A commercial vehicle EMB system compatible with drum brakes and disc brakes

Abstract

The present invention discloses a commercial vehicle EMB system compatible with drum brakes and disc brakes, and relates to the field of vehicle braking technology; it includes: an EMB execution unit, which is arranged in pairs on each axle; a master-slave controller, which includes a master control unit and a slave control unit; a pedal simulator, which includes a pedal input unit, and the pedal simulator transmits a pedal signal to the master control unit and the slave control unit; an independent power supply, which supplies power to all EMB execution units, the master-slave controller, and the pedal simulator through two independent power supplies. The EMB system of the present invention is suitable for vehicles with multi-axis axle-controlled mechanical brakes, and is compatible with disc brakes and drum brakes; by means of system architecture reconstruction, it is achieved without increasing basic hardware, and meets the demands of improved braking system performance, redundant backup, reduced weight, and reduced costs.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle braking, and in particular to an EMB system for commercial vehicles compatible with drum brakes and disc brakes. Background Art

[0002] In terms of vehicle braking technology, at present, medium or heavy commercial vehicles (over 5 tons) generally use pneumatic brake systems; traditional pneumatic brake systems are usually composed of air compressors, air tanks, foot valves, distribution valves, brake lines, brake chambers, wheel brakes (drum brakes or disc brakes) and other components; ABS, EBS and other stability control units are gradually applied to commercial vehicles in large quantities, resulting in commercial vehicle braking systems becoming more and more complex and costly; at the same time, due to its own structural characteristics, the pneumatic brake system also has the disadvantages of slow response (over 600 milliseconds), poor control accuracy, difficult to ensure reliability, high working noise, complex assembly, and large space occupation.

[0003] After searching, the application scheme of Chinese patent application number CN201410485969.2 discloses a vehicle pneumatic brake system and a vehicle. The system includes: an air reservoir, a first pneumatic brake device and at least one second pneumatic brake device, the first pneumatic brake device has a first control port, and each second pneumatic brake device has a second control port; the air outlet of the brake control valve is respectively connected to the first control port and each second control port, and the control air path from the air reservoir to the first control port through the brake control valve is the shortest; the system also includes at least one air path compensation valve group, which is used to compensate the control air pressure at each second control port when the brake control valve is turned on. The pneumatic brake system in the literature has the above-mentioned defects such as slow response and difficulty in ensuring reliability. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and to propose a commercial vehicle EMB system that is compatible with drum brakes and disc brakes.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A commercial vehicle EMB system compatible with drum brakes and disc brakes, comprising:

[0007] EMB execution units, wherein the EMB execution units are arranged in pairs on each axle;

[0008] A master-slave controller, the master-slave controller includes a master control unit and a slave control unit;

[0009] A pedal simulator, the pedal simulator includes a pedal input unit, and the pedal simulator transmits a pedal signal to the master control unit and the slave control unit;

[0010] Independent power supply, all EMB actuators, master-slave controllers and pedal simulators are powered by two independent power supplies;

[0011] The two EMB actuators on each axle, under the control of the master-slave controller, perform precise braking force control on each wheel end; the independent power supply uses one of the on-board batteries, the low-voltage power supply output by the power battery through DC / DC, and the supercapacitor-based energy unit integrated on the vehicle chassis or axle.

[0012] As a preferred embodiment of the present invention: when all axles use disc brakes, in the EMB system:

[0013] ①Each axle uses an integrated EMB brake caliper as the wheel-end actuator;

[0014] ② Each axle is equipped with an EMB wheel side unit, which uses a standardized data interface;

[0015] ③ Wheel-end based actuators are compatible with parking functions;

[0016] ④ The pedal simulator outputs dual independent pedal signals to the master control unit and the slave control unit.

[0017] As a preferred embodiment of the present invention, when the front axle adopts a disc brake and the other axles adopt drum brakes, in the EMB system:

[0018] ① The front axle uses an integrated EMB brake caliper as the actuator at the wheel end;

[0019] ② The remaining axles use EMB wheel side units combined with drum brakes;

[0020] ③EMB wheel side unit adopts standardized data interface;

[0021] ④ Wheel-end based actuator compatible with parking function;

[0022] ⑤ The pedal simulator outputs dual independent pedal signals to the master control unit and the slave control unit.

[0023] As a preferred embodiment of the present invention: when all axles adopt drum brakes, in the EMB system:

[0024] ① All axles use EMB wheel-side units combined with drum brakes as wheel-end actuators;

[0025] ②EMB wheel side unit adopts standardized data interface;

[0026] ③ Wheel-end based actuators are compatible with parking functions;

[0027] ④ The pedal simulator outputs dual independent pedal signals to the master control unit and the slave control unit.

[0028] As a preferred embodiment of the present invention: in the EMB system:

[0029] When the slave control unit reports an error or has no response, the master control unit reports the fault to the vehicle control;

[0030] The pedal input unit signal is processed by the main control unit;

[0031] The main control unit controls the normal operation of each axis EMB wheel side unit through the main control CAN1;

[0032] In the EMB system:

[0033] When the master control unit reports an error or has no response, the slave control unit reports the fault to the vehicle control;

[0034] The pedal input unit signal is processed by the slave control unit;

[0035] The slave control unit controls the EMB wheel side unit of each axis through the slave control CAN2 to work normally.

[0036] As a preferred embodiment of the present invention: in the EMB system:

[0037] When an independent power supply fails, the main control unit reports the fault to the vehicle control;

[0038] Another independent power supply supplies power to the EMB wheel side unit of each axis;

[0039] The EMB wheel side units of each axis are working normally.

[0040] As a preferred embodiment of the present invention: in the EMB system:

[0041] When the master control CAN1 communication circuit fails, the slave control unit reports the master control CAN1 fault to the vehicle control;

[0042] The slave control unit takes over the control and controls the EMB wheel side unit of each axis through the slave control CAN2 communication circuit;

[0043] The EMB wheel side units of each axis work normally;

[0044] In the EMB system:

[0045] When the slave control CAN2 communication circuit fails, the master control unit reports the slave control CAN2 fault to the vehicle control;

[0046] The main control unit controls the EMB wheel side unit of each axis through the main control CAN1 communication circuit;

[0047] The EMB wheel side units of each axis are working normally.

[0048] As a preferred embodiment of the present invention: the disc brake comprises:

[0049] A mounting frame, on which a sliding seat is mounted, a guide rod is arranged in the sliding seat, a slider is slidably connected in the sliding seat, the slider and one end of the sliding seat are connected by an elastic rubber tube, and the elastic rubber tube is provided with wrinkles that are easy to deform;

[0050] The arc seat is fixed on the slider, and a plurality of sleeves distributed along the arc line are arranged on one side of the arc seat, and a sliding rod is sealed and slidably connected to the inner side of the sleeve, and a second brake pad is fixed to one end of the sliding rod, and the inside of the arc plate is connected to the inside of the sleeve; an oil delivery pipe is connected to one side of the arc seat;

[0051] A connecting frame, one end of the connecting frame is installed on the arc seat, the other end of the connecting frame is connected to an arc plate, the shape of the arc plate is adapted to the arc seat, a second brake pad is installed on one side of the arc plate, and the first brake pad and the second brake pad are located on both sides of the brake disc.

[0052] As a preferred embodiment of the present invention: in the EMB system, the pedal simulator further comprises:

[0053] A pedal bracket, one end of which is provided with a spherical member;

[0054] A lower ball seat is installed on the outer side of the lower half of the spherical component, and an upper ball seat is installed on the outer side of the upper half of the spherical component. The upper ball seat and the lower ball seat are detachably connected by a fixing screw. After the upper ball seat and the lower ball seat are connected, a cavity adapted to the spherical component is formed inside;

[0055] The card block is installed on the upper ball seat. The spherical part is provided with a plurality of card slots distributed along the center of the spherical part. The card block is adapted to the card slots. After the upper ball seat and the lower ball seat are spliced, the card block is inserted into a card slot to achieve fixation.

[0056] The pedal body is mounted on the upper ball seat.

[0057] As a preferred embodiment of the present invention: a first anti-skid pad is installed on the outer side of the pedal body, and the top surface of the first anti-skid pad is provided with evenly distributed annular protrusions;

[0058] A second anti-skid pad is connected to the outer side of the top surface of the first anti-skid pad, a cavity is arranged between the second anti-skid pad and the first anti-skid pad, a plurality of protrusions are arranged on one side of the second anti-skid pad close to the first anti-skid pad, the protrusions correspond one-to-one to the annular protrusions, and the protrusions extend deep into the inner side of the annular protrusions.

[0059] The beneficial effects of the present invention are:

[0060] 1. The EMB system of the present invention is suitable for vehicles with multi-axis controlled mechanical brakes and is compatible with disc brakes and drum brakes. By rebuilding the system architecture, it can meet the requirements of improving braking system performance, redundant backup, reducing weight, and reducing costs without increasing basic hardware.

[0061] 2. The present invention provides an upper ball seat, a lower ball seat, a spherical part and other structures. According to actual needs, the block on the upper ball seat can be inserted into the slot of the corresponding angle, and then the upper ball seat and the lower ball seat can be assembled to adjust the angle of the pedal body, thereby improving practicality. In addition, since the spherical part is provided on the back of the pedal body, when stepping on it, the upper ball seat and the lower ball seat are spherical structures, which can avoid being stuck by foreign objects and improve safety.

[0062] 3. The present invention can improve the anti-skid effect when stepping on the pedal by arranging the second anti-skid pad and the first anti-skid pad. In addition, when encountering an emergency, the driver may step on the pedal quickly and panic. When the angle deviates, the ordinary anti-skid convex pattern is difficult to ensure reliable contact with the foot, which may cause the pedal to fall off. The cooperation between the second anti-skid pad and the first anti-skid pad, when the angle deviates, the second anti-skid pad is deformed to a certain extent by force, thereby forming wrinkles, avoiding contact with the foot as much as possible. At the same time, the annular protrusion can limit the moving range of the protrusion to a certain extent, so as to avoid excessive deformation of the second anti-skid pad, so as to make the pedal as much as possible to be stressed and compressed in this process, so as to achieve effective braking. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 A framework diagram of the EMB system proposed by the present invention applied to a solution in which all axles use disc brakes;

[0064] Figure 2 A framework diagram of the EMB system proposed by the present invention applied to a solution in which a front axle adopts a disc brake and the other axles adopt drum brakes;

[0065] Figure 3 A framework diagram of the EMB system proposed by the present invention applied to a solution in which drum brakes are used on all axles;

[0066] Figure 4 It is a structural schematic diagram of the disc brake in the EMB system proposed by the present invention;

[0067] Figure 5 This is a structural schematic diagram of the disc brake in the EMB system proposed by the present invention from another angle;

[0068] Figure 6 This is a schematic structural diagram of a casing cross-section in the EMB system proposed by the present invention;

[0069] Figure 7 This is a schematic structural diagram of a cross-section of the elastic rubber cylinder in the EMB system proposed by the present invention;

[0070] Figure 8 This is a schematic diagram of the structure in which the upper ball seat and the lower ball seat are installed on the outside of the spherical member in the EMB system proposed by the present invention;

[0071] Fig. 9 This is a schematic diagram of the structure in which the upper ball seat and the lower ball seat are separated in the EMB system proposed by the present invention;

[0072] Fig.10 It is a schematic structural diagram of a cross-section of the second anti-slip pad in the EMB system proposed by the present invention.

[0073] In the figure: 1 mounting frame, 2 oil delivery pipe, 3 elastic rubber cylinder, 4 arc seat, 5 sleeve, 6 connecting frame, 7 brake disc, 8 first brake pad, 9 arc plate, 10 second brake pad, 11 slide seat, 12 slide rod, 13 slider, 14 guide rod, 15 pedal bracket, 16 spherical member, 17 first anti-skid pad, 18 pedal body, 19 second anti-skid pad, 20 upper ball seat, 21 lower ball seat, 22 slot, 23 fixing screw, 24 block, 25 annular protrusion, 26 convex piece. DETAILED DESCRIPTION

[0074] The technical solution of the present invention is further described in detail below in conjunction with specific implementation methods.

[0075] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0076] Embodiment 1: A commercial vehicle EMB system compatible with drum brakes and disc brakes, such as Figure 1-3 As shown, including:

[0077] EMB execution units, wherein the EMB execution units are arranged in pairs on each axle;

[0078] A master-slave controller, the master-slave controller includes a master control unit and a slave control unit;

[0079] A pedal simulator, the pedal simulator includes a pedal input unit, and the pedal simulator transmits a pedal signal to the master control unit and the slave control unit;

[0080] Independent power supply, all EMB actuators, master-slave controllers and pedal simulators are powered by two independent power supplies;

[0081] Two EMB actuators on each axle (which can be installed independently or integrated with the disc brake) can precisely control the braking force of each wheel end under the control of the master-slave controller; the power source can be a conventional on-board battery, a low-voltage power supply output by a power battery through DC / DC, or an energy unit based on supercapacitors integrated on the vehicle chassis or axle;

[0082] The system architecture should have complete power supply redundancy, control redundancy and execution redundancy capabilities.

[0083] In order to better control; Figure 1 As shown, when all axles use disc brakes, in the EMB system:

[0084] ①Each axle uses an integrated EMB brake caliper as the wheel-end actuator;

[0085] ② Each axle is equipped with an EMB wheel side unit, which adopts a standardized data interface and is plug-and-play, facilitating multi-axle expansion;

[0086] ③ Wheel-end based actuators are compatible with parking functions;

[0087] ④ The pedal simulator outputs dual independent pedal signals to the master control unit and the slave control unit;

[0088] Powered by two independent power supplies, all functions can be retained when a single power supply fails;

[0089] Based on master-slave controllers, even if one fails, all functions can be retained.

[0090] In order to better control; Figure 2 As shown in the figure, when the front axle adopts disc brakes and the other axles adopt drum brakes, in the EMB system:

[0091] ① The front axle uses an integrated EMB brake caliper as the actuator at the wheel end;

[0092] ② The remaining axles use EMB wheel side units combined with drum brakes;

[0093] ③EMB wheel side unit adopts standardized data interface, plug and play, convenient for multi-axis expansion;

[0094] ④ Wheel-end based actuator compatible with parking function;

[0095] ⑤ The pedal simulator outputs dual independent pedal signals to the master control unit and the slave control unit;

[0096] Powered by two independent power supplies, all functions can be retained when a single power supply fails;

[0097] Based on master-slave controllers, even if one fails, all functions can be retained.

[0098] In order to better control; Figure 3 As shown, when all axles use drum brakes, in the EMB system:

[0099] ① All axles use EMB wheel-side units combined with drum brakes as wheel-end actuators;

[0100] ②EMB wheel side unit adopts standardized data interface, plug and play, convenient for multi-axis expansion;

[0101] ③ Wheel-end based actuators are compatible with parking functions;

[0102] ④ The pedal simulator outputs dual independent pedal signals to the master control unit and the slave control unit;

[0103] Powered by two independent power supplies, all functions can be retained when a single power supply fails;

[0104] Based on master-slave controllers, even if one fails, all functions can be retained.

[0105] To deal with failure issues; Figure 1-3 As shown, in the EMB system:

[0106] When the slave control unit reports an error or has no response, the master control unit reports the fault to the vehicle control;

[0107] The pedal input unit signal is processed by the main control unit;

[0108] The main control unit controls the EMB wheel side units of each axis to work normally through the main control CAN1.

[0109] To deal with failure issues; Figure 1-3 As shown, in the EMB system:

[0110] When the master control unit reports an error or has no response, the slave control unit reports the fault to the vehicle control;

[0111] The pedal input unit signal is processed by the slave control unit;

[0112] The slave control unit controls the EMB wheel side unit of each axis through the slave control CAN2 to work normally.

[0113] To deal with failure issues; Figure 1-3 As shown, in the EMB system:

[0114] When an independent power supply fails, the main control unit reports the fault to the vehicle control;

[0115] Another independent power supply supplies power to the EMB wheel side unit of each axis;

[0116] The EMB wheel side units of each axis are working normally.

[0117] To deal with failure issues; Figure 1-3 As shown, in the EMB system:

[0118] When the master control CAN1 communication circuit fails, the slave control unit reports the master control CAN1 fault to the vehicle control;

[0119] The slave control unit takes over the control and controls the EMB wheel side unit of each axis through the slave control CAN2 communication circuit;

[0120] The EMB wheel side units of each axis are working normally.

[0121] To deal with failure issues; Figure 1-3 As shown, in the EMB system:

[0122] When the slave control CAN2 communication circuit fails, the master control unit reports the slave control CAN2 fault to the vehicle control;

[0123] The main control unit controls the EMB wheel side unit of each axis through the main control CAN1 communication circuit;

[0124] The EMB wheel side units of each axis are working normally.

[0125] In order to better brake; Figure 4-7 As shown, the disc brake comprises:

[0126] A mounting frame 1, on which a slide seat 11 is mounted, a guide rod 14 is arranged in the slide seat 11, a slider 13 is slidably connected in the slide seat 11, the slider 13 is connected to one end of the slide seat 11 through an elastic rubber tube 3, and the elastic rubber tube 3 is provided with wrinkles that are easy to deform;

[0127] The arc seat 4 is fixed on the slider 13. A plurality of sleeves 5 distributed along the arc line are arranged on one side of the arc seat 4. A slide rod 12 is sealed and slidably connected to the inner side of the sleeve 5. A second brake pad 10 is fixed to one end of the slide rod 12. The interior of the arc plate 9 is connected to the interior of the sleeve 5. An oil delivery pipe 2 is connected to one side of the arc seat 4.

[0128] A connecting frame 6, one end of the connecting frame 6 is mounted on the arc seat 4, the other end of the connecting frame 6 is connected to an arc plate 9, the shape of the arc plate 9 is adapted to the arc seat 4, a second brake pad 10 is mounted on one side of the arc plate 9, and the first brake pad 8 and the second brake pad 10 are located on both sides of the brake disc 7;

[0129] By arranging the first brake pad 8 and the second brake pad 10 to cooperate with each other, the brake disc 7 can be braked better, thereby improving reliability.

[0130] Embodiment 2: A commercial vehicle EMB system compatible with drum brakes and disc brakes, such as Figure 8-10 As shown, in order to better perform pedal braking; this embodiment makes the following improvements on the basis of embodiment 1: in the EMB system, the pedal simulator also includes:

[0131] A pedal bracket 15, one end of which is provided with a spherical member 16;

[0132] A lower ball seat 21 is installed on the outer side of the lower half of the spherical member 16. An upper ball seat 20 is installed on the outer side of the upper half of the spherical member 16. The upper ball seat 20 and the lower ball seat 21 are detachably connected by a fixing screw 23. After the upper ball seat 20 and the lower ball seat 21 are connected, a cavity adapted to the spherical member 16 is formed inside;

[0133] The clamping block 24 is installed on the upper ball seat 20. The spherical member 16 is provided with a plurality of clamping grooves 22 distributed along the center of the spherical member 16. The clamping block 24 is adapted to the clamping grooves 22. After the upper ball seat 20 and the lower ball seat 21 are spliced, the clamping block 24 is clamped into a clamping groove 22 to achieve fixation;

[0134] A pedal body 18, the pedal body 18 is mounted on an upper ball seat 20;

[0135] By providing structures such as the upper ball seat 20, the lower ball seat 21 and the spherical member 16, the block 24 on the upper ball seat 20 can be inserted into the slot 22 of the corresponding angle according to actual needs, and then the upper ball seat 20 and the lower ball seat 21 can be assembled to adjust the angle of the pedal body 18, thereby improving practicality. In addition, since the spherical member 16 is provided on the back of the pedal body 18, when stepping on the pedal, the upper ball seat 20 and the lower ball seat 21 are spherical structures, which can avoid being stuck by foreign objects, such as squeezing out possible foreign objects such as beverage bottles, thereby improving safety.

[0136] To improve reliability; Figure 8-10 As shown, a first anti-skid pad 17 is installed on the outer side of the pedal body 18 , and the top surface of the first anti-skid pad 17 is provided with evenly distributed annular protrusions 25 .

[0137] To improve reliability; Figure 8-10 As shown, the outer side of the top surface of the first anti-skid pad 17 is connected to the second anti-skid pad 19, a cavity is provided between the second anti-skid pad 19 and the first anti-skid pad 17, and a plurality of protrusions 26 are provided on the side of the second anti-skid pad 19 close to the first anti-skid pad 17, the protrusions 26 correspond to the annular protrusions 25 one by one, and the protrusions 26 go deep into the inner side of the annular protrusions 25;

[0138] By providing the second anti-skid pad 19 and the first anti-skid pad 17, the anti-skid effect can be improved when stepping on the pedal. In addition, when encountering an emergency, the driver may step on the pedal quickly and in a panic. When the angle is deviated, the ordinary anti-skid convex pattern is difficult to ensure reliable contact with the foot, resulting in stepping off. The cooperation between the second anti-skid pad 19 and the first anti-skid pad 17, when the angle is deviated, the second anti-skid pad 19 is deformed to a certain extent by force, thereby forming wrinkles, and avoiding separation from the foot as much as possible. At the same time, the annular protrusion 25 can limit the moving range of the convex piece 26 to a certain extent, so as to avoid excessive deformation of the second anti-skid pad 19, so as to make the pedal as much as possible to be stressed and compressed in this process, so as to achieve effective braking;

[0139] In summary, the pedal structure can meet the usage requirements during normal use, and can improve the pedaling fault tolerance to a certain extent in an emergency, thereby improving safety.

[0140] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A commercial vehicle EMB system compatible with drum brakes and disc brakes, characterized in that: include: EMB execution units, wherein the EMB execution units are arranged in pairs on each axle; A master-slave controller, the master-slave controller includes a master control unit and a slave control unit; A pedal simulator, the pedal simulator includes a pedal input unit, and the pedal simulator transmits a pedal signal to the master control unit and the slave control unit; Independent power supply, all EMB actuators, master-slave controllers and pedal simulators are powered by two independent power supplies; Two EMB actuators on each axle, under the control of the master-slave controller, precisely control the braking force of each wheel end; the independent power supply uses one of the on-board battery, the low-voltage power supply output by the power battery through DC / DC, and the energy unit based on supercapacitor integrated on the vehicle chassis or axle; When all axles use disc brakes, the EMB system includes: ①Each axle uses an integrated EMB brake caliper as the wheel-end actuator; ② Each axle is equipped with an EMB wheel side unit, which uses a standardized data interface; ③ Wheel-end based actuators are compatible with parking functions; ④ The pedal simulator outputs dual independent pedal signals to the master control unit and the slave control unit; When the front axle adopts disc brakes and the other axles adopt drum brakes, in the EMB system: ① The front axle uses an integrated EMB brake caliper as the actuator at the wheel end; ② The remaining axles use EMB wheel side units combined with drum brakes; ③EMB wheel side unit adopts standardized data interface; ④ Wheel-end based actuator compatible with parking function; ⑤ The pedal simulator outputs dual independent pedal signals to the master control unit and the slave control unit; When all axles use drum brakes, the EMB system includes: ① All axles use EMB wheel-side units combined with drum brakes as wheel-end actuators; ②EMB wheel side unit adopts standardized data interface; ③ Wheel-end based actuators are compatible with parking functions; ④ The pedal simulator outputs dual independent pedal signals to the master control unit and the slave control unit; In the EMB system, the pedal simulator further comprises: A pedal bracket (15), one end of which is mounted with a spherical member (16); A lower ball seat (21) is mounted on the outer side of the lower half of the spherical member (16); an upper ball seat (20) is mounted on the outer side of the upper half of the spherical member (16); the upper ball seat (20) and the lower ball seat (21) are detachably connected by a fixing screw (23); after the upper ball seat (20) and the lower ball seat (21) are connected, a cavity matching the spherical member (16) is formed inside; A clamping block (24) is mounted on the upper ball seat (20). The spherical member (16) is provided with a plurality of clamping grooves (22) distributed along the center of the spherical member (16). The clamping block (24) is adapted to the clamping grooves (22). After the upper ball seat (20) and the lower ball seat (21) are spliced, the clamping block (24) is clamped into a clamping groove (22) to achieve fixation. A pedal body (18), the pedal body (18) being mounted on an upper ball seat (20); A first anti-skid pad (17) is installed on the outer side of the pedal body (18), and the top surface of the first anti-skid pad (17) is provided with evenly distributed annular protrusions (25); A second anti-skid pad (19) is connected to the outer side of the top surface of the first anti-skid pad (17); a cavity is provided between the second anti-skid pad (19) and the first anti-skid pad (17); a plurality of protrusions (26) are provided on a side of the second anti-skid pad (19) close to the first anti-skid pad (17); the protrusions (26) correspond to the annular protrusions (25) one by one, and the protrusions (26) extend deep into the inner side of the annular protrusions (25).

2. The commercial vehicle EMB system compatible with drum brakes and disc brakes according to claim 1, characterized in that: In the EMB system: When the slave control unit reports an error or has no response, the master control unit reports the fault to the vehicle control; The pedal input unit signal is processed by the main control unit; The main control unit controls the normal operation of each axis EMB wheel side unit through the main control CAN1; In the EMB system: When the master control unit reports an error or has no response, the slave control unit reports the fault to the vehicle control; The pedal input unit signal is processed by the slave control unit; The slave control unit controls the EMB wheel side unit of each axis through the slave control CAN2 to work normally.

3. The commercial vehicle EMB system compatible with drum brakes and disc brakes according to claim 1, characterized in that: In the EMB system: When an independent power supply fails, the main control unit reports the fault to the vehicle control; Another independent power supply supplies power to the EMB wheel side unit of each axis; The EMB wheel side units of each axis are working normally.

4. The commercial vehicle EMB system compatible with drum brakes and disc brakes according to claim 1, characterized in that: In the EMB system: When the master control CAN1 communication circuit fails, the slave control unit reports the master control CAN1 fault to the vehicle control; The slave control unit takes over the control and controls the EMB wheel side unit of each axis through the slave control CAN2 communication circuit; The EMB wheel side units of each axis work normally; In the EMB system: When the slave control CAN2 communication circuit fails, the master control unit reports the slave control CAN2 fault to the vehicle control; The main control unit controls the EMB wheel side unit of each axis through the main control CAN1 communication circuit; The EMB wheel side units of each axis are working normally.

5. The commercial vehicle EMB system compatible with drum brakes and disc brakes according to claim 1, characterized in that: The disc brake comprises: A mounting frame (1), a slide seat (11) being mounted on the mounting frame (1), a guide rod (14) being arranged in the slide seat (11), a slider (13) being slidably connected in the slide seat (11), the slider (13) and one end of the slide seat (11) being connected via an elastic rubber tube (3), and the elastic rubber tube (3) being provided with wrinkles that are easy to deform; An arc seat (4), the arc seat (4) is fixed on a slider (13), a plurality of sleeves (5) distributed along an arc line are arranged on one side of the arc seat (4), a slide rod (12) is sealingly and slidably connected to the inner side of the sleeve (5), a second brake pad (10) is fixed to one end of the slide rod (12), the interior of the arc plate (9) is connected to the interior of the sleeve (5); an oil delivery pipe (2) is connected to one side of the arc seat (4); A connecting frame (6), one end of the connecting frame (6) is mounted on the arc seat (4), the other end of the connecting frame (6) is connected to an arc plate (9), the shape of the arc plate (9) is adapted to the arc seat (4), a second brake pad (10) is mounted on one side of the arc plate (9), and the first brake pad (8) and the second brake pad (10) are located on both sides of the brake disc (7).

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