CN108284827B - Electronic automatic guided vehicle brake apparatus and braking method - Google Patents

Electronic automatic guided vehicle brake apparatus and braking method Download PDF

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Publication number
CN108284827B
CN108284827B CN201711439004.XA CN201711439004A CN108284827B CN 108284827 B CN108284827 B CN 108284827B CN 201711439004 A CN201711439004 A CN 201711439004A CN 108284827 B CN108284827 B CN 108284827B
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CN
China
Prior art keywords
vehicle
gear
shell
deceleration
friction block
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Application number
CN201711439004.XA
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Chinese (zh)
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CN108284827A (en
Inventor
宋建勋
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Zhejiang Zero Run Technology Co Ltd
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Zhejiang Zero Run Technology Co Ltd
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Priority to CN201711439004.XA priority Critical patent/CN108284827B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B60T13/741Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on an ultimate actuator
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B60T13/746Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive and mechanical transmission of the braking action
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17Using electrical or electronic regulation means to control braking
    • B60T8/171Detecting parameters used in the regulation; Measuring values used in the regulation
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60TVEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/321Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration

Abstract

The invention discloses a kind of electronic automatic guided vehicle brake apparatus, including vehicle frame, the horizontal screw bolt being connect with vehicle frame, shell set on screw rod lower part, the motor being set in the housing, first gear on motor rotation axis, second gear engaged with the first gear set on first gear top, second gear and horizontal screw bolt are rotatablely connected, push rod on the outside of housing bottom, push rod one end is connect with lower part of the housing, the push rod other end is connect with friction block, set on the tire drive plate of frame downward, friction block can be contacted with tire drive plate, position sensor on vehicle frame, Vehicle Controller on guiding vehicle, set on the gyroscope guided on vehicle and set on the console of control centre;Motor is immobilized in the shell on surface;Console is electrically connected with the vehicle-mounted controller, and Vehicle Controller is electrically connected with position sensor, motor and gyroscope respectively.The present invention has the characteristics of being precisely controlled brake force output, being convenient for operation.

Description

Electronic automatic guided vehicle brake apparatus and braking method
Technical field
The present invention relates to automatic guided vehicle braking technology fields, can be precisely controlled brake force output more particularly, to one kind, Convenient for the electronic automatic guided vehicle brake apparatus and braking method of operation.
Background technique
Traditional braking system, using brake pedal, booster master cylinder, brake pipe, the mode of rim brake, by driving The person's of sailing brake activation pedal establishes oil pressure in master cylinder, oil pressure is transmitted to wheel side system by brake pipe after booster power-assisted Dynamic device, realizes brake.Since transferring structure is more, it cannot be accurately controlled the brake force of output, cannot actively be braked.Automatically it leads Draw vehicle compared to orthodox car, the requirement more controllable precise to brake force, and can actively brake.
Summary of the invention
Goal of the invention of the invention be in order to overcome brake force in the prior art output not accurate, it is complicated not Foot, brake force output can be precisely controlled by providing one kind, convenient for the electronic automatic guided vehicle brake apparatus and braking method of operation.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of electronic automatic guided vehicle brake apparatus, including vehicle frame, the horizontal screw bolt connecting with vehicle frame are set to screw rod lower part Shell, the motor being set in the housing, the first gear on motor rotation axis, set on first gear top and first tooth Take turns the second gear of engagement, second gear and horizontal screw bolt are rotatablely connected, the push rod on the outside of housing bottom, push rod one end with Lower part of the housing connection, the push rod other end is connect with friction block, and set on the tire drive plate of frame downward, friction block can be passed with tire Moving plate contact, the position sensor on vehicle frame, the Vehicle Controller on guiding vehicle, the gyroscope on guiding vehicle With the console for being set to control centre;Motor is immobilized in the shell on surface;Console is electrically connected with the vehicle-mounted controller, vehicle-mounted control Device processed is electrically connected with position sensor, motor and gyroscope respectively.
The present invention controls the position of brake structure by motor and gear structure, passes through console, Vehicle Controller, gyro The control of instrument operates, and extremely can accurately control the size of brake force, as power source, may be implemented actively to brake.
Preferably, the number of teeth of first gear is less than the number of teeth of second gear.
Preferably, being equipped with external screw thread in the middle part of horizontal screw bolt, externally threaded left and right ends are equipped with rubber ring.
Preferably, the internal diameter of second gear is equipped with several internal tooths, second gear can be moved left and right along horizontal screw bolt; Second gear lower part is located in shell and is fixedly connected with the casing.
Preferably, frame downward is equipped with through-hole, push rod passes through through-hole and stretches out except vehicle frame.
Preferably, friction block, in open at one end cylindric, one end of friction block opening is socketed on push rod, friction block The surface of the one end being in contact with tire drive plate is equipped with the decorative pattern for increasing frictional force.
Preferably, the detecting head of position sensor is located in shell.
A kind of braking method based on electronic automatic guided vehicle brake apparatus, comprising the following steps:
(8-1) console presets the driving trace of automatic electric guiding vehicle, travel speed v, operating range, retarder location It sets, stop position, application position and stop position distance S1;
(8-2) when automatic electric guiding garage sails to application position, console guides the vehicle-mounted control of vehicle to automatic electric Device processed issues braking instruction;
The Vehicle Controller control motor of (8-3) automatic electric guiding vehicle is rotated, after gear transmits, the second tooth The internal tooth of wheel and the external screw thread of screw rod cooperate, and drive shell and push rod mobile to vehicle frame;
(8-4) friction block is contacted with tire drive plate, and friction generates braking;
The deceleration a of (8-5) vehicle-mounted gyroscope measurement automatic electric guiding vehicle;
(8-6) Vehicle Controller is calculated at deceleration a, and automatic electric guides vehicle time t to required for stopping and arrives Stop the distance S that automatic electric guiding vehicle is passed through:
T=v/a;
S=v*t-a*t*t/2;
(8-7) automatic electric guiding vehicle compares S and S1, determines whether deceleration a is suitable;
(8-8) Vehicle Controller adjusts shell at a distance from vehicle frame according to deceleration a, control friction block and tire drive plate Frictional force.
Preferably, (8-7) the following steps are included:
(9-1) illustrates that deceleration a is too small if S > S1, and guiding vehicle is more than scheduled parking position;
(9-2) illustrates that deceleration a is excessive if S < S1, and guiding vehicle does not reach stopping when predetermined parking space is set;
(9-3) illustrates that deceleration a is suitble to, is denoted as a if S=S10, guiding vehicle, which reaches parking position, to be stopped.
Preferably, (8-8) the following steps are included:
(10-1) is if deceleration a < a0, position sensor reports shell at a distance from vehicle frame to Vehicle Controller, vehicle-mounted control Device processed increases the revolving speed of motor, reduces shell at a distance from vehicle frame, increases the frictional force of friction block and tire drive plate, increases Deceleration a;
(10-2) is if deceleration a > a0, position sensor reports shell at a distance from vehicle frame to Vehicle Controller, vehicle-mounted control The revolving speed of motor is reduced or is reversely rotated by device processed, is increased shell at a distance from vehicle frame, is reduced friction block and tire drive plate Frictional force, reduce deceleration a.
Therefore, the invention has the following beneficial effects: the present invention using console setting automatic guided vehicle wheelpath, Travel speed v, operating range, application position, stop position and application position issue system with stop position distance S1, console Dynamic instruction, the data control motor that Vehicle Controller is measured according to gyroscope, position sensor rotate, according to shell and vehicle frame Distance increases or reduces the frictional force of friction block, realizes and is precisely controlled brake force, actively brakes;Operation of the present invention is easy, It calculates accurate.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the invention;
Fig. 2 is a kind of electrical connection schematic diagram of the invention.
In figure: vehicle frame 1, horizontal screw bolt 2, shell 3, motor 4, first gear 5, second gear 6, push rod 7, friction block 8, wheel Tire drive plate 9, position sensor 10, Vehicle Controller 11, gyroscope 12, console 13, external screw thread 14, rubber ring 15.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and detailed description.
Embodiment as shown in Figure 1 is a kind of electronic automatic guided vehicle brake apparatus, including vehicle frame 1, is connect with vehicle frame Horizontal screw bolt 2, the shell 3 set on screw rod lower part, the motor 4 being set in the housing, the first gear 5 on motor rotation axis, Second gear engaged with the first gear 6 set on first gear top, second gear and horizontal screw bolt are rotatablely connected, and are set to shell The push rod 7 of body bottom outside, push rod one end are connect with lower part of the housing, and the push rod other end is connect with friction block 8, are set to frame downward Tire drive plate 9, friction block can contact with tire drive plate, the position sensor 10 on vehicle frame, be set on guiding vehicle Vehicle Controller 11, set on guiding vehicle on gyroscope 12 and set on the console 13 of control centre;Motor is fixed on shell On inner surface;Console is electrically connected with the vehicle-mounted controller, and Vehicle Controller is electrically connected with position sensor, motor and gyroscope respectively It connects.The number of teeth of first gear is less than the number of teeth of second gear.External screw thread 14, externally threaded left and right ends are equipped in the middle part of horizontal screw bolt It is equipped with rubber ring 15.The internal diameter of second gear is equipped with several internal tooths, and second gear can be moved left and right along horizontal screw bolt;The Two gear lower parts are located in shell and are fixedly connected with the casing.Frame downward is equipped with through-hole, and push rod passes through through-hole and stretches out vehicle frame Except.Friction block is in open at one end cylindric, and one end of friction block opening is socketed on push rod, friction block and tire drive plate The surface of the one end being in contact is equipped with the decorative pattern for increasing frictional force.The detecting head of position sensor is located in shell.
A kind of braking method based on electronic automatic guided vehicle brake apparatus, comprising the following steps:
Step 100, console presets the driving trace of automatic electric guiding vehicle, travel speed v, operating range, system Dynamic position, stop position, application position and stop position distance S1;
Step 200, when automatic electric guiding garage sails to application position, console is vehicle-mounted to automatic electric guiding vehicle Controller issues braking instruction;
Step 300, the Vehicle Controller control motor of automatic electric guiding vehicle is rotated, after gear transmits, the The internal tooth of two gears and the external screw thread of screw rod cooperate, and drive shell and push rod mobile to vehicle frame;
Step 400, friction block is contacted with tire drive plate, and friction generates braking;
Step 500, the deceleration a of vehicle-mounted gyroscope measurement automatic electric guiding vehicle;
Step 600, Vehicle Controller calculate at deceleration a, automatic electric guide vehicle to stop required for time t with The distance S that vehicle is passed through is guided to automatic electric is stopped:
T=v/a;
S=v*t-a*t*t/2;
Step 700, automatic electric guiding vehicle compares S and S1, determines whether deceleration a is suitable:
Step 710, if S > S1, illustrate that deceleration a is too small, guiding vehicle is more than scheduled parking position;
Step 720, if S < S1, illustrate that deceleration a is excessive, guiding vehicle does not reach stopping when predetermined parking space is set;
Step 730, if S=S1, illustrate that deceleration a is suitble to, be denoted as a0, guiding vehicle, which reaches parking position, to be stopped;
Step 800, Vehicle Controller adjusts shell at a distance from vehicle frame according to deceleration a, and control friction block and tire pass The frictional force of Moving plate:
Step 810, if deceleration a < a0, position sensor reports shell at a distance from vehicle frame to Vehicle Controller, vehicle-mounted Controller increases the revolving speed of motor, reduces shell at a distance from vehicle frame, increases the frictional force of friction block and tire drive plate, increases Acceleration-deceleration a;
Step 820, if deceleration a > a0, position sensor reports shell at a distance from vehicle frame to Vehicle Controller, vehicle-mounted The revolving speed of motor is reduced or is reversely rotated by controller, increases shell at a distance from vehicle frame, reduces friction block and tire is driven The frictional force of disk reduces deceleration a.
It should be understood that this embodiment is only used to illustrate the invention but not to limit the scope of the invention.In addition, it should also be understood that, After having read the content of the invention lectured, those skilled in the art can make various modifications or changes to the present invention, these etc. Valence form is also fallen within the scope of the appended claims of the present application.

Claims (9)

1. a kind of electronic automatic guided vehicle brake apparatus, characterized in that including vehicle frame (1), the horizontal screw bolt being connect with vehicle frame (2), set on the shell (3) of screw rod lower part, the motor being set in the housing (4), the first gear (5) on motor rotation axis, Second gear engaged with the first gear (6) set on first gear top, second gear and horizontal screw bolt are rotatablely connected, and are set to Push rod (7) on the outside of housing bottom, push rod one end are connect with lower part of the housing, and the push rod other end is connect with friction block (8), are set to vehicle The tire drive plate (9) of frame lower part, friction block can be contacted with tire drive plate, the position sensor (10) on vehicle frame, if Vehicle Controller (11) on guiding vehicle, set on the gyroscope (12) guided on vehicle and set on the console of control centre (13);Motor is immobilized in the shell on surface;Console is electrically connected with the vehicle-mounted controller, Vehicle Controller respectively with position sensing Device, motor and gyroscope electrical connection;The internal diameter of second gear is equipped with several internal tooths, and second gear can be along a horizontal screw bolt left side It moves right;Second gear lower part is located in shell and is fixedly connected with the casing.
2. electronic automatic guided vehicle brake apparatus according to claim 1, characterized in that the number of teeth of first gear is less than The number of teeth of two gears.
3. electronic automatic guided vehicle brake apparatus according to claim 1, characterized in that be equipped with outer spiral shell in the middle part of horizontal screw bolt Line (14), externally threaded left and right ends are equipped with rubber ring (15).
4. electronic automatic guided vehicle brake apparatus according to claim 1, characterized in that frame downward is equipped with through-hole, pushes away Bar passes through through-hole and stretches out except vehicle frame.
5. electronic automatic guided vehicle brake apparatus according to claim 1, characterized in that friction block is in circle open at one end One end of column, friction block opening is socketed on push rod, and the surface of one end that friction block is in contact with tire drive plate is equipped with For increasing the decorative pattern of frictional force.
6. electronic automatic guided vehicle brake apparatus according to claim 1, characterized in that the detecting head position of position sensor In in shell.
7. a kind of braking method based on electronic automatic guided vehicle brake apparatus described in claim 1, characterized in that including with Lower step:
(7-1) console preset automatic electric guiding vehicle driving trace, travel speed v, operating range, application position, Stop position, application position and stop position distance S1;
(7-2) when automatic electric guiding garage sails to application position, console guides the Vehicle Controller of vehicle to automatic electric Issue braking instruction;
The Vehicle Controller control motor of (7-3) automatic electric guiding vehicle is rotated, after gear transmits, second gear The cooperation of the external screw thread of internal tooth and screw rod drives shell and push rod mobile to vehicle frame;
(7-4) friction block is contacted with tire drive plate, and friction generates braking;
The deceleration a of (7-5) vehicle-mounted gyroscope measurement automatic electric guiding vehicle;
(7-6) Vehicle Controller is calculated at deceleration a, and automatic electric, which guides vehicle time t to required for stopping and arrives, to be stopped The distance S that automatic electric guiding vehicle is passed through:
T=v/a;
S=v*t-a*t*t/2;
(7-7) automatic electric guiding vehicle compares S and S1, determines whether deceleration a is suitable;
(7-8) Vehicle Controller adjusts shell at a distance from vehicle frame according to deceleration a, and control friction block rubs with tire drive plate Wipe power.
8. the braking method based on electronic automatic guided vehicle brake apparatus as claimed in claim 7, characterized in that (7-7) includes Following steps:
(8-1) illustrates that deceleration a is too small if S > S1, and guiding vehicle is more than scheduled parking position;
(8-2) illustrates that deceleration a is excessive if S < S1, and guiding vehicle does not reach stopping when predetermined parking space is set;
(8-3) illustrates that deceleration a is suitble to if S=S1, is denoted as a0, and guiding vehicle, which reaches parking position, to be stopped.
9. the braking method based on electronic automatic guided vehicle brake apparatus according to any one of claims 8, characterized in that (7-8) includes Following steps:
(9-1) if deceleration a < a0, position sensor report shell at a distance from vehicle frame to Vehicle Controller, Vehicle Controller The revolving speed of motor is increased, reduces shell at a distance from vehicle frame, increases the frictional force of friction block and tire drive plate, increase and slow down Spend a;
(9-2) if deceleration a > a0, position sensor report shell at a distance from vehicle frame to Vehicle Controller, Vehicle Controller The revolving speed of motor is reduced or reversely rotated, increases shell at a distance from vehicle frame, reduction friction block rubs with tire drive plate Power is wiped, deceleration a is reduced.
CN201711439004.XA 2017-12-26 2017-12-26 Electronic automatic guided vehicle brake apparatus and braking method Active CN108284827B (en)

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Application Number Priority Date Filing Date Title
CN201711439004.XA CN108284827B (en) 2017-12-26 2017-12-26 Electronic automatic guided vehicle brake apparatus and braking method

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Application Number Priority Date Filing Date Title
CN201711439004.XA CN108284827B (en) 2017-12-26 2017-12-26 Electronic automatic guided vehicle brake apparatus and braking method

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CN108284827A CN108284827A (en) 2018-07-17
CN108284827B true CN108284827B (en) 2019-08-23

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Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111645788A (en) * 2020-06-09 2020-09-11 嘉兴优加车业科技有限公司 Four-wheel baby carriage with anti-lock disc brake mechanism

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5145041A (en) * 1990-06-01 1992-09-08 Teijin Seiki Co., Ltd. Motion converting mechanism
WO1994024453A1 (en) * 1993-04-16 1994-10-27 Robert Bosch Gmbh Wheel brake for vehicles, especially motor vehicles
CN205469001U (en) * 2015-12-14 2016-08-17 深圳市华威精密机械有限公司 AGV dolly with braking system
CN206633986U (en) * 2017-03-15 2017-11-14 江苏安力电动车有限公司 A kind of tractor brake apparatus

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5145041A (en) * 1990-06-01 1992-09-08 Teijin Seiki Co., Ltd. Motion converting mechanism
WO1994024453A1 (en) * 1993-04-16 1994-10-27 Robert Bosch Gmbh Wheel brake for vehicles, especially motor vehicles
CN205469001U (en) * 2015-12-14 2016-08-17 深圳市华威精密机械有限公司 AGV dolly with braking system
CN206633986U (en) * 2017-03-15 2017-11-14 江苏安力电动车有限公司 A kind of tractor brake apparatus

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Address after: 6 / F, Xintu building, 451 Internet of things street, Binjiang District, Hangzhou City, Zhejiang Province, 310051

Patentee after: Zhejiang Zero run Technology Co.,Ltd.

Address before: 6 / F, Xintu building, 451 Internet of things street, Binjiang District, Hangzhou City, Zhejiang Province, 310051

Patentee before: ZHEJIANG LEAPMOTOR TECHNOLOGY Co.,Ltd.