KR102643012B1 - Braking device for autonomous vehicle - Google Patents

Abstract

The present invention includes a braking gear mounted on a drive shaft; a braking gear engaged with the braking gear; an oil compression module connected to the braking gear and configured to compress first operating oil in a compression mode to generate oil compression resistance and provide the oil compression resistance to the braking gear; a hydraulic pump configured to supply a second operating oil to the oil compression module to convert the oil compression module from the non-compression mode to the compression mode; and a control module for controlling the oil compression module and the hydraulic pump.

Description

Braking device for autonomous vehicles {BRAKING DEVICE FOR AUTONOMOUS VEHICLE}

The present invention relates to a braking device for an autonomous vehicle.

Generally, vehicles are essentially equipped with a brake system to perform braking. Various types of braking systems are being proposed to ensure the safety of passengers and cargo.

Caliper braking is a system that contacts and presses brake pads on both sides of a brake disc that rotates with the wheel. Braking force is obtained by friction or clamping pressure between the brake disc and brake pads. Caliper braking includes a caliper that surrounds the brake pad and moves it forward and backward toward the brake disc. The caliper is provided with a cylinder and a piston. As hydraulic pressure for braking is applied to the inside of the cylinder, the piston moves forward and presses the brake pad toward the brake disc.

Depending on this braking method, the brake pads wear out after a certain period of use and must be replaced. When friction occurs between a brake pad and a brake disc, fine particles are generated from the brake pad, etc. These fine particles also cause air pollution.

The above-mentioned background technology is technical information that the inventor possessed for deriving the embodiments of the present invention or acquired during the derivation process, and cannot necessarily be said to be known art disclosed to the general public before the present application.

One object of the present invention is to provide a braking device for an autonomous vehicle that can implement braking without using friction between a brake pad and a brake disc.

Another object of the present invention is to provide a braking device for an autonomous vehicle that prevents normal operation from being restricted by preventing braking resistance from being applied to the drive shaft during normal rotation of the drive shaft.

A braking device for an autonomous vehicle according to an aspect of the present invention for realizing the above-described problem includes: a braking gear mounted on a drive shaft; a braking gear engaged with the braking gear; an oil compression module connected to the braking gear and configured to compress first operating oil in a compression mode to generate oil compression resistance and provide the oil compression resistance to the braking gear; a hydraulic pump configured to supply a second operating oil to the oil compression module to convert the oil compression module from the non-compression mode to the compression mode; And it may include a control module that controls the oil compression module and the hydraulic pump.

Here, the braked gear may have more gear teeth than the braking gear.

Here, the oil compression module includes a housing having an internal space in which the first operating oil is accommodated; a rotor eccentrically disposed in the internal space and axially connected to the braking gear; and a vane disposed to be movable in the rotor toward the inner peripheral surface of the internal space and configured to compress the first operating oil according to the degree to which it moves toward the inner peripheral surface when the rotor rotates.

Here, the space other than the space occupied by the rotor among the internal spaces includes a compression area in which the first operating oil is compressed by the vane to generate the oil compression resistance, and a release zone in which the compression of the first operating oil is released. Can include areas.

Here, the oil compression module may further include a pulling unit configured to pull the vane in a direction away from the inner peripheral surface.

Here, the traction unit may include a tension spring that elastically retracts the vane into the interior of the rotor.

Here, the oil compression module may further include a circulation channel that communicates with the internal space and is formed to circulate the first operating oil.

Here, the oil compression module may further include an adjustment valve installed in the circulation channel to adjust the cross-sectional flow area of the circulation channel.

Here, the oil compression module may further include a guide channel that guides the second operating oil provided from the hydraulic pump in a direction to press the vane toward the inner peripheral surface.

Here, the guide channel may be formed along a direction in which the vane moves from the center of the rotor toward the inner peripheral surface.

According to the braking device for an autonomous vehicle according to the present invention configured as described above, the braking gear meshed with the braked gear mounted on the drive shaft receives oil compression resistance generated by the oil compression module compressing the first operating oil and performs braking. Therefore, braking can be implemented without using friction between existing brake pads and brake discs.

Furthermore, since the oil compression resistance by the oil compression module is generated by switching to the compression mode when the second operating oil is provided by the hydraulic pump, there is no resistance to rotation of the drive shaft in the non-compression mode of the oil compression module.

Figure 1 is an exploded perspective view of a braking device 100 for a shaft rotation drive device according to an embodiment of the present invention.
FIG. 2 is a cross-sectional view showing the oil compression module 150 of FIG. 1 in an uncompressed state.
FIG. 3 is a cross-sectional view showing the compressed state of the oil compression module 150 of FIG. 1.
FIG. 4 is a cross-sectional view of an oil compression module 150' according to a modified example of the oil compression module 150 of FIG. 1.
Figure 5 is a block diagram showing the control configuration of a braking device 200 for a shaft rotation driving device according to another embodiment of the present invention.
FIG. 6 is a cross-sectional view showing the connection relationship between the oil compression module 250 and the hydraulic pump 270 of FIG. 5.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The present invention is not limited to the embodiments disclosed below, but may be subject to various changes and may be implemented in various different forms. Only this example is provided to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention. Therefore, the present invention is not limited to the embodiments disclosed below, but substitutes or adds to the configuration of one embodiment and the configuration of another embodiment, as well as all changes and equivalents included in the technical spirit and scope of the present invention. It should be understood to include substitutes.

The attached drawings are only for easy understanding of the embodiments disclosed in the present specification, and the technical idea disclosed in the present specification is not limited by the attached drawings, and all changes and equivalents included in the spirit and technical scope of the present invention are not limited to the attached drawings. It should be understood to include water or substitutes. In the drawings, components may be expressed exaggeratedly large or small in size or thickness for convenience of understanding, etc., but the scope of protection of the present invention should not be construed as limited due to this.

The terms used in this specification are only used to describe specific implementations or examples, and are not intended to limit the invention. And singular expressions include plural expressions, unless the context clearly dictates otherwise. In the specification, terms such as ~include, ~consist of, etc. are intended to indicate the existence of features, numbers, steps, operations, components, parts, or a combination thereof described in the specification. That is, in the specification, terms such as ~include, ~consist of, etc. should be understood as not precluding the existence or addition possibility of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

Terms containing ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

When a component is said to be "connected" or "connected" to another component, it is understood that it may be directly connected or connected to the other component, but that other components may exist in between. It should be. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

When a component is referred to as being "on top" or "below" another component, it should be understood that not only is it placed directly on top of the other component, but there may also be other components in between. .

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the technical field to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and unless explicitly defined in the present application, should not be interpreted in an ideal or excessively formal sense. No.

Figure 1 is an exploded perspective view of a braking device 100 for a shaft rotation drive device according to an embodiment of the present invention.

Referring to this drawing, the braking device 100 may include a braked gear 110, a braking gear 130, and an oil compression module 150. Braking device 100 may also further include a casing 170 .

The braked gear 110 is installed on the drive shaft DS. The drive shaft DS may be, for example, a shaft that drives the wheels W of a vehicle. The drive shaft DS is configured to rotate to drive the wheel W. The shaft rotation driving device refers to a device (eg, drive system) that drives an object (eg, wheel W) through rotation of an axis (eg, drive shaft (DS)). The shaft rotation driving device may also include an automobile or various vehicles having the driving system.

The braking gear 130 is a gear meshed with the braked gear 110. The braking gear 130 may have fewer gear teeth than the braking gear 110. As a result, even when the braking gear 130 rotates one rotation, the braked gear 110 does not rotate one rotation.

The oil compression module 150 is configured to selectively generate oil compression resistance. The oil compression resistance is generated within the housing 151. The oil compression resistance generated within the housing 151 is transmitted to the braking gear 130 through the rotor shaft 156. The rotor shaft 156 connects the rotor 155 of the oil compression module 150 (see FIG. 2) and the braking gear 130 to rotate together.

The casing 170 is configured to rotatably support the rotor shaft 156. For this purpose, the casing 170 may be mounted on the body of a vehicle, for example. Casing 170 may also protect braking gear 130 and keep it engaged with braked gear 110.

According to this configuration, the oil compression module 150 selectively generates the oil compression resistance when the driver of the vehicle steps on the brake pedal. Resistance is applied to rotation of the braking gear 130 due to the oil compression resistance.

The braking gear 130 is prevented from rotating due to resistance, and the resistance is also transmitted to the engaged braking gear 110. As a result, the wheel W coupled to the braked gear 110 is also restricted in rotation and is braked.

The above oil compression module 150 will be described with reference to FIGS. 2 and 3.

FIG. 2 is a cross-sectional view showing the oil compression module 150 of FIG. 1 in an uncompressed state.

Referring to this drawing, the oil compression module 150 may include a rotor 155, a vane 157, and a traction unit 159, in addition to the housing 151 described above.

The housing 151 may generally have a rectangular parallelepiped or cylindrical shape. The housing 151 is a hollow body having an internal space 153. The internal space 153 has a generally cylindrical shape and can form a circular cross-section as shown in this drawing. The internal space 153 may accommodate the first operating oil. The first operating oil may be, for example, a lubricating oil.

The rotor 155 is rotatably disposed in the internal space 153. The rotor 155 has a generally cylindrical shape and can form a circular cross section as shown in this figure. The circular cross section of the rotor 155 has a smaller diameter than the circular cross section of the internal space 153.

The rotor 155 is positioned eccentrically with respect to the center of the internal space 153. Accordingly, one part of the rotor 155 is located closer to the inner peripheral surface forming the internal space 153 than the other part. On the contrary, the other part is located farther from the inner peripheral surface than the one part. The rotor shaft 156, which is the rotation axis of the rotor 155, is connected to the braking gear 130.

The vane 157 is arranged to be movable toward the inner peripheral surface of the rotor 155. The vanes 157 may be provided in plural numbers along the circumferential direction of the rotor 155. This drawing illustrates that four vanes 157 are arranged at 90° intervals. The vane 157 compresses the first operating oil according to the degree to which it moves toward the inner peripheral surface when the rotor 155 rotates.

In this drawing, the vane 157 is completely retracted into the rotor 155. In this state, the vane 157 does not compress the first operating oil (non-compression mode). The first operating oil does not generate the oil compression resistance, allowing the rotor shaft 156 to rotate without resistance. This also applies to the braking gear 130 and the braked gear 110, and as a result, the wheel (W, see FIG. 1) rotates without resistance.

The component that retracts the vane 157 is the traction unit 159. The traction unit 159 retracts the vane 157 in a direction away from the inner peripheral surface, specifically toward the inside of the rotor 155. The traction unit 159 may be, specifically, a tension spring that elastically retracts the vane 157. When one end of the tension spring is coupled to the vane 157, its other end may be coupled to the rotor shaft 156.

The state of compressing the first operating oil will be described with reference to FIG. 3. FIG. 3 is a cross-sectional view showing the compressed state of the oil compression module 150 of FIG. 1.

Referring to this drawing, a guide channel 161 is provided to advance the vane 157 toward the inner peripheral surface. The guide channel 161 is configured to guide the second operating oil to exert a force for pressing the vane 157 toward the inner peripheral surface.

The guide channel 161 may be formed along the direction in which the vane 157 moves from the center of the rotor 155 toward the inner peripheral surface. Corresponding to this embodiment with four vanes 157, the guidance channel 161 can be branched into four branches. The guidance channel 161 receives the second operating oil supplied when the vehicle driver steps on the brake pedal BP and guides it to the vane 157. Specifically, by the operation of the cylinder BC linked to the operation of the brake pedal BP, the second operating oil is injected into the guide channel 161 along the oil line OL. The accumulator (A) in the oil line (OL) absorbs pressure fluctuations of the second operating oil. The vane 157 pressurized by the inflow of the second operating oil overcomes the elastic force of the traction unit 159 and advances toward the inner peripheral surface.

The vane 157 may be in contact with the inner peripheral surface as illustrated in this figure by supplying the second operating oil at a pressure (amount) above a certain level. Depending on the degree of pressure, the vane 157 may lie between the positions in this drawing and FIG. 2.

In this drawing, the space of the internal space 153 excluding the space occupied by the rotor 155 can be largely divided into two areas. Assuming that the rotor 155 rotates clockwise, the area from 6 o'clock to 12 o'clock in the drawing is the compression area 153a. The remaining area from 12 o'clock to 6 o'clock is the release area 153b.

In the compression area 153a, as the rotor 155 rotates, the vane 157 pushes the first operating oil into an increasingly narrow space. As a result, the first operating oil is compressed and generates the oil compression resistance. In the release area 153b, as the rotor 155 rotates, the vane 157 pushes the first operating oil into an increasingly wider space. Accordingly, the first operating oil is decompressed, and the oil compression resistance also disappears.

Overall, in a state in which the vane 157 is moved toward the inner peripheral surface (compression mode), the wheel W may be braked according to the occurrence of the oil compression resistance in the compression area 153a. The braking force of the wheel (W) can be largely determined by the degree to which the vane 157 is developed toward the inner peripheral surface.

Other forms of the above oil compression module 150 will be described with reference to FIG. 4. FIG. 4 is a cross-sectional view of an oil compression module 150' according to a modified example of the oil compression module 150 of FIG. 1. In this modification, the same components as those in the previous embodiment are given the same reference numbers.

Referring to this drawing, the oil compression module 150' may further include a circulation channel 163 and an adjustment valve 165 in addition to the previous embodiment.

The circulation channel 163 communicates with the internal space 153 to form a passage through which the first operating oil circulates. The first operating oil flows into the internal space 153 along the circulation channel 163 and also flows out of the internal space 153. The first operating oil may flow into the internal space 153 in the 6 o'clock direction in the drawing, and may flow out of the internal space 153 in the 12 o'clock direction.

The adjustment valve 165 is installed in the circulation channel 163 to adjust the cross-sectional flow area of the circulation channel 163. Adjusting the cross-sectional flow area also includes closing the circulation channel 163 to prevent the first operating oil from flowing. As the adjustment valve 165 adjusts the cross-sectional flow area, more or less of the first operating oil may remain in the internal space 153. Accordingly, the size of the oil compression resistance can be adjusted.

According to this configuration, the size of the oil compression resistance depends not only on the degree to which the vane 157 moves toward the inner peripheral surface {the operating pressure of the second operating oil}, but also on the degree of adjustment of the cross-sectional flow area of the circulation channel 163. It may vary depending on

Another type of braking device 200 will be described with reference to FIGS. 5 and 6. Figure 5 is a block diagram showing the control configuration of the braking device 200 for a shaft rotation drive device according to another embodiment of the present invention, and Figure 6 is a block diagram showing the oil compression module 250 and the hydraulic pump 270 of Figure 5. This is a cross-sectional view showing the connection relationship. Similar reference numbers are assigned to the same components as those in the previous embodiment, and related illustrations and descriptions are replaced with those of the previous embodiment.

Referring to these drawings (and FIGS. 1 to 4), the braking device 200 may be applied to an autonomous vehicle, etc. In that case, the provision of the second operating oil to the guide channel 261 may be effected by a hydraulic pump 270 . As the hydraulic pump 270 supplies the second operating oil to the guide channel 261 through the oil line OL, the oil compression module 250 switches from the non-compression mode to the compression mode. The oil compression module 250 may also have a circulation tank 267 installed in the circulation channel 263. The circulation tank 267 may store the first operating oil according to the operation of the control valve 265. The circulation tank 267 may also cool the first operating oil whose temperature has risen during the compression process.

Control of the operation of the oil compression module 250 and the hydraulic pump 270 is performed by the control module 280. The control module 280 may be the main controller of the autonomous vehicle or may be configured to control the oil compression module 250, etc. under its commands.

The control module 280 refers to the detection result of the detection module 290 to control the oil compression module 250, etc. The detection module 290 detects the speed of the self-driving car, the distance between cars in front, the lane, etc. Based on the detection result of the detection module 290, the control module 280 determines whether braking is necessary. When braking is necessary, the control module 280 operates the hydraulic pump 270.

Control module 280 may refer to storage module 295 to determine the amount of braking force required. The storage module 295 can store information about how much braking force should be applied in response to the distance between vehicles, vehicle speed, etc.

100,200: Braking device for shaft rotation drive device 110: Braked gear
130: Braking gear 150,150',250: Input compression module
170: Casing 270: Hydraulic pump
290: control module

Claims (10)

A braked gear mounted on the drive shaft;
a braking gear engaged with the braking gear;
an oil compression module connected to the braking gear and configured to compress the received first operating oil in a compression mode to generate oil compression resistance and provide the oil compression resistance to the braking gear;
By supplying the second operating oil to the oil compression module, the oil compression module is configured to decompress the first operating oil and switch from a non-compression mode that does not generate the oil compression resistance to the compression mode. hydraulic pump; and
It includes a control module that controls the oil compression module and the hydraulic pump,
The oil compression module,
a housing having an internal space containing the first operating oil;
a rotor eccentrically disposed in the internal space and axially connected to the braking gear; and
A vane disposed to be movable in the rotor toward the inner peripheral surface of the internal space and configured to compress the first operating oil according to the degree to which it moves toward the inner peripheral surface when the rotor rotates in the compression mode, Braking device for autonomous vehicles.
According to paragraph 1,
The braking gear is,
A braking device for an autonomous vehicle having more gear teeth than the braking gear.
delete According to paragraph 1,
Among the internal spaces, the space excluding the space occupied by the rotor is,
A braking device for an autonomous vehicle, comprising a compression region in which the first operating oil is compressed by the vane to generate the oil compression resistance, and a release region in which the compression of the first operating oil is released.
According to paragraph 1,
The oil compression module,
A braking device for an autonomous vehicle, further comprising a traction unit configured to traction the vane in a direction away from the inner peripheral surface to switch to the non-compression mode.
According to clause 5,
The traction unit,
A braking device for an autonomous vehicle, comprising a tension spring that elastically retracts the vane into the interior of the rotor.
According to paragraph 1,
The oil compression module,
A braking device for an autonomous vehicle, further comprising a circulation channel communicated with the interior space and formed to circulate the first operating oil.
In clause 7,
The oil compression module,
A braking device for an autonomous vehicle, further comprising an adjustment valve installed in the circulation channel and configured to adjust a cross-sectional flow area of the circulation channel.
According to paragraph 1,
The oil compression module,
For switching to the compression mode, the braking device for an autonomous vehicle further includes a guide channel that guides the second operating oil provided from the hydraulic pump in a direction to press the vane toward the inner peripheral surface.
According to clause 9,
The information channel is,
A braking device for an autonomous vehicle, which is formed along a direction in which the vane moves from the center of the rotor toward the inner peripheral surface.

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