 90: Sensor module 91: Transmitter / receiver 92: Receiver S: Absorption area R: Reflection area

Claims

Claim 1 An electric motor connected to a motor shaft and generating rotational driving force on the motor shaft; a brake disc coupled to the motor shaft and rotating together with the motor shaft around the motor shaft, having a plurality of pitch holes formed through in the thickness direction along a guideline (L) in a circular shape and spaced apart from each other; a brake lining spaced apart on one side of the brake disc, having a contact pad coupled to the surface facing the brake disc, and capable of switching between a braking state in which it is in contact with the brake disc and a release state in which it is spaced apart from the brake disc by driving force; a solenoid connected to the brake lining and capable of transmitting driving force to the brake lining; a control unit electrically connected to the electric motor and the solenoid and driving the electric motor and the solenoid; an elastic body installed on the brake lining and providing a restoring force so that the brake lining is restored to the release state by elastic force; a transceiver electrically connected to the control unit and installed on one side of the brake disc, positioned at a location corresponding to the pitch holes, and capable of transmitting light; and electrically connected to the control unit, A brake system for an autonomous driving robot, comprising: a receiving unit installed on the other side of the brake disc and positioned opposite to the transmitting and receiving unit with the pitch hole as the center, and generating a first receiving signal and transmitting it to the control unit when the light passing through the pitch hole is received; wherein, on the opposing surface of the brake disc opposite to the transmitting and receiving unit, a reflecting area that reflects the light and an absorbing area that absorbs the light are alternately arranged between the plurality of pitch holes; wherein the transmitting and receiving unit generates a second receiving signal and transmits it to the control unit when the light is received; and the control unit drives the solenoid so that the brake lining becomes the braking state according to a change in the reception state of the first receiving signal, and determines the reverse rotation and forward rotation of the brake disc by arranging the first receiving signal, the second receiving signal, and no signal in a time series. Claim 2 The brake system for an autonomous driving robot according to claim 1 further comprises: a load shaft connecting the brake lining and the solenoid; and an extension pin installed on the load shaft. Claim 3 The brake system for an autonomous driving robot according to claim 1 further comprises a stopper fixedly installed spaced apart from the front of the brake lining in the direction of the elastic force of the elastic body; wherein the elastic body is installed between the brake lining and the stopper, and one end of the elastic body is connected to the brake lining. Claim 4 delete Claim 5 delete

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