CN115214584B - Braking system for unmanned automobile - Google Patents

Abstract

The invention relates to a braking system for an unmanned automobile, which belongs to the technical field of vehicle engineering and comprises a braking mechanism for braking; the active driving mechanism is connected with the braking mechanism and is used for normally braking the system; and the backup driving mechanism is connected with the braking mechanism and is used for carrying out backup braking on the system when the active driving mechanism cannot complete the braking task. When the whole braking system works, the invention can collect displacement signals of structures such as a piston push rod of a braking main cylinder, and the like, and the sensor is used for transmitting signals of the collecting module to the control system, so that the rotation of the motor is regulated and controlled, and the braking effect which is actually required is generated; under dangerous working conditions, the electronic control unit ECU can control the active braking motor to rotate, the ejector rod can quickly push the double-cavity master cylinder piston, the braking system is quickly pressurized, active braking is realized, and therefore dangerous accidents are avoided.

Description

A braking system for driverless cars

Technical field

The invention relates to the field of vehicle engineering technology, and specifically relates to a braking system for driverless vehicles.

Background technique

With the development of the new four modernizations in the automotive field, autonomous functional vehicles represented by autonomous vehicles are increasingly being developed and applied. At present, driverless cars have achieved functions such as autonomous driving, autonomous obstacle avoidance, and autonomous path planning, and have been applied in some scenic spots, communities, parks, ports, airports and other places. They can adapt to various weather travel scenarios to meet all-weather traffic requirements. There is a need to provide short-distance connection services for passengers.

Due to the characteristics of autonomous vehicles, higher requirements must be placed on their braking systems. The braking system of driverless vehicles must not only be able to actively brake under emergency conditions, but also must have a fail-back braking function to meet higher braking safety performance requirements, thereby reducing the probability of accidents.

To this end, we propose a braking system and pressure building method for driverless vehicles, which has both active braking and failure backup braking functions, and can meet the requirements for braking safety.

Contents of the invention

The purpose of the present invention is to provide a braking system for an autonomous vehicle to solve the problems raised in the above background art.

In order to achieve the above objects, the present invention provides the following technical solutions:

A braking system for driverless cars, including:

Braking mechanism, used for braking;

An active driving mechanism is connected to the braking mechanism and is used for normal braking of the system;

A backup driving mechanism is connected to the braking mechanism and is used to backup the system when the active driving mechanism cannot complete the braking task.

As a further technical solution of the present invention, the braking mechanism includes:

shell parts;

A braking component is installed at one end of the housing component and is used for braking;

The active driving part is installed inside one end of the housing part close to the braking part and is connected to the braking part, and is used to cooperate with the active driving mechanism for normal braking;

The backup driving part is installed inside the end of the housing part away from the braking part and is connected to the active driving part, and is used to cooperate with the backup driving mechanism for backup braking.

As a further technical solution of the present invention, the housing component includes:

first shell;

a third housing, fixedly installed on one end of the first housing;

a second housing fixedly installed on one end of the third housing;

a fourth housing, fixedly installed on an end of the third housing away from the second housing;

The fifth housing is fixedly installed on the end of the third housing away from the second housing and cooperates with the fourth housing.

As a further technical solution of the present invention, the braking member includes:

A dual-chamber master cylinder is fixedly installed on the end of the second housing away from the third housing;

The ejector rod is installed in the second housing and is slidingly connected with it. One end of the ejector rod is arranged in the double-cavity master cylinder and is slidably connected with it;

The first return spring is sleeved on the outside of the ejector rod. One end of the first return spring is connected to the ejector rod, and the other end is connected to the active driving member.

As a further technical solution of the present invention, the active driving member includes:

The ejector pin seat is installed in the third housing, and one end of the ejector pin seat is equipped with a rubber pad that matches the ejector pin;

A pallet rack is fixedly installed on the outside of one end of the ejector pin seat close to the ejector pin, and a tray that matches the first return spring is installed on the pallet rack;

One end of the ball screw is installed in the third housing and is slidingly connected to it. The ball screw is installed on the end of the ejector seat away from the ejector;

Ball screw nut, sleeved on the outside of the ball screw and threadedly connected to it

The first shift fork is fixedly installed on the ball screw;

a first sensor gear, rotatably disposed in the third housing and connected to the first sensor;

The first sensor rack is connected to the first shift fork on one side and the first sensor gear on the other side. When the screw nut rotates, it slides with the ball screw, and the ball screw is pushed with the ejector seat through the pallet frame. The ejector rod slides, causing the ejector rod to establish a certain hydraulic pressure in the dual-chamber master cylinder to complete braking.

As a further technical solution of the present invention, the backup driver includes:

a trapezoidal screw, slidably installed between the fourth housing and the fifth housing;

A trapezoidal screw nut is sleeved on the outside of the trapezoidal screw and is threadedly connected with it;

The sleeve has one end connected to the trapezoidal screw through a second buffer pad, and the other end connected to the ejector seat through a secondary push rod;

A second return spring is sleeved on the outside of the secondary push rod. One end of the second return spring is connected to the ejector seat through an adjustment pad, and the other end is connected to the sleeve through a first buffer pad;

a second shift fork, fixedly installed on the outside of the sleeve;

a second sensor gear, rotatably disposed in the third housing and connected to the second sensor;

The second sensor rack is connected to the second shift fork on one side and matches the second sensor gear on the other side. When the trapezoidal screw nut rotates, it slides with the trapezoidal screw, and the trapezoidal screw passes through the second buffer pad. Pushing the sleeve to slide, the sleeve pushes the secondary push rod to overcome the action of the second return spring and eliminate the gap between the secondary push rod and the ejector rod, transmitting the motion to the ejector rod to establish it in the double-cavity master cylinder Apply a certain amount of hydraulic pressure to complete braking.

As a further technical solution of the present invention, the active driving mechanism includes:

An active braking motor is fixedly installed on the first housing;

The first shaft is fixedly installed at the output end of the active braking motor;

The first driving bevel gear has one end fixedly connected to the first shaft;

The first driven bevel gear is sleeved on the outside of the ball screw nut and fixedly connected to it. The first driven bevel gear meshes with the first driving bevel gear. When the active braking motor rotates, the first driven bevel gear is rotated by the first driven bevel gear. The shaft rotates with the first driving gear. After the first driving bevel gear is decelerated and torqued by the meshed first driven bevel gear, the motion and torque are transmitted to the ball screw nut, which is driven by the rotation of the ball screw nut. The ball screw slides.

As a further technical solution of the present invention, the backup drive mechanism includes:

A backup brake motor is fixedly installed on the fifth housing;

The third axis is fixedly installed at the output end of the backup brake motor;

The second driving bevel gear has one end fixedly connected to the third wheel;

The second driven bevel gear is sleeved on the outside of the trapezoidal screw nut and fixedly connected to it. The second driven bevel gear meshes with the second driving bevel gear. When the backup brake motor rotates, the third driven bevel gear is The shaft rotates with the second driving bevel gear. After the second driving bevel gear is decelerated and torqued by the meshed second driven bevel gear, the motion and torque are transmitted to the trapezoidal screw nut, and the trapezoidal screw nut rotates. Drive the trapezoidal screw to slide.

As a further technical solution of the present invention, the first shaft is installed in the first housing through a first angular contact ball bearing and a second angular contact ball bearing; the first driving bevel gear and the first shaft pass through a first key Connection; the first driven bevel gear and the ball screw nut are made in one piece, and are installed in the fourth housing and the fifth housing through a third angular contact ball bearing and a first needle bearing.

As a further technical solution of the present invention, the third shaft is installed in the fifth housing through a fifth angular contact ball bearing and a sixth angular contact ball bearing; the second driving bevel gear and the third shaft pass through a second key Connection; the second driven bevel gear and the trapezoidal screw nut are made in one piece, and are installed in the fourth and fifth housings through a seventh angular contact ball bearing; the trapezoidal screw, the secondary The push rod and ejector rod are set coaxially.

Compared with the prior art, the beneficial effects of the present invention are:

1. When the entire braking system is working, the displacement signal of the brake master cylinder piston push rod and other structures can be collected, and the sensor is used to transmit the signal of the acquisition module to the control system, thereby regulating the motor rotation and producing the actual required braking force. dynamic effect;

2. Under dangerous working conditions, the electronic control unit ECU can control the rotation of the active braking motor, quickly push the double-cavity master cylinder piston through the ejector rod, quickly build up pressure in the braking system, and achieve active braking, thereby avoiding dangerous accidents;

3. When the active braking motor fails, the backup braking motor can push the ejector movement through the backup braking line to generate a certain hydraulic pressure in the double-cavity master cylinder to ensure the pressure-building capability of the braking system and enable the driverless car to have a failure backup Braking ability.

Description of the drawings

Figure 1 is a top view of the braking system for driverless cars;

Figure 2 is a cross-sectional view at A-A in Figure 1;

Figure 3 is a side view of the braking system for a driverless car;

Figure 4 is a cross-sectional view taken at B-B in Figure 3 .

In the picture: 1-active braking motor, 2-first shaft, 3-first housing, 4-first key, 5-first angular contact ball bearing, 6-first driving bevel gear, 7-second Angular contact ball bearing, 8-first return spring, 9-dual cavity master cylinder, 10-ejector rod, 11-second housing, 12-rubber pad, 13-ejector rod seat, 14-adjustment pad, 15- Third housing, 16-first sensor gear, 17-pallet, 18-first sensor rack, 19-first shift fork, 20-straight-through oil injection cup, 21-first driven bevel gear, 22-th Triangular contact ball bearing, 23-ball screw nut, 24-sleeve, 25-ball screw, 26-seventh angular contact ball bearing, 27-second driven bevel gear, 28-trapezoidal screw nut, 29- Trapezoidal screw, 30-fourth housing, 31-bolt, 32-nut, 33-washer, 34-sixth angular contact ball bearing, 35-second key, 36-second driving bevel gear, 37-fifth Housing, 38-fifth angular contact ball bearing, 39-third shaft, 40-backup brake motor, 41-second sensor gear, 42-second sensor rack, 43-second shift fork, 44-th Second return spring, 45-secondary push rod, 46-first needle bearing, 47-first buffer pad, 48-fourth angular contact ball bearing, 49-second buffer pad, 50-second shaft, 51 -Second needle roller bearing, 52-screw, 53-pallet rack.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

The embodiment of the present invention is implemented as follows. The braking system for driverless cars shown in Figures 1 to 4 includes:

Braking mechanism, used for braking;

An active driving mechanism is connected to the braking mechanism and is used for normal braking of the system;

A backup driving mechanism is connected to the braking mechanism and is used to backup the system when the active driving mechanism cannot complete the braking task.

When the present invention is actually applied, under normal circumstances, the active driving mechanism is used to drive the braking mechanism to complete braking. When the active driving mechanism cannot complete the braking task, the backup driving mechanism is used to brake the system to ensure that the braking system builds pressure. This capability enables driverless cars to have backup braking capabilities in case of failure, making them safer and more practical.

As shown in Figures 3 and 4, as a preferred embodiment of the present invention, the braking mechanism includes:

Shell piece, said shell piece includes:

first housing 3;

The third housing 15 is fixedly installed on one end of the first housing 3;

The second housing 11 is fixedly installed on one end of the third housing 15;

The fourth housing 30 is fixedly installed on the end of the third housing 15 away from the second housing 11;

The fifth housing 37 is fixedly installed on the end of the third housing 15 away from the second housing 11 and cooperates with the fourth housing 30;

A braking component is installed at one end of the housing component for braking. The braking component includes:

The dual-chamber master cylinder 9 is fixedly installed on the end of the second housing 11 away from the third housing 15;

The ejector rod 10 is installed in the second housing 11 and is slidingly connected with it. One end of the ejector rod 10 is arranged in the dual-chamber master cylinder 9 and is slidably connected with it;

The first return spring 8 is sleeved on the outside of the push rod 10. One end of the first return spring 8 is connected to the push rod 10, and the other end is connected to the active driving member;

The active driving member is installed inside one end of the housing member close to the braking member and is connected to the braking member. It is used to cooperate with the active driving mechanism for normal braking. The active driving member includes:

The ejector pin seat 13 is installed in the third housing 15. One end of the ejector pin seat 13 is equipped with a rubber pad 12 that matches the ejector pin 10;

The pallet rack 53 is fixedly installed on the outside of one end of the ejector pin seat 13 close to the ejector pin 10. The pallet rack 53 is equipped with a tray 17 that matches the first return spring 8;

One end of the ball screw 25 is installed in the third housing 15 and is slidingly connected with it. The ball screw 25 is installed on the end of the ejector seat 13 away from the ejector 10;

Ball screw nut 23 is sleeved on the outside of the ball screw 25 and is threadedly connected to it.

The first shift fork 19 is fixedly installed on the ball screw 25;

The first sensor gear 16 is rotatably arranged in the third housing 15 and connected to the first sensor;

The first sensor rack 18 is connected to the first shift fork 19 on one side and the first sensor gear 16 on the other side. When the screw nut rotates, it slides with the ball screw 25 and the ball screw 25 passes through the pallet frame 53 Push the ejector pin 10 to slide with the ejector pin seat 13, so that the ejector pin 10 establishes a certain hydraulic pressure in the dual-chamber master cylinder 9 to complete the braking;

The backup driving part is installed inside the end of the housing member away from the braking part and is connected to the active driving part. It is used to cooperate with the backup driving mechanism for backup braking. The backup driving part includes:

The trapezoidal screw 29 is slidably installed between the fourth housing 30 and the fifth housing 37;

The trapezoidal screw nut 28 is sleeved on the outside of the trapezoidal screw 29 and is threadedly connected with it;

One end of the sleeve 24 is connected to the trapezoidal screw 29 through the second buffer pad 49, and the other end is connected to the ejector seat 13 through the secondary push rod 45;

The second return spring 44 is sleeved on the outside of the secondary push rod 45. One end of the second return spring 44 is connected to the ejector seat 13 through the adjustment pad 14, and the other end is connected to the sleeve through the first buffer pad 47. 24 connected;

The second shift fork 43 is fixedly installed outside the sleeve 24;

The second sensor gear 41 is rotatably arranged in the third housing 15 and connected to the second sensor;

The second sensor rack 42 is connected to the second shift fork 43 on one side, and matches the second sensor gear 41 on the other side. When the trapezoidal screw nut 28 rotates, it slides with the trapezoidal screw 29, and the trapezoidal screw nut 29 slides. 29 pushes the sleeve 24 to slide through the second buffer pad 49, and the sleeve 24 pushes the secondary push rod 45 to overcome the action of the second return spring 44, and eliminates the gap between the secondary push rod 45 and the ejector 10, moving the movement It is transmitted to the ejector rod 10 so that a certain hydraulic pressure is established in the double-chamber master cylinder 9 to complete the braking.

In one case of this embodiment, in order to facilitate installation, the first housing 3, the second housing 11, the third housing 15, the fourth housing 30 and the fifth housing 37 are connected through bolts. 31. The nut 32 and the washer 33 cooperate to connect. Preferably, the third housing 15 and the fourth housing 30 are both equipped with a straight-through oil filling cup 20; the first sensor rack 18 meshes with the first sensor gear 16, and The first shift fork 19 is installed on the ball screw 25. The first sensor indirectly reflects the stroke of the ejector rod 10 by directly collecting the displacement of the ball screw 25, and outputs an angular rotation signal to the controller, thereby completing the control of the active braking mechanism. control to produce the actual required braking effect; the pallet frame 53 is in end-face contact with the ejector seat 13; the sleeve 24 is installed in the ball screw 25, and the secondary push rod 45 is installed in the sleeve through the fourth angular contact ball bearing 48 24, the adjustment pad 14 is installed in the ejector seat 13, and the second return spring 44 is installed between the adjustment pad 14 and the secondary push rod 45; the ejector pin 10 is installed in the center hole of the ejector seat 13; the second The sensor rack 42 meshes with the second sensor gear 41 and is installed on the sleeve 24 through the second shift fork 43. The second sensor indirectly reflects the stroke of the ejector rod 10 by directly collecting the displacement of the sleeve 24 and outputs an angular rotation signal. to the controller, thereby completing the regulation of the backup braking mechanism and producing the actual required braking effect; the tray 17 is connected to the tray frame 53, and the first return spring 8 is installed between the tray 17 and the second housing 11; preferably , the second shaft 50 is installed in the sliding groove of the third housing 15 through the second needle bearing 51, is fixed with the pallet frame 53 through the screw 52, and is in contact with the end surface of the ball screw 25.

As shown in Figures 3 and 4, as another preferred embodiment of the present invention, the active driving mechanism includes:

Active braking motor 1 is fixedly installed on the first housing 3;

The first shaft 2 is fixedly installed at the output end of the active braking motor 1;

The first driving bevel gear 6 has one end fixedly connected to the first shaft 2;

The first driven bevel gear is sleeved on the outside of the ball screw nut 23 and fixedly connected to it. The first driven bevel gear meshes with the first driving bevel gear 6. When the active brake motor 1 rotates, The first shaft 2 rotates with the first driving gear, and the first driving bevel gear 6 is decelerated and torqued by the meshed first driven bevel gear, and then the motion and torque are transmitted to the ball screw nut 23. The rotation of the ball screw nut 23 drives the ball screw 25 to slide.

In one case of this embodiment, during normal braking of the system, the active braking motor 1 is used as the power source. The active braking motor 1 drives the first shaft 2 to rotate, and then drives the first driving bevel gear 6 to rotate. After the first driving bevel gear 6 is decelerated and torqued by the meshed first driven bevel gear, the motion and torque are transmitted to the screw nut, and the rotation of the screw nut drives the ball screw 25 to move. At this time, the rotational motion of the screw nut is converted into the horizontal motion of the ball screw 25, which further promotes the translation of the pallet frame 53. The pallet frame 53 transmits the motion to the ejector rod seat 13 in contact with it, thereby pushing the ejector rod. 10 moves, thereby establishing a certain hydraulic force in the dual-chamber master cylinder 9. When braking is completed, the reversal of the active brake motor 1 is used to achieve the return effect of the brake pressure building mechanism. However, due to the inertia of the motor rotation, reversing only to achieve the return of the mechanism will produce a certain impact, which is not conducive to braking. The service life of the system is guaranteed, so the first return spring 8 can be used for auxiliary return. During the entire working process, since the first sensor rack 18 is meshed with the first sensor gear 16 and is installed on the ball screw 25 through the first shift fork 19, when the ball screw 25 moves, the first sensor directly collects The displacement of the ball screw 25 indirectly reflects the stroke of the ejector rod 10 and outputs an angular rotation signal to the controller, thereby completing the regulation of the active braking motor 1 and producing the actual required active braking effect; preferably, the first axis 2 The first angular contact ball bearing 5 and the second angular contact ball bearing 7 are installed in the first housing 3; the first driving bevel gear 6 and the first shaft 2 are connected through the first key 4; the first slave The moving bevel gear and the ball screw nut 23 are made in one piece and are installed in the fourth housing 30 and the fifth housing 37 through the third angular contact ball bearing 22 and the first needle bearing 46 .

As shown in Figures 3 and 4, as another preferred embodiment of the present invention, the backup drive mechanism includes:

The backup brake motor 40 is fixedly installed on the fifth housing 37;

The third shaft 39 is fixedly installed at the output end of the backup brake motor 40;

The second driving bevel gear 36 has one end fixedly connected to the third circumference;

The second driven bevel gear 27 is sleeved on the outside of the trapezoidal screw nut 28 and is fixedly connected to it. The second driven bevel gear 27 meshes with the second driving bevel gear 36. When the backup brake motor 40 rotates, When the second driving bevel gear 36 is rotated by the third shaft 39, the second driving bevel gear 36 is decelerated and torqued by the second driven bevel gear 27 meshed with it, and then the motion and torque are transmitted to the trapezoidal screw. On the nut 28, the trapezoidal screw nut 28 rotates to drive the trapezoidal screw 29 to slide.

In one case of this embodiment, when the active braking motor 1 fails and cannot complete the active braking task, the backup braking motor 40 initiates braking through the backup braking line. At this time, the backup brake motor 40 is used as a power source, and the backup brake motor 40 drives the third shaft 39 to rotate, and then drives the second driving bevel gear 36 to rotate. After the second driving bevel gear 36 is decelerated and torqued by the meshed second driven bevel gear 27, the motion and torque are transmitted to the trapezoidal screw nut 28. The rotation of the trapezoidal screw nut 28 drives the trapezoidal screw 29 to move. At this time, the rotational motion of the trapezoidal screw nut 28 is converted into the horizontal motion of the trapezoidal screw nut 29, and the second buffer pad 49 pushes the sleeve 24 to move. The sleeve 24 pushes the secondary push rod 45 to overcome the second return spring 44. After eliminating the gap between the secondary push rod 45 and the ejector rod 10, the motion is transmitted to the ejector rod 10 to make it translate, thereby establishing a certain hydraulic force in the double-cavity master cylinder 9. When braking is completed, the backup brake motor 40 reverses and the second return spring 44 assists in returning the brake pressure building mechanism. During the entire working process, since the second sensor rack 42 is meshed with the second sensor gear 41 and is installed on the sleeve 24 through the second shift fork 43, when the sleeve 24 moves, the second sensor directly collects the sleeve through 24 displacement to indirectly reflect the stroke of the ejector 10, and output an angular rotation signal to the controller, thereby completing the control of the backup braking motor 40 and producing the backup braking effect actually required; preferably, the third axis 39 passes through the fifth The angular contact ball bearing 38 and the sixth angular contact ball bearing 34 are installed in the fifth housing 37; the second driving bevel gear 36 and the third shaft 39 are connected through a second key 35; the second driven bevel gear 27 and the trapezoidal screw nut 28 are made in one piece, and are installed in the fourth housing 30 and the fifth housing 37 through the seventh angular contact ball bearing 26; the trapezoidal screw 29, the secondary push rod 45 and The push rod 10 is arranged coaxially.

Here’s how it works:

During active braking: When the system is under normal braking, the active braking motor 1 is used as the power source. The active braking motor 1 drives the first shaft 2 to rotate, and then drives the first driving bevel gear 6 to rotate. After the first driving bevel gear 6 is decelerated and torqued by the meshed first driven bevel gear, the motion and torque are transmitted to the screw nut, and the rotation of the screw nut drives the ball screw 25 to move. At this time, the rotational motion of the screw nut is converted into the horizontal motion of the ball screw 25, which further promotes the translation of the pallet frame 53. The pallet frame 53 transmits the motion to the ejector rod seat 13 in contact with it, thereby pushing the ejector rod. 10 moves, thereby establishing a certain hydraulic force in the dual-chamber master cylinder 9. When braking is completed, the reversal of the active brake motor 1 is used to achieve the return effect of the brake pressure building mechanism. However, due to the inertia of the motor rotation, reversing only to achieve the return of the mechanism will produce a certain impact, which is not conducive to braking. The service life of the system is guaranteed, so the first return spring 8 can be used for auxiliary return. During the entire working process, since the first sensor rack 18 is meshed with the first sensor gear 16 and is installed on the ball screw 25 through the first shift fork 19, when the ball screw 25 moves, the first sensor directly collects The displacement of the ball screw 25 indirectly reflects the stroke of the ejector rod 10 and outputs an angular rotation signal to the controller, thereby completing the control of the active braking motor 1 and producing the actual required active braking effect.

Failure backup braking: When the active braking motor 1 fails and cannot complete the active braking task, the backup braking motor 40 initiates braking through the backup braking line. At this time, the backup brake motor 40 is used as a power source, and the backup brake motor 40 drives the third shaft 39 to rotate, and then drives the second driving bevel gear 36 to rotate. After the second driving bevel gear 36 is decelerated and torqued by the meshed second driven bevel gear 27, the motion and torque are transmitted to the trapezoidal screw nut 28. The rotation of the trapezoidal screw nut 28 drives the trapezoidal screw 29 to move. At this time, the rotational motion of the trapezoidal screw nut 28 is converted into the horizontal motion of the trapezoidal screw nut 29, and the second buffer pad 49 pushes the sleeve 24 to move. The sleeve 24 pushes the secondary push rod 45 to overcome the second return spring 44. After eliminating the gap between the secondary push rod 45 and the ejector rod 10, the motion is transmitted to the ejector rod 10 to make it translate, thereby establishing a certain hydraulic force in the double-cavity master cylinder 9. When braking is completed, the backup brake motor 40 reverses and the second return spring 44 assists in returning the brake pressure building mechanism. During the entire working process, since the second sensor rack 42 is meshed with the second sensor gear 41 and is installed on the sleeve 24 through the second shift fork 43, when the sleeve 24 moves, the second sensor directly collects the sleeve through 24 displacement to indirectly reflect the stroke of the push rod 10, and output an angular rotation signal to the controller, thereby completing the control of the backup brake motor 40 and producing the backup braking effect that is actually required.

It is obvious to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be regarded as illustrative and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is therefore intended that all claims falling within the claims All changes within the meaning and scope of equivalent elements are included in the present invention. Any reference signs in the claims shall not be construed as limiting the claim in question.

In addition, it should be understood that although this specification is described in terms of implementations, not each implementation only contains an independent technical solution. This description of the specification is only for the sake of clarity, and those skilled in the art should take the specification as a whole. , the technical solutions in each embodiment can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

Claims (5)

1. A brake system for an unmanned vehicle, comprising:

a braking mechanism for braking;

the active driving mechanism is connected with the braking mechanism and is used for normally braking the system;

the backup driving mechanism is connected with the braking mechanism and is used for carrying out backup braking on the system when the active driving mechanism cannot complete the braking task;

the braking mechanism includes:

a housing member;

the braking piece is arranged at one end of the shell piece and used for braking;

the driving part is arranged in one end of the shell part, which is close to the braking part, and is connected with the braking part and used for being matched with the driving mechanism to perform normal braking;

the backup driving piece is arranged in one end of the shell piece, which is far away from the braking piece, and is connected with the active driving piece and is used for carrying out backup braking in cooperation with the backup driving mechanism;

the housing member includes:

a first housing;

the third shell is fixedly arranged at one end of the first shell;

the second shell is fixedly arranged at one end of the third shell;

the fourth shell is fixedly arranged at one end, far away from the second shell, of the third shell;

the fifth shell is fixedly arranged at one end of the third shell far away from the second shell and is matched with the fourth shell;

the brake member includes:

the double-cavity master cylinder is fixedly arranged at one end of the second shell far away from the third shell;

the ejector rod is arranged in the second shell and is in sliding connection with the second shell, and one end of the ejector rod is arranged in the double-cavity master cylinder and is in sliding connection with the double-cavity master cylinder;

the first return spring is sleeved outside the ejector rod, one end of the first return spring is connected with the ejector rod, and the other end of the first return spring is connected with the driving piece;

the active drive includes:

the ejector rod seat is arranged in the third shell, and one end of the ejector rod seat is provided with a rubber cushion matched with the ejector rod;

the tray frame is fixedly arranged at the outer side of one end, close to the ejector rod, of the ejector rod seat, and a tray matched with the first return spring is arranged on the tray frame;

one end of the ball screw is arranged in the third shell and is in sliding connection with the third shell, and the ball screw is arranged at one end of the ejector rod seat far away from the ejector rod;

the ball screw nut is sleeved outside the ball screw and is in threaded connection with the ball screw

The first shifting fork is fixedly arranged on the ball screw;

the first sensor gear is rotatably arranged in the third shell and connected with the first sensor;

one side of the first sensor rack is connected with the first shifting fork, the other side of the first sensor rack is connected with the first sensor gear, when the screw nut rotates, the ball screw slides along with the ball screw, and the ball screw pushes the ejector rod to slide along with the ejector rod seat through the tray frame, so that the ejector rod builds certain hydraulic pressure in the double-cavity master cylinder to finish braking;

the backup drive includes:

the trapezoidal screw rod is slidably arranged between the fourth shell and the fifth shell;

the trapezoidal screw nut is sleeved outside the trapezoidal screw and is in threaded connection with the trapezoidal screw;

one end of the sleeve is connected with the trapezoidal screw rod through a second buffer cushion, and the other end of the sleeve is connected with the ejector rod seat through a second-stage push rod;

the second return spring is sleeved outside the secondary push rod, one end of the second return spring is connected with the ejector rod seat through the adjusting pad, and the other end of the second return spring is connected with the sleeve through the first buffer pad;

the second shifting fork is fixedly arranged outside the sleeve;

the second sensor gear is rotatably arranged in the third shell and is connected with the second sensor;

and one side of the second sensor rack is connected with the second shifting fork, the other side of the second sensor rack is matched with the second sensor gear, when the trapezoidal screw nut rotates, the trapezoidal screw nut slides with the trapezoidal screw, the trapezoidal screw pushes the sleeve to slide through the second buffer cushion, the sleeve pushes the secondary push rod to overcome the action of the second return spring, the gap between the secondary push rod and the ejector rod is eliminated, and the motion is transmitted to the ejector rod, so that certain hydraulic pressure is established in the double-cavity master cylinder, and braking is completed.

2. The brake system for an unmanned vehicle of claim 1, wherein the active drive mechanism comprises:

the active braking motor is fixedly arranged on the first shell;

the first shaft is fixedly arranged at the output end of the active braking motor;

one end of the first drive bevel gear is fixedly connected with the first shaft;

the first driven bevel gear is sleeved outside the ball screw nut and fixedly connected with the ball screw nut, the first driven bevel gear is meshed with the first driving bevel gear, when the driving brake motor rotates, the first driving bevel gear is driven to rotate through the first shaft, and after the first driving bevel gear is subjected to speed reduction and torque increase through the first driven bevel gear meshed with the first driving bevel gear, the first driving bevel gear transmits motion and torque to the ball screw nut, and the ball screw is driven to slide through rotation of the ball screw nut.

3. The brake system for an unmanned vehicle of claim 1, wherein the backup drive mechanism comprises:

the backup brake motor is fixedly arranged on the fifth shell;

the third shaft is fixedly arranged at the output end of the backup brake motor;

one end of the second drive bevel gear is fixedly connected with the third shaft;

the second driven bevel gear is sleeved outside the trapezoidal screw nut and fixedly connected with the trapezoidal screw nut, the second driven bevel gear is meshed with the second driving bevel gear, when the backup braking motor rotates, the second driving bevel gear is driven to rotate through the third shaft, and after the second driving bevel gear is subjected to speed reduction and torque increase through the second driven bevel gear meshed with the second driving bevel gear, the second driving bevel gear transmits motion and torque to the trapezoidal screw nut, and the trapezoidal screw is driven to slide through rotation of the trapezoidal screw nut.

4. The brake system for an unmanned vehicle of claim 2, wherein the first shaft is mounted within the first housing by a first angular contact ball bearing and a second angular contact ball bearing; the first drive bevel gear is connected with the first shaft through a first key; the first driven bevel gear and the ball screw nut are integrally formed and mounted in the fourth housing and the fifth housing through a third angular contact ball bearing and a first needle bearing.

5. A brake system for an unmanned vehicle according to claim 3, wherein the third shaft is mounted in a fifth housing by a fifth angular contact ball bearing and a sixth angular contact ball bearing; the second drive bevel gear is connected with the third shaft through a second key; the second driven bevel gear and the trapezoidal screw nut are integrally manufactured and are arranged in the fourth shell and the fifth shell through a seventh angular contact ball bearing; the trapezoidal screw rod, the secondary push rod and the ejector rod are coaxially arranged.