JP2002357234A - Electric brake unit - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent generation of an unnecessary braking force when an electric motor or the like is abnormal and to enable braking control in proportion to an operating amount of a pedal driven by a driver, in an electric braking unit controlling braking force by means of an electric motor. SOLUTION: The electric brake unit 1FL to 1RR is comprised of a linear transforming mechanism 14 constituted of a ball screw shaft 18 rotatably driven by the electric motor 16 and a ball nut 20 screwed with the ball screw shaft and also moving forward and backward a movable friction pad 13b, and an operation selecting mechanism 15 selecting an operating state of the linear transforming mechanism 14 such as a locking state, a braking allowable state, an operation stopping state when being abnormal, a braking force reducing state and the like. The locking state is selected at a non-braking time. The braking allowable state is selected at a braking time. The operation stopping state when being abnormal is selected when the electric motor 16 is abnormal. The braking force reducing state is selected when an operating amount of a brake is decreased during braking.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric brake device provided with an electric braking means such as an electric motor.

[0002]

2. Description of the Related Art In recent years, apart from a hydraulic brake device using a working fluid, an electric motor is driven and rotated in accordance with the amount of depression of a brake pedal, and a braking force is generated using the torque of the electric motor. Development of brake equipment is underway. As such an electric brake device, for example, a device described in JP-A-2000-110865 has been proposed.

In the electric brake device described in this publication, a motor is linked to an inner pad via a planetary roller screw, a ball screw and a pressure shaft, and the ball screw selectively allows relative rotation between a nut and a pressure shaft. Selector is provided. Normally, the relative rotation is blocked by the selector and the function of the ball screw is disabled, while if the pressure shaft does not move in the direction away from the inner pad when the brake operation is released, the selector allows the relative rotation and allows the ball screw to rotate. This enables the inner pad to move away from the disk without rotating the motor.

[0004]

However, the electric brake device in the above-mentioned conventional example is designed to deal only with the problem of drag, in which the operating stroke of the pressurizing shaft does not decrease in accordance with the decrease in the brake operation stroke. Therefore, there is a problem that control is not supported when other unnecessary braking occurs.

Accordingly, the present invention has been made in view of the above-mentioned unsolved problems of the prior art, and an electric brake capable of preventing generation of unnecessary braking force when an electric motor or the like is abnormal. It is a first object to provide a device. Another object of the present invention is to provide an electric brake device that can perform braking control according to a pedal operation amount by a driver when an electric motor or the like is abnormal.

[0006]

To achieve the above object, an electric brake device according to a first aspect of the present invention comprises: a brake operation amount detection means for detecting an operation amount of a brake operation means by a driver; Electric braking means for applying a braking force to the wheels in accordance with the amount of braking control to be performed, and braking in which the braking force of the electric braking means is controlled in accordance with the amount of braking operation detected by the amount of braking operation detection means An electric brake device comprising: a braking control unit that outputs a control amount; wherein the electric braking unit converts a rotational motion of an electric rotary drive source into a linear motion, and a braking member that applies a braking force to wheels. Linear conversion means for driving and controlling the braking member;
An operation selecting means for controlling the linear conversion means to be in one of a locked state in which the braking member is locked so that the braking member cannot be erroneously braked, and a braking permitted state in which the braking member can be moved forward and backward. .

The electric brake device according to a second aspect of the present invention provides a brake operation amount detecting means for detecting an operation amount of a brake operation means by a driver, and a braking force applied to a wheel according to an input braking control amount. Electric braking means for imparting
A brake control means for controlling the braking force of the electric braking means in accordance with the brake operation amount detected by the brake operation amount detection means; and a braking control means for outputting the braking control amount. A braking member that applies a braking force to the braking member; a linear conversion device that converts the rotational motion of the electric rotary drive source into a linear motion to drive and control the braking member; An operation selecting means for controlling between a lock state in which the brake member is locked impossible, a brake allowable state in which the brake member can be moved forward and backward, and an abnormal operation stop state in which the brake member cannot be moved forward and backward when an abnormality occurs. And characterized in that:

Further, the electric brake device according to claim 3 is a brake operation amount detection means for detecting an operation amount of the brake operation means by the driver, and a braking force applied to the wheels according to the input braking control amount. Electric braking means for imparting
A brake control means for controlling the braking force of the electric braking means in accordance with the brake operation amount detected by the brake operation amount detection means; and a braking control means for outputting the braking control amount. A braking member that applies a braking force to the braking member; a linear conversion device that converts the rotational motion of the electric rotary drive source into a linear motion to drive and control the braking member; It is possible only to reduce the braking force, a lock state in which the brake member is locked impossible, a brake allowable state in which the brake member can move forward and backward, an abnormal operation stop state in which the brake member cannot move forward and backward when an abnormality occurs. Operation selection means for controlling the braking force to any one of the braking force reduction control states.

Further, in the electric brake device according to a fourth aspect of the present invention, in the invention according to any one of the first to third aspects, the linear conversion means meshes with a screw shaft rotationally driven by an electric motor. A nut connected to a braking member, wherein the operation selecting means includes: a saw-toothed portion formed on the screw shaft; an operating pin opposed to the saw-toothed portion through a through-hole formed in the nut; And an actuator that controls the advance and retreat of the saw-toothed portion.

Further, the electric brake device according to a fifth aspect of the present invention is the electric brake device according to the fourth aspect of the present invention, wherein a rotary connecting member that allows relative rotation between the nut and the braking member is interposed in a contact surface between the nut and the braking member. It is characterized by. In the electric brake device according to a sixth aspect, in the invention according to the fourth aspect, the actuator is separated from the locked state in which the operating pin is locked to the sawtooth portion through the through hole and the sawtooth portion. It is characterized in that the nut is controlled to be in any of a brake allowing state in which the through hole is formed in the nut.

Further, the electric brake device according to claim 7 is the electric brake device according to claim 4, wherein the actuator is
A locking state in which the operating pin is locked to the sawtooth portion through the through hole, a braking allowable state in which the operating pin is separated from the sawtooth portion but engages with a through hole formed in the nut, and the sawtooth portion and the nut The operation is controlled to be in one of an abnormal operation stop state in which it is separated from the through hole formed in the above.

Further, the electric brake device according to claim 8 is the electric brake device according to claim 4, wherein the actuator is
A locking state in which the operating pin is locked to the sawtooth portion through the through hole, a braking allowable state in which the operating pin is separated from the sawtooth portion but engages with a through hole formed in the nut, and the sawtooth portion and the nut It is characterized in that it is controlled to one of an abnormally stopped operation state in which it is separated from the through-hole formed in the above-mentioned and a braking force reduction control state in which it is gradually released from the locked state with the sawtooth-shaped portion.

According to a ninth aspect of the present invention, in the electric brake device according to any one of the first to eighth aspects, the operation selecting means sets the brake operation amount detected by the brake operation amount detection means to a non-operation state. The system is characterized in that the lock state is selected when corresponding, and the brake allowable state is selected when the brake operation amount changes to the operation state.

Furthermore, an electric brake device according to a tenth aspect of the present invention is the electric brake device according to any one of the first to ninth aspects, further comprising a linear conversion mechanism abnormality detection unit that detects abnormality of the linear conversion unit, The means is characterized in that, in a non-braking state, when the linear conversion mechanism abnormality detection means detects an abnormality of the linear conversion means, the abnormal operation stop state is selected.

An electric brake device according to an eleventh aspect of the present invention is the electric brake device according to the third or eighth aspect of the present invention, further comprising a linear conversion mechanism abnormality detecting means for detecting an abnormality of the linear conversion means, and the operation selecting means includes the braking means. In the state where the member is applying the braking force, when the linear conversion mechanism abnormality detection unit detects an abnormality of the linear conversion unit, the lock state is selected when the brake operation amount is in the increasing state or the holding state, and the brake is selected. It is characterized in that the braking force reduction control state is selected when the operation amount is in the reduction state.

Further, an electric brake device according to a twelfth aspect of the present invention is the electric brake device according to the eleventh aspect, further comprising a linear conversion mechanism abnormality detecting means for detecting abnormality of the linear conversion means, In the state where the braking force is being applied, when the abnormality of the linear conversion means is detected by the linear conversion mechanism abnormality detection means, when the brake operation amount detected by the brake operation amount detection means returns to the non-operation state,
It is characterized in that it is configured to select an abnormal operation stop state. Further, an electric brake device according to a thirteenth aspect is characterized in that, in the invention according to the sixth or seventh aspect, the actuator is constituted by two solenoids for driving the operating pin into a locked state and a braking permitted state. . Furthermore, the electric brake device according to claim 14 is the electric brake device according to claim 6 or 7, wherein the actuator is constituted by three solenoids that drive the operating pin to a locked state, a braking allowance state, and an abnormal operation stop state. It is characterized by having. According to a fifteenth aspect of the present invention, in the electric brake device according to the sixth or seventh aspect, the actuator includes one solenoid that drives the operating pin in a locked state and an elastic member that holds the operating pin in a braking allowable state. It is characterized by having. Furthermore, the electric brake device according to claim 16 is
The invention according to claim 6 or 7, wherein the actuator drives the operating pin between a locked state and a brake allowing state.
It is characterized by being constituted by two solenoids and an elastic member which is held in a braking allowable state. Further, the electric brake device according to claim 17 is the electric brake device according to claim 4 or 16, wherein the solenoid abnormality detecting means for detecting abnormality of the solenoid, and each of the solenoids when the abnormality is detected by the solenoid abnormality detection means. And an energization stopping means for stopping the energization of the power supply. Still further, the electric brake device according to claim 18 is the electric brake device according to claim 4.
In any one of the inventions according to any one of the inventions described above, the actuator is constituted by a nut that is rotationally driven by an electric motor, and a screw shaft that is screwed to the nut and connected to an operation pin.

[0017]

According to the first aspect of the present invention, the operation selecting means enables the linear conversion means for controlling the driving of the braking member to be in a locked state where the erroneous braking is locked and the braking member can be moved forward and backward. By selecting the locked state, when the linear conversion means regulates the forward / backward movement of the braking member, it is possible to select the locked state. The effect that the generation of the braking force can be reliably prevented is obtained.

According to the second aspect of the present invention, the linear selecting means for controlling the driving of the braking member is locked by the operation selecting means so that the braking member cannot be erroneously braked, and the braking member can be moved forward and backward. Since it is configured to be able to select either a braking allowable state or an abnormal operation stop state in which the braking member cannot be advanced or retracted when an abnormality occurs, in addition to the effect of the invention according to the above-described claim 1, By selecting the abnormal state operation stop state at the time of occurrence, the linear conversion means is made unable to advance and retreat the braking member, and it is possible to reduce the possibility that the braking force is generated due to abnormality of the electric rotary drive source etc. without brake operation. The effect that the prevention can be surely obtained is obtained.

Further, according to the third aspect of the present invention, the linear selecting means for controlling the drive of the braking member is locked by the operation selecting means so that the braking member cannot be erroneously braked, and the braking member can be moved forward and backward. Since it is configured to be able to select any one of a braking allowable state, an abnormal operation stop state that makes it impossible to advance or retreat the braking member when an abnormality occurs, and a braking force reduction control state that can only reduce the braking force, In addition to the effect of the invention according to claim 2, by selecting the braking force reduction control, when the braking operation amount is reduced from a state where the braking operation amount is large, the braking force is reduced accordingly, and Thus, an effect that a great braking force can be obtained is obtained.

Further, according to the electric brake device of the fourth aspect, the operation selecting means is configured to be capable of controlling the advance / retreat of the operating pin with respect to the sawtooth-shaped portion formed in the linear conversion means. By locking the linear conversion means for controlling the driving of the braking member, it is possible to securely lock the linear conversion means so that erroneous braking is impossible. Still further, according to the electric brake device of claim 5,
Since the rotary connection member that enables relative rotation between the nut and the braking member is interposed on the contact surface between the nut and the braking member, the nut can be stably pushed back in the braking force releasing direction by the reaction force from the braking member side. The effect is obtained.

According to the electric brake device of the sixth aspect, the actuator is formed on the nut while the locking state in which the operating pin is locked to the saw-toothed portion through the through hole is separated from the saw-toothed portion. Since the through-hole is configured to be controllable to be in a braking allowable state in which it is engaged, the electric rotating drive source is controlled by controlling the operating pin to a locked state in which the operating pin is locked to the saw-tooth-shaped portion without brake operation. Thus, the effect that the braking force can be reliably prevented from being generated due to an abnormality such as the above is obtained.

Further, according to the electric brake device of the present invention, the actuator is formed in the nut in a locked state in which the operating pin is engaged with the saw-toothed portion through the through-hole. The through-hole is configured to be controllable to any of a braking allowable state in which the through-hole is engaged and an operation stop state in an abnormal state in which the through-hole is separated from the saw-tooth-shaped portion and the nut. In addition to the effect of the present invention, by controlling the operation to be stopped in an abnormal state in which the saw-tooth-shaped portion and the through hole formed in the nut are separated from each other, a braking force is generated due to an abnormality of the electric rotary drive source or the like without brake operation The effect of being able to more reliably prevent such a situation is obtained.

Further, according to the electric brake device according to the eighth aspect, the actuator is in a locked state in which the operating pin is locked to the saw-toothed portion through the through-hole. Brake-permissible state to engage with the through hole, abnormal operation stop state in which the saw-tooth-shaped part is separated from the through-hole formed in the nut, and braking force reduction control state to gradually release from the locked state with the saw-tooth-shaped part In addition to the effect of the invention according to the seventh aspect, by controlling to a braking force reduction control state in which the brake force is gradually released from the locked state with the sawtooth-shaped portion. When the amount of braking operation is reduced from a state where the amount of braking operation is large, the braking force is reduced in accordance with the reduction, and an effect that an appropriate braking force can be obtained.

Further, according to the electric brake device of the ninth aspect, the operation selecting means is configured to select the lock state when the brake operation is not performed, so that the brake operation is not performed. The effect that the braking force can be reliably prevented from being generated due to the abnormality of the electric rotary drive source or the like can be obtained. Further, according to the electric brake device of the tenth aspect, when the operation selecting means detects an abnormality of the linear conversion means in the non-braking state, the operation selecting means selects the abnormal state operation stop state. Even when the detected electric drive source or the like of the linear conversion means rotates, the effect that the generation of the braking force can be reliably prevented can be obtained.

Further, according to the eleventh aspect of the present invention, when the operation selecting means detects an abnormality of the linear conversion means in a state where the braking force is generated, the operation amount of the brake is increased or held. When the lock state is selected,
Since the brake force reduction control state is selected when the brake operation amount is in the reduced state, an effect is obtained that the braking force can be held or reduced according to the brake operation amount.

Further, according to the electric brake device of the twelfth aspect, when the operation selecting means detects an abnormality of the linear conversion means in a state where the braking force is generated, the brake operation amount returns to the non-operation state. Sometimes, it is configured to select the operation stop state at the time of abnormality, so that even if the electric rotation drive source of the linear conversion means or the like abnormally detected thereafter abnormally rotates, it is necessary to surely prevent the generation of the braking force. Is obtained.

Further, according to the electric brake device of the thirteenth aspect, since the actuator is constituted by the two solenoids for driving the operating pin to the locked state and the braking allowable state, the two solenoids are energized. By performing the selection control, it is possible to instantaneously switch from the braking allowable state to the locked state. According to the electric brake device of the fourteenth aspect, since the actuator is constituted by the three solenoids that drive the operating pin to the locked state, the braking allowable state, and the operation stop state at the time of abnormality, the three solenoids are energized. Is selectively controlled to instantaneously switch between a locked state, a braking allowable state, and an abnormal operation stop state.

Further, according to the electric brake device of the present invention, the actuator is constituted by one solenoid for driving the operating pin in the locked state and the elastic member for holding the operating pin in the braking allowable state. By controlling the energization of the solenoid, it is possible to easily switch between the locked state and the braking allowable state, and to secure the braking allowable state even when an abnormality such as a disconnection that cannot energize the solenoid occurs. The effect is obtained.

Further, according to the electric brake device of the present invention, the actuator has two solenoids for driving the operating pin between a locked state and an abnormally stopped operation state, and an elastic member for holding the operating pin in a braking allowable state. When two solenoids are de-energized, the operating pin is held in the brake-allowed state by turning off the two solenoids, the lock state is established by energizing one solenoid, and the abnormal state is established by energizing the other solenoid. The effect of being able to instantaneously switch to the operation stop state is obtained.

Further, according to the electric brake device of the present invention, when the abnormality of the solenoid is detected, the actuator has the power supply stopping means for stopping the power supply to the solenoid. However, the effect that the brakeable state can be maintained by the easy means of stopping the power supply to the solenoid can be obtained.

According to the electric brake device of the eighteenth aspect, the actuator is constituted by the nut that is driven to rotate by the electric motor and the screw shaft that meshes with the nut and is connected to the operating pin. By controlling the rotation drive amount of the electric motor, the advance / retreat position of the operating pin can be continuously changed, and the effect that the braking force according to the pedal operation amount can be easily maintained or reduced can be obtained. Can be

[0032]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic configuration diagram showing an embodiment of a body 1 of the present invention, in which 1FL, 1FR, 1R
L and 1RR are electric brakes that generate a braking force on the front left wheel, front right wheel, rear left wheel, and rear right wheel, respectively.

As shown in FIG. 2, each of the electric brakes 1FL to 1RR has a disk rotor 11 formed integrally with each wheel, and a floating caliper 12 for applying a braking force to the disk rotor 11. It has. The caliper 12 includes a fixed friction pad 13a and a movable friction pad 13b constituting friction members opposed to each other with the disk rotor 11 interposed therebetween, and a linear conversion mechanism 14 as linear conversion means for moving the movable friction pad 13b forward and backward with respect to the disk rotor 11. And an operation selection mechanism 15 as operation selection means for selectively controlling the operation of the linear conversion mechanism 14.
And

Here, the linear conversion mechanism 14 is an electric motor 1 composed of a step motor as an electric rotary drive source.
6 and a ball screw 17 that is driven to rotate by the electric motor 16. The ball screw 17 has a ball screw shaft 18 connected to a rotating shaft 16 a of the electric motor 16.
And a ball nut 20 screwed into the ball screw shaft 18 via a ball 19.

The electric motor 16 is provided with a rotary encoder 21 for detecting the rotation angle and the rotation direction. Further, the ball nut 20 is formed in a cylindrical shape in which the electric motor 16 side is opened and the side opposite to the electric motor 16 is closed by an end plate 22. A ball bearing 23 as a rotating body is interposed on a contact surface between the end plate 22 of the ball nut 20 and the movable friction pad 13b, and the ball nut 23 allows the ball nut 20 and the variable friction pad 13b to relatively rotate. It is connected to.

The operation selecting mechanism 15, as shown in FIG.
A saw tooth portion 25 having, for example, eight saw teeth at equal angular intervals on a circumferential surface fixed to the right end surface of the ball screw shaft 18 of the linear conversion mechanism 14, and the saw tooth portion 25 extends axially to the ball nut 20. An operating pin 27 which is operably movable from below through a through hole 26 formed through the operating pin 27;
And an actuator 28 for moving back and forth.

Here, the saw-toothed portion 25 has a locking surface 25a extending a predetermined length from the circumferential surface to the center side along an octant line passing through the center, and one of the adjacent locking surfaces 25a. It is composed of an inclined surface 25b connecting the outer peripheral edge of the locking surface 25a and the inner peripheral edge of the other locking surface 25a. The operating pin 27 has a narrow portion 27 whose upper end engages the saw-toothed portion 25.
a and a wide cylindrical portion 27b made of a magnetic material formed at the lower end of the narrow portion 27a.

Further, the actuator 28 comprises a case 28a for accommodating the wide cylindrical portion 27b of the operating pin 27,
A lock solenoid 29a, a brake allowance solenoid 29b, and an abnormal operation stop solenoid 29c are provided in the case body 28a so that the wide cylindrical portion 27b of the operation pin 27 can be inserted from above in this order. By energizing the locking solenoid 29a,
As shown in FIG. 3, the tip of the narrow portion 27 a of the operating pin 27 passes through the through hole 26 of the ball nut 20, and
3 to lock the ball screw shaft 18 on the braking side in the counterclockwise direction as viewed in FIG. 3 and lock the ball nut 20 in the clockwise and counterclockwise directions. Can be.

When the brake permitting solenoid 29b is energized, the narrow portion 27a of the operating pin 27 is separated outward from the engaging surface 25a of the saw-toothed portion 25 as shown in FIG. By engaging the through-hole 26 of the nut 20 to prevent the ball nut 20 from rotating, the ball screw shaft 18 is allowed to rotate on the braking side, and the ball nut 2 is rotated.
It is possible to set a braking allowance state in which zero axial movement is allowed.

Further, a solenoid 29 for stopping operation at the time of abnormality is provided.
When the power is supplied to the ball screw 20c, as shown in FIG. 5, the operating pin 27 disengages from the engagement state with the through hole 27 of the ball nut 20 and retreats therebelow, and the ball screw shaft 18 and the ball nut 2
By allowing the rotation of 0, the ball screw shaft 18 and the ball nut 20 rotate and the operation of the ball nut 20 in the abnormal operation stop state in which the axial movement of the ball nut 20 becomes impossible can be achieved.

Then, the drive of the electric motor 14 of the linear conversion mechanism 14 and the actuator 28 of the operation selection mechanism 15 in the electric brake 1 are controlled by the control device 30 as shown in FIG. The control device 30 controls the disk rotor 1
1, a wheel speed sensor 31 for detecting a rotational speed of each wheel on which the vehicle 1 is mounted, a longitudinal acceleration sensor 32 for detecting a longitudinal acceleration occurring in the vehicle, a yaw rate sensor 33 for detecting a yaw rate occurring in the vehicle, and pedal operation by a driver. And a brake operation amount sensor 36 for detecting an amount of depression of a brake pedal 35 provided with a reaction force generator 34 for generating a pseudo reaction force.

The detection signals detected by the sensors 31 to 33 and 36 and the rotation angle and rotation direction of the electric motor 16 detected by the rotary encoder 21 of each of the electric brakes 1FL to 1RR are constituted by, for example, a microcomputer. This is input to the controller 37, and the controller 37 executes the control processing of FIG. 6 and FIG.
The braking force required by each of the electric brakes 1FL to 1RR is calculated based on each input signal to output a braking force command value, and the abnormality of the linear conversion mechanism 14 and the actuator 28 of each of the electric brakes 1FL to 1RR is detected. , Actuator 2
In step 8, a solenoid energization command is output to each of the solenoids 29a to 29c, and an abnormal state is displayed on a display 38 including a liquid crystal display or the like.

A braking force command value and a solenoid energizing command for each of the electric brakes 1FL and 1RR output from the controller 37 are input to a drive circuit 39A. The drive circuit 38A controls the electric brakes 1FL and 1RR based on the braking force command value. Of the actuators 28 in the electric brakes 1FL and 1RR based on the solenoid energization command.
c, and a braking force command value and a solenoid energizing command for each of the electric brakes 1FR and 1RL output from the controller 37 are input to a drive circuit 39B. The drive circuit 38B controls the electric brake based on the braking force command value. 1FR and 1RL, and controls the electric brakes 1FR and 1RL based on the solenoid energization command.
Solenoids 29a-2 of the actuator 28
9c.

The driving circuits 39A and 39B are individually supplied with electric power from the batteries 40A and 40B. Even if an abnormality occurs in one of the batteries 40A and 40B, for example, 40A and the output power is reduced, the other driving circuits 39A and 39B are driven. Normal power can be supplied to the drive circuit 39B by the battery 40B, and the necessary minimum braking force can be secured.

Next, the operation of the first embodiment will be described with reference to the flowcharts of FIGS. 6 and 7 in which the controller 37 executes the operation. The controller 37 always executes abnormality detection processing for the electric brakes 1FL to 1RR shown in FIG. This abnormality detection processing is performed first in step S1.
The electric brake 1FL is used in the drive control process of FIG.
It is determined whether or not the electric motor 16 of the linear conversion mechanism 14 is in a rotationally driven state. If the electric motor 16 is in a rotationally driven state, the process proceeds to step S2, where the detection signal of the rotary encoder 21 is read and the electric motor 16 is read. It is determined whether or not the electric motor 16 is rotating normally. If the electric motor 16 is not rotating normally, it is determined that an abnormality has occurred in the linear conversion mechanism 14 due to disconnection of the electric motor 16 or biting of the ball screw 17. Then, the process proceeds to step S3, in which the linear conversion mechanism abnormality flag FL is set to "1" indicating an abnormal state, and then, to step S4, the message information indicating that the linear conversion mechanism 14 is in an abnormal state is set. After output and display on the display 38, the process proceeds to step S8.

If the result of the determination in step S2 is that the electric motor 16 is rotating normally, the flow shifts to step S5 to set the linear conversion mechanism abnormality flag FL to "0" indicating that the linear conversion mechanism 14 is normal. And then proceeds to step S8 described below. On the other hand, if the result of determination in step S1 is that the electric motor 16 is not in a rotationally driven state, the process proceeds to step S6, and
2, the detection signal of the rotary encoder 21 is read, and it is determined whether or not the electric motor 16 is rotating. If the electric motor 16 is rotating, the control system of the electric motor 16 has an abnormality such as a short circuit. When it is determined that the error has occurred, the process proceeds to step S3. When the electric motor is not rotating, it is determined that the linear conversion mechanism 14 is normal, and the process proceeds to step S7, where the linear conversion mechanism abnormality flag FL is set to "0". And then proceeds to step S8 described below.

In step S8, it is determined whether or not there is a solenoid 29i (i = a, b, c) in the energization control of each of the solenoids 29a to 29c in the processing of FIG. If the solenoid 29i is present, the process proceeds to step S9, where the current value of the solenoid 29i is read, and it is determined whether or not the current value is out of the appropriate range, thereby determining whether the solenoid 29i is abnormal. If the solenoid 29i is abnormal, the flow proceeds to step S10, where the solenoid abnormality flag FS is set to "1" indicating an abnormal state. Then, the flow proceeds to step S11, and the display 38 is notified of the abnormality of the solenoid. The message information is output and displayed, and the process returns to step S1. If the solenoid 29i is normal, the process proceeds to step S12. Te, solenoid abnormality flag FS
Is reset to "0" indicating a normal state, and the process returns to step S1.

On the other hand, if the result of determination in step S8 is that there is no solenoid 29i under energization control, the flow shifts to step S13, where the current of the solenoid 2i is detected.
It is determined whether or not 9k (k = a, b, c) exists, and if so, the corresponding solenoid 29k is determined to be in an abnormal state, and the process proceeds to step S10, where the current is detected. If no solenoid 29k is present,
When it is determined that each of the solenoids 29a to 29c is in a normal state, the process proceeds to step S14, and the solenoid abnormality flag FS
Is reset to "0" and the process is terminated, and step S
Return to 1.

The drive control process of FIG. 7 is executed as a timer interrupt process at predetermined time intervals (for example, 50 msec) with respect to the abnormality detection process of FIG.
The linear transformation mechanism abnormality flag FL and the solenoid abnormality flag FS are read, and then the process proceeds to step S22, where the linear transformation mechanism abnormality flag FL and the solenoid abnormality flag FS are read.
Is determined to be both "0", and when both flags FL and FS are both "0", the process proceeds to step S23, where the amount of depression of the brake pedal 34 detected by the brake operation amount sensor 36 is determined. After reading the indicated brake operation amount, the process proceeds to step S24.

In this step S24, it is determined whether or not the brake operation amount is in a brake operation state larger than a set value at the time of non-operation, and if not, the process proceeds to step S25, in which each of the electric brakes 1FL to 1FL is controlled. 1R
After outputting a solenoid energizing command for energizing the R locking solenoid 29a to the drive circuits 39A and 39B, the timer interrupt process is terminated, and the process returns to the abnormality detection process of FIG. The process shifts to S26 to output a solenoid energizing command to energize the braking permitting solenoid 29b of each of the electric brakes 1FL to 1RR to the drive circuits 39A and 39B, and then shifts to step S27, in accordance with the brake operation amount. The target rotation angle is calculated, and the rotation angle of the electric motor 16 detected by the encoder 21 is read. The electric motor 16 is driven to rotate so that the read rotation angle matches the target rotation angle. And returns to the abnormality detection processing of FIG.

On the other hand, the result of the determination in step S22 is
When the linear conversion mechanism abnormality flag FL and / or the solenoid abnormality flag FS are “1”, the process proceeds to step S28, and it is determined whether the linear conversion mechanism abnormality flag FL is “1”, and FL = “ If it is 1 ", it is determined that an abnormality has occurred in the linear conversion mechanism, and step S2 is performed.
9 and the corresponding electric brake 1j (j = FL, F
R, RL, and RR) output a solenoid energizing command to energize the solenoid 29c for stopping operation when an abnormality occurs in the actuator 28 of the actuator 28 to the drive circuit 39A or 39B, terminate the timer interrupt processing, and return to the abnormality detection processing of FIG. If the linear conversion mechanism abnormality flag FL is "0", it is determined that the solenoid abnormality flag FS is "1", and step S is executed.
31 and outputs to the drive circuit 39A or 39B an energization stop command for stopping the energization of each of the solenoids 29a to 29c of the actuator 28 of the corresponding electric brake 1j. It returns to the detection processing.

Therefore, each electric brake 1FL-
In a state where the linear conversion mechanism 14 and the operation selection mechanism 15 of 1RR are operating normally, the encoder 21 also stops when the electric motor 16 of 1i is stopped in the abnormality detection processing of FIG. When the electric motor 16 is driven to rotate, a detection signal indicating the rotation angle and the rotation direction is output from the encoder 21 in response to the rotation. Therefore, it is determined that the linear conversion mechanism 14 is normal, and the process proceeds to step S5. Alternatively, in step S7, the linear conversion mechanism abnormality flag FL is reset to "0", and since the solenoids 29a to 29c of the actuator 28 are normal, the process proceeds from step S9 to step S12, where the solenoid abnormality flag FS is set to "0". Is reset to

For this reason, when the drive control processing of FIG. 7 is executed, both the linear conversion mechanism abnormality flag FL and the solenoid abnormality flag FS are reset to "0", so that the process proceeds from step S22 to step S23. Then, the brake operation amount detected by the brake operation amount sensor 36 is read. At this time, when the driver does not depress the brake pedal 35, as shown in FIG.
In the non-braking state in which the 3a and the movable friction pad 13b are separated from the brake rotor 11, the movable brake operation amount detected by the brake operation amount sensor 36 becomes "0", and it is determined in step S24 that there is no brake operation. Then, the process proceeds to step S25, where each of the electric brakes 1FL
To 1RR, the energization command to the locking solenoid 29a of the actuator 28 is transmitted to the drive circuits 39A and 39A.
B.

For this reason, each of the electric brakes 1FL to 1RR
When the lock solenoid 29a is energized,
The operating pin 27 is lifted to the uppermost position, and as shown in FIG.
Abuts on the saw-toothed portion 25 through the through hole 26. At this time, as shown in FIG. 3, when the left end of the narrow portion 27a of the operating pin 27 comes into a locked state in which the locking end 25a of the serrated portion 25 is in contact with the locking surface 25a, the counterclockwise rotation of the ball nut 20 is performed. The rotation can be reliably prevented, and the electric motor 16 is driven to rotate counterclockwise in a state where the control system including the electric motor 16 is abnormal and no rotation drive command is output. Even if the ball screw shaft 18 connected to the rotating shaft 16a can be reliably prevented from rotating counterclockwise, the ball nut 20 moves forward to move the movable friction pad 13b toward the disk rotor 11 side to control the rotation. Generation of power can be reliably prevented.

When the narrow portion 27a of the operating pin 27 is not in contact with the locking surface 25a, the ball screw shaft 18
Is rotatable in the counterclockwise direction. By this rotation, the upper end of the narrow portion 27a of the operating pin 27 engages with the inclined surface 25b and finally engages with the locking surface 25a.
When the ball screw shaft 18 rotates by 45 ° at the maximum, the lock state is established, and further rotation is prevented.

When the driver depresses the brake pedal 35 from the non-braking state, the amount of brake operation increases in response to this, and the process shifts from step S24 to step S26 in the processing of FIG. Brake 1FL-1R
An energization command for energizing the brake permitting solenoid 29b is output to the R actuator 28. Therefore, the actuator 28 in each of the electric brakes 1FL to 1RR
When the brake permitting solenoid 29b is energized, the operating pin 27 descends and separates from the serrated portion 25 as shown in FIG.
No. 6 is in a braking permissible state of engagement.

In this braking allowable state, the ball screw shaft 18
Is allowed to rotate in the counterclockwise direction, and the ball nut 20 is prevented from rotating in the counterclockwise and clockwise directions by the engagement of the narrow portion 27a of the operating pin 27 in the through hole 26 thereof. When the ball screw shaft 18 is driven to rotate counterclockwise, the ball nut 20 becomes movable in the axial direction.

Next, the process proceeds to step S27, where the target rotation angle of the electric motor 16 according to the brake operation amount is calculated, and the rotation corresponding to the deviation between the target rotation angle and the current rotation angle detected by the encoder 21 is calculated. The angle control amount is calculated and output to the drive circuits 39A and 39B as a rotational drive command, so that the electric motor 16 of each of the electric brakes 1FL to 1RR rotationally drives the output shaft 16a in the counterclockwise direction. For this reason, the ball screw shaft 18 rotates counterclockwise and the ball nut 20 advances, and accordingly, the movable friction pad 13b contacts the disk rotor 11 to generate a braking force.

Thereafter, when the driver reduces the amount of depression of the brake pedal 35, the electric brakes 1F
A drive command for driving the L to 1RR electric motor 16 to rotate clockwise is output to the drive circuits 39A and 39B,
When the ball screw shaft 18 is rotated in the clockwise direction, the ball nut 20 is retracted, the pressing force of the movable friction pad 13b on the disk rotor 11 is reduced, the braking force is reduced, and when the driver releases the brake pedal 35. Then, the movable friction pad 13b and the fixed friction pad 13a return to the non-braking state of FIG.
Simultaneously with the return to the non-braking state, the lock solenoid 29a of the actuator 28 is energized again, and returns to the locked state in which the operating pin 27 is engaged with the saw-toothed portion 25.

The linear conversion mechanism 14 and the operation selection mechanism 1
When the disconnection abnormality occurs in the electric motor 16 of the electric brake 1i or when the dust is clogged between the ball screw shaft 18 and the ball nut 20 to cause an operation failure from the state in which the motor 5 is normal, the drive shown in FIG. In the control process, the electric motor 1
8 is in a state of being driven to rotate, the electric motor 18
Is not rotating, the linear conversion mechanism 14 is determined to be in an abnormal state, and the linear conversion mechanism abnormality flag FL is set to "1".

When the linear conversion mechanism abnormality flag FL is set to "1" in this manner, in the drive control process of FIG. 7, the process shifts from step S22 to step S29 via step S28 to control the corresponding electric brake 1i. A solenoid energization command for energizing the abnormal operation stop solenoid 29c in the actuator 28 is output to the target drive circuit 39A or 39B.

For this reason, two electric brakes 1FL, 1RR or 1 in the braking system including the corresponding electric brake 1i.
The solenoid 29c for stopping operation at abnormal time in the actuator 28 of FR, 1RL is energized, and the operating pin 27 is lowered to the lowest position as shown in FIG.
In this case, the operation is stopped when an abnormal state is located below which is not engaged with the saw-toothed portion 25 and the through hole 26 of the ball nut 20.

In this state, the ball screw shaft 18 and the ball nut 20 are both freely rotatable. Therefore, even when the electric motor 16 rotates abnormally, the ball screw shaft 18
The rotation of the ball nut 20 causes the ball nut 20 to rotate, thereby suppressing the advance of the ball nut 20 and preventing the generation of a braking force. For this reason, since the electric motor 16 rotates in a state close to a no-load state, generation of heat or the like can be avoided. When the electric motor 16 rotates abnormally, or when the electric motor 16 is normal but the dust is clogged between the ball screw shaft 18 and the ball nut 20 and the rotation of the ball screw shaft 18 becomes impossible, the actuator 28 is locked. When the state is selected, the operation pin 27 is engaged with the saw-toothed portion 25 of the ball screw shaft 16 and the rotation of the electric motor 16 is forcibly prevented, so that the electric motor 16 generates heat and becomes overheated. Although there is a possibility that the abnormal operation stop state is selected as described above, overheating of the electric motor 16 can be reliably prevented.

Further, when the linear conversion mechanism 14 is normal, but the solenoids 29a to 29c of the actuator 28 are abnormal, the abnormal electric brake 1
By outputting a solenoid non-energizing command to stop energizing all the solenoids 29a to 29c to the drive circuit 39A or 39B including i, the operating pin 27 falls to its lowest position by its own weight, As in the case where the operation is stopped at the time of abnormality and the abnormality occurs in the linear conversion mechanism 14,
Even if the electric motor 16 rotates, the non-braking state can be maintained.

In the first embodiment, when the solenoids 29a to 29c of the actuator 28 are in an abnormal state, all the solenoids 29a to 29c
Has been described, the present invention is not limited to this, and the individual solenoids 29a to 29a to
29c is individually detected and the locking solenoid 29 is detected.
a is abnormal, the brake permitting solenoid 29b
May be controlled to an energized state, and a state in which braking force control is possible may be continued.

Next, a second embodiment of the present invention will be described with reference to FIG. In the second embodiment, the number of solenoids is reduced by reducing the number of solenoids in the above-described first embodiment. That is, in the second embodiment, as shown in FIG. 8, the actuator 28 of the operation selection mechanism 15 has the same configuration as that of the first embodiment shown in FIG. 3 except that the braking permission solenoid 29b is omitted. The operating pin 27 is separated from the serrated portion 25 by the narrow portion 27a of the operating pin 27.
3 has the same configuration as that of FIG. 3 except that a coil spring 41 as an elastic body that is lifted so as to be held in the engagement allowable state is provided in the through hole 26.
Parts corresponding to those in FIG. 3 are denoted by the same reference numerals, and detailed description thereof is omitted.

According to the second embodiment, when the lock solenoid 29a is energized, the operating pin 27 is moved upward by the attraction force of the lock solenoid 29a against the elastic force of the coil spring 41. Raising,
A locked state in which the narrow portion 27a is engaged with the locking surface 25a of the sawtooth portion 25 through the through hole 26 of the ball nut 20 can be provided.

From this locked state, the locking solenoid 2
When the energization of the lock solenoid 29a is stopped, the attraction force of the locking solenoid 29a is lost, and the operating pin 27 is moved to the coil spring 4a.
With the resilience of 1, the vehicle returns to the braking allowable state. Further, when the solenoid 29c for stopping operation at abnormal time is energized from the braking allowable state, the operating pin 27 is pulled down against the elastic force of the coil spring 41 by the suction force of the solenoid 29c for stopping operation at abnormal time. The abnormal-state operation stop state can be set such that the narrow portion 27a is located at the retracted position below the through hole 26 of the ball nut 20.

Therefore, in the drive control process of FIG. 7 in the first embodiment described above, only the process of step S26 is omitted, and when the linear conversion mechanism 14 is normal, the lock solenoid 29a is in the brake non-operation state. Is energized to a locked state, and in the brake operating state, the solenoid 29a for locking and the solenoid 29
When the linear conversion mechanism 14 is abnormal, the solenoid 29c for stopping the abnormal operation can be set to the energized state to set the abnormal operation stop state.

In the second embodiment, the locked state, the braking allowable state, and the abnormal operation stop state can be selected by using two solenoids, and the number of solenoids is compared with that of the first embodiment. In the braking allowed state, all the solenoids 29a,
Since the power supply 29c is turned off, the power consumption can be reduced accordingly.

In the second embodiment, a case has been described in which the operating pin 27 is lifted by the coil spring 41 and held in the braking allowable state. However, the present invention is not limited to this, and as shown in FIG. And the case body 28
A coil spring 42 may be provided between the bottom surface of the operating pin 27 and the bottom surface of the wide disk portion 27b of the operating pin 27 to push up and hold the operating pin 27.

In the second embodiment, the case where the coil spring 40 is used as the elastic body has been described. However, the present invention is not limited to this.
Other elastic bodies such as a bamboo shoot spring and rubber can be applied. Next, a third embodiment of the present invention will be described with reference to FIGS. In the third embodiment, when an abnormality occurs in the linear conversion mechanism 14 in a braking state in which a braking force is being generated, the braking force can be reduced according to a decrease in the brake operation amount. Things.

That is, in the third embodiment, as shown in FIG. 10, the actuator 28 of the operation selection mechanism 15 is configured to continuously advance and retreat the operation pin 27 using an electric motor instead of the solenoid drive. In response to this, the controller 37 has the same configuration as that of the above-described first embodiment except that the controller 37 performs different processing between braking and non-braking.

As shown in FIG. 10, the actuator 28 has an inner rotor type direct motor 51 disposed in a case body 28a, and the direct motor 51 has a cylindrical stator around which a coil 52 is wound. 53
And a rotor 55 in which a permanent magnet 54 disposed opposite to the inner peripheral surface of the stator 53 is formed at a position facing the coil 52.

The rotor 5 of the direct motor 51
A ball nut 56 is formed on the inner peripheral surface of the ball screw 5, a ball screw shaft 58 is screwed into the ball nut 56 via a ball 57, and an upper end of the ball screw shaft 58 is connected to an operation pin 27 having a rectangular cross section. Pin 27 is case body 28
A is non-rotatably extended upward through an insertion hole 59 having a rectangular cross section formed in the upper end surface of the upper portion a.

Accordingly, for example, by driving the direct motor 51 in the normal direction, the rotor 55 is driven in the normal direction, and the ball screw shaft 58 is guided by the insertion hole 59 and moves upward toward the saw-toothed portion 25. By driving the rotor 51 in the reverse direction, the rotor 55 is driven in the reverse direction, and the ball screw shaft 58 moves downward in the direction away from the saw-toothed portion 25. Then, the rotation angle of the rotor 55 of the direct motor 51 is detected by the rotary encoder 60, and this rotary encoder 60
Is input to the controller 37.

As shown in FIG. 14, the abnormality detection processing executed by the controller 37 is the same as the processing of FIG. 6 in the first embodiment described above with reference to steps S8 to S13.
Are omitted, and the parts corresponding to the processing of FIG. 6 are denoted by the same reference numerals, and the detailed description thereof is omitted. Further, as shown in FIG. 15, in the drive control process executed by the controller 37, in the process of FIG. 7 in the first embodiment, the process of step S22 determines whether the linear conversion mechanism abnormality flag FL is “0”. The process proceeds to step S41 for determining whether or not the braking state is determined. If the determination result in step S41 indicates that the linear conversion mechanism abnormality flag FL is set to "0", the process proceeds to step S23, while the braking state is determined after step S25. Is added to step S42 for resetting the braking state flag FB representing "B" to "0" representing the non-braking state, and step S43 for setting the braking state flag FB to "1" representing the braking state is added after step S27. And if the result of the determination in step S41 is that the linear conversion mechanism abnormality flag FL is "1", then step S4
4 and execute the same processing as in FIG. 7 described above except that it is configured to perform the abnormal state processing.
The same reference numerals are given to the processing corresponding to FIG. 7, and the detailed description thereof will be omitted.

Here, in the abnormal state processing in step S44, as shown in FIG. 16, first, the processing shifts to step S50 to determine whether or not the braking state flag FB is set to "1". When it is set to "1", it is determined that the vehicle is in the braking state, and the flow shifts to step S51 to read the pedal operation amount detected by the pedal operation amount sensor 36. Then, the flow shifts to step S52 to continue the brake operation. Is determined, if the brake operation is continued, the process proceeds to step S53, and it is determined whether the brake operation amount is decreasing. If the brake operation amount is increased or maintained, Then, the process shifts to step S54 to drive the direct motor 51 of the actuator 28 to rotate in the normal direction, so that the narrow portion 27a of the operating pin 27 rises and the ball nut 56 It is raised, as shown in FIG. 10,
The upper end of the operating pin 26 is maintained in a locked state in which it engages with the saw-toothed portion 25. Then, the process proceeds to step S55, in which the braking state flag FB is set to "1", and the timer interrupt processing is terminated. The process returns to the abnormality detection process of 14.

If the result of the determination in step S53 is that the brake operation amount has decreased, the flow shifts to step S56 to perform the braking force reduction control processing described below. That is, since the output shaft 16 a of the electric motor 16 in the linear conversion mechanism 14 is mechanically connected to the ball screw shaft 18, the sawtooth of the sawtooth-shaped portion 25 facing the operation pin 27 depends on the rotation angle detected by the encoder 21. The position can be specified. Therefore, the relationship between the rotation angle of the output shaft 16a of the electric motor 16 and the locking surface 25a and the inclined surface 25b of the saw-toothed portion 25 is shown in the memory included in the controller 37 in the developed view of the saw-toothed portion 25 shown in FIG. The rotation angle position θS in the initial state where the braking force in the non-braking state where the brake pedal 35 is not depressed is “0” is stored in advance, and the operating pin 27 is The rotational angle position θ in the locked state in contact with the locking surface 25a
By storing R, a control map representing the relationship between the pedal operation amount and the projecting position of the operation pin 27 shown in FIG. 18 is created.

Since the braking force is roughly calculated by the product of the position of the ball nut 20 and the rigidity of the electric brake, when the brake operation amount of the brake pedal 35 detected by the brake operation amount sensor 36 by the driver decreases. The target control position of the operating pin 27 is calculated by referring to the control map of FIG. 18 based on the brake operation amount, and the current position of the operating pin is detected by detecting the rotation angle and rotation direction of the direct motor 51. Rotary encoder 60
Is calculated on the basis of the rotation angle and the rotation direction detected in step (1), and the direct motor 51 is rotationally driven such that the calculated current position matches the target control position.

Next, the routine proceeds to step S57, in which the braking state flag FB is set to "1", the timer interruption processing is ended, and the processing returns to the abnormality detection processing of FIG. on the other hand,
If the result of the determination in step S50 is that the braking state flag FB is "0", the flow proceeds to step S58, in which the direct motor 51 is moved to the lowest position, and the saw-toothed portion 25 and the ball nut 20 are It is driven to rotate so as to be in the abnormal operation stop state in which it retracts below the hole 26, and when the abnormal character operation stop state is reached, step S
The process proceeds to 59, where the braking state flag FB is reset to "0", the timer interrupt process is terminated, and the process returns to the abnormality detection process of FIG.

According to the third embodiment, when the linear conversion mechanism 14 is in a normal state, as in the first embodiment, when the brake pedal 35 is not depressed and the brake pedal 35 is not depressed, the operation selection mechanism is operated. The direct motor 51 constituting the fifteen actuators 28 is driven to rotate in the forward direction, and the operating pin 27 is controlled to a locked state in which the operating pin 27 abuts on the locking surface 25a of the saw-toothed portion 25 through the through hole 26 of the ball nut 20.

When the driver depresses the brake pedal 35 from the non-braking state to the braking state, the direct motor 51 is driven in reverse to move the operating pin 27 away from the saw-toothed portion 25. 26 is controlled to be in a braking allowable state in which the linear conversion mechanism 1 is engaged.
4 is rotated in the counterclockwise direction, whereby the ball nut 20 moves forward in accordance with the amount of brake operation, and the fixed friction pad 13a and the movable friction pad 13
By tightening the disk rotor 11 at b, a braking force is generated.

However, in the abnormality detection processing of FIG. 14, when an abnormality of the linear conversion mechanism 14 in any one of the electric brakes 1j is detected and the linear conversion mechanism abnormality flag FL is set to "1", the processing of FIG. At the timing when the process is started, the process proceeds from step S42 to step S47, and FIG.
6 is executed. That is, in the immediately preceding drive control process, the non-braking state is detected and step S4
When the operation pin 27 is controlled to the locked state at 5 and the braking state flag FB is reset to “0”,
The process proceeds from step S50 to step S58, in which the corresponding drive circuit 39A or 39B drives the direct motor 51 of the electric brake 1FL, 1RR or 1FR, 1RL connected thereto in the reverse direction so that the operating pin 27 is moved to the saw-toothed portion. When the electric motor 16 is rotated abnormally, the ball nut 20 is advanced while the electric motor 16 is rotated in an almost no-load state. And the generation of the braking force can be reliably prevented.

Further, the braking state is detected in the immediately preceding drive control process, and the operation pin is controlled to the braking allowable state in step S47, and the electric motor 16 is driven to rotate counterclockwise in step S48, and the ball nut 20 is rotated. Then, the disk rotor 11 is pressed by the fixed friction pad 13a and the movable friction pad 13b to generate a braking force.
If the braking state flag FB is set to "1" in step S5, if the brake operation amount is large and the brake operation is continued, the process proceeds to step S53 via step S52, and the brake operation amount is held or If it is increasing, the process proceeds to step S54, where the direct motor 51
Is driven forward to raise the operating pin 27, and the
5 is controlled so as to be brought into contact with the locking surface 25a.

Therefore, when an abnormality of the electric motor 16 occurs in the linear conversion mechanism 14, the braking force at that time can be maintained. Then, when the driver
When the brake operation amount detected by the brake operation amount sensor 36 is reduced by decreasing the stepping amount of No. 5, the process proceeds from step S53 to step S56, where a braking force reduction control process is performed, and the brake operation amount sensor 36 The target control position of the operating pin 27 is calculated with reference to the control map shown in FIG. 18 created as described above based on the brake operation amount detected in The direct motor 51 is rotationally driven so that the current position calculated based on the angle becomes the target control position.

As described above, when the direct motor 51 is driven to rotate, the operating pin 27 is lowered from the locked state shown by the dotted line in FIG.
a and the movable friction pad 13b sandwiches the disk rotor 11, so that the reactive force
b is retracted, and the retraction of the movable friction pad 13b is transmitted to the ball nut 20 via the ball bearing 23, whereby the ball nut 20 is
As a result, the vehicle retreats while rotating around 8, and the braking force is reduced corresponding to the decrease in the brake operation amount. At this time, since the ball bearing 23 is interposed on the contact surface between the movable friction pad 13b and the ball nut 20, it is easy to retreat while rotating the ball nut 20 when the movable friction pad 13b retreats. Can be.

When the brake pedal 35 is released and the brake pedal 35 is released and the brake pedal 35 is released, it is determined in step S52 in FIG. 16 that the continuation of the brake operation has been completed. Then, the direct motor 51 is driven to rotate in the reverse direction, and the operating pin 27 is moved to the sawtooth portion 25 and the through hole 26 of the ball nut 20.
The ball screw shaft 18 and the ball nut 20 can freely rotate even when the electric motor 16 is driven to retreat further downward, and the ball nut 20 is moved to the ball screw shaft 1.
By rotating together with 8, the forward movement is prevented and the generation of a braking force is prevented.

As described above, according to the third embodiment, when the electric motor 16 is in an abnormal state and is in a braking state, the operating pin 27 abuts on the locking surface 25a of the saw-toothed portion 25. By controlling the locked state, the braking force at that time can be held, and the influence of the reduction of the braking force on the vehicle behavior can be reliably prevented. In addition, when the amount of brake operation decreases in this braking state, the braking force can be reduced accordingly, and the braking force required by the driver can be secured. Furthermore, when returning from the braking state to the non-braking state, the abnormal-state operation stop state is selected, so that when an abnormal rotation of the electric motor 16 occurs, the generation of a braking force can be reliably prevented. .

In the third embodiment, the case where the direct motor 51 is applied has been described. However, the present invention is not limited to this, and an electric motor similar to the electric motor 16 may be applied. Good. Also,
In the first to third embodiments, the electric motor 16
Has been described based on the rotation angle detected by the rotary encoder 21. However, the present invention is not limited to this. The current of the electric motor 16 is detected and the current is detected. The abnormality of the linear conversion mechanism 14 including the electric motor 16 may be detected based on the value.

Further, in the first to third embodiments, the case where the ball bearing 23 is interposed between the movable friction pad 13b and the ball nut 20 has been described. However, the present invention is not limited to this. , Tapered roller bearings,
Any rotary connecting member constituted by other bearings such as a needle roller bearing and a sliding bearing can be applied. Furthermore,
In the first to third embodiments, the linear conversion mechanism 1
Although the case where the ball screw is applied as 4 has been described, the present invention is not limited to this, and a normal screw shaft and a nut screwed to the screw shaft can be applied, and furthermore, the screw shaft is driven to rotate by an electric motor. It may be composed of a pinion and a rack that meshes with the pinion. In essence, any linear conversion mechanism can be applied as long as it can convert the rotational force of the electric motor into a linear moving force. Can be.

Further, in the first to third embodiments, the front left electric brake 1FL and the rear left electric brake 1RR and the front right electric brake 1FR and the rear left electric brake 1RL are controlled by separate control systems. The case described above has been described, but the present invention is not limited to this.
A separate control system is used for the front and rear,
One RR may be controlled individually and independently, and an arbitrary control system can be formed.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing a first embodiment of the present invention.

FIG. 2 is an enlarged sectional view showing the electric brake.

FIG. 3 is an enlarged cross-sectional view taken along the line AA of FIG. 2, showing a state where a locked state is selected by an operation selecting mechanism.

FIG. 4 is an enlarged cross-sectional view taken along line AA of FIG. 2, showing a state in which a braking allowable state is selected by an operation selecting mechanism.

FIG. 5 is an enlarged cross-sectional view taken along the line AA of FIG. 2, showing a state in which an abnormal operation stop state is selected by the operation selection mechanism.

FIG. 6 is a flowchart illustrating an abnormality detection process executed by the controller according to the first embodiment of the present invention.

FIG. 7 is a flowchart illustrating a drive control process executed by the controller according to the first embodiment of the present invention.

FIG. 8 is a sectional view of an operation selecting mechanism according to a second embodiment of the present invention.

FIG. 9 is a sectional view of an operation selection mechanism showing a modification of the second embodiment of the present invention.

FIG. 10 is a cross-sectional view of an operation selecting mechanism according to a third embodiment of the present invention, in a state where a braking allowable state is selected.

FIG. 11 is a cross-sectional view of an operation selecting mechanism according to a third embodiment of the present invention in a state where a locked state is selected.

FIG. 12 is a cross-sectional view of an operation selection mechanism according to a third embodiment of the present invention, in which an abnormal operation stop state is selected.

FIG. 13 is a cross-sectional view of an operation selection mechanism according to a third embodiment of the present invention, in a state where a braking force reduction state is selected.

FIG. 14 is a flowchart illustrating an abnormality detection process executed by a controller according to the third embodiment of the present invention.

FIG. 15 is a flowchart illustrating a drive control process executed by a controller according to a third embodiment of the present invention.

FIG. 16 is a flowchart illustrating a specific example of the abnormal state processing of FIG. 15;

FIG. 17 is an explanatory view showing a state in which a sawtooth-shaped part according to a third embodiment of the present invention is developed.

FIG. 18 is a control map showing a relationship between a pedal operation amount and an operation pin position in a third embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 Disc rotor 12 Caliper 13a Fixed friction pad 13b Movable friction pad 14 Linear conversion mechanism 15 Operation selection mechanism 17 Ball screw 18 Ball screw shaft 20 Ball nut 21 Rotary encoder 23 Ball bearing 25 Serrated part 27 Operating pin 28 Actuator 29a Locking solenoid 29b Braking Allowable solenoid 29c Solenoid for stopping operation when abnormal 41, 42 Coil spring 51 Direct motor 56 Ball nut 58 Ball screw shaft 60 Rotary encoder

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3J058 AA53 AA63 AA78 AA87 BA05 BA13 CC08 CC15 CC17 CC19 CC63 CC76 CC77 FA01

Claims (18)

[Claims] 1. A brake operation amount detection means for detecting an operation amount of a brake operation means by a driver, an electric braking means for applying a braking force to wheels according to an input braking control amount, and the brake A braking control means for outputting the braking control amount for controlling a braking force of the electric braking means in accordance with a brake operation amount detected by the operation amount detecting means. A braking member that applies a braking force to the braking member; a linear conversion unit that converts the rotational motion of the electric rotary drive source into a linear motion to control the driving of the braking member; An electric brake device comprising: an operation selecting unit that controls an operation to be in one of a lock state in which the brake member is locked and a brake permissible state in which the brake member can move forward and backward. 2. A brake operation amount detection means for detecting an operation amount of a brake operation means by a driver, an electric braking means for applying a braking force to wheels according to an input braking control amount, and the brake A braking control unit that outputs the braking control amount that controls a braking force of the electric braking unit according to a brake operation amount that is detected by the operation amount detection unit. A braking member that applies a braking force to the braking member; a linear conversion unit that converts the rotational motion of the electric rotary drive source into a linear motion to control the driving of the braking member; To control any of a lock state in which the brake member is locked, a brake permissible state in which the brake member can be advanced and retracted, and an abnormal operation stop state in which the brake member cannot be advanced and retracted when an abnormality occurs. Electric braking apparatus, characterized in that it comprises a selection means. 3. A brake operation amount detection means for detecting an operation amount of a brake operation means by a driver, an electric braking means for applying a braking force to wheels according to an input braking control amount, and the brake A braking control means for outputting the braking control amount for controlling a braking force of the electric braking means in accordance with a brake operation amount detected by the operation amount detecting means. A braking member that applies a braking force to the braking member; a linear conversion unit that converts the rotational motion of the electric rotary drive source into a linear motion to control the driving of the braking member; Lock state, a braking permissible state in which the braking member can advance and retreat, an abnormal operation stop state in which the braking member cannot advance and retreat when an abnormality occurs, and only a decrease in the braking force. Electric braking apparatus, characterized in that it comprises an actuating selection means for controlling to any one of the capacity of the braking force reduction control conditions. 4. The linear conversion means comprises a screw shaft rotatably driven by an electric motor or the like, and a nut meshed with the screw shaft and connected to a braking member. , A working pin opposed to the saw-toothed part through a through hole formed in the nut, and an actuator for controlling the movement of the working pin with respect to the saw-toothed part. The electric brake device according to any one of claims 1 to 3, wherein 5. The electric brake device according to claim 4, wherein a rotation connecting member that allows relative rotation between the nut and the braking member is interposed on a contact surface between the nut and the braking member. 6. The actuator according to claim 5, wherein the actuator is in a locked state in which the operating pin is locked to the saw-toothed portion through the through-hole, and the brake is allowed to separate from the saw-toothed portion but to engage in the through-hole formed in the nut. The electric brake device according to claim 4, wherein the electric brake device is controlled to any one of a state and a state. 7. A locked state in which the actuator locks the operation pin to the sawtooth portion through the through hole;
Either in a braking allowable state in which the saw-tooth-shaped portion is separated from the through-hole formed in the nut but is engaged with a through-hole formed in the nut, or an abnormal operation stop state in which the saw-tooth-shaped portion is separated from the through-hole formed in the nut. The electric brake device according to claim 4, wherein the electric brake device is controlled. 8. A locked state in which the actuator locks the operating pin to the sawtooth portion through the through hole,
A braking allowable state in which the saw-tooth-shaped part is separated but engages with a through hole formed in the nut, an abnormal operation stop state in which the saw-tooth-shaped part is separated from the through-hole formed in the nut, and the saw-tooth shape The electric brake device according to claim 4, wherein the electric brake device is controlled to any one of a braking force reduction control state in which the brake force is gradually released from a locked state with the part. 9. The operation selection means selects the lock state when the brake operation amount detected by the brake operation amount detection means corresponds to the non-operation state, and when the brake operation amount changes to the operation state. The electric brake device according to any one of claims 1 to 8, wherein a braking allowable state is selected. 10. A linear conversion mechanism abnormality detecting means for detecting an abnormality of the linear conversion means, wherein the operation selecting means detects an abnormality of the linear conversion means by the linear conversion mechanism abnormality detecting means in a non-braking state. The electric brake device according to any one of claims 1 to 9, wherein the abnormal operation stop state is selected at the time. 11. A linear conversion mechanism abnormality detecting means for detecting abnormality of the linear conversion means, wherein the operation selecting means is configured to detect an abnormality of the linear conversion mechanism while the braking member is applying a braking force. When the abnormality of the linear conversion means is detected, the lock state is selected when the brake operation amount is in the increasing state or the holding state, and the braking force reduction control state is selected when the brake operation amount is in the decreasing state. The electric brake device according to claim 3 or 8, wherein the electric brake device is configured as follows. 12. A linear conversion mechanism abnormality detecting means for detecting abnormality of the linear conversion means, wherein the operation selecting means is configured to detect an abnormality of the linear conversion mechanism while the braking member is applying a braking force. When the abnormality of the linear conversion means is detected by the above, when the brake operation amount detected by the brake operation amount detection means returns to the non-operation state, the abnormal state operation stop state is selected. The electric brake device according to claim 11, wherein: 13. The electric brake device according to claim 6, wherein the actuator is constituted by two solenoids that drive the operating pin between a locked state and a braking allowable state. 14. The electric brake according to claim 6, wherein the actuator is constituted by three solenoids for driving the operating pin to a locked state, a braking allowable state, and an abnormal operation stop state. apparatus. 15. The electric motor according to claim 6, wherein the actuator comprises one solenoid for driving the operating pin in a locked state, and an elastic member for holding the operating pin in a braking allowable state. Brake device. 16. The actuator according to claim 6, wherein the actuator comprises two solenoids for driving the operating pin into a locked state and a braking allowed state, and an elastic member holding the operating pin in a braking allowed state. The electric brake device according to item 1. 17. A solenoid abnormality detecting means for detecting an abnormality of the solenoid, and an energization stopping means for stopping the energization of each solenoid when the abnormality is detected by the solenoid abnormality detecting means. Claim 4
Or the electric brake device according to any one of the above items 16. 18. The actuator according to claim 4, wherein the actuator includes a nut that is driven to rotate by an electric motor, and a screw shaft that is screwed to the nut and connected to an operating pin. An electric brake device according to any one of the above.