CN112977807B - Unmanned aerial vehicle braking device - Google Patents
Unmanned aerial vehicle braking device Download PDFInfo
- Publication number
- CN112977807B CN112977807B CN202110417439.4A CN202110417439A CN112977807B CN 112977807 B CN112977807 B CN 112977807B CN 202110417439 A CN202110417439 A CN 202110417439A CN 112977807 B CN112977807 B CN 112977807B
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- Prior art keywords
- valve
- brake
- oil
- electromagnetic
- unmanned aerial
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- 238000004146 energy storage Methods 0.000 claims abstract description 15
- 238000006073 displacement reaction Methods 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 5
- 239000003921 oil Substances 0.000 description 62
- 230000000694 effects Effects 0.000 description 4
- 239000000872 buffer Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000010729 system oil Substances 0.000 description 2
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/42—Arrangement or adaptation of brakes
- B64C25/44—Actuating mechanisms
-
- 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
- B60T13/12—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 the fluid being liquid
- B60T13/22—Brakes applied by springs or weights and released hydraulically
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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
Abstract
The invention relates to an unmanned aerial vehicle braking device which is provided with supporting legs, wherein the supporting legs are connected to idler wheels through cross arms, the idler wheels are fixedly provided with brake discs, the lower ends of the supporting legs are provided with brake hydraulic cylinders, a rodless cavity and a rod cavity of each brake hydraulic cylinder are respectively connected with a first oil way and a second oil way, and each brake hydraulic cylinder is provided with a piston; the tail end of the piston is fixed with a spring seat, one end of the energy storage spring is fixed on the spring seat, the other end of the energy storage spring is fixed with a brake block, and one end of the guide cylinder is in sliding connection with the other end of the spring seat; the brake cylinders are controlled by a hydraulic system having a three gear load control relief valve arrangement. The brake hydraulic cylinder flexibly transmits braking force to the brake pad by using the energy storage spring, so that emergency deceleration of the unmanned aerial vehicle in an initial braking state is avoided, braking stability is ensured, and the hydraulic system adopts a three-gear load control overflow valve device, so that braking control of load pressure of three gears is realized.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a mechanical device of an unmanned aerial vehicle.
Background
In the landing process of unmanned aerial vehicle's sliding, need brake the speed reduction to unmanned aerial vehicle's land sliding motion, in order to guarantee unmanned aerial vehicle's safety landing and slow down to static, air brake device has put forward strict requirement to unmanned aerial vehicle's land sliding's stationarity, the high efficiency of horizontal side direction rectifying, the accuracy of stop position.
In the prior art, a piston of a brake hydraulic cylinder directly drives a brake pad to brake, and can suddenly apply braking friction force to a brake disc, so that the brake is hard, sudden deceleration of the unmanned aerial vehicle is easy to happen, and the braking distance and the braking time are not easy to control.
In addition, the braking control hydraulic system in the prior art is not easy to control the braking load, the braking load cannot be linearly changed according to the actual braking demand, the linear reduction of the speed in the braking process cannot be realized, and the braking effect is poor; and can not realize multi-gear adjustment control, and can not meet different braking requirements in actual conditions.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects in the prior art, and provide the unmanned aerial vehicle braking device so as to realize three-gear control of braking load and ensure linear deceleration of the unmanned aerial vehicle and stability and safety of land sliding of the unmanned aerial vehicle.
The technical scheme adopted for solving the technical problems is as follows: the unmanned aerial vehicle braking device is provided with a supporting leg, the supporting leg is connected to a roller through a cross arm, a brake disc is fixedly arranged on the roller, a brake hydraulic cylinder is arranged at the lower end of the supporting leg, a rodless cavity and a rod cavity of the brake hydraulic cylinder are respectively connected with a first oil way and a second oil way, and the brake hydraulic cylinder is provided with a piston;
the tail end of the piston is fixed with a spring seat, one end of the energy storage spring is fixed on the spring seat, the other end of the energy storage spring is fixed with a brake block, the brake block is arranged opposite to the brake disc, a guide cylinder is further arranged, one end of the guide cylinder is fixed with the spring seat, the other end of the guide cylinder is in sliding connection with the brake block, one part of the brake block is arranged in the guide cylinder, and the other part of the brake block is arranged outside the guide cylinder;
the brake hydraulic cylinder is controlled by a hydraulic system, the hydraulic system is provided with a three-gear load control overflow valve device, and the hydraulic system utilizes the three-gear load control overflow valve device to control the brake hydraulic cylinder to keep outputting three different brake loads in the braking process.
Preferably, the hydraulic system further has a variable pump, the variable pump is controlled by an electronic displacement controller, an oil outlet of the variable pump is connected to a P oil port of a first electromagnetic control valve through a one-way valve, a working oil port A of the first electromagnetic control valve is connected to a rodless cavity of a brake hydraulic cylinder through a first oil path, the working oil port A of the first electromagnetic control valve is also connected to an accumulator through a first two-position two-way electromagnetic directional valve, a working oil port B of the first electromagnetic control valve is connected to a rod cavity of the brake hydraulic cylinder through a second oil path, a T oil port of the first electromagnetic control valve is connected to an oil tank through a second two-position two-way electromagnetic directional valve, and the working oil port B of the first electromagnetic control valve is also connected to the three-gear load control overflow valve device.
Preferably, the third gear load control relief valve device is provided with a main relief valve, an oil inlet of the main relief valve is connected with a working oil port B of a first electromagnetic control valve, an oil outlet of the main relief valve is connected to the oil tank through an oil discharge pipeline, a bypass oil port of the main relief valve is connected to a P oil port of a second electromagnetic control valve, a T oil port of the second electromagnetic control valve is connected to an oil inlet of the second relief valve B, a working oil port A of the second electromagnetic control valve is connected to an oil inlet of a first relief valve A, a working oil port B of the second electromagnetic control valve is connected to an oil inlet of a third relief valve C, oil outlets of the first relief valve A, the second relief valve B and the third relief valve C are respectively connected to an overflow oil return pipeline, and the overflow oil return pipeline is connected to the oil discharge pipeline.
Preferably, the electronic displacement controller, the first electromagnetic control valve, the first two-position two-way electromagnetic directional valve, the second two-position two-way electromagnetic directional valve and the second electromagnetic control valve are all connected to the electronic control unit respectively.
Preferably, the accumulator is a diaphragm accumulator.
Preferably, the second electromagnetic control valve is a three-position four-way electromagnetic reversing valve.
Preferably, the variable pump is a swash plate type variable pump.
Preferably, the main relief valve, the first relief valve a, the second relief valve B, and the third relief valve C of the third-gear load control relief valve device are electromagnetic relief valves.
Preferably, the middle position function of the three-position four-way electromagnetic reversing valve is M-shaped.
Preferably, the relief pressure of the first relief valve a is smaller than the relief pressure of the second relief valve B, which is smaller than the relief pressure of the third relief valve C.
Compared with the prior art, the technical scheme of the invention has the following technical effects:
1. the piston of the brake hydraulic cylinder is connected with the energy storage spring, and the energy storage spring is utilized to flexibly transfer braking force to the brake pad, so that the emergency deceleration of the unmanned aerial vehicle in the initial state of braking is avoided, the stability of braking is ensured, and the braking effect and the safety are improved. One end of the guide cylinder is fixed with the spring seat, the other end of the guide cylinder is in sliding connection with the brake block, and in a braking state or a non-braking state, one part of the brake block is always arranged in the guide cylinder, and the other part of the brake block is outside the guide cylinder so that the energy storage spring always keeps axial expansion and contraction, and cannot bend along with braking friction force.
2. The three-gear load control overflow valve device is designed, and the electronic control unit controls and switches the electromagnetic overflow valves with different overflow pressures by controlling the second electromagnetic control valve, so that the load pressure in the brake control hydraulic system is controlled, the brake control of three gears is realized, and different control requirements in actual conditions are met. The second electromagnetic control valve is a three-position four-way electromagnetic reversing valve, the middle position function is M-shaped, and the switching stability of the three overflow valves is ensured.
3. When the three-gear load control overflow valve device is respectively in different gears, the electronic control unit can be used for controlling the reversing time and the valve opening of the first electromagnetic control valve and the second electromagnetic control valve, and the electronic displacement controller is used for controlling the displacement of the variable pump, so that the brake load can be linearly changed in different gears, and the brake is stable and safe. And the accumulator recovers part of pressure energy in the hydraulic pipeline and buffers pressure fluctuation.
Drawings
The invention is described in further detail below with reference to the attached drawing figures, wherein:
FIG. 1 is a schematic structural view of a braking device of an unmanned aerial vehicle according to the present invention;
FIG. 2 is a diagram of a hydraulic control system of the unmanned aerial vehicle braking device of the present invention;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are only illustrative of some specific implementations of the present invention and are not intended to limit the scope of the present invention, and any equivalent changes and modifications made by those skilled in the art without departing from the spirit and principles of the present invention should fall within the scope of the present invention.
The invention provides an unmanned aerial vehicle braking device, which is provided with supporting legs 17, wherein the supporting legs 17 are connected to idler wheels 20 through cross arms 18, the idler wheels 20 are fixedly provided with brake discs 19, the lower ends of the supporting legs 17 are provided with brake hydraulic cylinders 5, rodless cavities and rod cavities of the brake hydraulic cylinders 5 are respectively connected with a first oil way 5.1 and a second oil way 5.2, the brake hydraulic cylinders 5 are provided with pistons 5.3, the tail ends of the pistons 5.3 are fixedly provided with spring seats 5.4, one ends of energy storage springs 5.5 are fixedly arranged on the spring seats 5.4, the other ends of the energy storage springs 5.6 are fixedly provided with brake pads 5.6, the brake pads 5.6 are arranged opposite to the brake discs 19, braking force is flexibly transferred to the brake pads 5.6 by utilizing the energy storage springs 5, emergency deceleration of an unmanned aerial vehicle in an initial braking state is avoided, the braking stability is ensured, and the braking effect and the safety are improved. The brake device is characterized by further comprising a guide cylinder 21, wherein one end of the guide cylinder 21 is fixed with the spring seat 5.4, the other end of the guide cylinder 21 is in sliding connection with the brake piece 5.6, one part of the brake piece 5.6 is arranged outside the guide cylinder 21 in the guide cylinder 21, namely, one part of the cylindrical brake piece 5.6 is always arranged outside the guide cylinder 21 in a braking state or a non-braking state, and the other part of the cylindrical brake piece 5.6 is always arranged outside the guide cylinder 21, so that the energy storage spring 5.5 always keeps axially stretching and does not bend along with braking friction force.
The brake hydraulic cylinder 5 is controlled by a hydraulic system, the hydraulic system is provided with a three-gear load control overflow valve device, and the hydraulic system utilizes the three-gear load control overflow valve device to control the brake hydraulic cylinder 5 to keep outputting three different brake loads in the braking process, so that the three-gear braking of the unmanned aerial vehicle braking device is realized.
The hydraulic system is also provided with a variable pump 1, the variable pump 1 is a swash plate type variable pump, the variable pump 1 is controlled by an electronic displacement controller 2, an oil outlet of the variable pump 1 is connected to a P oil port of a first electromagnetic control valve 4 through a one-way valve 3, a working oil port A of the first electromagnetic control valve 4 is connected to a rodless cavity of a brake hydraulic cylinder 5 through a first oil way 5.1, the working oil port A of the first electromagnetic control valve 4 is also connected to an accumulator 7 through a first two-position two-way electromagnetic reversing valve 6, the accumulator 7 is a diaphragm type accumulator, the accumulator can recover part of pressure energy in a hydraulic pipeline and buffer pressure fluctuation, a working oil port B of the first electromagnetic control valve 4 is connected to a rod cavity of the brake hydraulic cylinder 5 through a second oil way 5.2, a T oil port of the first electromagnetic control valve 4 is connected to an oil tank 16 through a second two-position two-way electromagnetic reversing valve 8, and the working oil port B of the first electromagnetic control valve 4 is also connected to a three-gear load control overflow valve device.
The third-gear load control relief valve device is provided with a main relief valve 14, an oil inlet of the main relief valve 14 is connected with a working oil port B of the first electromagnetic control valve 4, an oil outlet of the main relief valve 14 is connected to an oil tank 16 through an oil discharge pipeline, a bypass oil port of the main relief valve 14 is connected to a P oil port of the second electromagnetic control valve 10, a T oil port of the second electromagnetic control valve 10 is connected to an oil inlet of the second relief valve B12, a working oil port A of the second electromagnetic control valve 10 is connected to an oil inlet of the first relief valve A11, a working oil port B of the second electromagnetic control valve 10 is connected to an oil inlet of the third relief valve C13, and oil outlets of the first relief valve A11, the second relief valve B12 and the third relief valve C13 are respectively connected to an oil discharge pipeline.
The electronic displacement controller 2, the first electromagnetic control valve 4, the first two-position two-way electromagnetic directional valve 6, the second two-position two-way electromagnetic directional valve 8 and the second electromagnetic control valve 10 are respectively connected to the electronic control unit 9, and the electronic control unit 9 controls and switches the electromagnetic overflow valves with different overflow pressures by controlling the second electromagnetic control valve 10 so as to control the load pressure in the brake control hydraulic system, thereby realizing the brake control of three gears and meeting different control requirements in practical situations. The second electromagnetic control valve 10 of the three-gear load control overflow valve device is a three-position four-way electromagnetic reversing valve, the middle position function of the three-position four-way electromagnetic reversing valve is M-shaped, and the switching stability of the three overflow valves is ensured.
The main relief valve 14, the first relief valve a11, the second relief valve B12, and the third relief valve C13 of the third-gear load control relief valve device are electromagnetic relief valves.
The relief pressure of the first relief valve a11 is smaller than the relief pressure of the second relief valve B12, which is smaller than the relief pressure of the third relief valve C13.
The invention relates to a braking control principle of an unmanned aerial vehicle braking device:
when the brake state is entered, the second two-position two-way electromagnetic directional valve 8 is in a closed state, the variable pump 1 starts to supply oil to the rodless cavity of the brake hydraulic cylinder 5 through the first electromagnetic control valve 4, the piston rod 5.3 of the brake hydraulic cylinder 5 extends outwards, and a brake load is applied to the brake pad 5.6 and the brake disc 19 through the energy storage spring 5.5. The electronic control unit 9 controls the second electromagnetic control valve 10 according to specific braking demands, so as to switch the first relief valve A11, the second relief valve B12 and the third relief valve C13 on the oil return path, and obtain different braking loads: when the electromagnet a of the second electromagnetic control valve 10 is energized and the electromagnet b is deenergized, the first relief valve a11 is switched into a relief oil return path, and the relief oil return path obtains a relief pressure a; when the electromagnet a of the second electromagnetic control valve 10 is powered off and the electromagnet B is powered off, the second relief valve B12 is switched into the relief oil return path, which obtains the relief pressure B; when the solenoid a of the second electromagnetic control valve 10 is deenergized and the solenoid b is energized, the third relief valve C13 is switched into the relief oil return path, which obtains the relief pressure C. And the electronic control unit 9 controls the displacement of the variable pump 1 through the electronic displacement controller 2, so that the brake hydraulic cylinder 5 linearly outputs the brake load, when the three-gear load control overflow valve device is respectively in different gears, the electronic control unit 9 can be used for controlling the reversing time and the valve opening of the first electromagnetic control valve 4 and the second electromagnetic control valve 10, and the electronic displacement controller 2 is used for controlling the displacement of the variable pump 1, so that the brake load can be linearly changed under different gears, and the braking is stable and safe. The electronic control unit 9 controls the opening and closing of the first two-position two-way electromagnetic directional valve 6, so that the accumulator 7 can store energy or release energy into the hydraulic system oil way to save energy and stabilize the pressure in the hydraulic system oil way. When the braking is finished, the electronic control unit 9 controls the second two-position two-way electromagnetic directional valve 8 to be opened for unloading, and the electronic control unit 9 controls the first electromagnetic control valve 4 to switch, so that the variable pump 1 inputs hydraulic oil into the rod cavity of the braking hydraulic cylinder 5, and the piston rod retracts into the first electromagnetic control valve.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. Unmanned aerial vehicle braking device has landing leg (17), landing leg (17) are connected to gyro wheel (20) through xarm (18), gyro wheel (20) are fixed to be provided with brake disc (19), landing leg (17) lower extreme is provided with brake cylinder (5), the rodless chamber and the pole chamber of brake cylinder (5) are connected with first oil circuit (5.1) and second oil circuit (5.2) respectively, brake cylinder (5) have piston (5.3), its characterized in that:
the tail end of the piston (5.3) is fixedly provided with a spring seat (5.4), one end of the energy storage spring (5.5) is fixed on the spring seat (5.4), the other end of the energy storage spring is fixedly provided with a cylindrical brake block (5.6), the brake block (5.6) is arranged opposite to the brake disc (19), a guide cylinder (21) is also arranged, one end of the guide cylinder (21) is fixedly provided with the spring seat (5.4), the other end of the guide cylinder is in sliding connection with the brake block (5.6), one part of the brake block (5.6) is arranged in the guide cylinder (21), and the other part of the brake block is arranged outside the guide cylinder (21);
the brake hydraulic cylinder (5) is controlled by a hydraulic system, the hydraulic system is provided with a three-gear load control overflow valve device, and the hydraulic system utilizes the three-gear load control overflow valve device to control the brake hydraulic cylinder (5) to keep outputting three different brake loads in the braking process;
the hydraulic system is further provided with a variable pump (1), the variable pump (1) is controlled by an electronic displacement controller (2), an oil outlet of the variable pump (1) is connected to a P oil port of a first electromagnetic control valve (4) through a one-way valve (3), a working oil port A of the first electromagnetic control valve (4) is connected to a rodless cavity of a brake hydraulic cylinder (5) through a first oil way (5.1), the working oil port A of the first electromagnetic control valve (4) is further connected to an accumulator (7) through a first two-position two-way electromagnetic directional valve (6), a working oil port B of the first electromagnetic control valve (4) is connected to a rod cavity of the brake hydraulic cylinder (5) through a second oil way (5.2), a T oil port of the first electromagnetic control valve (4) is connected to an oil tank (16) through a second two-position two-electromagnetic directional valve (8), and a working oil port B of the first electromagnetic control valve (4) is further connected to the three-position load control overflow valve device;
the three-gear load control overflow valve device is provided with a main overflow valve (14), an oil inlet of the main overflow valve (14) is connected with a working oil port B of a first electromagnetic control valve (4), an oil outlet of the main overflow valve (14) is connected to the oil tank (16) through an oil discharge pipeline, a bypass oil port of the main overflow valve (14) is connected to a P oil port of a second electromagnetic control valve (10), a T oil port of the second electromagnetic control valve (10) is connected to an oil inlet of a second overflow valve B (12), a working oil port A of the second electromagnetic control valve (10) is connected to an oil inlet of a first overflow valve A (11), a working oil port B of the second electromagnetic control valve (10) is connected to an oil inlet of a third overflow valve C (13), oil outlets of the first overflow valve A (11), the second overflow valve B (12) and the third overflow valve C (13) are respectively connected to overflow oil return pipelines, and the overflow pipelines are connected to the oil discharge pipelines.
2. The unmanned aerial vehicle braking device of claim 1, wherein: the electronic displacement controller (2), the first electromagnetic control valve (4), the first two-position two-way electromagnetic directional valve (6), the second two-position two-way electromagnetic directional valve (8) and the second electromagnetic control valve (10) are respectively connected to the electronic control unit (9).
3. The unmanned aerial vehicle braking device of claim 1, wherein: the accumulator (7) is a diaphragm accumulator.
4. The unmanned aerial vehicle braking device of claim 1, wherein: the second electromagnetic control valve (10) is a three-position four-way electromagnetic reversing valve.
5. The unmanned aerial vehicle braking device of claim 1, wherein: the variable pump (1) is a swash plate type variable pump.
6. The unmanned aerial vehicle braking device of claim 1, wherein: the main relief valve (14), the first relief valve A (11), the second relief valve B (12) and the third relief valve C (13) of the three-gear load control relief valve device are all electromagnetic relief valves.
7. The unmanned aerial vehicle braking device of claim 4, wherein: the middle position function of the three-position four-way electromagnetic reversing valve is M-shaped.
8. The unmanned aerial vehicle braking device of claim 1, wherein: the relief pressure of the first relief valve A (11) is smaller than that of the second relief valve B (12), and the relief pressure of the second relief valve B is smaller than that of the third relief valve C (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110417439.4A CN112977807B (en) | 2021-04-19 | 2021-04-19 | Unmanned aerial vehicle braking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110417439.4A CN112977807B (en) | 2021-04-19 | 2021-04-19 | Unmanned aerial vehicle braking device |
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| Publication Number | Publication Date |
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| CN112977807A CN112977807A (en) | 2021-06-18 |
| CN112977807B true CN112977807B (en) | 2023-11-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110417439.4A Active CN112977807B (en) | 2021-04-19 | 2021-04-19 | Unmanned aerial vehicle braking device |
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| JPH08135607A (en) * | 1994-11-08 | 1996-05-31 | Shin Caterpillar Mitsubishi Ltd | Hydraulic pilot circuit for control valve |
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| CN111038456A (en) * | 2019-11-21 | 2020-04-21 | 常熟理工学院 | Multifunctional auxiliary wheel mechanism for emergency braking of passenger vehicle and control method thereof |
| DE102019211196A1 (en) * | 2019-07-26 | 2021-01-28 | Mando Corporation | ELECTRONIC BRAKING SYSTEM AND METHOD FOR OPERATING IT |
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2021
- 2021-04-19 CN CN202110417439.4A patent/CN112977807B/en active Active
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| JPH08135607A (en) * | 1994-11-08 | 1996-05-31 | Shin Caterpillar Mitsubishi Ltd | Hydraulic pilot circuit for control valve |
| CN101225839A (en) * | 2008-01-09 | 2008-07-23 | 浙江大学 | Energy-saving type shield hydraulic pressure control system using hydraulic pressure transformer |
| CN103434649A (en) * | 2013-07-22 | 2013-12-11 | 燕山大学 | Deceleration and return air hydraulic control system of unmanned aerial vehicle (UAV) ejection device |
| CN107323681A (en) * | 2017-06-30 | 2017-11-07 | 燕山大学 | One kind can the releasable unmanned plane Gas fluid pressure ejection system of intelligence and control method |
| CN107792038A (en) * | 2017-10-27 | 2018-03-13 | 常州工学院 | A kind of automobile parking braking device and its braking method based on vacuum automobile system |
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