CN113119926A - Hydraulic energy storage redundant safety brake system of unmanned vehicle - Google Patents
Hydraulic energy storage redundant safety brake system of unmanned vehicle Download PDFInfo
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- CN113119926A CN113119926A CN202110439982.4A CN202110439982A CN113119926A CN 113119926 A CN113119926 A CN 113119926A CN 202110439982 A CN202110439982 A CN 202110439982A CN 113119926 A CN113119926 A CN 113119926A
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- brake
- pressure
- oil
- flow channel
- valve
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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
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
- B60T1/10—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels by utilising wheel movement for accumulating energy, e.g. driving air compressors
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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
- B60T13/12—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
- B60T13/16—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 using pumps directly, i.e. without interposition of accumulators or reservoirs
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/88—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration with failure responsive means, i.e. means for detecting and indicating faulty operation of the speed responsive control means
Abstract
The invention discloses a hydraulic energy storage redundant safety brake system of an unmanned vehicle and a control method thereof, wherein the hydraulic energy storage redundant safety brake system comprises an execution oil path connected with a brake execution mechanism on the vehicle, and further comprises an oil can, a brake system, an overflow valve, an energy accumulator and a two-position three-way reversing valve, one end of the brake system is connected with the oil can through a pipeline, the other end of the brake system is connected with the overflow valve through a pipeline, the outlet end of the overflow valve is connected with the energy accumulator through a pipeline, the A port of the two-position three-way reversing valve is connected with the execution oil path, the two-position three-way reversing valve is connected with the brake system through a pipeline, and the T port of the two. The energy accumulator can store and accumulate brake energy when the electric control brake is normal, and when the electric control brake fails or stops and is powered off, the pressure released by the energy accumulator drives the brake actuating mechanism to operate, so that the vehicle can be effectively braked, and safety accidents are avoided.
Description
Technical Field
The invention relates to the technical field of motor vehicle braking systems, in particular to a hydraulic energy storage redundancy safety braking system of an unmanned vehicle and a control method thereof.
Background
Unmanned technology is popular in the world, and numerous large IT technical companies invest huge financial and manpower to research and develop the unmanned technology. However, for a vehicle, the unmanned IT technology is only one algorithm software no matter how mature and intelligent the unmanned IT technology is, and the vehicle still cannot guarantee the safe implementation of unmanned driving due to the lack of effective function execution hardware.
The power source of a brake mechanism of a manually driven vehicle is pedaling pressure, a vacuum boosting system or other boosting systems are adopted, and the pedaling of a brake is very easy under the assistance of the boosting systems. Even when the auxiliary brake fails, effective brake can still be guaranteed by treading multi-point force.
In the development of the current vehicle braking technology, the common vehicle rarely adopts non-artificial external forces such as pure electric force, vacuum assistance and the like as a mechanism of active braking power but as auxiliary power. The main reason is that the safety factor of these braking mechanisms is not high enough.
The brake system of the unmanned vehicle adopts non-artificial external force such as pure electric force or vacuum assistance and the like as a braking force electric control brake mechanism. The main brake mechanism is always in a working state under the unmanned mode due to the reasons of limited service life of the brake mechanism and the like, so that the problem of failure can occur, and the safety accident can be caused due to the fact that the vehicle cannot be effectively braked.
Therefore, a hydraulic energy storage redundant safety brake system for an unmanned vehicle is needed in the market to solve the problems in the background art.
Disclosure of Invention
The invention aims to provide a hydraulic energy storage redundancy safety brake system of an unmanned vehicle and a control method thereof.
In order to achieve the purpose, the invention provides the following technical scheme: the hydraulic energy storage redundant safety brake system of the unmanned vehicle comprises an execution oil path connected with a brake execution mechanism on the vehicle, and further comprises an oil can, a brake system, an overflow valve, an energy storage device and a two-position three-way reversing valve, wherein one end of the brake system is connected with the oil can through a pipeline, the other end of the brake system is connected with the overflow valve through a pipeline, the outlet end of the overflow valve is connected with the energy storage device through a pipeline, the port A of the two-position three-way reversing valve is connected with the execution oil path, the two-position three-way reversing valve is connected with the brake system through a pipeline, and the port T of the two-position three-way reversing.
By adopting the technical scheme, under the normal state, along with the repeated operation of the braking action, the energy accumulator continuously accumulates energy, when the control system judges that the main braking system is out of order, the whole vehicle control system resets the reversing valve, the port A of the two-position three-way reversing valve is communicated with the port T, the energy accumulator starts to discharge oil and enters the braking executing mechanism, the braking executing mechanism is enabled to brake, the vehicle can be effectively braked, and therefore the safety accident is avoided.
The overflow valve further comprises a main valve body, a main flow cavity is arranged in the main valve body, a liquid inlet flow channel and a liquid outlet flow channel which are communicated with the main flow cavity are arranged on the side portion of the main valve body, a main valve core, a main reset spring acting on the main valve core and a main valve seat matched with the main valve core are arranged in the main flow cavity, a disc guide portion and a sealing inclined portion are arranged on the main valve core, the disc guide portion is tightly attached to the inner wall of the main flow cavity, a supporting step used for installing the main valve seat is arranged on the inner wall of the main flow cavity, an overflowing hole is arranged in the middle of the main valve seat, and the upper end of the overflowing hole is in.
By adopting the technical scheme, hydraulic oil can flow to the energy storage device in a one-way mode from the brake system and cannot flow back.
The overflow valve further comprises a first valve body and a second valve body which are arranged on the main valve body, wherein the first valve body is provided with a multi-gear adjusting mechanism for adjusting the opening pressure of the overflow valve, the second valve body is provided with a continuous adjusting mechanism for adjusting the opening pressure of the overflow valve, and the first valve body is also provided with a mode switching mechanism for switching the multi-gear adjusting mechanism and the continuous adjusting mechanism.
Through adopting above-mentioned technical scheme, many grades of adjustment mechanism and continuous adjustment mechanism can adjust the cracking pressure of overflow valve, and wherein, many grades of adjustment mechanism can realize the regulation of a plurality of definite value pressure numerical values, adjusts convenient accuracy, and continuous adjustment mechanism can realize cracking pressure's infinitely variable control, and it is convenient and the scope is big to adjust, can realize the switching of two kinds of regulation modes through mode switching mechanism, and it is very convenient to operate.
The invention is further arranged that the mode switching mechanism comprises a switching wheel, an operating wheel and a pressure plate, a via hole is axially arranged on the main valve core, and a damping hole is arranged on the disc guide part; a switching cavity is arranged in the first sub-valve body, the switching wheel is rotationally arranged in the switching cavity, a first flow passage A connected with the multi-gear adjusting mechanism and a first flow passage B connected with the continuous adjusting mechanism are respectively arranged at two ends of the switching cavity, the first valve body is also provided with a second runner A connected with the multi-gear adjusting mechanism, a second runner B connected with the continuous adjusting mechanism, a liquid outlet hole and a backflow hole which are communicated with the main flow cavity, the switching wheel is provided with a first flow channel group and a second flow channel group, the first flow channel group comprises a first A butt joint flow channel for communicating the first A flow channel with the liquid outlet hole and a second A butt joint flow channel for communicating the second A flow channel with the reflux hole, the second flow channel group comprises a first B butt joint flow channel for communicating the first B flow channel with the liquid outlet hole and a second B butt joint flow channel for communicating the second B flow channel with the reflux hole; the pressure disk passes through the bolt and installs on first valve body, and the inner of pressure disk offsets with the operating wheel to pressure disk inner is the camber shape with operating wheel side looks adaptation, and the pressure disk middle part is equipped with rotates the chamber, the operating wheel rotates and sets up in rotating the chamber, and the week side of operating wheel evenly is provided with a plurality of driving teeth, the lateral part of switching wheel is equipped with the ring channel, is provided with the driven tooth that meshes with the driving tooth along circumference on the ring channel.
By adopting the technical scheme, when the multi-gear adjusting mechanism is required to be used, the operating wheel of the mode switching mechanism is operated to enable the first flow channel group on the switching wheel to be conducted, the second flow channel group is in a cut-off state, namely the first A butt joint flow channel communicates the first A flow channel with the liquid outlet hole, and the second A butt joint flow channel communicates the second A flow channel with the backflow hole, so that the opening pressure of the overflow valve can be adjusted by operating the multi-gear adjusting mechanism; when the continuous adjusting mechanism is required to be used, the operating wheel of the mode switching mechanism is operated to enable the second flow channel group on the switching wheel to be conducted, the first flow channel group is in a cut-off state, namely the first B butt joint flow channel communicates the first B flow channel with the liquid outlet hole, the second B butt joint flow channel communicates the second B flow channel with the backflow hole, and therefore the opening pressure of the overflow valve can be adjusted by operating the continuous adjusting mechanism.
The invention is further arranged in such a way that a double-ended stud is inserted in the middle of the operating wheel, two ends of the double-ended stud are in threaded connection with rotating balls, the two rotating balls are symmetrically arranged on two sides of the operating wheel, and a semi-spherical groove matched with the rotating balls is arranged on the inner wall of the rotating cavity.
Through adopting above-mentioned technical scheme, can not only realize that the operating wheel rotates and installs in rotating the chamber, simple structure moreover, the dismouting is very convenient.
The invention is further arranged in that two groups of mode marking grooves are arranged on the side part of the operating wheel, and the two groups of mode marking grooves are arranged in an angle of 180 degrees.
By adopting the technical scheme, the user can conveniently judge the state of the current mode switching mechanism, so that the switching operation of the multi-gear adjusting mechanism and the continuous adjusting mechanism is more accurate.
The invention is further arranged in such a way that the parts of the side part of the switching wheel, which are close to the two ends, are respectively provided with an annular sealing groove, and a first sealing ring which is used for forming sealing fit with the inner wall of the switching cavity and the inner end surface of the pressure plate is arranged in the annular sealing groove.
Through adopting above-mentioned technical scheme, can promote switching wheel and switch the leakproofness between the intracavity wall, switching wheel and the pressure disk inner end face, avoid appearing the medium and reveal.
The invention is further arranged that the multi-gear adjusting mechanism comprises a first push rod, a first time valve core, a first time spring and an operating button, a first adjusting cavity communicated with the first A flow passage and the second A flow passage is arranged in the first time valve body, the first push rod and the first time valve core are arranged in the first adjusting cavity in a sliding way, a second sealing ring which is used for forming sealing fit with the inner wall of the first adjusting cavity is arranged on the peripheral side of the first push rod, the first time valve core is in a conical shape and is arranged at the outer end of the first A flow passage and used for opening and closing the first A flow passage, a first lower positioning part is arranged on the first push rod, a first upper positioning part is arranged on the first time valve core, a first guide groove is arranged on the first lower positioning part, a first guide convex rod extending into the first guide groove is arranged on the first upper positioning part, the first time spring is sleeved on the peripheries of the first upper positioning part, two ends of the first secondary spring are respectively abutted against the first push rod and the first secondary valve core; the operating button is sleeved on the primary valve body, the outer end of the first push rod is abutted to the inner end face of the operating button, a plurality of annular elastic rings are uniformly arranged on the portion, matched with the operating button, of the primary valve body along the axial direction, and annular stop grooves matched with the annular elastic rings are formed in the inner wall of the operating button.
Through adopting above-mentioned technical scheme, promote operating button, adjust operating button relative first case's axial position, adjust operating button promptly and keep off the relative position of groove and the annular elastic ring on the first valve body, realize the axial quantitative displacement of first push rod to realize the regulation of the elastic force of first spring action on first case, and then realize overflow valve opening pressure's regulation, it is very convenient to operate.
The invention is further arranged that the continuous adjusting mechanism comprises a second push rod, a second secondary valve core, a second secondary spring and an adjusting knob, a second adjusting cavity is arranged in the second valve body and is respectively communicated with the first flow passage B and the second flow passage B through the first flow passage C and the second flow passage C, the second push rod and the second secondary valve core are arranged in the second adjusting cavity in a sliding way, a third sealing ring which is used for forming sealing fit with the inner wall of the second adjusting cavity is arranged on the peripheral side of the second push rod, the second secondary valve core is in a conical shape and is arranged at the outer end of the first flow passage C and is used for opening and closing the first flow passage C, a second lower positioning part is arranged on the second push rod, a second upper positioning part is arranged on the second valve core, a second guide groove is arranged on the second lower positioning part, and a second guide convex rod which extends into the second guide groove is arranged on the second upper positioning part, the second spring is sleeved on the peripheries of the second upper positioning part and the second lower positioning part, and two ends of the second spring are respectively abutted against the second push rod and the second valve core; the adjusting knob is connected to the second secondary valve body along the axial direction through threads, the outer end of the second push rod is abutted to the inner end face of the operating button, and the second secondary valve body is further connected with a locknut through threads, wherein the locknut is abutted to the inner end of the adjusting knob.
By adopting the technical scheme, the adjusting button is rotated to change the axial position of the adjusting knob relative to the first valve core, and the axial displacement of the second push rod with any amount is realized, so that the second spring acts on the adjustment of the elastic force of the second valve core, the adjustment of the opening pressure of the overflow valve is realized, and the operation is very convenient.
The invention is further arranged in such a way that a first circular groove is arranged on the main valve core, a second circular groove is arranged on the first secondary valve body, one end of the main return spring is embedded in the first circular groove, and the other end of the main return spring is embedded in the second circular groove.
Through adopting above-mentioned technical scheme, can realize main reset spring's location, promote its installation and the stability in the motion process.
The invention is further arranged in that a limiting component acting on the main valve seat is further arranged on the inner wall of the main flow cavity, the limiting component comprises a clamping block, an extrusion spring and a pressing block, a clamping groove is formed in the inner wall of the main flow cavity, one end of the clamping block is embedded in the clamping groove, the part, located outside the clamping groove, of the clamping block abuts against the upper end face of the main valve seat, a spring groove is formed in the part, located outside the clamping groove, of the clamping block, the extrusion spring is arranged in the spring groove, one end of the extrusion spring is fixedly arranged on the inner end face of the spring groove, the other end of the extrusion spring abuts against the pressing block, and the pressing block abuts against the main valve.
Through adopting above-mentioned technical scheme, can guarantee that the main valve seat firmly installs on supporting the step.
The invention also provides a control method of the hydraulic energy storage redundancy safety brake system of the unmanned vehicle, which comprises the following steps:
(1) redundant safe braking process:
a. before the vehicle is started or in the running process of the vehicle, the system is suddenly powered off, the two-position three-way reversing valve is in a reset state, and high-pressure oil of the energy accumulator directly pushes a braking device through the two-position three-way reversing valve, so that the vehicle is effectively braked, and the braking device plays roles of power-off braking and parking braking;
b. when the vehicle runs normally, the electric brake device pushes the main brake oil pump to feed oil, the pressure starts to rise from 0Mpa, and when the brake pressure is not enough to overcome the elastic return pressure of the brake actuating mechanism, the brake actuating mechanism does not work;
c. when the pressure of the main brake pump exceeds the return elasticity of the brake actuating mechanism, the brake actuating mechanism starts to act, when the pressure reaches less than the maximum brake pressure, the brake pad is completely braked or opened, the brake actuating mechanism finishes the maximum stroke, and the hydraulic system reaches a pressure balance point;
d. when the pressure of the brake oil path system is established, hydraulic oil can enter the energy accumulator as long as the pressure of the brake oil path system is greater than the pressure of the energy accumulator until the pressure in the energy accumulator and the pressure in the pipeline are balanced, and the maximum pressure of the brake system is maintained;
e. when the brake pump unloads oil, the hydraulic oil in the energy accumulator can not return oil and release pressure due to the overflow valve, and the maximum pressure is still kept;
f. when the repeated action times of the braking action are enough, the energy accumulator can store a certain amount of hydraulic oil to enable the pressure of the hydraulic oil to be equal to the maximum value of the system pressure, and at the moment, the braking is performed again, and the oil is not fed into the energy accumulator any more and is not returned because the pressure of the pipeline cannot be higher than the pressure of the energy accumulator;
g. when the control system judges that the main braking system fails, the whole vehicle control system resets the two-position three-way reversing valve, switches to an oil way of the energy accumulator to be directly communicated with the braking device, the energy accumulator starts to discharge oil and enters the braking executing mechanism, and the braking action starts;
h. because the maximum brake oil capacity of the brake actuating mechanism is limited, when the energy accumulator stops unloading oil, the oil pressure of the energy accumulator keeps balance in the brake actuating mechanism;
(2) redundant safety brake recovery process:
i, switching an oil path to an electric control hydraulic pump through a brake device by a two-position three-way reversing valve, wherein hydraulic oil in a brake actuating mechanism returns to an oil pot through the electric control hydraulic pump because the pressure of a brake system is 0 when the electric control hydraulic pump is in a brake release non-working state;
and II, when the vehicle stops or fails and cannot be relieved, the brake is always effective. At this moment, if trailer maintenance is needed, the pressure of the overflow valve can be manually modulated to be 0, the electric control oil brake pump is started to feed oil, the overflow valve is opened at the moment, then the electric control oil brake pump returns, hydraulic oil in the brake actuating mechanism is poured back through the overflow valve and returns to the oil pot through the electric hydraulic pump due to the fact that the pressure of the overflow valve is regulated to be 0, the brake actuating mechanism returns, and the vehicle can run again.
Drawings
FIG. 1 is a schematic diagram of the hydraulic system of the present invention in a braking system mode;
FIG. 2 is a schematic diagram of the hydraulic system of the present invention in the accumulator braking mode;
FIG. 3 is a schematic structural diagram of an overflow valve of the present invention;
FIG. 4 is a schematic structural diagram of a mode switching mechanism according to the present invention;
FIG. 5 is a schematic structural diagram of the multi-gear adjustment mechanism of the present invention;
FIG. 6 is a schematic view of the continuous adjustment mechanism of the present invention;
fig. 7 is an enlarged schematic view of a portion a in fig. 3.
In the figure: 1. a brake actuator; 2. an execution oil path; 3. an oil can; 4. a braking system; 5. an overflow valve; 6. an energy storage device; 7. a two-position three-way reversing valve; 8. a main valve body; 9. a main flow chamber; 10. a liquid inlet flow channel; 11. a liquid outlet flow passage; 12. a main valve element; 13. a main return spring; 14. a main valve seat; 15. a disc guide portion; 16. a sealing ramp; 17. supporting a step; 18. an overflowing hole; 19. a first secondary valve body; 20. a second valve body; 21. a multi-gear adjusting mechanism; 22. a continuous adjustment mechanism; 23. a mode switching mechanism; 24. a switching wheel; 25. an operating wheel; 26. a platen; 27. a via hole; 28. a damping hole; 29. a switching chamber; 30. a first flow path A; 31. a first flow passage B; 32. a second flow path A; 33. a second flow channel B; 34. a liquid outlet hole; 35. a return orifice; 36. a first A docking channel; 37. a second A butt joint runner; 38. a first B butt joint runner; 39. a second B butt joint runner; 40. a rotation chamber; 41. a driving tooth; 42. an annular groove; 43. a driven tooth; 44. a stud; 45. rotating the ball; 46. a hemispherical groove; 47. a mode flag slot; 48. an annular seal groove; 49. a first seal ring; 50. a first push rod; 52. a first secondary spool; 53. a first secondary spring; 54. an operation button; 55. a first regulating chamber; 56. a second seal ring; 57. a first lower positioning portion; 58. a first upper positioning portion; 59. a first guide groove; 60. a first guide protrusion bar; 61. an annular elastic ring; 62. an annular stop groove; 63. a second push rod; 64. a second valve core; 65. a second spring; 66. adjusting a knob; 67. a second regulating chamber; 68. a first C flow channel; 69. a second flow channel C; 70. a third seal ring; 71. a second lower positioning portion; 72. a second upper positioning portion; 73. a second guide groove; 74. a second guide cam; 75. a locknut; 76. a first circular groove; 77. a second circular groove; 78. a limiting component; 79. a clamping block; 80. a compression spring; 81. briquetting; 82. a card slot; 83. a spring slot.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b): the invention provides a hydraulic energy storage redundant safety brake system of an unmanned vehicle, which comprises an execution oil path 2 connected with a brake executing mechanism 1 on the vehicle, wherein the brake executing mechanism 1 and the execution oil path 2 are designed conventionally, the system also comprises an oil can 3, a brake system 4 (which can be one of an electric control brake pump, a vacuum boosting brake system or a purely manual hydraulic brake system without boosting), an overflow valve 5, an energy storage device 6 and a two-position three-way reversing valve 7, one end of the brake system 4 is connected with the oil can 3 through a pipeline, the other end of the brake system 4 is connected with the overflow valve 5 through a pipeline, the outlet end of the overflow valve 5 is connected with the energy storage device 6 through a pipeline, the A port of the two-position three-way reversing valve 7 is connected with the execution oil path 2, the two-position three-way reversing valve 7 is connected with the brake system 4 through a pipeline, and a T port of the two-position three-way reversing valve 7 is connected with the energy storage device 6 through a pipeline. Under normal conditions, along with the repetition of braking action, the energy accumulator 6 continuously accumulates energy, and after the control system judges that the main braking system is out of order, the whole vehicle control system resets the reversing valve, the port A of the two-position three-way reversing valve 7 is communicated with the port T, the energy accumulator 6 starts to discharge oil and enters the brake actuating mechanism 1, so that the brake actuating mechanism 1 performs braking action, the vehicle can be effectively braked, and safety accidents are avoided.
As shown in fig. 3, the overflow valve 5 includes a main valve body 8, a main flow cavity 9 is provided in the main valve body 8, a liquid inlet flow channel 10 and a liquid outlet flow channel 11 communicated with the main flow cavity 9 are provided at the side of the main valve body 8, a main valve element 12, a main return spring 13 acting on the main valve element 12 and a main valve seat 14 adapted to the main valve element 12 are provided in the main flow cavity 9, a disc guide part 15 and a sealing inclined part 16 are provided on the main valve element 12, the disc guide part 15 is tightly attached to the inner wall of the main flow cavity 9, a support step 17 for mounting the main valve seat 14 is provided on the inner wall of the main flow cavity 9, an overflowing hole 18 is provided in the middle of the main valve seat 14, and the upper end of the overflowing hole 18 and the sealing inclined. The design can make hydraulic oil flow in one direction from the brake system 4 to the energy storage device 6 and can not flow back.
As shown in fig. 3 and fig. 4, the overflow valve 5 further includes a first secondary valve body 19 and a second secondary valve body 20 that are disposed on the main valve body 8 through bolts, a sealing gasket is interposed between the first secondary valve body 19 and the main valve body 8, a sealing gasket is interposed between the second secondary valve body 20 and the main valve body 8, a multi-shift adjusting mechanism 21 for adjusting an opening pressure of the overflow valve 5 is disposed on the first secondary valve body 19, a continuous adjusting mechanism 22 for adjusting the opening pressure of the overflow valve 5 is disposed on the second secondary valve body 20, and a mode switching mechanism 23 for switching the multi-shift adjusting mechanism 21 and the continuous adjusting mechanism 22 is further disposed on the first secondary valve body 19. This design is shifted adjustment mechanism 21 and continuous adjustment mechanism 22 more and can be adjusted the cracking pressure of overflow valve 5, and wherein, the regulation of a plurality of definite value pressure numerical values can be realized to the shift adjustment mechanism 21 more, adjusts convenient accuracy, and continuous adjustment mechanism 22 can realize cracking pressure's infinitely variable control, adjusts convenient and the scope is big, can realize the switching of two kinds of regulation modes through mode switching mechanism 23, and it is very convenient to operate.
As shown in fig. 4, the mode switching mechanism 23 includes a switching wheel 24, an operating wheel 25 and a pressure plate 26, a through hole 27 is axially formed in the main spool 12, and a damping hole 28 is formed in the disc guide 15; a switching cavity 29 is arranged in the first valve body 19, the switching wheel 24 is rotatably arranged in the switching cavity 29, two ends of the switching cavity 29 are respectively provided with a first A flow channel 30 connected with the multi-gear adjusting mechanism 21 and a first B flow channel 31 connected with the continuous adjusting mechanism 22, the first valve body 19 is further provided with a second A flow channel 32 connected with the multi-gear adjusting mechanism 21, a second B flow channel 33 connected with the continuous adjusting mechanism 22, a liquid outlet hole 34 communicated with the main flow cavity 9 and a backflow hole 35, the switching wheel 24 is provided with a first flow channel group and a second flow channel group, the first flow channel group comprises a first A butt joint flow channel 36 used for communicating the first A flow channel 30 with the liquid outlet hole 34 and a second A butt joint flow channel 37 used for communicating the second A flow channel 32 with the backflow hole 35, and the second flow channel group comprises a first B butt joint flow channel 38 used for communicating the first B flow channel 31 with the liquid outlet hole 34 and a second B butt joint flow channel 38 used for communicating the second B flow channel 33 with the backflow hole 35 A second B docking runner 39 communicated; pressure disk 26 passes through the bolt and installs on first valve body 19, and pressure disk 26's the inner offsets with operating wheel 25 to pressure disk 26 the inner be with the camber shape of operating wheel 25 lateral part looks adaptation, pressure disk 26 middle part is equipped with rotates chamber 40, operating wheel 25 rotates and sets up in rotating chamber 40, and operating wheel 25's week side evenly is provided with a plurality of driving teeth 41, switching wheel 24's lateral part is equipped with ring channel 42, is provided with the driven tooth 43 with driving teeth 41 engaged with along circumference on the ring channel 42. When the multi-gear adjusting mechanism 21 is needed, the operating wheel 25 of the mode switching mechanism 23 is operated to enable the first flow channel group on the switching wheel 24 to be conducted, the second flow channel group is in a cut-off state, namely, the first A butt joint flow channel 36 communicates the first A flow channel 30 with the liquid outlet hole 34, and the second A butt joint flow channel 37 communicates the second A flow channel 32 with the return hole 35, so that the opening pressure of the overflow valve 5 can be adjusted by operating the multi-gear adjusting mechanism 21; when the continuous adjusting mechanism 22 needs to be used, the operating wheel 25 of the mode switching mechanism 23 is operated to conduct the second flow passage group on the switching wheel 24, the first flow passage group is in a cut-off state, that is, the first B butt joint flow passage 38 connects the first B flow passage 31 with the liquid outlet hole 34, and the second B butt joint flow passage 39 connects the second B flow passage 33 with the return hole 35, so that the opening pressure of the overflow valve 5 can be adjusted by operating the continuous adjusting mechanism 22.
As shown in fig. 4, a stud 44 is inserted into the middle of the operating wheel 25, that is, a hole is formed in the middle of the operating wheel 25, the middle of the stud 44 is in interference fit with the hole, two ends of the stud 44 are connected with rotating balls 45 through threads, the two rotating balls 45 are symmetrically arranged on two sides of the operating wheel 25, and a hemispherical groove 46 matched with the rotating balls 45 is formed in the inner wall of the rotating cavity 40. The operation wheel 25 can be rotatably arranged in the rotating cavity 40, and the structure is simple and the assembly and disassembly are very convenient.
As shown in fig. 4, the operation wheel 25 is provided at a side thereof with two sets of mode indicating grooves 47, and the two sets of mode indicating grooves 47 are arranged at 180 °. The design facilitates the user to judge the state of the current mode switching mechanism 23, and the user can more accurately switch the multi-gear adjusting mechanism 21 and the continuous adjusting mechanism 22.
As shown in fig. 4, the side portions of the switching wheel 24 near the two ends are respectively provided with an annular sealing groove 48, and a first sealing ring 49 for forming a sealing fit with the inner wall of the switching chamber 29 and the inner end surface of the pressure plate 26 is installed in the annular sealing groove 48. The design can improve the sealing performance between the switching wheel 24 and the inner wall of the switching cavity 29, between the switching wheel 24 and the inner end face of the pressure plate 26, and medium leakage is avoided.
As shown in fig. 5, the multi-gear adjusting mechanism 21 includes a first push rod 50, a first secondary valve core 52, a first secondary spring 53, and an operating button 54, a first adjusting chamber 55 communicated with the first a flow passage 30 and the second a flow passage 32 is disposed in the first valve body 19, the first push rod 50 and the first secondary valve core 52 are slidably disposed in the first adjusting chamber 55, a second sealing ring 56 configured to form a sealing fit with an inner wall of the first adjusting chamber 55 is disposed on a peripheral side of the first push rod 50, the first secondary valve core 52 is in a conical shape and disposed at an outer end of the first a flow passage 30 for opening and closing the first a flow passage 30, a first lower positioning portion 57 is disposed on the first push rod 50, a first upper positioning portion 58 is disposed on the first secondary valve core 52, a first guide groove 59 is disposed on the first lower positioning portion 57, a first guide protruding rod 60 extending into the first guide groove 59 is disposed on the first upper positioning portion 58, the first secondary spring 53 is sleeved on the peripheries of the first upper positioning part 58 and the first lower positioning part 57, and two ends of the first secondary spring 53 are respectively abutted against the first push rod 50 and the first secondary valve core 52; the operation button 54 is sleeved on the first valve body 19, the outer end of the first push rod 50 is abutted against the inner end face of the operation button 54, a plurality of annular elastic rings 61 are uniformly arranged on the portion, matched with the operation button 54, of the first valve body 19 along the axial direction, and an annular blocking groove 62 matched with the annular elastic rings 61 is formed in the inner wall of the operation button 54. The axial position of the operation button 54 relative to the first valve core 52 is adjusted by pushing the operation button 54, that is, the relative positions of the annular stop groove 62 on the operation button 54 and the annular elastic ring 61 on the first valve body 19 are adjusted, so that the axial quantitative displacement of the first push rod 50 is realized, the adjustment of the elastic force of the first valve core 52 acted by the first spring 53 is realized, the adjustment of the opening pressure of the overflow valve 5 is realized, and the operation is very convenient.
As shown in fig. 6, the continuous adjustment mechanism 22 includes a second push rod 63, a second secondary valve core 64, a second secondary spring 65, and an adjustment knob 66, a second adjustment cavity 67 is provided in the second secondary valve body 20, the second adjustment cavity 67 is respectively communicated with the first B flow channel 31 and the second B flow channel 33 through a first C flow channel 68 and a second C flow channel 69, the second push rod 63 and the second secondary valve core 64 are slidably disposed in the second adjustment cavity 67, a third sealing ring 70 for forming a sealing fit with an inner wall of the second adjustment cavity 67 is provided on a peripheral side of the second push rod 63, the second secondary valve core 64 is in a conical shape and is disposed at an outer end of the first C flow channel 68 for opening and closing the first C flow channel 68, a second lower positioning portion 71 is provided on the second push rod 63, a second upper positioning portion 72 is provided on the second valve core 64, a second guide groove 73 is provided on the second lower positioning portion 71, the second upper positioning part 72 is provided with a second guide protruding rod 74 extending into the second guide groove 73, the second secondary spring 65 is sleeved on the peripheries of the second upper positioning part 72 and the second lower positioning part 71, and two ends of the second secondary spring 65 respectively abut against the second push rod 63 and the second secondary valve core 64; the adjusting knob 66 is connected to the second secondary valve body 20 along the axial direction by a thread, the outer end of the second push rod 63 abuts against the inner end surface of the operating button 54, and the second secondary valve body 20 is further connected with a locknut 75 which abuts against the inner end of the adjusting knob 66 by a thread. The adjusting button is rotated to change the axial position of the adjusting knob 66 relative to the first valve core 52, and the axial displacement of the second push rod 63 with any amount is realized, so that the elastic force of the second spring 65 acting on the second valve core 64 is adjusted, the opening pressure of the overflow valve 5 is adjusted, and the operation is very convenient.
As shown in fig. 3, a first circular groove 76 is provided on the main valve element 12, a second circular groove 77 is provided on the first sub valve body 19, one end of the main return spring 13 is embedded in the first circular groove 76, and the other end of the main return spring 13 is embedded in the second circular groove 77. This design can realize main reset spring 13's location, promotes its installation and the stability in the motion process.
As shown in fig. 7, a limiting component 78 acting on the main valve seat 14 is further disposed on the inner wall of the main flow cavity 9, the limiting component 78 includes a clamping block 79, an extrusion spring 80 and a pressing block 81, a clamping groove 82 is disposed on the inner wall of the main flow cavity 9, one end of the clamping block 79 is embedded in the clamping groove 82, the clamping block 79 is located outside the clamping groove 82 and abuts against the upper end face of the main valve seat 14, the clamping block 79 is located outside the clamping groove 82 and is provided with a spring groove 83, the extrusion spring 80 is disposed in the spring groove 83, one end of the extrusion spring 80 is fixedly disposed on the inner end face of the spring groove 83, the other end of the extrusion spring 80 abuts against the pressing block 81, and the pressing block 81 abuts against the main valve seat 14 under the effect of the extrusion spring 80. This design ensures that the main valve seat 14 is securely mounted on the support step 17.
The invention also provides a control method of the hydraulic energy storage redundancy safety brake system of the unmanned vehicle, which comprises the following steps:
the brake pressure of the automobile oil brake is different according to different automobile types, the maximum brake pressure is generally less than 10Mpa, and specific values are determined according to specific performances of a pressure pump and a brake actuating mechanism.
At the beginning of vehicle design, the minimum oil pressure of the brake actuator is 5MPa, the oil pressure is 9MPa when the maximum stroke is reached, the oil storage capacity is 200mL, and the pipeline pressure is 15MPa when the maximum stroke of the brake system is reached, namely the oil pressure of the brake oil way is 5-15 MPa. An electric control brake system of an unmanned vehicle is added, the initial pressure P3 of a hydraulic accumulator is 9Mpa, and the oil storage amount is 250mL when the pressure after oil inlet is 15 Mpa.
(1) The redundant safety braking process is as follows:
a. before the vehicle is started or in the running process of the vehicle, the system is suddenly powered off, the two-position three-way reversing valve is in a reset state, and high-pressure oil of the energy accumulator directly pushes the braking device through the two-position three-way reversing valve, so that the vehicle is effectively braked, and the functions of power-off braking and parking braking are realized.
b. When the electric brake device is used for driving the main brake oil pump to feed oil, the pressure starts to rise from 0Mpa, and when the brake pressure is not enough to overcome the elastic return pressure of the brake actuating mechanism, the brake actuating mechanism does not work.
c. When the pressure of the main brake pump exceeds the return elastic force of the brake actuating mechanism, the brake actuating mechanism starts to act, when the pressure reaches less than 10Mpa, the brake piece is completely braked or opened, the brake actuating mechanism finishes the maximum stroke, and the hydraulic system reaches a pressure balance point.
d. When the pressure of the brake oil path system is established, hydraulic oil can enter the energy accumulator as long as the pressure of the brake oil path system is greater than the pressure of the energy accumulator until the pressure in the energy accumulator and the pressure in the pipeline are balanced, and the maximum pressure of the brake system is maintained.
e. When the brake pump unloads oil, hydraulic oil in the energy storage device can not return oil and release pressure due to the overflow valve, and the maximum pressure is still kept.
f. When the above braking action repeated action times are enough many, the energy accumulator can store a certain amount of hydraulic oil to enable the pressure of the hydraulic oil to be equal to the maximum value of the system pressure, the brake is performed again at the moment, and the energy accumulator does not return oil any more because the pressure of the pipeline cannot be higher than the pressure of the energy accumulator.
g. When the control system judges that the main braking system fails, the whole vehicle control system resets the two-position three-way reversing valve, switches to an oil way of the energy accumulator to be directly communicated with the braking device, the energy accumulator starts to discharge oil and enters the braking executing mechanism, and braking action starts.
h. Because the maximum brake oil capacity of the brake actuating mechanism is limited, when the accumulator stops unloading oil, the oil pressure of the accumulator keeps balance in the brake actuating mechanism.
(2) The redundant safety brake recovery process is as follows:
the two-position three-way reversing valve switches the oil path to the electric control hydraulic pump to be directly communicated with the brake device, and as the electric control hydraulic pump is in a brake release non-working state, the pressure of a brake system is 0, hydraulic oil in the brake actuating mechanism returns to the oil pot through the electric control hydraulic pump.
And II, when the vehicle stops or fails and cannot be relieved, the brake is always effective. At this moment, if trailer maintenance is needed, the pressure of the overflow valve can be manually modulated to be 0, the electric control oil brake pump is started to feed oil, the overflow valve is opened at the moment, then the electric control oil brake pump returns, hydraulic oil in the brake actuating mechanism is poured back through the overflow valve and returns to the oil pot through the electric hydraulic pump due to the fact that the pressure of the overflow valve is regulated to be 0, the brake actuating mechanism returns, and the vehicle can run again.
Claims (10)
1. Redundant safe braking system of unmanned vehicle hydraulic pressure energy storage, including execution oil circuit (2) that are connected with braking actuating mechanism (1) on the vehicle, its characterized in that: the hydraulic brake system is characterized by further comprising an oil can (3), a brake system (4), an overflow valve (5), an energy accumulator (6) and a two-position three-way reversing valve (7), wherein one end of the brake system (4) is connected with the oil can (3) through a pipeline, the other end of the brake system (4) is connected with the overflow valve (5) through a pipeline, the outlet end of the overflow valve (5) is connected with the energy accumulator (6) through a pipeline, the port A of the two-position three-way reversing valve (7) is connected with the execution oil way (2), the two-position three-way reversing valve (7) is connected with the brake system (4) through a pipeline, and the port T of the two-position three-way reversing valve (7) is connected with.
2. The unmanned vehicle hydraulic energy storage redundant safety brake system of claim 1, wherein: the overflow valve (5) comprises a main valve body (8), a main flow cavity (9) is arranged in the main valve body (8), a liquid inlet flow passage (10) and a liquid outlet flow passage (11) which are communicated with the main flow cavity (9) are arranged at the side part of the main valve body (8), a main valve core (12), a main return spring (13) acting on the main valve core (12) and a main valve seat (14) matched with the main valve core (12) are arranged in the main flow cavity (9), a disc guide part (15) and a sealing inclined part (16) are arranged on the main valve core (12), the disc guide part (15) is tightly attached to the inner wall of the main flow cavity (9), a support step (17) for mounting the main valve seat (14) is arranged on the inner wall of the main flow cavity (9), the middle part of the main valve seat (14) is provided with an overflowing hole (18), and the upper end of the overflowing hole (18) is in sealing fit with the sealing inclined part (16).
3. The unmanned vehicle hydraulic energy storage redundant safety brake system of claim 2, wherein: the overflow valve (5) further comprises a first valve body (19) and a second valve body (20) which are arranged on the main valve body (8), the first valve body (19) is provided with a multi-gear adjusting mechanism (21) for adjusting the opening pressure of the overflow valve (5), the second valve body (20) is provided with a continuous adjusting mechanism (22) for adjusting the opening pressure of the overflow valve (5), and the first valve body (19) is further provided with a mode switching mechanism (23) for switching the multi-gear adjusting mechanism (21) and the continuous adjusting mechanism (22); the mode switching mechanism (23) comprises a switching wheel (24), an operating wheel (25) and a pressure plate (26), a through hole (27) is formed in the main valve element (12) along the axial direction, and a damping hole (28) is formed in the disc guide portion (15); a switching cavity (29) is arranged in the first valve body (19), the switching wheel (24) is rotatably arranged in the switching cavity (29), a first A flow channel (30) connected with the multi-gear adjusting mechanism (21) and a first B flow channel (31) connected with the continuous adjusting mechanism (22) are respectively arranged at two ends of the switching cavity (29), a second A flow channel (32) connected with the multi-gear adjusting mechanism (21), a second B flow channel (33) connected with the continuous adjusting mechanism (22), a liquid outlet hole (34) communicated with the main flow cavity (9) and a backflow hole (35) are further arranged on the first valve body (19), a first flow channel group and a second flow channel group are arranged on the switching wheel (24), the first flow channel group comprises a first A butt joint flow channel (36) used for communicating the first A flow channel (30) with the liquid outlet hole (34) and a second A butt joint flow channel (37) used for communicating the second A flow channel (32) with the backflow hole (35), the second flow channel group comprises a first B butt joint flow channel (38) for communicating the first B flow channel (31) with the liquid outlet hole (34) and a second B butt joint flow channel (39) for communicating the second B flow channel (33) with the return hole (35); the pressure plate (26) is mounted on the first valve body (19) through a bolt, the inner end of the pressure plate (26) is abutted to the operating wheel (25), the inner end of the pressure plate (26) is in an arc-shaped surface matched with the side part of the operating wheel (25), a rotating cavity (40) is arranged in the middle of the pressure plate (26), the operating wheel (25) is rotatably arranged in the rotating cavity (40), a plurality of driving teeth (41) are uniformly arranged on the peripheral side of the operating wheel (25), an annular groove (42) is arranged on the side part of the switching wheel (24), and driven teeth (43) meshed with the driving teeth (41) are circumferentially arranged on the annular groove (42); two groups of mode marking grooves (47) are formed in the side portion of the operating wheel (25), and the two groups of mode marking grooves (47) are arranged in an angle of 180 degrees.
4. The unmanned vehicle hydraulic energy storage redundant safety brake system of claim 3, wherein: the middle part of the operation wheel (25) is inserted with a stud (44), two ends of the stud (44) are in threaded connection with rotating balls (45), the two rotating balls (45) are symmetrically arranged on two sides of the operation wheel (25), and the inner wall of the rotating cavity (40) is provided with a hemispherical groove (46) matched with the rotating balls (45).
5. The unmanned vehicle hydraulic energy storage redundant safety brake system of claim 3, wherein: the position that the lateral part of switching wheel (24) is close to both ends is equipped with an annular seal groove (48) respectively, install in annular seal groove (48) and be used for constituting sealed complex first sealing washer (49) with switching chamber (29) inner wall and pressure disk (26) inner end face.
6. The unmanned vehicle hydraulic energy storage redundant safety brake system of claim 3, wherein: the multi-gear adjusting mechanism (21) comprises a first push rod (50), a first valve core (52), a first spring (53) and an operating button (54), a first adjusting cavity (55) communicated with a first A flow channel (30) and a second A flow channel (32) is arranged in a first valve body (19), the first push rod (50) and the first valve core (52) are arranged in the first adjusting cavity (55) in a sliding mode, a second sealing ring (56) used for forming sealing fit with the inner wall of the first adjusting cavity (55) is arranged on the peripheral side of the first push rod (50), the first valve core (52) is in a conical shape and arranged at the outer end of the first A flow channel (30) and used for opening and closing the first A flow channel (30), a first lower positioning portion (57) is arranged on the first push rod (50), a first upper positioning portion (58) is arranged on the first valve core (52), a first guide groove (59) is arranged on the first lower positioning portion (57), a first guide convex rod (60) extending into the first guide groove (59) is arranged on the first upper positioning part (58), the first secondary spring (53) is sleeved on the peripheries of the first upper positioning part (58) and the first lower positioning part (57), and two ends of the first secondary spring (53) are respectively abutted against the first push rod (50) and the first secondary valve core (52); the operating button (54) is sleeved on the first valve body (19), the outer end of the first push rod (50) is abutted to the inner end face of the operating button (54), a plurality of annular elastic rings (61) are uniformly arranged at the position where the first valve body (19) is matched with the operating button (54) along the axial direction, and an annular blocking groove (62) matched with the annular elastic rings (61) is formed in the inner wall of the operating button (54).
7. The unmanned vehicle hydraulic energy storage redundant safety brake system of claim 3, wherein: the continuous adjusting mechanism (22) comprises a second push rod (63), a second secondary valve core (64), a second secondary spring (65) and an adjusting knob (66), a second adjusting cavity (67) is arranged in the second secondary valve body (20), the second adjusting cavity (67) is respectively communicated with the first B flow channel (31) and the second B flow channel (33) through a first C flow channel (68) and a second C flow channel (69), the second push rod (63) and the second secondary valve core (64) are arranged in the second adjusting cavity (67) in a sliding mode, a third sealing ring (70) used for forming sealing fit with the inner wall of the second adjusting cavity (67) is arranged on the peripheral side of the second push rod (63), the second secondary valve core (64) is in a conical shape and arranged at the outer end of the first C flow channel (68) and used for opening and closing the first C flow channel (68), and a second lower positioning portion (71) is arranged on the second push rod (63), a second upper positioning part (72) is arranged on the second valve core (64), a second guide groove (73) is arranged on the second lower positioning part (71), a second guide convex rod (74) extending into the second guide groove (73) is arranged on the second upper positioning part (72), the second spring (65) is sleeved on the peripheries of the second upper positioning part (72) and the second lower positioning part (71), and two ends of the second spring (65) are respectively abutted against the second push rod (63) and the second valve core (64); the adjusting knob (66) is connected to the second secondary valve body (20) along the axial direction in a threaded mode, the outer end of the second push rod (63) is abutted to the inner end face of the operating button (54), and the second secondary valve body (20) is further connected with a locknut (75) which is used for abutting against the inner end of the adjusting knob (66) in a threaded mode.
8. The unmanned vehicle hydraulic energy storage redundant safety brake system of claim 3, wherein: the main valve core (12) is provided with a first circular groove (76), the first valve body (19) is provided with a second circular groove (77), one end of the main return spring (13) is embedded in the first circular groove (76), and the other end of the main return spring (13) is embedded in the second circular groove (77).
9. The unmanned vehicle hydraulic energy storage redundant safety brake system of claim 2, wherein: still be equipped with spacing subassembly (78) that act on main valve seat (14) on the inner wall of mainstream chamber (9), spacing subassembly (78) are including fixture block (79), extrusion spring (80) and briquetting (81), draw-in groove (82) have been seted up on mainstream chamber (9) inner wall, the one end of fixture block (79) is inlayed and is established in draw-in groove (82), and fixture block (79) are located draw-in groove (82) outside position and support the up end at main valve seat (14), and bin and fixture block (79) are located draw-in groove (82) outside position and have seted up spring groove (83), extrusion spring (80) set up in spring groove (83), and the one end of extrusion spring (80) is fixed to be set up in spring groove (83) interior terminal surface, and the other end of extrusion spring (80) supports on briquetting (81), and briquetting (81) support under the effect of extrusion spring (80) on main valve seat (14).
10. The control method of the hydraulic energy storage redundant safety brake system of the unmanned vehicle according to any one of claims 1-9, comprising the following steps:
(1) redundant safe braking process:
a. before the vehicle is started or in the running process of the vehicle, the system is suddenly powered off, the two-position three-way reversing valve is in a reset state, and high-pressure oil of the energy accumulator directly pushes a braking device through the two-position three-way reversing valve, so that the vehicle is effectively braked, and the braking device plays roles of power-off braking and parking braking;
b. when the vehicle runs normally, the electric brake device pushes the main brake oil pump to feed oil, the pressure starts to rise from 0Mpa, and when the brake pressure is not enough to overcome the elastic return pressure of the brake actuating mechanism, the brake actuating mechanism does not work;
c. when the pressure of the main brake pump exceeds the return elasticity of the brake actuating mechanism, the brake actuating mechanism starts to act, when the pressure reaches less than the maximum brake pressure, the brake pad is completely braked or opened, the brake actuating mechanism finishes the maximum stroke, and the hydraulic system reaches a pressure balance point;
d. when the pressure of the brake oil path system is established, hydraulic oil can enter the energy accumulator as long as the pressure of the brake oil path system is greater than the pressure of the energy accumulator until the pressure in the energy accumulator and the pressure in the pipeline are balanced, and the maximum pressure of the brake system is maintained;
e. when the brake pump unloads oil, the hydraulic oil in the energy accumulator can not return oil and release pressure due to the overflow valve, and the maximum pressure is still kept;
f. when the repeated action times of the braking action are enough, the energy accumulator can store a certain amount of hydraulic oil to enable the pressure of the hydraulic oil to be equal to the maximum value of the system pressure, and at the moment, the braking is performed again, and the oil is not fed into the energy accumulator any more and is not returned because the pressure of the pipeline cannot be higher than the pressure of the energy accumulator;
g. when the control system judges that the main braking system fails, the whole vehicle control system resets the two-position three-way reversing valve, switches to an oil way of the energy accumulator to be directly communicated with the braking device, the energy accumulator starts to discharge oil and enters the braking executing mechanism, and the braking action starts;
h. because the maximum brake oil capacity of the brake actuating mechanism is limited, when the energy accumulator stops unloading oil, the oil pressure of the energy accumulator keeps balance in the brake actuating mechanism;
(2) redundant safety brake recovery process:
i, switching an oil path to an electric control hydraulic pump through a brake device by a two-position three-way reversing valve, wherein hydraulic oil in a brake actuating mechanism returns to an oil pot through the electric control hydraulic pump because the pressure of a brake system is 0 when the electric control hydraulic pump is in a brake release non-working state;
II, when the vehicle stops or fails and can not be relieved, the brake is always effective, at the moment, if trailer maintenance is needed, the pressure of the overflow valve can be manually modulated to be 0, the electric control oil brake pump is opened for oil inlet, the overflow valve is opened at the moment, then the electric control oil brake pump returns, the pressure of the overflow valve is adjusted to be 0, hydraulic oil in the brake actuating mechanism returns through the overflow valve and returns to the oil pot through the electric hydraulic pump, the brake actuating mechanism returns, and the vehicle can travel again.
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| CN202110439982.4A CN113119926B (en) | 2021-04-23 | 2021-04-23 | Hydraulic energy storage redundant safety brake system of unmanned vehicle |
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| CN202110439982.4A CN113119926B (en) | 2021-04-23 | 2021-04-23 | Hydraulic energy storage redundant safety brake system of unmanned vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114872674A (en) * | 2022-04-21 | 2022-08-09 | 深圳元戎启行科技有限公司 | Vehicle brake control method, system, vehicle and storage medium |
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| CN101172483A (en) * | 2006-10-31 | 2008-05-07 | 宋志忠 | Energy accumulation type emergent brake for automobile |
| EP2008897A2 (en) * | 2007-06-26 | 2008-12-31 | Deere & Company | Hydraulic by-wire vehicle braking system |
| CN105526202A (en) * | 2015-12-04 | 2016-04-27 | 安徽理工大学 | Overflow valve with pressure regulating and safety functions |
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