CN108189823A - A kind of pilotless automobile general brake device and operating method - Google Patents
A kind of pilotless automobile general brake device and operating method Download PDFInfo
- Publication number
- CN108189823A CN108189823A CN201810047757.4A CN201810047757A CN108189823A CN 108189823 A CN108189823 A CN 108189823A CN 201810047757 A CN201810047757 A CN 201810047757A CN 108189823 A CN108189823 A CN 108189823A
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- China
- Prior art keywords
- ratchet
- brake
- pawl
- brake pedal
- guide rod
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Classifications
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- 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
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/06—Disposition of pedal
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Braking Elements And Transmission Devices (AREA)
Abstract
The present invention relates to a kind of pilotless automobile general brake device and operating methods, steering engine including providing power for brake apparatus, aforementioned brake apparatus includes ratchet mechanism and four-bar mechanism, ratchet mechanism includes ratchet, pawl-and-gearing disk, four-bar mechanism includes guide rod and brake pedal, servo driving ratchet rotates clockwise, the pawl locking being in contact with ratchet drives ratchet disc to rotate clockwise, the side-to-side movement for rotating clockwise drive leader of ratchet disc, it realizes the reciprocally swinging of brake pedal being connected with guide rod, completes brake；The present invention does not need to change the ABS system of former vehicle, and the action that unmanned braking system simulates manned braking is installed in the position of brake pedal, reduces the cost of pilotless automobile braking repacking, suitable for the automobile of different automobile types, has certain versatility.
Description
Technical field
The present invention relates to a kind of pilotless automobile general brake device and operating methods, belong to the unmanned neck of automobile
Domain, it is especially a kind of can be with the general pilotless automobile brake apparatus of human intervention.
Background technology
At present, unmanned technology not yet full maturity, it is unmanned mostly in the pilot development stage, be by perceiving
System detects vehicle-surroundings environmental information and vehicle oneself state information in real time, by vehicle-mounted computer calculation process, by bottom
Machine control actuator completes the basic operation of vehicle traveling.
The braking system performance of pilotless automobile is to weigh the important indicator of entire automated driving system, and braking system is closed
It is the safety issue to pilotless automobile, during the test, is capable of what human intervention at any time braked there is an urgent need to a
Automatic Pilot braking system.
Invention content
The present invention provides a kind of pilotless automobile general brake device and operating method, needs to change the ABS systems of former vehicle
System is installed the action that unmanned braking system simulates manned braking in the position of brake pedal, is reduced unmanned
The cost of automobile brake repacking suitable for the automobile of different automobile types, has certain versatility.
The technical solution adopted by the present invention to solve the technical problems is：
A kind of pilotless automobile general brake device, the steering engine including providing power for brake apparatus, aforementioned brake apparatus
Including ratchet mechanism and four-bar mechanism, ratchet mechanism includes ratchet, pawl-and-gearing disk, and four-bar mechanism includes guide rod and braking
Pedal, servo driving ratchet rotate clockwise, and the pawl locking being in contact with ratchet drives ratchet disc to rotate clockwise, spine
The side-to-side movement for rotating clockwise drive leader of disk is taken turns, realizes the reciprocally swinging of brake pedal being connected with guide rod, is completed
Brake；
As present invention further optimization, aforementioned ratchet mechanism includes ratchet, pawl-and-gearing disk, the center of ratchet
It is located on the output shaft of steering engine, pawl is in contact with the gear teeth of ratchet, and the locking to ratchet, ratchet disc are realized during for braking
Opening portion entire ratchet is coated, aforementioned pawl be mounted on ratchet disc opening portion madial wall on；
Aforementioned four-bar mechanism includes guide rod, brake pedal, installation ratchet circle in the side opposite with the output shaft of steering engine on ratchet
Disk, the enclosure portion of ratchet disc and one end of guide rod are hinged, and the other end and the brake pedal of guide rod are hinged；
As present invention further optimization, there are two aforementioned pawl is set altogether, it is installed in the interior of ratchet disc opening portion
On side wall, and the center of two pawls and the center of ratchet are on same axis；
As present invention further optimization, one end of aforementioned guide rod is hinged on the edge of ratchet disc, the other end
It is hinged on position of the brake pedal far from rotation center；
A kind of operating method of pilotless automobile general brake device, when being not carried out brake operation, steering engine is failure to actuate, i.e., it is not
Power is provided, ratchet, pawl, ratchet disc and guide rod are in stationary state at this time, and brake pedal is in not stopping for acquiescence
Car state；
When performing brake operation, steering engine rotates clockwise, and pawl is inserted into the tooth socket of the ratchet gear teeth at this time, and pawl is made to be in locking
State, so as to which ratchet disc be driven to rotate clockwise, ratchet disc rotate clockwise driving brake pedal connected to it to
Steering engine direction rotates, and realizes skidding operation；
During manual intervention brake operation, brake pedal is manually stepped on, steering engine slowly rotates counterclockwise, slowly turns counterclockwise in steering engine
During dynamic, pawl slips over the gear teeth of ratchet, and pawl lockup state releases at this time, and brake pedal is in brake pedal return spring force
Under the action of restore to brake pedal first beginning and end braking state, complete manual intervention brake operating.
By above technical scheme, relative to the prior art, the invention has the advantages that：
The braking system of former vehicle is not changed, easy for installation, repacking is at low cost；
Ratchet mechanism unidirectional drive, prevents brake pedal from reversing, safe；
Can unpiloted test development safety ensure that with manual intervention；
Four-bar mechanism is reliable and stable, has quickreturn characteristics, suitable for the working mechanism of braking system.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the overall construction drawing of the brake apparatus of the preferred embodiment of the present invention；
Fig. 2 is the structure chart of the ratchet mechanism of the preferred embodiment of the present invention；
Fig. 3 is the fundamental diagram of the four-bar mechanism of the preferred embodiment of the present invention.
In figure：1 is steering engine, and 2 be ratchet disc, and 3 be pawl, and 4 be ratchet, and 5 be guide rod, and 6 be brake pedal, and A is crank,
B is connecting rod, and C is swing rod.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows composition related to the present invention.
As shown in Figure 1, the present invention includes following technical characteristic：1 is steering engine, and 2 be ratchet disc, and 3 be pawl, and 4 be ratchet,
5 be guide rod, and 6 be brake pedal, and A is crank, and B is connecting rod, and C is swing rod.
A kind of pilotless automobile general brake device of present invention offer, the steering engine including providing power for brake apparatus,
Aforementioned brake apparatus includes ratchet mechanism and four-bar mechanism, and ratchet mechanism includes ratchet, pawl-and-gearing disk, four-bar mechanism
Including guide rod and brake pedal, servo driving ratchet rotates clockwise, and the pawl locking being in contact with ratchet drives ratchet circle
Disk rotates clockwise, the side-to-side movement for rotating clockwise drive leader of ratchet disc, realizes the brake pedal being connected with guide rod
Reciprocally swinging, complete brake.
As present invention further optimization, aforementioned ratchet mechanism includes ratchet, pawl-and-gearing disk, in ratchet
The heart is set on the output shaft of steering engine, and pawl is in contact with the gear teeth of ratchet, and the locking to ratchet, ratchet are realized during for braking
The opening portion of disk coats entire ratchet, and aforementioned pawl is mounted on the madial wall of ratchet disc opening portion；
Aforementioned four-bar mechanism includes guide rod, brake pedal, installation ratchet circle in the side opposite with the output shaft of steering engine on ratchet
Disk, the enclosure portion of ratchet disc and one end of guide rod are hinged, and the other end and the brake pedal of guide rod are hinged；
As present invention further optimization, there are two aforementioned pawl is set altogether, it is installed in the interior of ratchet disc opening portion
On side wall, and the center of two pawls and the center of ratchet are on same axis；
As present invention further optimization, one end of aforementioned guide rod is hinged on the edge of ratchet disc, the other end
It is hinged on position of the brake pedal far from rotation center；
A kind of operating method of pilotless automobile general brake device, when being not carried out brake operation, steering engine is failure to actuate, i.e., it is not
Power is provided, ratchet, pawl, ratchet disc and guide rod are in stationary state at this time, and brake pedal is in not stopping for acquiescence
Car state；
When performing brake operation, steering engine rotates clockwise, and pawl is inserted into the tooth socket of the ratchet gear teeth at this time, and pawl is made to be in locking
State, so as to which ratchet disc be driven to rotate clockwise, ratchet disc rotate clockwise driving brake pedal connected to it to
Steering engine direction rotates, and realizes skidding operation；
During manual intervention brake operation, brake pedal is manually stepped on, steering engine slowly rotates counterclockwise, slowly turns counterclockwise in steering engine
During dynamic, pawl slips over the gear teeth of ratchet, and pawl lockup state releases at this time, and brake pedal is in brake pedal return spring force
Under the action of restore to brake pedal first beginning and end braking state, complete manual intervention brake operating..
The preferred embodiment of the present invention is using steering engine as driving motor, the ratchet that is formed with ratchet, pawl-and-gearing disk
Mechanism realizes the one-way movement of ratchet disc, ensures that ratchet disc is nonreversible；It is formed with ratchet disc, guide rod and brake pedal
Four-bar mechanism realize motor the swing for being converted to brake pedal.
The structure chart of ratchet mechanism as shown in Figure 2, the gear teeth of ratchet are unidirectional tooth, and pawl is hinged on ratchet disc,
When ratchet rotationally clockwise when, pawl is locked on the gear teeth, drive ratchet disc rotate clockwise；When in braking state
When, there are reseting torques guide rod to be driven to move right for brake pedal, can prevent to brake since pawl is inserted into the tooth socket of ratchet
Pedal resets；When manual intervention brake pedal, brake pedal, driving guide rod, ratchet disc is clockwise at this time to left movement
Rotation, pawl slip on ratchet, and having achieved the purpose that can the brake of manual intervention at any time.
Four-bar mechanism principle figure as shown in Figure 3, in figure：Ratchet disc is represented with the crank A in figure, and connecting rod B represents system
The guide rod of dynamic device, swing rod C represent brake pedal；When swing rod C is located at C1 positions, crank A is located at A1 positions, at this time crank A
It is conllinear with connecting rod B, represent that brake pedal is in reset state, when swing rod C is in C2 positions, crank A is located at A2 positions, at this time
Crank A and connecting rod B is overlapped collinearly, represents that brake pedal is in maximum braking distance position；Crank A is driving link, and swing rod C is
Driven member, when crank A makees constant velocity rotation, swing rod C makees the reciprocating swing of speed change, and connecting rod B makees Planar Compound movement.
When emergency, which occurs, in pilotless automobile needs manual intervention automatic device, brake pedal is manually stepped on, is led to
Crossing guide rod drives ratchet disc to rotate clockwise, because steering engine is in not operating state, ratchet is static not to be rotated, and pawl exists at this time
The gear teeth of ratchet are slipped under the drive of ratchet disc；Therefore, there are static(al)s after the power is turned on there is no steering engine for brake apparatus of the invention
Square and the phenomenon that cause manually intervene brake, ensure that the safety of pilotless automobile.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein（Including technology art
Language and scientific terminology）With the identical meaning of the general understanding with the those of ordinary skill in the application fields.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, will not be with idealizing or the meaning of too formal be explained.
The meaning of "and/or" described herein refers to that the simultaneous situation of respective individualism or both is wrapped
Including including.
The meaning of " connection " described herein can be between component to be directly connected to can also pass through between component
Other components are indirectly connected with.
Using above-mentioned desirable embodiment according to the present invention as enlightenment, by above-mentioned description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the content on specification, it is necessary to determine its technical scope according to right.
Claims (5)
1. a kind of pilotless automobile general brake device, the steering engine including providing power for brake apparatus, it is characterised in that：Before
The brake apparatus stated includes ratchet mechanism and four-bar mechanism, and ratchet mechanism includes ratchet, pawl-and-gearing disk, four-bar mechanism packet
Guide rod and brake pedal are included, servo driving ratchet rotates clockwise, and the pawl locking being in contact with ratchet drives ratchet disc
It rotates clockwise, the side-to-side movement for rotating clockwise drive leader of ratchet disc, the brake pedal that realization is connected with guide rod
Reciprocally swinging completes brake.
2. pilotless automobile general brake device according to claim 1, it is characterised in that：
Aforementioned ratchet mechanism includes ratchet, pawl-and-gearing disk, and the center of ratchet is set on the output shaft of steering engine, pawl
It being in contact with the gear teeth of ratchet, realizing the locking to ratchet during for braking, the opening portion of ratchet disc is by entire ratchet packet
It covers, aforementioned pawl is mounted on the madial wall of ratchet disc opening portion；
Aforementioned four-bar mechanism includes guide rod, brake pedal, installation ratchet circle in the side opposite with the output shaft of steering engine on ratchet
Disk, the enclosure portion of ratchet disc and one end of guide rod are hinged, and the other end and the brake pedal of guide rod are hinged.
3. pilotless automobile general brake device according to claim 2, it is characterised in that：Aforementioned pawl is equipped with altogether
It two, is installed on the madial wall of ratchet disc opening portion, and the center of two pawls and the center of ratchet are in same
On axis.
4. pilotless automobile general brake device according to claim 2, it is characterised in that：One end of aforementioned guide rod
The edge of ratchet disc is hinged on, the other end is hinged on position of the brake pedal far from rotation center.
5. a kind of operating method of pilotless automobile general brake device, it is characterised in that：
When being not carried out brake operation, steering engine is failure to actuate, i.e., it does not provide power, at this time ratchet, pawl, ratchet disc and guide rod
Stationary state is in, brake pedal is in the non-braking state of acquiescence；
When performing brake operation, steering engine rotates clockwise, and pawl is inserted into the tooth socket of the ratchet gear teeth at this time, and pawl is made to be in locking
State, so as to which ratchet disc be driven to rotate clockwise, ratchet disc rotate clockwise driving brake pedal connected to it to
Steering engine direction rotates, and realizes skidding operation；
During manual intervention brake operation, brake pedal is manually stepped on, steering engine slowly rotates counterclockwise, slowly turns counterclockwise in steering engine
During dynamic, pawl slips over the gear teeth of ratchet, and pawl lockup state releases at this time, and brake pedal is in brake pedal return spring force
Under the action of restore to brake pedal first beginning and end braking state, complete manual intervention brake operating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810047757.4A CN108189823B (en) | 2018-01-18 | 2018-01-18 | Universal braking device for unmanned automobile and operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810047757.4A CN108189823B (en) | 2018-01-18 | 2018-01-18 | Universal braking device for unmanned automobile and operation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108189823A true CN108189823A (en) | 2018-06-22 |
| CN108189823B CN108189823B (en) | 2021-01-19 |
Family
ID=62589625
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810047757.4A Active CN108189823B (en) | 2018-01-18 | 2018-01-18 | Universal braking device for unmanned automobile and operation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108189823B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050459A (en) * | 2018-07-26 | 2018-12-21 | 东南大学 | A kind of omnidirectional vehicle collision protection system, monitoring protection method and the automobile for being equipped with the system |
| CN109837586A (en) * | 2019-03-26 | 2019-06-04 | 浙江晶盛机电股份有限公司 | A kind of anti-fall additional locking devices for monocrystalline silicon growing furnace crucible hoisting frame |
| CN109893307A (en) * | 2019-03-29 | 2019-06-18 | 东北大学 | The ratchet stop with air bag based on 3D printing moves mechanical prosthetic limb and application method |
| CN110667546A (en) * | 2019-08-26 | 2020-01-10 | 武汉理工大学 | Unmanned target vehicle braking method and system |
Citations (4)
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|---|---|---|---|---|
| JPS57194144A (en) * | 1981-05-25 | 1982-11-29 | Toyota Motor Corp | Brake state detector for car |
| KR20060004270A (en) * | 2004-07-09 | 2006-01-12 | 현대모비스 주식회사 | Automatic brake system for a vehicle |
| CN101780794A (en) * | 2010-01-30 | 2010-07-21 | 奇瑞汽车股份有限公司 | Braking device of unpiloted vehicle |
| CN202463579U (en) * | 2012-03-16 | 2012-10-03 | 秦先锋 | Auxiliary device for clutch operation |
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2018
- 2018-01-18 CN CN201810047757.4A patent/CN108189823B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57194144A (en) * | 1981-05-25 | 1982-11-29 | Toyota Motor Corp | Brake state detector for car |
| KR20060004270A (en) * | 2004-07-09 | 2006-01-12 | 현대모비스 주식회사 | Automatic brake system for a vehicle |
| CN101780794A (en) * | 2010-01-30 | 2010-07-21 | 奇瑞汽车股份有限公司 | Braking device of unpiloted vehicle |
| CN202463579U (en) * | 2012-03-16 | 2012-10-03 | 秦先锋 | Auxiliary device for clutch operation |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050459A (en) * | 2018-07-26 | 2018-12-21 | 东南大学 | A kind of omnidirectional vehicle collision protection system, monitoring protection method and the automobile for being equipped with the system |
| CN109837586A (en) * | 2019-03-26 | 2019-06-04 | 浙江晶盛机电股份有限公司 | A kind of anti-fall additional locking devices for monocrystalline silicon growing furnace crucible hoisting frame |
| CN109837586B (en) * | 2019-03-26 | 2024-03-05 | 浙江晶盛机电股份有限公司 | Anti-slip auxiliary locking device for crucible lifting frame of monocrystalline silicon growth furnace |
| CN109893307A (en) * | 2019-03-29 | 2019-06-18 | 东北大学 | The ratchet stop with air bag based on 3D printing moves mechanical prosthetic limb and application method |
| CN110667546A (en) * | 2019-08-26 | 2020-01-10 | 武汉理工大学 | Unmanned target vehicle braking method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108189823B (en) | 2021-01-19 |
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