CN115107724B - Operating device and operating method of wheel type AGV stay wire type parking brake - Google Patents
Operating device and operating method of wheel type AGV stay wire type parking brake Download PDFInfo
- Publication number
- CN115107724B CN115107724B CN202210785502.4A CN202210785502A CN115107724B CN 115107724 B CN115107724 B CN 115107724B CN 202210785502 A CN202210785502 A CN 202210785502A CN 115107724 B CN115107724 B CN 115107724B
- Authority
- CN
- China
- Prior art keywords
- switch
- lamp
- agv
- parking brake
- vehicle controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE 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
- B60T13/00—Transmitting 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
- B60T13/74—Transmitting 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE 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
- B60T13/00—Transmitting 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
- B60T13/74—Transmitting 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
- B60T13/746—Transmitting 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE 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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Braking Elements And Transmission Devices (AREA)
Abstract
The invention discloses an operating device and an operating method of a wheel AGV stay-supported parking brake, which are characterized by comprising a 24V direct-current power supply, a power switch, an activation switch, a whole vehicle controller, a motor forward and reverse rotation control module, an electric push rod, a first travel switch, a second travel switch, a first button switch with a lamp, a second button switch with a lamp, an electric push rod bracket and a pull arm; the control of wheeled AGV pull-type parking brake has been realized, and the controllability is stronger, can realize the control of parking brake through button switch manually when the AGV trouble, also can be by the control of vehicle control unit as required parking brake's control under the AGV manual remote control/automatic operation mode, satisfies the AGV parking braking function demand.
Description
Technical Field
The invention relates to the technical field of wheel type AGV stay-supported parking brakes, in particular to an operating device and an operating method of a wheel type AGV stay-supported parking brake.
Background
With the development of AGV technology, the use environment of AGVs is developing from indoor to outdoor, and the driving modes are also developing from steering wheels, differential wheels, mecanum wheels and other modes suitable for indoor to wheeled vehicles suitable for outdoor driving modes such as 4×2, 4×4 and the like; the outdoor wheeled vehicle type AGV adopts a steering drive axle as a carrier, the service braking adopts hydraulic braking or pneumatic braking, and the parking braking mode can be spring energy storage mechanical mode or drum type stay wire mode; the spring energy storage mechanical type can release the parking brake through air pressure or hydraulic pressure, and the wire control is convenient; however, some steering drive axles cannot adopt a spring energy storage mechanical parking brake due to limited structure, and only can adopt a drum-type stay wire type, and at the moment, an AGV needs to add a mechanism to realize the operation of stay wires; although the EPB for the commercial vehicle can realize the wire control of the stay wire, the EPB is required to be adapted and debugged according to the vehicle type, and the EPB is troublesome to match and use; when the EPB controller has a problem, the parking brake cannot be released by simple operation; and commercial car EPB function is more, and the function is redundant when being used on AGV, has increased the AGV cost.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an operating device of a pull-type parking brake of a wheel type AGV.
Another object of the present invention is to provide a method of operating an operating device of a wheeled AGV pull-type parking brake.
The invention mainly solves the problem that the existing stay wire type parking brake for the wheel type AGV cannot be conveniently and simply controlled by wire.
The technical scheme provided by the invention is that the operating device of the wheeled AGV stay-supported parking brake is characterized by comprising a 24V direct-current power supply, a power switch, an activation switch, a whole vehicle controller, a motor forward and reverse rotation control module, an electric push rod, a first travel switch, a second travel switch, a first button switch with a lamp, a second button switch with a lamp, an electric push rod bracket and a pull arm;
the 24V direct current power supply is fixedly connected to the outer side of the AGV frame through a bracket; the power switch, the activation switch, the whole vehicle controller, the first button switch with the lamp and the second button switch with the lamp are fixedly connected to a bracket of a 24V direct current power supply through a bracket; the electric push rod support is fixedly connected to the inner side of the AGV frame; the motor forward and backward rotation control module, the first travel switch and the second travel switch are fixed on the electric push rod bracket; the pull arm is hinged with the electric push rod bracket through a middle hole site; the fixed end of the electric push rod is hinged with the electric push rod bracket, and the telescopic end of the electric push rod is hinged with the hole site at the end part of the pull arm; the hole site at the other end of the pull arm is connected with a pull wire of the parking brake;
the active switch input end, the positive end of the power supply of the whole vehicle controller, the positive end of the power supply of the motor positive and negative rotation control module, the first travel switch input end, the second travel switch input end, the first button switch side input end with a lamp and the second button switch side input end with the lamp are electrically connected with the positive electrode of the 24V direct current power supply after passing through a power supply switch through a power supply wire; the negative pole terminal of the power supply of the whole vehicle controller, the negative pole terminal of the power supply of the motor forward and backward rotation control module, the negative pole terminal of the control port of the motor forward and backward rotation control module, the negative pole terminal of the lamp side of the first button switch with the lamp, and the negative pole terminal of the lamp side of the second button switch with the lamp are electrically connected with the negative pole of the 24V direct current power supply through a power supply line; the output end of the activation switch is electrically connected with the whole vehicle controller; the output end of the first travel switch is electrically connected with the whole vehicle controller and the positive electrode end of the lamp side of the first button switch with the lamp; the output end of the second travel switch is electrically connected with the whole vehicle controller and the anode end of the lamp side of the second button switch with the lamp; the output end of the switch side of the first button switch with the lamp is electrically connected with the positive end of a first control port of the motor forward and backward rotation control module through a wire harness of the whole vehicle controller; the output end of the switch side of the second button switch with the lamp is electrically connected with the positive end of the second control port of the motor forward and backward rotation control module through the wire harness of the whole vehicle controller; and two ports of a power supply of the electric push rod are respectively and electrically connected with two output ports of the motor forward and backward rotation control module.
Further, the motor forward and reverse rotation control module comprises two control ports, namely a first control port and a second control port, wherein the control ports can be controlled positively or negatively and are defined and adjusted according to output control pins of the whole vehicle controller; the whole vehicle controller realizes the bidirectional motion control of the electric push rod through the motor forward and reverse rotation control module.
Further, the first button switch with the lamp and the second button switch with the lamp comprise a lamp and a switch, the lamp is used for indicating the braking state and the releasing state of the AGV parking brake, and the switch is used for manually operating the parking brake.
Further, the first travel switch is triggered by the pull arm, the release state of the parking brake is fed back to the whole vehicle controller, and the lamp on the first lamp-carrying button switch is synchronously triggered to be lighted; the second travel switch is triggered by the pulling arm, the braking state of the parking brake is fed back to the whole vehicle controller, and the lamp on the second button switch with the lamp is synchronously triggered to be lightened.
Furthermore, a plurality of groups of holes connected with the stay wire of the parking brake are formed in the stay arm, and the stay wire tension is ensured to be in a proper range according to the stay wire tension requirement of the parking brake and the output force adjustment position of the electric push rod.
Furthermore, the electric push rod has a mechanical self-locking function, is locked at the current position when in power failure, and has stroke protection.
The invention relates to a control method of a control device of a wheel AGV stay wire type parking brake, which is characterized by comprising the following steps:
a, closing a power switch, wherein a 24V direct current power supply provides 24V power for an activation switch input end, a power positive end of a vehicle controller, a power positive end of a motor positive and negative rotation control module, a first travel switch input end, a second travel switch input end, a first button switch side input end with a lamp, a second button switch side with a lamp, and the vehicle controller activates and self-checks by pressing the activation switch; after the self-checking is passed, the whole vehicle controller confirms the state of the AGV parking brake through the first travel switch and the second travel switch; if the state is a braking state, the AGV is kept, if the state is a releasing state, the second control port of the motor forward and backward rotation control module is controlled to be conducted so as to control the extension end of the electric push rod to extend out, and the AGV is controlled to be in a parking state;
b, when the AGV needs manual remote control movement or automatic control operation, the whole vehicle controller receives corresponding instructions and controls the operation of the parking brake according to the needs, so that the requirements of the parking brake function of the AGV are met; the whole vehicle controller is turned on or a first control port of the motor forward and backward rotation control module is controlled to be turned on, so that the telescopic end of the electric push rod is controlled to retract to the pull arm to trigger the first travel switch to give a brake release in-place signal to the whole vehicle controller, and the brake release of the AGV parking brake is realized; or the second control port of the motor forward and backward rotation control module is controlled to be conducted, so that the telescopic end of the electric push rod is controlled to extend out to the pull arm to trigger the second travel switch to give a braking in-place signal to the whole vehicle controller, and the braking function of the AGV parking brake is realized;
when the AGV breaks down and cannot be manually moved by remote control or automatically controlled to operate and need dragging for maintenance, the power switch is closed, the switch on the first button switch with the lamp is pressed, the first control port of the control motor forward and backward rotation control module is conducted, the telescopic end of the electric push rod is further controlled to retract, the braking release of the parking brake of the AGV is achieved, when the AGV is released in place, the pull arm triggers the first travel switch to trigger the lamp on the first button switch with the lamp to light, so that the parking brake is released in place, and the AGV can be dragged to leave the fault position; when the fault AGV drags in place, press the switch on the second button switch with lamp, control motor positive and negative rotation control module's second control port switches on, and then control electric putter flexible end stretches out, realizes the braking function of AGV parking brake, and the arm touches the lamp on the second button switch with lamp and lights when braking in place and indicate that parking brake braking function has been opened, can break off switch and go to the AGV maintenance.
The invention has the beneficial effects that:
1. the wire control of the wheel type AGV stay wire type parking brake is realized in a simple and easily-controlled mode, and the AGV cost is reduced;
2. the manual button control parking brake and the control of the automatic control/automatic operation mode of the AGV are considered when the AGV fails, and the control of the parking brake is controlled by the whole vehicle controller according to the requirements, so that the requirements of the AGV parking brake function are met, and the parking safety of the AGV is ensured.
Drawings
FIG. 1 is a schematic top view of the present invention mounted on a vehicle;
FIG. 2 is a schematic side view of the invention installed on a vehicle;
fig. 3 is a schematic diagram of the electrical connection of the present invention.
In the figure: 1 24V direct current power supply, 2 switch, 3 activation button, 4 whole car controller, 5 motor forward and backward rotation control module, 6 electric putter, 7 first travel switch, 8 second travel switch, 9 first area lamp button switch, 10 second area lamp button switch, 11 electric putter support, 12 pull arm, A first control port, B second control port.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1, 2, 3, an operating device of a wheeled AGV pull-type parking brake comprises a 24V direct current power supply 1, a power switch 2, an activation switch 3, a whole vehicle controller 4, a motor forward and reverse rotation control module 5, an electric push rod 6, a first travel switch 7, a second travel switch 8, a first push button switch 9 with a lamp, a second push button switch 10 with a lamp, an electric push rod bracket 11 and a pull arm 12;
the motor forward and reverse rotation control module 5 comprises two control ports, namely a first control port A and a second control port B, wherein the control ports can be controlled positively or negatively and can be regulated according to the definition of output control pins of the whole vehicle controller 4; the whole vehicle controller 4 realizes the bidirectional motion control of the electric push rod 6 through the motor forward and reverse rotation control module 5;
the first and second push-button switches 9 and 10 include a lamp for indicating a braking state and a releasing state of the AGV parking brake and a switch for manually operating the parking brake;
the first travel switch 7 is triggered by the pull arm 12, feeds back the release state of the parking brake to the whole vehicle controller 4, and synchronously triggers the lamp on the first lamp-carrying button switch 9 to be lighted; the second travel switch 8 is triggered by the pull arm 12, and feeds back the braking state of the parking brake to the whole vehicle controller 4, and synchronously triggers the lamp on the second button switch 10 with the lamp to be lighted;
the pin shaft holes connected with the pull wire of the parking brake on the pull arm 12 are provided with a plurality of groups, and the pull wire pulling force can be ensured to be in a proper range according to the pull force requirement of the pull wire of the parking brake and the output force adjustment position of the electric push rod 6;
the electric push rod 6 has a mechanical self-locking function, can be locked at the current position when power is off, has stroke protection, and cannot be damaged due to continuous power supply when overtravel occurs;
the 24V direct current power supply 1 is fixedly connected to the outer side of an AGV frame through a bracket; the power switch 2, the activation switch 3, the whole vehicle controller 4, the first button switch 9 with the lamp and the second button switch 10 with the lamp are fixedly connected to a bracket of the 24V direct current power supply 1 through brackets; fixedly connecting an electric push rod bracket 11 to the inner side of an AGV frame; the motor forward and reverse rotation control module 5, the first travel switch 7 and the second travel switch 8 are fixed on the electric push rod bracket 11; the pull arm 12 is hinged with the electric push rod bracket 11 through a middle hole site; the fixed end of the electric push rod 6 is hinged with the electric push rod bracket 11 through a pin shaft, and the telescopic end of the electric push rod 6 is hinged with the hole site at the end part of the pull arm 12 through a pin shaft; the other end hole site of the pull arm 12 is connected with a pull wire of the parking brake through a pin shaft;
the input end of an activation switch 3, the power positive end of a vehicle controller 4, the power positive end of a motor positive and negative rotation control module 5, the input end of a first travel switch 7, the input end of a second travel switch 8, the input end of a switch side of a first button switch 9 with a lamp and the input end of a switch side of a second button switch 10 with a lamp are electrically connected with the positive electrode of a 24V direct current power supply 1 after passing through a low-voltage power line through a power switch 2; the power supply negative electrode terminal of the whole vehicle controller 4, the power supply negative electrode terminal of the motor positive and negative rotation control module 5, the negative electrode terminal of the control port of the motor positive and negative rotation control module 5, the lamp side negative electrode terminal of the first button switch with lamp 9 and the lamp side negative electrode terminal of the second button switch with lamp 10 are electrically connected with the negative electrode of the 24V direct current power supply 1 through a power supply line; the output end of the activation switch 3 is electrically connected with the whole vehicle controller 4; the output end of the first travel switch 7 is electrically connected with the positive electrode end of the lamp side of the whole vehicle controller 4 and the first button switch 9 with the lamp; the output end of the second travel switch 8 is electrically connected with the positive electrode end of the lamp side of the whole vehicle controller 4 and the second button switch with lamp 10; the output end of the switch side of the first button switch 9 with the lamp is electrically connected with the positive end of a first control port A of the motor forward and backward rotation control module 5 through a wire harness and the whole vehicle controller 4; the output end of the switch side of the second button switch 10 with the lamp is electrically connected with the positive end of a second control port B of the motor forward and backward rotation control module 5 through a wire harness and the whole vehicle controller 4; the two ports of the power supply of the electric push rod 6 are respectively and electrically connected with the two output ports of the motor forward and backward rotation control module 5.
According to the operating device of the wheel type AGV stay wire type parking brake, when the AGV needs to manually move in a remote control mode or automatically control operation, the whole vehicle controller 4 receives corresponding instructions, the parking brake is operated through the action of the control motor forward and reverse rotation control module 5, the state of the parking brake is fed back through the first travel switch 7 and the second travel switch 8, the stay wire is ensured not to be pulled excessively, and the requirement of the AGV parking brake function is met; when the AGV breaks down and can not be manually moved by remote control or automatically controlled to be dragged to be maintained, the parking brake is manually operated through the first button switch 9 with the lamp and the second button switch 10 with the lamp, and the state of the parking brake is fed back by the corresponding actions of the first travel switch, the second travel switch 8, the first button switch 9 with the lamp and the second button switch 10 with the lamp, so that the manual emergency operation of the parking brake is realized.
The invention relates to a control method of a control device of a wheel AGV stay wire type parking brake, which specifically comprises the following steps:
a, closing a power switch 2, providing 24V power for the input end of an activation switch 3, the power positive end of a vehicle controller 4, the power positive end of a motor positive and negative rotation control module 5, the input end of a first travel switch 7, the input end of a second travel switch 8, the input end of the switch side of a first button switch 9 with a lamp, and the switch side of a second button switch 10 with a lamp by a 24V direct current power supply 1, pressing the activation switch 3, and activating and self-checking the vehicle controller 4; after the self-checking is passed, the whole vehicle controller 4 confirms the state of the AGV parking brake through the first travel switch 7 and the second travel switch 8; if the state is in a braking state, the control device is kept, if the state is in a releasing state, the second control port B of the control motor forward and backward rotation control module 5 is controlled to be conducted so as to control the extension end of the electric push rod 6 to extend, and the AGV is controlled to be in a parking state;
b, when the AGV needs manual remote control movement or automatic control operation, the whole vehicle controller 4 receives corresponding instructions and controls the operation of the parking brake according to the needs, so that the requirements of the parking brake function of the AGV are met; the whole vehicle controller 4 is conducted or a first control port A of the motor forward and backward rotation control module 5 is controlled to be conducted, so that the telescopic end of the electric push rod is controlled to retract to the pull arm 12 to trigger the first travel switch 7 to give a brake release in-place signal to the whole vehicle controller 4, and the brake release of the AGV parking brake is realized; or the second control port B of the motor forward and backward rotation control module 5 is controlled to be conducted, so that the telescopic end of the electric push rod extends out to the pull arm 12 to trigger the second travel switch 8 to give a braking in-place signal to the whole vehicle controller 4, and the braking function of the AGV parking brake is realized;
when the AGV fails and cannot be manually moved by remote control or automatically controlled to operate and need dragging for maintenance, the power switch 2 is closed, the switch on the first button switch 9 with the lamp is pressed, the first control port A of the control motor forward and backward rotation control module 5 is conducted, the telescopic end of the electric push rod is further controlled to retract, the braking release of the parking brake of the AGV is realized, when the release is in place, the pull arm 12 triggers the first travel switch 7 to trigger the lamp on the first button switch 9 with the lamp to be lightened to indicate that the braking release of the parking brake is in place, and the AGV can be dragged to leave the failure position; when the fault AGV drags in place, the switch on the second button switch 10 with the lamp is pressed, the second control port B of the control motor forward and backward rotation control module 5 is conducted, the telescopic end of the electric push rod is further controlled to extend out, the braking function of the AGV parking brake is achieved, the pull arm 12 triggers the second travel switch 8 to trigger the lamp on the second button switch 10 with the lamp to be lightened when the brake is in place, the braking function of the parking brake is started, and the power switch 2 can be disconnected to maintain the AGV.
It should be understood that technical features that are not specifically described in the present specification belong to the prior art. While the embodiments of the present invention have been described, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and those skilled in the art, having the benefit of this disclosure, may make many more forms without departing from the spirit of the invention and the scope of the claims.
Claims (7)
1. The operating device of the wheel type AGV stay-supported parking brake is characterized by comprising a 24V direct current power supply (1), a power switch (2), an activation switch (3), a whole vehicle controller (4), a motor forward and reverse rotation control module (5), an electric push rod (6), a first travel switch (7), a second travel switch (8), a first push button switch with a lamp (9), a second push button switch with a lamp (10), an electric push rod bracket (11) and a pull arm (12);
the 24V direct current power supply (1) is fixedly connected to the outer side of the AGV frame through a bracket; the power switch (2), the activation switch (3), the whole vehicle controller (4), the first button switch with lamp (9) and the second button switch with lamp (10) are fixedly connected to a bracket of the 24V direct current power supply (1) through a bracket; the electric push rod bracket (11) is fixedly connected to the inner side of the AGV frame; the motor forward and backward rotation control module (5), the first travel switch (7) and the second travel switch (8) are fixed on the electric push rod bracket (11); the pull arm (12) is hinged with the electric push rod bracket (11) through a middle hole site; the fixed end of the electric push rod (6) is hinged with the electric push rod bracket (11), and the telescopic end of the electric push rod (6) is hinged with the hole site at the end part of the pull arm (12); the other end hole site of the pull arm (12) is connected with a pull wire of the parking brake;
the input end of the activation switch (3), the positive end of the power supply of the whole vehicle controller (4), the positive end of the power supply of the motor positive and negative rotation control module (5), the input end of the first travel switch (7), the input end of the second travel switch (8), the input end of the switch side of the first button switch with lamp (9) and the input end of the switch side of the second button switch with lamp (10) are electrically connected with the positive electrode of the 24V direct current power supply (1) through the power supply switch (2) by a power supply line; the power supply negative electrode end of the whole vehicle controller (4), the power supply negative electrode end of the motor positive and negative rotation control module (5), the control port negative electrode end of the motor positive and negative rotation control module (5), the lamp side negative electrode end of the first button switch with lamp (9) and the lamp side negative electrode end of the second button switch with lamp (10) are electrically connected with the negative electrode of the 24V direct current power supply (1) through a low-voltage power supply line; the output end of the activation switch (3) is electrically connected with the whole vehicle controller (4); the output end of the first travel switch (7) is electrically connected with the positive electrode end of the lamp side of the whole vehicle controller (4) and the first button switch with the lamp (9); the output end of the second travel switch (8) is electrically connected with the positive electrode end of the lamp side of the whole vehicle controller (4) and the second button switch with the lamp (10); the output end of the switch side of the first button switch with the lamp (9) is electrically connected with the positive end of a first control port (A) of the motor forward and backward rotation control module (5) through a wire harness; the output end of the switch side of the second button switch (10) with the lamp is electrically connected with the positive end of a second control port (B) of the motor positive and negative rotation control module (5) through a wire harness and the whole vehicle controller (4); the two ports of the power supply of the electric push rod (6) are respectively and electrically connected with the two output ports of the motor forward and backward rotation control module (5).
2. The operating device of the pull-type parking brake of the wheel type AGV according to claim 1, wherein the motor forward and backward rotation control module (5) comprises two control ports, namely a first control port (A) and a second control port (B), and the control ports can be controlled positively or negatively and are regulated according to the definition of an output control pin of the whole vehicle controller (4); the whole vehicle controller (4) realizes the bidirectional motion control of the electric push rod (6) through the motor forward and reverse rotation control module (5).
3. A wheel-type AGV pull-type parking brake operating device according to claim 1, wherein the first and second push-button switches (9, 10) with lamps include a lamp for indicating a braking state and a releasing state of the AGV parking brake and a switch for manually operating the parking brake.
4. The operating device of the pull-type parking brake of the wheel type AGV according to claim 1, wherein the first travel switch (7) is triggered by a pull arm (12), feeds back the release state of the parking brake to the whole vehicle controller (4), and synchronously triggers the lamp on the first lamp-carried button switch (9) to be lighted; the second travel switch (8) is triggered by the pull arm (12), the braking state of the parking brake is fed back to the whole vehicle controller (4), and the lamp on the second button switch with lamp (10) is synchronously triggered to be lightened.
5. The operating device of the pull-type parking brake of the wheel type AGV according to claim 1, wherein a plurality of groups of holes connected with the pull wire of the parking brake are arranged on the pull arm (12), and the pull force of the pull wire is ensured to be in a proper range according to the pull force requirement of the pull wire of the parking brake and the output force adjustment position of the electric push rod (6).
6. The operating device of the pull-type parking brake of the wheel type AGV according to claim 1, wherein the electric push rod (6) has a mechanical self-locking function, is locked at the current position when power is off, and has stroke protection.
7. A method of operating an operating device for a wheeled AGV pull-type parking brake as claimed in any one of claims 1-6, comprising the steps of:
a, closing a power switch (2), providing 24V power for an input end of an activation switch (3), a power positive end of a whole vehicle controller (4), a power positive end of a motor positive and negative rotation control module (5), an input end of a first travel switch (7), an input end of a second travel switch (8), an input end of a first button switch with a lamp (9) on a switch side and a switch side of a second button switch with a lamp (10) on a switch side by a 24V direct current power supply (1), pressing the activation switch (3), and activating and self-checking the whole vehicle controller (4); after the self-checking is passed, the whole vehicle controller (4) confirms the state of the AGV parking brake through a first travel switch (7) and a second travel switch (8); if the state is in a braking state, the AGV is kept, if the state is in a releasing state, the second control port (B) of the motor forward and backward rotation control module (5) is controlled to be conducted so as to control the extension end of the electric push rod (6) to extend, and the AGV is controlled to be in a parking state;
b, when the AGV needs manual remote control movement or automatic control operation, the whole vehicle controller (4) receives corresponding instructions, controls the operation of the parking brake according to the needs, and meets the requirements of the parking brake function of the AGV; the whole vehicle controller (4) is conducted or a first control port (A) of the motor forward and backward rotation control module (5) is controlled to be conducted, so that the telescopic end of the electric push rod is controlled to retract to the pull arm (12) to trigger the first travel switch (7) to give a brake release in-place signal to the whole vehicle controller (4), and the brake release of the AGV parking brake is realized; or the second control port (B) of the motor forward and backward rotation control module (5) is controlled to be conducted, so that the telescopic end of the electric push rod is controlled to extend out to the pull arm (12) to trigger the second travel switch (8) to give a braking in-place signal to the whole vehicle controller (4), and the braking function of the AGV parking brake is realized;
when the AGV fails and cannot be manually moved in a remote control manner or automatically controlled to operate and need dragging for maintenance, the power switch (2) is closed, the switch on the first button switch (9) with the lamp is pressed, the first control port (A) of the control motor forward and backward rotation control module (5) is controlled to be conducted, the telescopic end of the electric push rod is further controlled to retract, the braking release of the AGV parking brake is realized, when the release is in place, the pull arm (12) triggers the first travel switch (7) to trigger the lamp on the first button switch (9) with the lamp to be lightened to indicate that the braking release of the parking brake is in place, and the AGV can be dragged to leave the failure position; when the fault AGV drags in place, the switch on the second button switch (10) with the lamp is pressed, the second control port (B) of the control motor positive and negative rotation control module (5) is conducted, the telescopic end of the electric push rod is further controlled to extend out, the braking function of the AGV parking brake is achieved, the pull arm (12) triggers the second travel switch (8) to trigger the lamp on the second button switch (10) with the lamp to be lightened, the braking function of the parking brake is started, and the power switch (2) can be disconnected to maintain the AGV.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210785502.4A CN115107724B (en) | 2022-07-06 | 2022-07-06 | Operating device and operating method of wheel type AGV stay wire type parking brake |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210785502.4A CN115107724B (en) | 2022-07-06 | 2022-07-06 | Operating device and operating method of wheel type AGV stay wire type parking brake |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115107724A CN115107724A (en) | 2022-09-27 |
| CN115107724B true CN115107724B (en) | 2023-09-26 |
Family
ID=83331842
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210785502.4A Active CN115107724B (en) | 2022-07-06 | 2022-07-06 | Operating device and operating method of wheel type AGV stay wire type parking brake |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115107724B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0608453A1 (en) * | 1993-01-28 | 1994-08-03 | Fulvio Briata | Device for switching full beam headlights to dipped beam, in particular for motor vehicles or the like |
| JPH06263016A (en) * | 1992-06-17 | 1994-09-20 | Miyako Jidosha Kogyo Kk | Driving device of parking brake |
| KR19980039075U (en) * | 1996-12-20 | 1998-09-15 | 양재신 | Button parking brake |
| JP2002098179A (en) * | 2000-09-21 | 2002-04-05 | Toyota Motor Corp | Remote-control device for electric actuator and parking brake system for vehicle |
| US6406102B1 (en) * | 1999-02-24 | 2002-06-18 | Orscheln Management Co. | Electrically operated parking brake control system |
| KR100613776B1 (en) * | 2005-08-02 | 2006-08-17 | 현대모비스 주식회사 | An apparatus for protection of fail for electric parking brake |
| JP2009025984A (en) * | 2007-07-18 | 2009-02-05 | Toyota Industries Corp | Travel controller for carrier vehicle |
| CN104192114A (en) * | 2014-08-25 | 2014-12-10 | 北京理工大学 | Electrically controlled pneumatic braking system of vehicle |
| CN111232053A (en) * | 2020-04-09 | 2020-06-05 | 山东蓬翔汽车有限公司 | 4X 2 wheeled vehicle type AGV steering system and control method thereof |
| US11059373B1 (en) * | 2018-12-10 | 2021-07-13 | Amazon Technologies, Inc. | Braking systems for an autonomous ground vehicle |
-
2022
- 2022-07-06 CN CN202210785502.4A patent/CN115107724B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06263016A (en) * | 1992-06-17 | 1994-09-20 | Miyako Jidosha Kogyo Kk | Driving device of parking brake |
| EP0608453A1 (en) * | 1993-01-28 | 1994-08-03 | Fulvio Briata | Device for switching full beam headlights to dipped beam, in particular for motor vehicles or the like |
| KR19980039075U (en) * | 1996-12-20 | 1998-09-15 | 양재신 | Button parking brake |
| US6406102B1 (en) * | 1999-02-24 | 2002-06-18 | Orscheln Management Co. | Electrically operated parking brake control system |
| JP2002098179A (en) * | 2000-09-21 | 2002-04-05 | Toyota Motor Corp | Remote-control device for electric actuator and parking brake system for vehicle |
| KR100613776B1 (en) * | 2005-08-02 | 2006-08-17 | 현대모비스 주식회사 | An apparatus for protection of fail for electric parking brake |
| JP2009025984A (en) * | 2007-07-18 | 2009-02-05 | Toyota Industries Corp | Travel controller for carrier vehicle |
| CN104192114A (en) * | 2014-08-25 | 2014-12-10 | 北京理工大学 | Electrically controlled pneumatic braking system of vehicle |
| US11059373B1 (en) * | 2018-12-10 | 2021-07-13 | Amazon Technologies, Inc. | Braking systems for an autonomous ground vehicle |
| CN111232053A (en) * | 2020-04-09 | 2020-06-05 | 山东蓬翔汽车有限公司 | 4X 2 wheeled vehicle type AGV steering system and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115107724A (en) | 2022-09-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR970000299B1 (en) | Electronically controlled fluid release fifth wheel mechanism | |
| CN103419771A (en) | Electronic parking brake system and method of indicating malfunction of parking brake switch | |
| CN106671964B (en) | Intelligent electronic parking system module assembly | |
| CN102442290B (en) | Intelligent control device for parking brake and auxiliary start | |
| US2172116A (en) | Automatic safety device for vehicles | |
| EP1571060B1 (en) | Vehicle with a pneumatic control line for operating the brakes of a trailer. | |
| CN108116383A (en) | A kind of automobile electrically-controlled brake apparatus and its method of work | |
| CN108501922B (en) | Pneumatic electronic parking system | |
| CN115107724B (en) | Operating device and operating method of wheel type AGV stay wire type parking brake | |
| CN104842978B (en) | Parking aid, motor vehicle braking system and vehicle | |
| US3521233A (en) | Brake indicating apparatus for a motorized two wheel vehicle | |
| US3034598A (en) | Tractor-trailer brake combination | |
| CN109334649B (en) | Brake system of dual-purpose rail vehicle and dual-purpose rail vehicle | |
| CN201002595Y (en) | Automobile driver off-vehicle off-position automatic control handle brake apparatus | |
| CN2830179Y (en) | Electric hand braking device | |
| CN214874751U (en) | Emergency braking system for automatic driving automobile | |
| CN210912383U (en) | Wire-controlled automobile brake controller | |
| CN209336701U (en) | Automatic driving vehicle electric controlled brake device | |
| CN210116501U (en) | Electronic parking system of electrically driven commercial vehicle | |
| CN110065484A (en) | A kind of electricity powered main brake valve structure | |
| CN212766512U (en) | Intelligent control multifunctional battery car | |
| CN210212352U (en) | Cantilever type commercial vehicle braking execution system | |
| CN103332181A (en) | Automatic parking brake | |
| CN207192707U (en) | A kind of autobrake system of electri forklift | |
| KR102570043B1 (en) | Manual emergency braking system for autonomous vehicles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |