CN101780794B - Braking device of unpiloted vehicle - Google Patents

Braking device of unpiloted vehicle Download PDF

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Publication number
CN101780794B
CN101780794B CN201010110467.3A CN201010110467A CN101780794B CN 101780794 B CN101780794 B CN 101780794B CN 201010110467 A CN201010110467 A CN 201010110467A CN 101780794 B CN101780794 B CN 101780794B
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CN
China
Prior art keywords
brake
motor
bobbin winoler
electromagnetic
braking
Prior art date
Application number
CN201010110467.3A
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Chinese (zh)
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CN101780794A (en
Inventor
郭磊
张光明
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奇瑞汽车股份有限公司
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Application filed by 奇瑞汽车股份有限公司 filed Critical 奇瑞汽车股份有限公司
Priority to CN201010110467.3A priority Critical patent/CN101780794B/en
Publication of CN101780794A publication Critical patent/CN101780794A/en
Application granted granted Critical
Publication of CN101780794B publication Critical patent/CN101780794B/en

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Abstract

The invention relates to a braking device of an unpiloted vehicle. The braking device comprises a motor, wherein the output shaft of the motor is fixed with the input shaft of a decelerator; the output shaft of the decelerator is fixedly connected with the central shaft of a brake actuating mechanism through an electromagnetic brake used for maintaining the braking state of the vehicle; the brake actuating mechanism comprises a winder on which a pull rope is wound; one end of the pull rope is fixed on the winder, while the other end is connected with the support rod of a braking pedal; and the motor drives the winder to ensure that the pull rope pulls the braking pedal to brake. By using the winder on which the pull rope is wound, the brake actuating mechanism is set as a guyed flexible connection mode; and when braking, the motor drives the central shaft of the winder to rotate, and the winder rotates clockwise or counterclockwise to elongate or shorten the pull rope in order to pull the braking pedal to swing up and down and to control the magnitude of a braking force. The braking device has the characteristics of small size, great output force, convenient installation and space conservation, and little influence on a driver after a driving state is switched to a manual driving state.

Description

The brake apparatus of automatic driving vehicle

Technical field

The present invention relates to vehicle brake technology field, especially a kind of brake apparatus of automatic driving vehicle.

Background technology

At present, unmanned technology is in the pilot development stage mostly, controls frame for movement by the related data of sensor collection vehicle periphery and vehicle self, thus replace people complete turn to, brake, the action of throttle, gearshift.The automaton of existing brakes is all by Hard link, namely drives the mode of brake pedal to realize, and the plant bulk of this method for designing is comparatively large, occupies larger driving cabin space, to the switching inconvenience of pilot steering.

Summary of the invention

The object of the present invention is to provide a kind of brake apparatus saved arrangement space, be convenient to carry out with pilot steering state the automatic driving vehicle switched.

For achieving the above object, present invention employs following technical scheme: a kind of brake apparatus of automatic driving vehicle, comprise motor, motor output shaft and reducer input shaft are connected, reducer output shaft is connected by the central shaft of electromagnetic brake and brake actuator for keeping car brakeing state, described brake actuator comprises the bobbin winoler being wound with stay cord, one end of stay cord is installed on bobbin winoler, the other end is connected with the support bar of brake pedal, and motor drives bobbin winoler to make stay cord pull brake pedal to brake.

As shown from the above technical solution, the present invention is wound with the bobbin winoler of stay cord by arranging, brake actuator is set to this mode be flexible coupling of stay-supported, when braking, rotated by the central shaft of driven by motor bobbin winoler, bobbin winoler carries out forward or reverse makes stay cord elongate or shorten, thus pulls brake pedal to swing up and down, and controls the size of brake force.The size of this device is little, High power output, is convenient to install, and saves space, after switching to pilot steering state, less on the impact of driver.

Accompanying drawing explanation

Fig. 1 is circuit block diagram of the present invention;

Fig. 2 is structural representation of the present invention.

Detailed description of the invention

A kind of brake apparatus of automatic driving vehicle, comprise motor 10, motor output shaft and reducer input shaft are connected, reducer output shaft 22 is connected by the central shaft of electromagnetic brake 30 and brake actuator 40 for keeping car brakeing state, described brake actuator 40 comprises the bobbin winoler 41 being wound with stay cord, one end of stay cord is installed on bobbin winoler 41, and the other end is connected with the support bar 44 of brake pedal 43, and motor 10 drives bobbin winoler 41 to make stay cord pull brake pedal 43 to brake.Namely drive bobbin winoler 41 to rotate by motor 10, make stay cord hold support bar 44, support bar 44 drives brake pedal 43 to swing up and down, thus controls the size of brake force, as shown in Figure 2.

Composition graphs 2, described stay cord adopts steel wire rope 42, one end of steel wire rope 42 is wrapped on the edge side face of bobbin winoler 41 along the circumference of bobbin winoler 41, on the support bar 44 that the other end of steel wire rope 42 is hinged on the brake pedal 43 and position be positioned near brake pedal 43, the rotating shaft 41a of bobbin winoler 41 is connected with reducer output shaft 22 is coaxial with transmitting torque.Described motor 10 adopts direct current generator, the mounting flange 11 of motor 10 is connected with the mounting flange 21 of decelerator 20, described electromagnetic brake 30 comprises electromagnetic rotor 31 and electromagnetic stator 32, electromagnetic rotor 31 is provided with hole for making the rotating shaft 41a of reducer output shaft 22 and bobbin winoler 41 coaxially be connected and key, and electromagnetic stator 32 is fixed on vehicle body by support.The draw direction of described steel wire rope 42 is axial vertical with the rotating shaft 41a's of bobbin winoler 41, the side face of bobbin winoler 41 is provided with the helical groove for lay winding wire ropes 42, when steel wire rope 42 pulls brake pedal 43 downwards, steel wire rope 43 meeting run-off the straight, this groove can make steel wire rope 42 keep vertical, thus reduces wear.Why in automatic driving vehicle, retain brake pedal 43, object is the switching in order to be carried out artificial and unmanned state by the conversion of control mode, and steel wire rope 42 is hinged on the support bar 44 of brake pedal 43, and non-immediate is hinged on brake pedal 43, be in order to avoid causing interference to pilot steering state.

Composition graphs 1, the signal input part of described motor 10 connects an ECU controller 50, respectively for detecting the signal output part of the 2nd ECU controller 60 of ECU controller 50 duty, one ECU controller 50 is connected with the 2nd ECU controller 60, and the signal output part of an ECU controller 50, the 2nd ECU controller 60 also connects the signal input part of electromagnetic brake 30 respectively.The power supply of powering to the 2nd ECU controller 60 is vehicle own power source, and the power supply of powering to an ECU controller 50 is the power supply of this apparatus control system.

Below in conjunction with Fig. 1,2 the present invention is further illustrated.

Described motor 10 reduces rotating speed through decelerator 20 and increases moment of torsion, and drive bobbin winoler 41 to rotate, bobbin winoler 41 carries out forward or reverse makes steel wire rope 42 elongate or shorten, and steel wire rope 42 pulls brake pedal 43 to swing up and down, and controls the size of brake force.When brake pedal 43 advances to a certain assigned address and needs to keep, now by electromagnetic rotor 31 locking of electromagnetic brake 30, stop the rotating shaft 41a of bobbin winoler 41 to rotate, complete the function of confining force.By motor 10 power-off while electromagnetic brake 30 locking, long stall is avoided to affect the life-span of motor 10.When needing the size changing vehicle braking force, the electromagnetic rotor 31 of electromagnetic brake 30 unclamps, and motor 10 works, and is changed the position of brake pedal 43 by the rotation of bobbin winoler 41.

A described ECU controller 50 pairs of motors 10 and electromagnetic brake 30 carry out cooperation control, and the brake force of the rotation and electromagnetic brake 30 that realize motor 10 keeps, and realizes the control for brake in unmanned process by brake actuator 40.2nd ECU controller 60 is used for the duty of monitoring the one ECU controller 50, when Unmanned Systems closes, one ECU controller 50 does not work, now the 2nd ECU controller 60 controls motor 10 and moves brake pedal 43 to car brakeing position rapidly by brake actuator 40, electromagnetic brake 30 locking, keep the on-position of vehicle, motor 10 power-off does not work, until an ECU controller 50 is reworked.

In sum, core of the present invention is that controlling motor 10 by an ECU controller 50 rotarily drives the swing that steel wire rope 42 completes brake pedal 43, and electromagnetic brake 30 locking is to keep brake force simultaneously, jointly realizes braking.Visible, the present invention, when unmanned, replace manually stepping on brake pedal 43 by motor 10 and brake actuator 40, realizes vehicle deceleration and braking procedure.Size of the present invention is little, High power output, is convenient to install, and saves space, after switching to pilot steering state, less on the impact of driver.

Claims (5)

1. the brake apparatus of an automatic driving vehicle, comprise motor (10), it is characterized in that: motor output shaft and reducer input shaft are connected, reducer output shaft (22) passes through for keeping the electromagnetic brake of car brakeing state (30) to be connected with the central shaft of brake actuator (40), described brake actuator (40) comprises the bobbin winoler (41) being wound with stay cord, one end of stay cord is installed on bobbin winoler (41), the other end is connected with the support bar (44) of brake pedal (43), motor (10) drives bobbin winoler (41) to make stay cord pull brake pedal (43) to brake,
The signal input part of described motor (10) connects an ECU controller (50), respectively for detecting the signal output part of the 2nd ECU controller (60) of ECU controller (50) duty, one ECU controller (50) is connected with the 2nd ECU controller (60), and the signal output part of an ECU controller (50), the 2nd ECU controller (60) also connects the signal input part of electromagnetic brake (30) respectively.
2. the brake apparatus of automatic driving vehicle according to claim 1, it is characterized in that: described stay cord adopts steel wire rope (42), one end of steel wire rope (42) is wrapped on the edge side face of bobbin winoler (41) along the circumference of bobbin winoler (41), the other end of steel wire rope (42) is hinged on the upper and position be positioned near brake pedal (43) of the support bar (44) of brake pedal (43), and the rotating shaft (41a) of bobbin winoler (41) is coaxially connected with reducer output shaft (22).
3. the brake apparatus of automatic driving vehicle according to claim 1 and 2, it is characterized in that: described motor (10) adopts direct current generator, the mounting flange (11) of motor (10) and the mounting flange (21) of decelerator (20) are connected, described electromagnetic brake (30) comprises electromagnetic rotor (31) and electromagnetic stator (32), electromagnetic rotor (31) is provided with hole for making the rotating shaft (41a) of reducer output shaft (22) and bobbin winoler (41) coaxially be connected and key, and electromagnetic stator (32) is fixed on vehicle body by support.
4. the brake apparatus of automatic driving vehicle according to claim 2, it is characterized in that: the draw direction of described steel wire rope (42) is axial vertical with the rotating shaft (41a) of bobbin winoler (41), and the side face of bobbin winoler (41) is provided with the spiral helicine groove for lay winding wire ropes (42).
5. the brake apparatus of automatic driving vehicle according to claim 3, it is characterized in that: after described electromagnetic brake (30) energising, electromagnetic rotor (31) locking, motor (10) stops, rotating shaft (41a) stall of reducer output shaft (22) and bobbin winoler (41).
CN201010110467.3A 2010-01-30 2010-01-30 Braking device of unpiloted vehicle CN101780794B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201010110467.3A CN101780794B (en) 2010-01-30 2010-01-30 Braking device of unpiloted vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201010110467.3A CN101780794B (en) 2010-01-30 2010-01-30 Braking device of unpiloted vehicle

Publications (2)

Publication Number Publication Date
CN101780794A CN101780794A (en) 2010-07-21
CN101780794B true CN101780794B (en) 2015-04-29

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201010110467.3A CN101780794B (en) 2010-01-30 2010-01-30 Braking device of unpiloted vehicle

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Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102879690A (en) * 2012-10-15 2013-01-16 江苏省如高高压电器有限公司 Electro-dynamic mechanism load test device for isolating switch
CN102991483A (en) * 2012-11-29 2013-03-27 浙江吉利汽车研究院有限公司杭州分公司 System and method for intelligent braking of vehicle under driverless control
CN103496361B (en) * 2013-10-23 2017-01-04 北京汽车股份有限公司 A kind of unmanned device, method and automobile controlling braking
CN104554209B (en) * 2013-10-25 2018-06-26 比亚迪股份有限公司 Brake controller for car and method
CN103625454B (en) * 2013-12-12 2015-09-23 中国嘉陵工业股份有限公司(集团) A kind of automatic driving vehicle brake equipment
CN103738321A (en) * 2013-12-21 2014-04-23 柳州正菱集团有限公司 Automotive brake device
CN104192104B (en) * 2014-09-22 2017-01-25 奇瑞汽车股份有限公司 Brake pedal mechanism
CN105730421A (en) * 2016-01-29 2016-07-06 大连楼兰科技股份有限公司 Automobile braking device and method based on DC speed reducing motor
CN106864436A (en) * 2017-03-14 2017-06-20 长安大学 A kind of automatic driving vehicle brakes and braking method
CN109987081A (en) * 2017-12-29 2019-07-09 长城汽车股份有限公司 Passenger vehicle
CN108344330A (en) * 2018-01-04 2018-07-31 中国空空导弹研究院 A kind of unmanned target vehicle and a kind of unmanned target vehicle ontology
CN108189823A (en) * 2018-01-18 2018-06-22 东南大学 A kind of pilotless automobile general brake device and operating method
CN109693651A (en) * 2018-12-18 2019-04-30 中国科学院深圳先进技术研究院 It can be used for unpiloted braking executive device, vehicle and control method

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