KR102456337B1 - braking apparatus of racing car performing non-powered driving using gravity - Google Patents

Abstract

The present invention is formed so that driving is possible through a front wheel whose direction is adjusted by interlocking with a steering handle mounted on the body, and a rear wheel spaced apart from the rear with respect to the front wheel. It relates to an automatic braking device for a gravity racing vehicle having a main braking unit that generates braking force corresponding to a speed sensor for measuring the traveling speed of a main body, a steering angle detection sensor for detecting a steering angle of the main body, and no power using gravity If the speed detected by the speed sensor exceeds the set dangerous reference speed in the non-motorized driving mode that performs driving and the angle of the steering angle detected by the steering angle detection sensor is determined to be within the set braking allowable range, the speed is reduced through the main brake. A control unit to control is provided. According to the automatic braking device of such a gravity racing vehicle, when driving on an incline without power, when a safety-required critical speed is exceeded, braking can be performed stably and precisely automatically, thereby improving stability. to provide.

Description

Automatic braking apparatus of a gravity racing vehicle

The present invention relates to an automatic braking device for a gravity racing vehicle, and more particularly, to a gravity racing vehicle constructed so that braking can be performed automatically when a safety standard speed is exceeded in a section for performing non-motorized driving using gravity. It relates to the automatic braking system.

In general, most of the carts used for leisure can be driven by power, and recently, those that can be driven on a slope without power are also used.

Such a cart has been proposed in various ways, such as Korean Patent Registration No. 10-1458855.

In addition, various methods such as Korean Patent Laid-Open Publication No. 2003-0074046 and the like have been disclosed for driving by power, but by sensing a magnetic field radiated from a guide line installed on the road.

On the other hand, when the cart exceeds the critical speed required for safety in the process of driving on a slope without power, a structure for improving stability by automatically decelerating the speed is required.

The present invention is a gravity racing vehicle that can improve stability by automatically decelerating the speed when the safety standard speed required for safety is exceeded in the process of driving on an incline without power. An object of the present invention is to provide an automatic braking system of

In order to achieve the above object, the automatic braking device for a gravity racing vehicle according to the present invention can be driven through a front wheel whose direction is adjusted by interlocking with a steering wheel mounted on a body and a rear wheel spaced apart from the rear with respect to the front wheel. A racing vehicle having a main braking unit configured to perform non-motorized driving using gravity and generating braking force corresponding to a user's brake pedal operation, the racing vehicle comprising: a speed sensor for measuring the driving speed of the main body; a steering angle detection sensor for detecting a steering angle of the body; When it is determined that the angle of the steering angle detected by the steering angle detection sensor is within the set braking allowable range while the speed detected by the speed sensor exceeds the set dangerous reference speed in the non-motorized driving mode performing non-motorized driving using gravity, the main and a control unit for controlling the speed to be decelerated through the eastern part.

According to an aspect of the present invention, the main braking unit includes a base plate; The hydraulic pressure can be adjusted through the main hydraulic line connected to apply a braking force to the front wheel by interlocking with the advance and retreat of a movably mounted push rod supported in a penetrating state by a vertical support bracket mounted to extend vertically on the base plate. a hydraulic cylinder for supplying brake oil so as to Formed on the side of the brake pedal and the push rod to apply an interference force to which the push rod is pressed when it is rotated around the hinge according to a pressing force applied to the brake pedal hinged at its lower end to the base plate an interference link coupled between the restraining pins; a first restoration spring mounted to restore the brake pedal to its initial position when no external force is applied to the brake pedal; a main braking motor mounted on the base plate to rotate the main rotating shaft extending in a direction perpendicular to the extension direction of the push rod; a disc mounted at the end of the main rotation shaft to extend in a direction in which an outer diameter is extended; and an eccentric cam protruding opposite to the front surface of the push rod opposite to the brake pedal at an eccentric position spaced apart from the rotation center of the disc and moving the push rod forward and backward by interference according to the rotation of the main rotation shaft.

Preferably, a sub-braking unit for applying a braking force to the rear wheels of the main body; a brake oil pressure detection sensor for detecting the pressure of brake oil supplied from the hydraulic cylinder through the main hydraulic line; and a sensor unit configured to detect a rotational position of the brake pedal or a current supplied to the main brake motor, wherein the control unit is configured such that the pressure detected by the brake oil pressure detection sensor corresponds to the signal detected by the sensor unit. If it is determined that the range is out of range, it is determined that the braking is abnormal and the sub-braking unit is operated.

Alternatively, a sub-braking unit for applying a braking force to the rear wheels of the main body; a brake oil pressure detection sensor for detecting the pressure of brake oil supplied from the hydraulic cylinder through the main hydraulic line; and a push rod displacement measuring sensor for detecting displacement information corresponding to the movement of the push rod, wherein the control unit corresponds to the pressure detected by the brake oil pressure detection sensor corresponding to the signal detected by the push rod displacement measuring sensor If it is determined that the braking range is out of range, it is determined that the braking is abnormal and the sub-braking unit is operated.

The main braking unit according to another aspect of the present invention includes a base plate; The hydraulic pressure can be adjusted through the main hydraulic line connected to apply a braking force to the front wheel by interlocking with the advance and retreat of a movably mounted push rod supported in a penetrating state by a vertical support bracket mounted to extend vertically on the base plate. a hydraulic cylinder for supplying brake oil so as to Formed on the side of the brake pedal and the push rod so as to apply an interference force that is pressed by the push rod when it is rotated around the hinge according to the pressing force applied to the brake pedal hinged at the lower end of the base plate an interference link coupled between the restraining pins; a first restoration spring mounted to restore the brake pedal to its initial position when no external force is applied to the brake pedal; a main braking motor mounted on the base plate to rotate the main rotation shaft in a direction parallel to the push rod; a rotation bar having one end rotatably coupled to a fixing bracket mounted on the body above the brake pedal and extending in a direction parallel to the base plate; a second restoration spring having one end coupled to the rotation bar and the other end coupled to the fixing bracket so that the rotation bar can be restored to its initial position; an interlocking wire having one end connected to the rotation bar and extending downward through a through hole formed in the brake pedal; an interference piece having an outer diameter larger than an outer diameter of a through hole formed in the brake pedal and coupled to the interlocking wire above the brake pedal to interfere with the brake pedal when the interlocking wire descends; and an inclined bar attached to the main rotation shaft of the main braking motor to be inclined and coupled to the end of the interlocking wire so as to pull the interlocking wire downward by rotation.

According to the automatic braking device for a gravity racing vehicle according to the present invention, when a safety standard speed required for safety is exceeded in the process of driving on an incline without power, the braking can be performed stably and precisely automatically, thereby improving stability. provides advantages.

1 is a schematic plan view of a gravity racing vehicle to which an automatic braking device according to the present invention is applied;
FIG. 2 is a perspective view showing the automatic braking device of FIG. 1 taken;
3 is a plan view of the automatic braking device of FIG. 2;
4 is a perspective view showing a state in which some elements including the brake pedal of FIG. 2 are removed;
5 is a plan view of the automatic braking device of FIG. 4;
6 is a block diagram showing a control system of the automatic braking device of FIG. 1;
7 is a graph showing the normal range for the relationship between the brake pedal operation angle and the brake oil pressure;
8 is a graph showing the normal range for the relationship between the current supplied to the main braking motor and the brake oil pressure;
9 is a graph showing the normal range for the relationship between the displacement of the push rod and the brake oil pressure;
10 is a cross-sectional view schematically showing a main braking unit according to another embodiment of the present invention.

Hereinafter, an automatic braking device for a gravity racing vehicle according to a preferred embodiment of the present invention will be described in more detail with reference to the accompanying drawings.

1 is a schematic plan view of a gravity racing vehicle to which an automatic braking device according to the present invention is applied.

Referring to FIG. 1 , the automatic braking device 100 of a gravity racing vehicle 10 according to the present invention includes a main braking unit 120 , a speed sensor 150 , a steering angle detection sensor 160 , and a control unit 190 . do.

The gravity racing vehicle 10 includes two front wheels 113 whose direction is adjusted by interlocking with a user operation of the steering handle 116 mounted on the main body 110 and two rear wheels arranged to be spaced apart from the rear with respect to the front wheels 113 . It is configured to be driven through the rear wheel 115 , and has a main brake unit 120 that performs non-motorized driving using gravity and generates braking force in response to the user's manipulation of the brake pedal 121 .

The main braking unit 120 will be described with reference to FIGS. 2 to 5 together.

The main braking unit 120 includes the base plate 122, the hydraulic cylinder 130, the interference link 125, the first restoration spring 127, the main braking motor 135, the disc 137, the eccentric cam 138. to provide

The base plate 122 supports coupling with the main body 110 and provides a mounting area in which an automatic braking related element is mounted.

The lower end of the brake pedal 121 is hinged 123 to the base plate 122 and extends upward.

The hydraulic cylinder 130 is supported in a penetrating state by the vertical support bracket 124 mounted to extend vertically on the base plate 121 and is interlocked with the advance and retreat of the movably mounted push rod 132 to the front wheel 113. Brake oil is supplied so that the hydraulic pressure can be adjusted through the main hydraulic line 133 connected to apply a braking force to the .

In the illustrated example, the main hydraulic line 133 connected to the opposite side of the push rod 132 operating as a piston based on the hydraulic cylinder 130 is connected to the distribution chamber 134 , and brake oil in the distribution chamber 134 . is supplied to each of the two front wheels 113 through the first and second distribution hydraulic lines 134a and 134b as a conventional braking element that compresses or separates the brake pads by the supplied hydraulic pressure. Here, the structure for generating braking force by interfering with the front wheel 113 is well known, and thus detailed description thereof will be omitted.

The interference link 125 is an interference in which the push rod 132 is pressed when the brake pedal 121 is rotated about the hinge 123 according to the pressing force applied to the brake pedal 121 in the direction toward the inlet cylinder 130 . It is coupled between the brake pedal 121 and the restraining pin 132a formed on the side of the push rod 132 so as to apply a force.

The first restoration spring 127 is mounted so that it can be restored to its initial position when no external force is applied to the brake pedal 121, and the restraint core 128 extended in parallel with the push rod 132 from the upper portion of the push rod 132. is supported to elastically support the brake pedal 121 .

The main braking motor 135 is mounted on the base plate 122 to rotate the main rotation shaft 135a extending in a direction perpendicular to the extension direction of the push rod 132 .

The disk 137 is mounted to extend in the direction in which the outer diameter is expanded at the terminal end of the main rotation shaft 135a.

The eccentric cam 138 protrudes to face the front surface 132b opposite to the brake pedal 121 of the push rod 132 at an eccentric position spaced apart from the rotational center of the disc 137, and to the rotation of the main rotation shaft 135a. Accordingly, the push rod 132 advances and retreats by interference.

The eccentric cam 138 has a rotatable roller 138a concentrically mounted on its outer circumferential surface.

When the user presses the brake pedal 121 in the main brake unit 120 , the push rod 132 moves in a direction in which the hydraulic cylinder 130 is compressed, and thus the pressurized brake oil is transferred to the main hydraulic line 133 . ), the distribution chamber 134 and the first and second distribution hydraulic lines 134a and 134b are supplied to the braking element of the front wheel 113 to perform braking. Similarly, in a state in which the user does not press the brake pedal 121 , the main braking motor 135 is operated and interlocked with the rotation of the main rotation shaft 135a so that the eccentric cam 138 moves the front surface 132a of the push rod 132 . When the hydraulic cylinder 130 is moved in the compression direction, the brake oil pressurized accordingly is transferred to the front wheels through the main hydraulic line 133, the distribution chamber 134, and the first and second distribution hydraulic lines 134a and 134b. (113) It is supplied to the braking element and the braking is performed automatically.

A related element for controlling the braking of the main braking unit 120 will be described with reference to FIG. 6 .

The speed sensor 150 measures the traveling speed of the main body 110 and provides it to the control unit 190 .

The steering angle detection sensor 160 detects the steering angle of the main body 110 and may be constructed to detect rotation angle information of the steering handle 116 .

The pedal position detection sensor 171 detects a rotational position based on the hinge 123 of the brake pedal 121 and provides it to the controller 190 .

The motor current sensor 172 detects the current supplied to the main braking motor 172 and provides it to the controller 190 .

The push rod displacement measurement sensor 173 is applied to detect the amount of movement along the pressing direction of the push rod 132 , and detects displacement information corresponding to the movement of the push rod 132 and provides it to the control unit 190 .

Here, the pedal position detection sensor 171 , the motor current sensor 172 , and the push rod displacement measurement sensor 173 are applied as a sensor unit having a sensor function for determining an operation error, and only one or two of them can be applied. of course there is

The brake oil pressure detection sensor 175 detects the pressure of brake oil supplied from the hydraulic cylinder 130 through the main hydraulic line 133 and provides it to the control unit 190 .

The sub-braking unit 180 is controlled by the control unit 190 to apply a braking force to the rear wheel 115 of the main body 110 .

The sub-braking unit 180 applies a force to the rear wheels 115 by the pressure of brake oil supplied through a hydraulic cylinder controlled to the control unit 190 like the main brake unit 120 or the control unit 190. Various methods may be applied, such as a method of applying a providing force to the rear wheel by operation of a sub-braking motor (not shown) controlled by the .

The recovery driving unit 185 is controlled by the control unit 190 in the recovery section after completing the non-motorized driving mode for performing non-motorized driving using gravity to apply driving force to the front wheels 113 to drive by power.

The communication unit 195 provides a signal received from the control server 200 to the control unit 190 , and is controlled by the control unit 190 to transmit transmission target information to the control server 200 .

The control unit 190 allows braking in which the angle of the steering angle detected by the steering angle detection sensor 160 is set while the speed detected by the speed sensor 150 exceeds the set dangerous reference speed in the non-motorized driving mode for performing non-motorized driving using gravity. If it is determined within the range, the main braking motor 135 of the main braking unit 120 is operated to control the speed to be reduced. Here, the risk reference speed may be appropriately set according to the usage environment such as 50 km/h, and the braking allowable range of the steering angle may be set within 20 degrees to prevent overturning due to braking on a curved road.

In addition, when it is determined that the pressure detected by the brake oil pressure detection sensor 175 is out of a range corresponding to the signal detected by the sensor unit, the controller 190 determines that the brake is abnormal and operates the sub-braking unit 180 . .

That is, the control unit 130 controls the range in which the pressure detected by the brake oil pressure detection sensor 175 corresponds to the pedal rotation position (pedal operation angle) detected by the pedal position detection sensor 171 as shown in FIG. 7 . If it is determined that there is a deviation, it is determined that the braking is abnormal and the sub-braking unit 180 is operated.

Similarly, when it is determined that the pressure detected by the brake oil pressure detection sensor 175 is outside the normal range corresponding to the current detected by the motor current sensor 172 as shown in FIG. , and the sub-braking unit 180 is operated.

In addition, when the control unit 130 determines that the pressure detected by the brake oil pressure detection sensor 175 is outside the normal range corresponding to the signal detected by the push rod displacement measurement sensor 173 as shown in FIG. 9 , It is determined that the braking is abnormal and the sub-braking unit 180 is operated.

Meanwhile, while applying the hydraulic cylinder 130 and the push rod 132, a main braking unit different from the illustrated example may be constructed, and an example thereof will be described with reference to FIG. 10 . Elements having the same function as in the drawings shown above are denoted by the same reference numerals.

Referring to FIG. 10 , the main braking unit 220 includes a fixing bracket 211 , a rotating bar 215 , a second restoration spring 213 , an interlocking wire 220 , an interference piece 222 and an inclined bar 224 . to provide

The brake pedal 121 has a through-hole 121a formed therein so that the interlocking wire can move in a penetrating state.

The main braking motor 135 is mounted on the base plate 121 to rotate the main rotation shaft 135a in a direction parallel to the push rod 132 differently from before.

One end of the pivot bar 215 is rotatably coupled to the 'L'-shaped fixing bracket 211 mounted on the body 110 of the upper part of the brake pedal 121 by a hinge, and extends in a direction parallel to the base plate 122 . has been

The second restoration spring 213 has one end coupled to the rotation bar 215 and the other end to the fixing bracket 211 so that the rotation bar 215 can be restored to a horizontal state, which is the initial position.

One end of the interlocking wire 220 is connected to the bottom surface of the rotation bar 215 and extends downward through a through hole 121a formed in the brake pedal 121 , and the other end is coupled to an inclined bar 224 , which will be described later.

The interference piece 222 has an outer diameter larger than the outer diameter of the through hole 121a formed in the brake pedal 121 and is coupled to the interlocking wire 220 at the upper portion of the brake pedal 121 so that the interlocking wire 220 descends. It interferes with the brake pedal 121 downward.

The inclined bar 224 is inclinedly mounted on the main rotation shaft 135a of the main braking motor 135 and is coupled to the end of the interlocking wire 220 so as to pull the interlocking wire 220 downward by rotation. The angle of inclination of the inclined bar 224 and the coupling position of the interlocking wire 220 are interlocked along the direction in which the brake pedal 121 is pressed when the main rotational shaft 135a is rotated in the direction of pulling the interlocking wire 220 downward. The wire 220 is also determined to be movable along the horizontal direction.

According to the automatic braking system of the gravity racing vehicle described above, when driving on an incline without power, when the safety standard speed is exceeded, the braking can be performed stably and precisely automatically, thereby improving the stability. provides advantages.

110: body 120: main brake unit
150: speed sensor 160: steering angle detection sensor
190: control unit

Claims (5)

delete Driving is possible through a front wheel whose direction is adjusted by interlocking with the steering handle mounted on the body and a rear wheel spaced rearwardly with respect to the front wheel. A racing vehicle having a main braking unit for generating braking force, the racing vehicle comprising:
a speed sensor for measuring the traveling speed of the main body;
a steering angle detection sensor for detecting a steering angle of the body;
When it is determined that the angle of the steering angle detected by the steering angle detection sensor is within the set braking allowable range while the speed detected by the speed sensor exceeds the set dangerous reference speed in the non-motorized driving mode performing non-motorized driving using gravity, the main A control unit for controlling the speed to be decelerated through the eastern part; and
The main brake
a base plate;
The hydraulic pressure can be adjusted through the main hydraulic line connected to apply a braking force to the front wheel by interlocking with the advance and retreat of a movably mounted push rod supported in a penetrating state by a vertical support bracket mounted to extend vertically on the base plate. a hydraulic cylinder for supplying brake oil so as to
Formed on the side of the brake pedal and the push rod to apply an interference force to which the push rod is pressed when it is rotated around the hinge according to a pressing force applied to the brake pedal hinged at its lower end to the base plate an interference link coupled between the restraining pins;
a first restoration spring mounted to restore the brake pedal to its initial position when no external force is applied to the brake pedal;
a main braking motor mounted on the base plate to rotate the main rotating shaft extending in a direction perpendicular to the extension direction of the push rod;
a disc mounted at the end of the main rotation shaft to extend in a direction in which an outer diameter is extended;
An eccentric cam protruding opposite to the front surface of the push rod opposite to the brake pedal at an eccentric position spaced apart from the rotation center of the disk and moving the push rod forward and backward by interference according to the rotation of the main rotation shaft; An automatic braking system for a gravity racing vehicle that features. The apparatus of claim 2, further comprising: a sub-braking unit for applying a braking force to a rear wheel of the main body;
a brake oil pressure detection sensor for detecting the pressure of brake oil supplied from the hydraulic cylinder through the main hydraulic line;
A sensor unit for detecting a rotational position of the brake pedal or a current supplied to the main braking motor;
When the control unit determines that the pressure detected by the brake oil pressure detection sensor is out of a range corresponding to the signal detected by the sensor unit, the control unit determines that the braking is abnormal and operates the sub-braking unit. of automatic braking system. The apparatus of claim 2, further comprising: a sub-braking unit for applying a braking force to a rear wheel of the main body;
a brake oil pressure detection sensor for detecting the pressure of brake oil supplied from the hydraulic cylinder through the main hydraulic line;
Further comprising; a push rod displacement measuring sensor for detecting displacement information corresponding to the movement of the push rod;
When it is determined that the pressure detected by the brake oil pressure detection sensor is out of a range corresponding to the signal detected by the push rod displacement measurement sensor, the controller determines that the brake is abnormal and operates the sub-braking unit. Automatic braking system for gravity racing vehicles. The method of claim 2, wherein the main braking unit
a base plate;
The hydraulic pressure can be adjusted through the main hydraulic line connected to apply a braking force to the front wheel by interlocking with the advance and retreat of a movably mounted push rod supported in a penetrating state by a vertical support bracket mounted to extend vertically on the base plate. a hydraulic cylinder for supplying brake oil so as to
Formed on the side of the brake pedal and the push rod to apply an interference force to which the push rod is pressed when it is rotated around the hinge according to a pressing force applied to the brake pedal hinged at its lower end to the base plate an interference link coupled between the restraining pins;
a first restoration spring mounted to restore the brake pedal to its initial position when no external force is applied to the brake pedal;
a main braking motor mounted on the base plate to rotate the main rotating shaft in a direction parallel to the push rod;
a rotation bar having one end rotatably coupled to a fixing bracket mounted on the body above the brake pedal and extending in a direction parallel to the base plate;
a second restoration spring having one end coupled to the rotating bar and the other end coupled to the fixing bracket so that the rotating bar can be restored to its initial position;
an interlocking wire having one end connected to the rotation bar and extending downward through a through hole formed in the brake pedal;
an interference piece having an outer diameter larger than an outer diameter of a through hole formed in the brake pedal and coupled to the interlocking wire above the brake pedal to interfere with the brake pedal when the interlocking wire descends; and
The automatic braking device for a gravity racing vehicle, characterized in that it comprises a; inclined bar mounted on the main rotation shaft of the main braking motor to be inclined and coupled to the end of the interlocking wire so as to pull the interlocking wire downward by rotation.

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