CN112092793A - Hydraulic braking system and braking method capable of achieving drive-by-wire and manual driving simultaneously - Google Patents
Hydraulic braking system and braking method capable of achieving drive-by-wire and manual driving simultaneously Download PDFInfo
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- CN112092793A CN112092793A CN202011070286.2A CN202011070286A CN112092793A CN 112092793 A CN112092793 A CN 112092793A CN 202011070286 A CN202011070286 A CN 202011070286A CN 112092793 A CN112092793 A CN 112092793A
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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
- 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
- B60T13/745—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 acting on a hydraulic system, e.g. a master cylinder
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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
- 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
- B60T13/10—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 fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/68—Electrical control in fluid-pressure brake systems by electrically-controlled valves
- B60T13/686—Electrical control in fluid-pressure brake systems by electrically-controlled valves in hydraulic systems or parts thereof
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Braking Systems And Boosters (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The invention discloses a hydraulic braking system and a braking method capable of simultaneously realizing wire control and manual driving. The oil pressure at the brake cylinder is adjusted by controlling the current. The invention adopts the electro-hydraulic control braking mode to ensure that the braking effect is more rapid and accurate; the energy accumulator can brake when the hydraulic pump does not work, and oil can not be formed in time, so that the parking safety is ensured; on the basis of the brake system, other special functions can be added, so that the cost is saved, and the whole vehicle system is simplified.
Description
Technical Field
The invention belongs to the field of brake systems of unmanned vehicles, and particularly relates to a hydraulic brake system and a brake method capable of realizing drive-by-wire and manual driving simultaneously.
Background
At present, the braking system of the unmanned vehicle depends on an electric push rod to realize: the motor driver drives the electric push rod to drive the pedal mechanism to move, and at the moment, the state of human foot braking can be simulated. The pedal pushes the master cylinder piston to move to generate hydraulic pressure, and brake oil enters the wheel cylinder to generate wheel cylinder pressure, so that braking force is generated. The scheme cannot accurately achieve the preset braking effect due to the time delay of the electronic signals.
There are also schemes for implementing brake-by-wire using electronic calipers and the like. The existing scheme generally has 2 defects, 1, the system is relatively complex, and 2 sets of braking systems are required to be arranged on the same trolley for realizing manual driving and drive-by-wire simultaneously; 2. the relative cost is greatly increased.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a hydraulic braking system and a braking method which can realize line control and manual driving simultaneously.
In order to achieve the purpose, the invention adopts the following technical scheme:
realize drive-by-wire and manual drive's hydraulic braking system simultaneously, its characterized in that: the hydraulic control system comprises a hydraulic oil tank, a hydraulic pump, a brake cylinder, a pedal valve, a first pressure sensor, a second pressure sensor, a shuttle valve, a first electromagnetic directional valve, a second electromagnetic directional valve, a third electromagnetic directional valve, an electric proportional pressure control valve and an energy accumulator;
an oil suction port of the hydraulic pump is connected with a hydraulic oil tank, an oil outlet of the hydraulic pump is respectively connected with an inlet of a pedal valve, an inlet of a first pressure sensor, an inlet of a first electromagnetic reversing valve, an energy accumulator and an inlet of a third electromagnetic reversing valve, an outlet of the pedal valve is connected with an inlet of a shuttle valve, an outlet of the shuttle valve is connected with an inlet of a second electromagnetic reversing valve, an outlet of the second electromagnetic reversing valve is respectively connected with an inlet of a brake cylinder, an outlet of the second electromagnetic reversing valve is connected with an outlet of the second pressure sensor and an outlet of the third electromagnetic reversing valve, an outlet of the first electromagnetic reversing valve is connected with an inlet of an electric proportional pressure control valve, an outlet of the electric proportional pressure control valve is connected with another inlet of the shuttle valve, and oil return ports of the pedal valve and the electric proportional pressure control valve.
The oil outlet of the hydraulic pump is connected with a one-way valve, the forward flow end of the one-way valve is connected with the oil outlet of the hydraulic pump, and the reverse stop end of the one-way valve is respectively connected with the inlet of the pedal valve, the inlet of the first pressure sensor, the inlet of the first electromagnetic reversing valve, the energy accumulator and the inlet of the third electromagnetic reversing valve.
The invention discloses a braking method of a hydraulic braking system capable of realizing line control and manual driving simultaneously, which comprises the following steps:
in the unmanned driving mode, when the vehicle does not need a braking function, the first electromagnetic directional valve is not electrified, and the hydraulic pump charges the energy accumulator; when braking is needed, no matter whether the hydraulic pump works or not, oil in the energy accumulator can support the braking function, the first electromagnetic directional valve, the second electromagnetic directional valve and the third electromagnetic directional valve are all electrified, and the larger the control current output in the electric proportional pressure control valve is, the larger the pressure of a brake cylinder is, so that braking is realized; when the vehicle is parked, the first electromagnetic directional valve, the second electromagnetic directional valve and the third electromagnetic directional valve are all de-energized, and a pressure maintaining effect is formed on pressure oil in the brake cylinder; if the oil in the brake cylinder leaks due to the fact that the parking time is too long, the energy accumulator can supplement the oil for the brake cylinder in time, and parking safety is guaranteed;
when in the manual driving mode, the first electromagnetic reversing valve, the second electromagnetic reversing valve and the third electromagnetic reversing valve are all de-energized, and oil from the energy accumulator or the oil pump flows to the brake cylinder through the pedal valve to realize the braking action.
The pressure at the outlet of the brake cylinder can change along with the change of the pedal angle of the pedal valve, so that the effect of adjusting the braking force is achieved.
By adopting the technical scheme, the invention has the following technical effects:
1) the braking effect is quicker and more accurate due to the electro-hydraulic control braking mode;
2) the energy accumulator can brake when the hydraulic pump does not work, and oil can not be formed in time, so that the parking safety is ensured;
3) on the basis of the brake system, other special functions can be added, so that the cost is saved, and the whole vehicle system is simplified.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and the detailed description;
FIG. 1 is a schematic diagram of the present invention.
Detailed Description
As shown in fig. 1, the hydraulic brake system for realizing both line control and manual driving comprises a hydraulic oil tank 1, a hydraulic pump 2, a brake cylinder 7, a pedal valve 6, a first pressure sensor 3, a second pressure sensor 13, a shuttle valve 9, a first electromagnetic directional valve 5, a second electromagnetic directional valve 8, a third electromagnetic directional valve 11, an electric proportional pressure control valve 10 and an energy accumulator 12;
an oil suction port of the hydraulic pump 2 is connected with the hydraulic oil tank 1, an oil outlet of the hydraulic pump 2 is respectively connected with an inlet of a pedal valve 6, an inlet of a first pressure sensor 3, an inlet of a first electromagnetic directional valve 5, an energy accumulator 12 and an inlet of a third electromagnetic directional valve 11, an outlet of the pedal valve 6 is connected with one inlet of a shuttle valve 9, an outlet of the shuttle valve 9 is connected with an inlet of a second electromagnetic directional valve 8, an outlet of the second electromagnetic directional valve 8 is respectively connected with an inlet of a brake cylinder 7, an outlet of a second pressure sensor 13 and an outlet of the third electromagnetic directional valve 11, an outlet of the first electromagnetic directional valve 5 is connected with an inlet of an electric proportional pressure control valve 10, an outlet of the electric proportional pressure control valve 10 is connected with the other inlet of the shuttle valve 9, and oil return ports of the pedal valve 6 and the electric proportional pressure control valve 10 are respectively connected with the hydraulic oil tank 1.
The oil outlet of the hydraulic pump 2 is connected with a one-way valve 4, the forward flow end of the one-way valve 4 is connected with the oil outlet of the hydraulic pump 2, and the reverse cut end of the one-way valve 4 is respectively connected with the inlet of the pedal valve 6, the first pressure sensor 3, the inlet of the first electromagnetic directional valve 5, the energy accumulator 12 and the inlet of the third electromagnetic directional valve 11.
The invention discloses a braking method of a hydraulic braking system capable of realizing line control and manual driving simultaneously, which comprises the following steps:
in the unmanned driving mode, when the vehicle does not need a braking function, the first electromagnetic directional valve 5 is not electrified, and the hydraulic pump 2 charges the energy accumulator 12; when braking is needed, no matter whether the hydraulic pump 2 works or not, the oil in the energy accumulator 12 can support the braking function, at the moment, the first electromagnetic directional valve 5, the second electromagnetic directional valve 8 and the third electromagnetic directional valve 11 are all electrified, and the larger the control current output in the electric proportional pressure control valve 10 is, the larger the pressure of the brake cylinder 7 is, so as to realize braking; when the vehicle is parked, the first electromagnetic directional valve 5, the second electromagnetic directional valve 8 and the third electromagnetic directional valve 11 are all de-energized, and a pressure maintaining effect is formed on pressure oil in the brake cylinder 7; if the oil in the brake cylinder 7 leaks due to too long parking time, the accumulator 12 can supplement the oil for the brake cylinder 7 in time, so that the parking safety is ensured;
in the manual driving mode, the first electromagnetic directional valve 5, the second electromagnetic directional valve 8 and the third electromagnetic directional valve 11 are all de-energized, and oil from the energy accumulator 12 or the oil pump flows to the brake cylinder 7 through the pedal valve 6, so that the braking effect is realized. Wherein the pressure at the outlet of the brake cylinder 7 is changed along with the change of the pedal angle of the pedal valve 6, thereby achieving the effect of adjusting the braking force.
The invention utilizes the control of the current to adjust the oil pressure of the brake cylinder 7. Compared with electric push rod control, the brake device has the advantages of small movement inertia and high response speed, and can accurately adjust the brake pressure within a certain range.
The hydraulic system can be connected with other hydraulic systems in parallel on the basis of realizing the braking effect, and the functions of vehicle steering, special vehicle specific hydraulic action and the like are realized. The chassis action is realized by the same hydraulic system, the loading function is realized, the cost is saved, and the assembly is simplified.
The accumulator 12 is charged when the hydraulic pump 2 is operating, so that the accumulator 12 ensures the brake fluid pressure requirement even when the hydraulic pump 2 is not operating. And the leaked oil in the brake cylinder 7 can be supplemented in time when the vehicle is parked, so that the parking safety is ensured. When the driving mode is unmanned, the hydraulic system adjusts the electro proportional valve through the magnitude of input current, and hydraulic oil in the energy accumulator 12 can reach the brake cylinder 7 in time, so that the pressure at the brake cylinder 7 is adjusted, and the purpose of braking is achieved. When the driving mode is manual operation, the pressure value output by the pedal valve 6 changes along with the change of the pedal angle, and acts on the brake cylinder 7, so that braking is realized.
While the invention has been described in connection with the above embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, which are illustrative and not restrictive, and that those skilled in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (4)
1. Can realize drive-by-wire and manual drive's hydraulic braking system simultaneously, its characterized in that: the hydraulic control system comprises a hydraulic oil tank, a hydraulic pump, a brake cylinder, a pedal valve, a first pressure sensor, a second pressure sensor, a shuttle valve, a first electromagnetic directional valve, a second electromagnetic directional valve, a third electromagnetic directional valve, an electric proportional pressure control valve and an energy accumulator;
an oil suction port of the hydraulic pump is connected with a hydraulic oil tank, an oil outlet of the hydraulic pump is respectively connected with an inlet of a pedal valve, an inlet of a first pressure sensor, an inlet of a first electromagnetic reversing valve, an energy accumulator and an inlet of a third electromagnetic reversing valve, an outlet of the pedal valve is connected with an inlet of a shuttle valve, an outlet of the shuttle valve is connected with an inlet of a second electromagnetic reversing valve, an outlet of the second electromagnetic reversing valve is respectively connected with an inlet of a brake cylinder, an outlet of the second electromagnetic reversing valve is connected with an outlet of the second pressure sensor and an outlet of the third electromagnetic reversing valve, an outlet of the first electromagnetic reversing valve is connected with an inlet of an electric proportional pressure control valve, an outlet of the electric proportional pressure control valve is connected with another inlet of the shuttle valve, and oil return ports of the pedal valve and the electric proportional pressure control valve.
2. The hydraulic brake system capable of achieving both line control and manual driving according to claim 1, characterized in that: the oil outlet of the hydraulic pump is connected with a one-way valve, the forward flow end of the one-way valve is connected with the oil outlet of the hydraulic pump, and the reverse stop end of the one-way valve is respectively connected with the inlet of the pedal valve, the inlet of the first pressure sensor, the inlet of the first electromagnetic reversing valve, the energy accumulator and the inlet of the third electromagnetic reversing valve.
3. The braking method of the hydraulic braking system capable of achieving both line-control and manual driving according to claim 1, characterized in that:
in the unmanned driving mode, when the vehicle does not need a braking function, the first electromagnetic directional valve is not electrified, and the hydraulic pump charges the energy accumulator; when braking is needed, no matter whether the hydraulic pump works or not, oil in the energy accumulator can support the braking function, the first electromagnetic directional valve, the second electromagnetic directional valve and the third electromagnetic directional valve are all electrified, and the larger the control current output in the electric proportional pressure control valve is, the larger the pressure of a brake cylinder is, so that braking is realized; when the vehicle is parked, the first electromagnetic directional valve, the second electromagnetic directional valve and the third electromagnetic directional valve are all de-energized, and a pressure maintaining effect is formed on pressure oil in the brake cylinder;
when in the manual driving mode, the first electromagnetic reversing valve, the second electromagnetic reversing valve and the third electromagnetic reversing valve are all de-energized, and oil from the energy accumulator or the oil pump flows to the brake cylinder through the pedal valve to realize the braking action.
4. The braking method of the hydraulic braking system capable of achieving both line-control and manual driving according to claim 3, characterized in that: the pressure at the outlet of the brake cylinder can change along with the change of the pedal angle of the pedal valve, so that the effect of adjusting the braking force is achieved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011070286.2A CN112092793B (en) | 2020-09-30 | 2020-09-30 | Hydraulic braking system capable of realizing drive-by-wire and manual driving simultaneously and braking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011070286.2A CN112092793B (en) | 2020-09-30 | 2020-09-30 | Hydraulic braking system capable of realizing drive-by-wire and manual driving simultaneously and braking method |
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| Publication Number | Publication Date |
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| CN112092793A true CN112092793A (en) | 2020-12-18 |
| CN112092793B CN112092793B (en) | 2023-07-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011070286.2A Active CN112092793B (en) | 2020-09-30 | 2020-09-30 | Hydraulic braking system capable of realizing drive-by-wire and manual driving simultaneously and braking method |
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| CN (1) | CN112092793B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113291270A (en) * | 2021-06-25 | 2021-08-24 | 徐州徐工矿业机械有限公司 | Unmanned brake hydraulic system of electric drive dumper |
| CN114889570A (en) * | 2022-05-07 | 2022-08-12 | 内蒙古北方重型汽车股份有限公司 | Electric control brake control system for mining vehicle and use method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1328127A (en) * | 1969-12-05 | 1973-08-30 | Bosch Gmbh Robert | Braking system |
| CN109249918A (en) * | 2018-09-26 | 2019-01-22 | 三汽车制造有限公司 | Brake fluid system and vehicle |
| CN109591785A (en) * | 2018-11-30 | 2019-04-09 | 三汽车起重机械有限公司 | Automatic driving vehicle brake circuit system and automatic driving vehicle |
| CN109649358A (en) * | 2018-12-29 | 2019-04-19 | 岭南师范学院 | A kind of hydraulic control system of automobile automatic braking and automobile with the control system |
| CN212529614U (en) * | 2020-09-30 | 2021-02-12 | 福建龙马环卫装备股份有限公司 | Hydraulic braking system capable of simultaneously realizing wire control and manual driving |
-
2020
- 2020-09-30 CN CN202011070286.2A patent/CN112092793B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1328127A (en) * | 1969-12-05 | 1973-08-30 | Bosch Gmbh Robert | Braking system |
| CN109249918A (en) * | 2018-09-26 | 2019-01-22 | 三汽车制造有限公司 | Brake fluid system and vehicle |
| CN109591785A (en) * | 2018-11-30 | 2019-04-09 | 三汽车起重机械有限公司 | Automatic driving vehicle brake circuit system and automatic driving vehicle |
| CN109649358A (en) * | 2018-12-29 | 2019-04-19 | 岭南师范学院 | A kind of hydraulic control system of automobile automatic braking and automobile with the control system |
| CN212529614U (en) * | 2020-09-30 | 2021-02-12 | 福建龙马环卫装备股份有限公司 | Hydraulic braking system capable of simultaneously realizing wire control and manual driving |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113291270A (en) * | 2021-06-25 | 2021-08-24 | 徐州徐工矿业机械有限公司 | Unmanned brake hydraulic system of electric drive dumper |
| CN114889570A (en) * | 2022-05-07 | 2022-08-12 | 内蒙古北方重型汽车股份有限公司 | Electric control brake control system for mining vehicle and use method thereof |
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| Publication number | Publication date |
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| CN112092793B (en) | 2023-07-28 |
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Address after: 364000 No. 42, Longteng South Road, Donghua community, Dongxiao Town, Xinluo District, Longyan City, Fujian Province Applicant after: Fulongma Group Co.,Ltd. Address before: 364000 Longyan Economic Development Zone, Longyan City, Fujian Province Applicant before: FUJIAN LONGMA ENVIRONMENTAL SANITATION EQUIPMENT Co.,Ltd. |
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