CN115214584B - Braking system for unmanned automobile - Google Patents
Braking system for unmanned automobile Download PDFInfo
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- CN115214584B CN115214584B CN202211023475.3A CN202211023475A CN115214584B CN 115214584 B CN115214584 B CN 115214584B CN 202211023475 A CN202211023475 A CN 202211023475A CN 115214584 B CN115214584 B CN 115214584B
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- braking
- shell
- bevel gear
- ejector rod
- screw nut
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/745—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on a hydraulic system, e.g. a master cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
- B60T13/746—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive and mechanical transmission of the braking action
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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
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Braking Arrangements (AREA)
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
Technical Field
The invention relates to the technical field of vehicle engineering, in particular to a braking system for an unmanned automobile.
Background
With the development of the new and fourth fields of automobiles, unmanned functional automobiles represented by unmanned automobiles are increasingly developed and applied. At present, the unmanned automobile has the functions of automatic driving, autonomous obstacle avoidance, autonomous path planning and the like, is applied to places such as partial scenic spots, communities, parks, ports, airports and the like, and can adapt to travel scenes of various weather, so that all-weather traffic requirements are met, and short-distance connection service is provided for passengers.
Aiming at the characteristics of the unmanned automobile, higher requirements on a braking system of the unmanned automobile are required. The unmanned automobile braking system not only can perform active braking under emergency working conditions, but also has a failure backup braking function, and meets higher braking safety performance requirements, so that the probability of accident occurrence is reduced.
Therefore, the braking system and the pressure building mode for the unmanned automobile have the functions of active braking and failure backup braking, and can meet the requirement on braking safety.
Disclosure of Invention
The present invention aims to provide a brake system for an unmanned vehicle, which solves the problems set forth in the background art.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a braking 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;
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.
As a further aspect of the present invention, 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;
and 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 used for carrying out backup braking in cooperation with the backup driving mechanism.
As a still further aspect of the present invention, 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;
and the fifth shell is fixedly arranged at one end, far away from the second shell, of the third shell and is matched with the fourth shell.
As still further aspects of the present invention, the braking 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.
As still further aspects of the present invention, the active driving member 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;
and 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, the ball screw is driven to slide when the screw nut rotates, and the ball screw drives the ejector rod to slide through the tray frame and the ejector rod seat, so that the ejector rod builds certain hydraulic pressure in the double-cavity master cylinder to finish braking.
As still further aspect of the present invention, the backup driver 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.
As still further aspects of the present invention, the active driving mechanism includes:
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.
As still further technical solution of the present invention, the backup driving mechanism includes:
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 circumference;
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.
As a still further aspect of the present invention, the first shaft is mounted in 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.
As a still further aspect of the present invention, the third shaft is mounted in the 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.
Compared with the prior art, the invention has the beneficial effects that:
1. when the whole braking system works, displacement signals of structures such as a piston push rod of a brake master cylinder can be acquired, and the signals of the acquisition module are transmitted to a control system by using a sensor, so that the rotation of a motor is regulated and controlled, and a braking effect which is actually required is generated;
2. 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 to quickly build pressure on the braking system, active braking is realized, and therefore dangerous accidents are avoided;
3. when the active braking motor fails, the backup braking motor can push the ejector rod to move through the backup braking circuit so as to enable the double-cavity master cylinder to generate certain hydraulic pressure, the pressure building capacity of the braking system is ensured, and the unmanned automobile has the failure backup braking capacity.
Drawings
FIG. 1 is a top view of a brake system for an unmanned vehicle;
FIG. 2 is a cross-sectional view at A-A in FIG. 1;
FIG. 3 is a side view of a brake system for an unmanned vehicle;
fig. 4 is a cross-sectional view at B-B in fig. 3.
In the figure: 1-active brake motor, 2-first shaft, 3-first housing, 4-first key, 5-first angular contact ball bearing, 6-first drive bevel gear, 7-second angular contact ball bearing, 8-first return spring, 9-dual chamber master cylinder, 10-ram, 11-second housing, 12-rubber pad, 13-ram seat, 14-adjusting pad, 15-third housing, 16-first sensor gear, 17-tray, 18-first sensor rack, 19-first fork, 20-straight-through oil-injecting cup, 21-first driven bevel gear, 22-third angular 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 ball bearing, 35-second key, 36-second drive bevel gear, 37-fifth housing, 38-fifth angular ball bearing, 39-third shaft, 40-backup brake motor, 41-second sensor gear, 42-second sensor rack, 43-second fork, 44-second return spring, 45-second push rod, 46-first needle bearing, 47-first cushion, 48-fourth angular ball bearing, 49-second cushion, 50-second shaft, 51-second needle bearing, 52-screw, 53-tray rack.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The embodiment of the present invention is achieved by a brake system for an unmanned vehicle as shown in fig. 1 to 4, comprising:
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 automatic braking system is actually applied, the braking mechanism is driven by the active driving mechanism to finish braking under normal conditions, and when the active driving mechanism cannot finish braking tasks, the system is braked by the backup driving mechanism, so that the pressure building capacity of the braking system is ensured, and the unmanned automobile has failure backup braking capacity, so that the automatic braking system is safer and more practical.
As shown in fig. 3 and 4, as a preferred embodiment of the present invention, the braking mechanism includes:
a housing member, the housing member comprising:
a first housing 3;
a third housing 15 fixedly installed at one end of the first housing 3;
a second housing 11 fixedly installed at one end of the third housing 15;
a fourth housing 30 fixedly installed at one end of the third housing 15 away from the second housing 11;
a fifth housing 37 fixedly installed at one end of the third housing 15 far from the second housing 11 and engaged with the fourth housing 30;
a braking member mounted at one end of the housing member for braking, the braking member comprising:
the double-cavity master cylinder 9 is fixedly arranged at one end of the second shell 11 far away from the third shell 15;
the ejector rod 10 is arranged in the second shell 11 and is in sliding connection with the second shell, and one end of the ejector rod 10 is arranged in the double-cavity master cylinder 9 and is in sliding connection with the double-cavity master cylinder;
the first return spring 8 is sleeved outside the ejector rod 10, one end of the first return spring 8 is connected with the ejector rod 10, and the other end of the first return spring is connected with the driving piece;
the initiative driving piece is installed the inside one end that is close to the brake piece of casing piece and links to each other with the brake piece for cooperate initiative actuating mechanism to carry out normal braking, the initiative driving piece includes:
the ejector rod seat 13 is arranged in the third shell 15, and one end of the ejector rod seat 13 is provided with a rubber pad 12 matched with the ejector rod 10;
the tray frame 53 is fixedly arranged outside one end, close to the ejector rod 10, of the ejector rod seat 13, and a tray 17 matched with the first return spring 8 is arranged on the tray frame 53;
one end of the ball screw 25 is arranged in the third shell 15 and is in sliding connection with the third shell, and the ball screw 25 is arranged at one end of the ejector rod seat 13 far away from the ejector rod 10;
a ball screw nut 23 which is sleeved outside the ball screw 25 and is screwed with the ball screw
A first fork 19 fixedly mounted on the ball screw 25;
a first sensor gear 16 rotatably disposed in the third housing 15 and connected to the first sensor;
the first sensor rack 18, one side is connected with the first shifting fork 19, the other side is connected with the first sensor gear 16, when the screw nut rotates, the ball screw 25 slides along with the ball screw, the ball screw 25 slides along with the ejector rod seat 13 through the tray frame 53, so that the ejector rod 10 builds certain hydraulic pressure in the double-cavity master cylinder 9 to finish braking;
the backup driving piece is installed the inside one end that the casing piece kept away from the brake piece and links to each other with initiative driving piece for cooperate backup actuating mechanism to carry out backup braking, the backup driving piece includes:
a trapezoidal screw 29 slidably mounted between the fourth housing 30 and the fifth housing 37;
a trapezoidal screw nut 28 sleeved outside the trapezoidal screw 29 and screwed with the trapezoidal screw nut;
the sleeve 24, one end is connected with the trapezoid screw rod 29 through a second cushion pad 49, and the other end is connected with the ejector rod seat 13 through a second-stage push rod 45;
the second return spring 44 is sleeved outside the secondary push rod 45, one end of the second return spring 44 is connected with the ejector rod seat 13 through the adjusting pad 14, and the other end of the second return spring 44 is connected with the sleeve 24 through the first buffer pad 47;
a second fork 43 fixedly installed outside the sleeve 24;
a second sensor gear 41 rotatably provided in the third housing 15 and connected to the second sensor;
and a second sensor rack 42, one side of which is connected with the second shifting fork 43, and the other side of which is matched with the second sensor gear 41, wherein when the trapezoidal screw nut 28 rotates, the trapezoidal screw 29 slides along with the trapezoidal screw, the trapezoidal screw 29 pushes the sleeve 24 to slide through the second buffer cushion 49, the sleeve 24 pushes the secondary push rod 45 to overcome the action of the second return spring 44, the gap between the secondary push rod 45 and the push rod 10 is eliminated, and the motion is transmitted to the push rod 10, so that a certain hydraulic pressure is established in the double-cavity master cylinder 9, and braking is completed.
In one case of the present embodiment, for convenience of installation, the first housing 3, the second housing 11, the third housing 15, the fourth housing 30 and the fifth housing 37 are connected at the connected positions by the cooperation of the bolts 31, the nuts 32 and the washers 33, and preferably, the through-type oil filler cup 20 is mounted on each of the third housing 15 and the fourth housing 30; the first sensor rack 18 is meshed with the first sensor gear 16 and is arranged on the ball screw 25 through the first shifting fork 19, 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 angle rotation signal to the controller, so that the regulation and control of the active braking mechanism are completed, and the actually required braking effect is generated; the tray frame 53 is contacted with the end surface of the ejector rod seat 13; the sleeve 24 is arranged in the ball screw 25, the secondary push rod 45 is arranged in the sleeve 24 through a fourth angular contact ball bearing 48, the adjusting pad 14 is arranged in the ejector rod seat 13, and the second return spring 44 is arranged between the adjusting pad 14 and the secondary push rod 45; the ejector rod 10 is arranged in a central hole of the ejector rod seat 13; the second sensor rack 42 is meshed with the second sensor gear 41 and is arranged on the sleeve 24 through the second shifting 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 angle rotation signal to the controller, so that the regulation and control of the backup braking mechanism are completed, and the braking effect which is actually needed is generated; the tray 17 is connected with 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 mounted in the sliding groove of the third housing 15 through a second needle bearing 51, is fixedly connected to a tray frame 53 through a screw 52, and is in contact with an end surface of the ball screw 25.
As shown in fig. 3 and 4, as another preferred embodiment of the present invention, the active driving mechanism includes:
an active braking motor 1 fixedly mounted on the first housing 3;
the first shaft 2 is fixedly arranged at the output end of the active braking motor 1;
a first drive bevel gear 6, one end of which is fixedly connected with the first shaft 2;
the first driven bevel gear is sleeved outside the ball screw nut 23 and fixedly connected with the ball screw nut, the first driven bevel gear is meshed with the first driving bevel gear 6, when the driving brake motor 1 rotates, the first shaft 2 drives the first driving bevel gear to rotate, and after the first driving bevel gear 6 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 23, and the ball screw nut 23 rotates to drive the ball screw 25 to slide.
In one case of the embodiment, the active braking motor 1 is used as a power source during normal braking of the system, and the active braking motor 1 drives the first shaft 2 to rotate, so as to drive the first drive bevel gear 6 to rotate. After the first driving bevel gear 6 is subjected to speed reduction and torque increase through a first driven bevel gear meshed with the first driving bevel gear, the movement and torque are transmitted to a screw nut, and the screw nut rotates to drive the ball screw 25 to move. At this time, the rotation of the screw nut is converted into the horizontal movement of the ball screw 25, further pushing the tray frame 53 to translate, and the tray frame 53 transfers the movement to the jack seat 13 contacted with the tray frame, further pushing the jack 10 to move, thereby establishing a certain hydraulic force in the dual-chamber master cylinder 9. When braking is completed, the return effect of the braking pressure building mechanism is realized through the inversion of the active braking motor 1, but because the motor rotates to have an inertia effect, the return of the mechanism can be realized only by the inversion to generate certain impact, which is not beneficial to the guarantee of the service life of the braking system, so that the first return spring 8 can be utilized for auxiliary return. In the whole working process, as the first sensor rack 18 is meshed with the first sensor gear 16 and is arranged on the ball screw 25 through the first shifting fork 19, when the ball screw 25 moves, 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 angle rotation signal to the controller, thereby completing the regulation and control of the active braking motor 1 and generating the actually required active braking effect; preferably, the first shaft 2 is mounted in the first housing 3 by means of a first angular contact ball bearing 5 and a second angular contact ball bearing 7; the first drive bevel gear 6 is connected with the first shaft 2 by a first key 4; the first driven bevel gear and the ball screw nut 23 are integrally formed and mounted in the fourth housing 30 and the fifth housing 37 by the third angular contact ball bearing 22 and the first needle bearing 46.
As shown in fig. 3 and 4, as another preferred embodiment of the present invention, the backup driving mechanism includes:
a backup brake motor 40 fixedly mounted on the fifth housing 37;
a third shaft 39 fixedly installed at an output end of the backup brake motor 40;
a second drive bevel gear 36 having one end fixedly connected to the third periphery;
the second driven bevel gear 27 is sleeved outside the trapezoidal screw nut 28 and is fixedly connected with the trapezoidal screw nut, the second driven bevel gear 27 is meshed with the second drive bevel gear 36, when the backup brake motor 40 rotates, the second drive bevel gear 36 is driven to rotate through the third shaft 39, and after the second drive bevel gear 36 is subjected to speed reduction and torque increase through the second driven bevel gear 27 meshed with the second drive bevel gear 36, the movement and torque are transmitted to the trapezoidal screw nut 28, and the trapezoidal screw 29 is driven to slide through the rotation of the trapezoidal screw nut 28.
In one case of the present embodiment, when the active braking motor 1 fails and the active braking task cannot be completed, braking is initiated by the backup braking motor 40 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, thereby driving the second drive bevel gear 36 to rotate. After the second drive bevel gear 36 is subjected to speed reduction and torque increase through the second driven bevel gear 27 meshed with the second drive bevel gear, the movement and torque are transmitted to the trapezoidal screw nut 28, and the trapezoidal screw nut 28 rotates to drive the trapezoidal screw 29 to move. At this time, the rotational movement of the acme nut 28 is converted into the horizontal movement of the acme nut 29, the sleeve 24 is pushed by the second cushion pad 49 to move, the sleeve 24 pushes the secondary push rod 45 to overcome the action of the second return spring 44, and after the gap between the secondary push rod 45 and the push rod 10 is eliminated, the movement is transferred to the push rod 10 to translate the push rod, so that a certain hydraulic force is established in the dual-chamber master cylinder 9. When braking is completed, the return of the brake pressure build-up mechanism is achieved by reversing the backup brake motor 40 and assisting the second return spring 44. In the whole working process, as the second sensor rack 42 is meshed with the second sensor gear 41 and is arranged on the sleeve 24 through the second shifting fork 43, when the sleeve 24 moves, the second sensor indirectly reflects the stroke of the ejector rod 10 by directly collecting the displacement of the sleeve 24 and outputs an angle rotation signal to the controller, thereby completing the regulation and control of the backup brake motor 40 and generating the backup brake effect which is actually required; preferably, the third shaft 39 is mounted in the fifth housing 37 by a fifth angular contact ball bearing 38 and a sixth angular contact ball bearing 34; the second drive bevel gear 36 is connected to a third shaft 39 by a second key 35; the second driven bevel gear 27 is integrally formed with a trapezoidal screw nut 28 and is mounted in a fourth housing 30 and a fifth housing 37 by a seventh angular contact ball bearing 26; the trapezoidal screw 29, the secondary push rod 45 and the push rod 10 are coaxially arranged.
The working principle is as follows:
during active braking: during normal braking of the system, the active braking motor 1 is used as a power source, and the active braking motor 1 drives the first shaft 2 to rotate so as to drive the first drive bevel gear 6 to rotate. After the first driving bevel gear 6 is subjected to speed reduction and torque increase through a first driven bevel gear meshed with the first driving bevel gear, the movement and torque are transmitted to a screw nut, and the screw nut rotates to drive the ball screw 25 to move. At this time, the rotation of the screw nut is converted into the horizontal movement of the ball screw 25, further pushing the tray frame 53 to translate, and the tray frame 53 transfers the movement to the jack seat 13 contacted with the tray frame, further pushing the jack 10 to move, thereby establishing a certain hydraulic force in the dual-chamber master cylinder 9. When braking is completed, the return effect of the braking pressure building mechanism is realized through the inversion of the active braking motor 1, but because the motor rotates to have an inertia effect, the return of the mechanism can be realized only by the inversion to generate certain impact, which is not beneficial to the guarantee of the service life of the braking system, so that the first return spring 8 can be utilized for auxiliary return. In the whole working process, as the first sensor rack 18 is meshed with the first sensor gear 16 and is arranged on the ball screw 25 through the first shifting fork 19, when the ball screw 25 moves, 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 angle rotation signal to the controller, thereby completing the regulation and control of the active braking motor 1 and generating the active braking effect which is actually needed.
When the backup braking is failed: when the active braking motor 1 fails and the active braking task cannot be completed, braking is initiated by the backup braking motor 40 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, thereby driving the second drive bevel gear 36 to rotate. After the second drive bevel gear 36 is subjected to speed reduction and torque increase through the second driven bevel gear 27 meshed with the second drive bevel gear, the movement and torque are transmitted to the trapezoidal screw nut 28, and the trapezoidal screw nut 28 rotates to drive the trapezoidal screw 29 to move. At this time, the rotational movement of the acme nut 28 is converted into the horizontal movement of the acme nut 29, the sleeve 24 is pushed by the second cushion pad 49 to move, the sleeve 24 pushes the secondary push rod 45 to overcome the action of the second return spring 44, and after the gap between the secondary push rod 45 and the push rod 10 is eliminated, the movement is transferred to the push rod 10 to translate the push rod, so that a certain hydraulic force is established in the dual-chamber master cylinder 9. When braking is completed, the return of the brake pressure build-up mechanism is achieved by reversing the backup brake motor 40 and assisting the second return spring 44. In the whole working process, as the second sensor rack 42 is meshed with the second sensor gear 41 and is arranged on the sleeve 24 through the second shifting fork 43, when the sleeve 24 moves, the second sensor indirectly reflects the stroke of the ejector rod 10 by directly collecting the displacement of the sleeve 24 and outputs an angle rotation signal to the controller, thereby completing the regulation and control of the backup brake motor 40 and generating the backup brake effect which is actually needed.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202211023475.3A CN115214584B (en) | 2022-08-25 | 2022-08-25 | Braking system for unmanned automobile |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211023475.3A CN115214584B (en) | 2022-08-25 | 2022-08-25 | Braking system for unmanned automobile |
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| CN115214584A CN115214584A (en) | 2022-10-21 |
| CN115214584B true CN115214584B (en) | 2023-09-26 |
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| CN202211023475.3A Active CN115214584B (en) | 2022-08-25 | 2022-08-25 | Braking system for unmanned automobile |
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| CN115214584A (en) | 2022-10-21 |
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