CN108297849B - Wire control brake device for unmanned racing car - Google Patents
Wire control brake device for unmanned racing car Download PDFInfo
- Publication number
- CN108297849B CN108297849B CN201810297031.6A CN201810297031A CN108297849B CN 108297849 B CN108297849 B CN 108297849B CN 201810297031 A CN201810297031 A CN 201810297031A CN 108297849 B CN108297849 B CN 108297849B
- Authority
- CN
- China
- Prior art keywords
- brake
- driving
- output shaft
- lifting lug
- speed reducer
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- 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.)
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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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- 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
Abstract
The invention discloses a wire control brake device for an unmanned racing car, which comprises: braking the motor; the speed reducer is fixedly connected with the output shaft of the braking motor, and two baffle plates are oppositely arranged beside the circumference of the output shaft of the speed reducer; one end of the driving rocker arm is fixedly connected with an output shaft of the speed reducer, a circular through hole is formed in the upper end of the driving rocker arm, and two grooves are formed in the inner wall of the through hole in a circumferential opposite mode; wherein the baffle plate and the groove are oppositely matched and installed; one end of the right-angle pull rod is hinged with the other end of the driving rocker arm; and one end of the driving pull plate lifting lug is hinged with the other end of the right-angle pull rod, and the other end of the driving pull plate lifting lug is hinged with the upper end of the brake pedal. The wire control brake device for the unmanned racing car is provided, and on the premise of braking reliability, the braking during the manned operation and the braking during the unmanned operation are not interfered with each other.
Description
Technical Field
The invention relates to the technical field of unmanned racing vehicles, in particular to a braking system of an unmanned racing vehicle.
Background
Unmanned has been developed under the development of intelligent technology and interconnection technology, in order to promote the talent culture of the automobile industry in China, college students research the unmanned racing technology by modifying the original electric racing car, and the racing event requires to realize unmanned on the basis of driver's ability to participate in the college student equation competition. The brake system is modified by wire control, the existing unmanned racing car is braked mainly by adding a stay rope in front of a brake pedal, the stay rope is wound on an output shaft of a motor, and the motor rotates to drive the stay rope to pull the brake pedal to rotate. But this braking mode is less reliable.
Aiming at the problems, the wire control modification of the unmanned racing car braking system with high reliability is urgently needed, so that the mutual noninterference between the braking during the manned driving and the braking during the unmanned driving is ensured under the premise of braking reliability.
Disclosure of Invention
The invention provides a wire control brake device for an unmanned racing car, which aims to solve the defects of the prior art, and the wire control brake device is used for braking when a person drives and braking when the person does not interfere with each other on the premise of braking reliability.
Another object of the invention is to provide a device that can be braked in case of emergency, improving the safety performance of racing vehicles.
The technical scheme provided by the invention is as follows: a brake-by-wire apparatus for an unmanned racing vehicle, comprising:
braking the motor;
the speed reducer is fixedly connected with the output shaft of the braking motor, and two baffle plates are oppositely arranged beside the circumference of the output shaft of the speed reducer;
one end of the driving rocker arm is fixedly connected with an output shaft of the speed reducer, a circular through hole is formed in the upper end of the driving rocker arm, and two grooves are formed in the inner wall of the through hole in a circumferential opposite mode;
the baffle plate is arranged in a matching manner relative to the groove, and can rotate relative to the groove in the groove;
one end of the right-angle pull rod is hinged with the other end of the driving rocker arm;
and one end of the driving pull plate lifting lug is hinged with the other end of the right-angle pull rod, and the other end of the driving pull plate lifting lug is hinged with the upper end of the brake pedal.
Preferably, the method further comprises:
a cylinder;
the slideway is connected with the output end of the cylinder;
the optical axis is connected with the driving pull plate lifting lug;
wherein the optical axis is matingly mounted to the slideway and is slidable on the slideway.
Preferably, the method further comprises:
and the motor fixing frame is arranged on the frame and fixedly supports the braking motor.
Preferably, the output shaft of the speed reducer is of a hollow structure, and a through groove is formed in the inner wall of the hollow structure;
the center of the limiting plate is provided with a round hole, the limiting plate is arranged on the driving rocker arm, and the round hole is coaxial with the through hole;
the cylindrical pin is provided with hooks at two ends, and radially penetrates through the through hole, the round hole and the through groove, and the hooks are positioned at the bottom of the output shaft of the speed reducer and outside the limiting plate.
Preferably, an optical axis lifting lug is arranged on the optical axis and hinged with the driving pull plate lifting lug.
Preferably, a slideway lifting lug is arranged on the slideway and hinged with the output end of the air cylinder.
Preferably, the other end of the cylinder is hinged with a welding lifting lug of the frame.
Preferably, the method further comprises:
and the brake master cylinder is hinged with one end of the brake pedal.
Preferably, the method further comprises:
and the supporting seat is used for fixedly supporting the other end of the driving pulling plate lifting lug.
Preferably, the braking time is controlled by controlling the rotation angle of the output shaft of the speed reducer at the time of unmanned braking, which satisfies the following relation:
wherein v is the speed of the racing car when starting braking, t is the braking time, θ is the rotation angle of the output shaft of the speed reducer, and f 1 The value of the friction coefficient of the road surface is 0.11, f 2 The friction coefficient between the output shaft and the driving rocker arm is 0.098.
The beneficial effects of the invention are as follows: the brake system of the unmanned racing car is modified by wire control, so that the problem that the braking is interfered with the braking during the driving of a person and the braking during the unmanned driving is solved; meanwhile, the invention can brake under emergency, enhances the braking reliability of the racing car and improves the safety performance of the racing car.
Drawings
Fig. 1 is an isometric view of a brake-by-wire apparatus for an unmanned racing vehicle in accordance with the present invention.
Fig. 2 is a front view of a brake-by-wire apparatus for an unmanned racing vehicle according to the present invention.
Fig. 3 is an isometric view of a brake motor and drive rocker arm connection for a brake-by-wire apparatus for an unmanned racing vehicle in accordance with the present invention.
Fig. 4 is an exploded isometric view of a brake motor and drive rocker arm of a brake-by-wire apparatus for use with an unmanned racing vehicle in accordance with the present invention.
Detailed Description
The present invention is described in further detail below with reference to the drawings to enable those skilled in the art to practice the invention by referring to the description.
As shown in fig. 1-2, the present invention provides a brake-by-wire apparatus for an unmanned racing car, which is retrofitted to the existing structure of an existing unmanned racing car, and includes a motor mount 200 which is mounted and fixed to a frame by bolts and is located above a brake pedal 910. The brake motor 100 is fixed in the motor fixing frame 200 through bolts, a speed reducer 300 is arranged on an output shaft of the brake motor 100, the speed reducer 300 is also fixed on the motor fixing frame 200 through bolts, and an output shaft 310 of the speed reducer 300 extends out of the motor fixing frame 300 and is connected with the driving rocker arm 700 through a flat key.
As shown in fig. 3-4, the output shaft 310 of the speed reducer 300 has a hollow cylindrical structure, a through groove 313 is provided on the hollow inner wall 312, and two baffle plates 311 are provided beside the outer circumference of the output shaft 310 of the speed reducer 300. The upper end of the driving rocker arm 700 is provided with a circular through hole 730, and two grooves 731 are symmetrically arranged on the inner wall of the through hole 730. The output shaft 310 of the speed reducer 300 and the baffle 311 are located in the circular through hole 730, the baffle 311 is disposed in the groove 731, and the baffle 311 is rotatably disposed in the groove 731 relative to the groove 731. The limiting plate 710 has a circular hole at the center thereof, and the limiting plate 710 is disposed on the driving rocker arm 700, the circular hole being coaxial with the through hole 730 of the driving rocker arm 700; the two ends of the cylindrical pin 720 are provided with hooks, the cylindrical pin 720 radially penetrates through the through hole 730, the round hole and the through groove 313, and the hooks are positioned at the bottom of the output shaft 310 of the speed reducer 300 and outside the limiting plate 710.
The support base 920 fixedly supports the driving plate lifting lug 800, the other end of the driving plate lifting lug 800 is hinged to the upper arm of the brake pedal 910, one end of the right-angle pull rod 400 is hinged to the other end of the driving rocker arm 700, and the other end of the right-angle pull rod is hinged to the driving plate lifting lug 800. The racing car is provided with an emergency pneumatic device, a cylinder 600 of the emergency pneumatic device is connected with a driving pull plate lifting lug 800 through a slideway optical axis 500, and the other end of the cylinder 600 of the emergency pneumatic device is hinged with a welding lifting lug on a racing car frame. The slideway optical axis 500 comprises a slideway and an optical axis. An optical axis connected to an output end of the cylinder 600; and a slideway connected to the driving pulling plate lifting lug 800. The optical axis is matingly mounted to the slideway and is slidable on the slideway. The slideway of the slideway optical axis 500 is fixedly provided with a slideway lifting lug 520, and the slideway lifting lug 520 is hinged with the cylinder 600. An optical axis lifting lug 510 is fixedly arranged on the optical axis of the slideway optical axis 500 and is hinged with the driving pulling plate lifting lug 800. The emergency pneumatic braking device is a mechanical energy storage type braking device. A master cylinder 930 hinged to one end of the brake pedal 910.
The working principle of the wire control device of the unmanned racing car is as follows:
when no person drives, in the normal mode, the brake motor controller sends a command to the brake motor 100, so that the brake motor 100 drives the output shaft 310 of the speed reducer 300 to rotate, the output shaft 310 of the speed reducer 300 drives the driving rocker arm 700 to rotate, the right-angle pull rod 400 is pulled, the driving pull plate lifting lug 800 drives the brake pedal 910 to rotate, and the brake master cylinder 930 is compressed to realize braking. When the racing car encounters an unexpected situation and needs emergency braking, the emergency pneumatic braking device is triggered, the cylinder 600 pulls the slide rail lifting lug 520, the slide rail lifting lug 520 pulls the optical axis lifting lug 510, the optical axis lifting lug 510 pulls the driving pull plate lifting lug 800, and the brake pedal 910 is rotated to compress the brake master cylinder 930, so that braking under the emergency situation is completed.
In this embodiment, the racing car is provided with a speed sensor mounted on the wheel hub of the racing car for detecting the speed of the racing car. When the unmanned racing car is braked, the speed sensor is used for acquiring the speed of the racing car when the unmanned racing car starts to brake, then the braking time is judged according to specific conditions, and the rotation angle of the output shaft of the speed reducer is controlled through the braking motor controller to control the unmanned running condition of the racing car.
And controlling the braking time by controlling the rotation angle of an output shaft of the speed reducer through a brake motor controller during unmanned braking, wherein the braking time meets the following relation:
wherein v is the speed of the racing car when starting braking, and the speed is above 80km/h when adopting the unmanned braking system in actual running. t is the braking time, θ is the rotation angle of the output shaft of the speed reducer, f 1 The friction coefficient of the road surface is 0.11, f 2 The friction coefficient between the output shaft and the driving rocker arm is 0.098.
When a driver drives, the driver depresses the brake pedal 910, the brake pedal 910 rotates, and the master cylinder 930 is compressed to brake. At the same time, the driving rocker arm 700 rotates around the output shaft 310 of the speed reducer 300 in an idle mode, slides on the slide optical axis 500, compresses in length, and does not interfere with the linear actuator. Normal service braking of a driver is realized.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (7)
1. A brake-by-wire apparatus for an unmanned racing vehicle, comprising:
braking the motor;
the speed reducer is fixedly connected with the output shaft of the braking motor, and two baffle plates are oppositely arranged beside the circumference of the output shaft of the speed reducer;
one end of the driving rocker arm is fixedly connected with an output shaft of the speed reducer, a circular through hole is formed in the upper end of the driving rocker arm, and two grooves are formed in the inner wall of the through hole in a circumferential opposite mode;
the baffle plate is arranged in a matching manner relative to the groove, and can rotate relative to the groove in the groove;
one end of the right-angle pull rod is hinged with the other end of the driving rocker arm;
one end of the driving pull plate lifting lug is hinged with the other end of the right-angle pull rod, and the other end of the driving pull plate lifting lug is hinged with the upper end of the brake pedal;
a cylinder;
the slideway is connected with the output end of the cylinder;
the optical axis is connected with the driving pull plate lifting lug;
wherein the optical axis is matingly mounted to the slideway and is slidable on the slideway;
a brake master cylinder hinged with one end of the brake pedal;
when no driver drives the brake motor to drive the output shaft of the speed reducer to rotate, the output shaft of the speed reducer drives the driving rocker to rotate, and the right-angle pull rod is pulled, so that the driving pull plate lifting lug drives the brake pedal to rotate, and the brake master cylinder is compressed to realize braking;
when a driver drives, the driver steps on a brake pedal, the brake pedal rotates, and a brake master cylinder is compressed to realize braking; the driving rocker arm rotates around the output shaft of the speed reducer in an idle mode, the sliding way and the optical axis slide relatively, the length is compressed, and the driving rocker arm does not interfere with the linear control brake device.
2. The brake-by-wire apparatus for an unmanned racing car of claim 1, further comprising:
and the motor fixing frame is arranged on the frame and fixedly supports the braking motor.
3. The brake-by-wire device for an unmanned racing vehicle according to claim 1 or 2, wherein,
the output shaft of the speed reducer is of a hollow structure, and a through groove is formed in the inner wall of the hollow structure;
the center of the limiting plate is provided with a round hole, the limiting plate is arranged on the driving rocker arm, and the round hole is coaxial with the through hole;
the cylindrical pin is provided with hooks at two ends, and radially penetrates through the through hole, the round hole and the through groove, and the hooks are positioned at the bottom of the output shaft of the speed reducer and outside the limiting plate.
4. A brake-by-wire apparatus for an unmanned racing vehicle according to claim 3,
and an optical axis lifting lug is arranged on the optical axis and hinged with the driving pulling plate lifting lug.
5. A brake-by-wire apparatus for an unmanned racing vehicle according to claim 4, wherein,
and a slideway lifting lug is arranged on the slideway and hinged with the output end of the cylinder.
6. A brake-by-wire device for an unmanned racing vehicle according to claim 1, wherein,
the other end of the air cylinder is hinged with a welding lifting lug of the frame.
7. The brake-by-wire apparatus for an unmanned racing vehicle of claim 6, further comprising:
and the supporting seat is used for fixedly supporting the other end of the driving pulling plate lifting lug.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810297031.6A CN108297849B (en) | 2018-04-04 | 2018-04-04 | Wire control brake device for unmanned racing car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810297031.6A CN108297849B (en) | 2018-04-04 | 2018-04-04 | Wire control brake device for unmanned racing car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108297849A CN108297849A (en) | 2018-07-20 |
| CN108297849B true CN108297849B (en) | 2023-09-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810297031.6A Active CN108297849B (en) | 2018-04-04 | 2018-04-04 | Wire control brake device for unmanned racing car |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109469690A (en) * | 2018-11-07 | 2019-03-15 | 洛阳智能农业装备研究院有限公司 | A kind of automatic driving vehicle electric control braking component |
| CN111348052A (en) * | 2020-03-26 | 2020-06-30 | 沈阳新松机器人自动化股份有限公司 | Automatic drive robot control system |
| CN113104016B (en) * | 2021-05-21 | 2022-04-26 | 福建盛海智能科技有限公司 | Unmanned vehicle braking mechanism and braking method |
| CN113635918B (en) * | 2021-08-13 | 2022-11-25 | 中国汽车技术研究中心有限公司 | Automatic driving robot control system and method |
| CN114872665A (en) * | 2022-06-27 | 2022-08-09 | 深圳职业技术学院 | Brake system for driverless motor vehicles |
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| CN108297849A (en) | 2018-07-20 |
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